US 12,072,431 B2
Position specifying system for mobile object and mobile object used for the position specifying system
Takanobu Mizuno, Nagoya (JP); and Tomohisa Kohiyama, Tokyo (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and HITACHI INDUSTRIAL EQUIPMENT SYSTEMS CO., LTD., Tokyo (JP)
Appl. No. 17/270,939
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and HITACHI INDUSTRIAL EQUIPMENT SYSTEMS CO., LTD., Tokyo (JP)
PCT Filed Feb. 8, 2019, PCT No. PCT/JP2019/004628
§ 371(c)(1), (2) Date Feb. 24, 2021,
PCT Pub. No. WO2020/161886, PCT Pub. Date Aug. 13, 2020.
Prior Publication US 2021/0356554 A1, Nov. 18, 2021
Int. Cl. G01S 5/14 (2006.01); G01S 5/02 (2010.01); G01S 19/48 (2010.01); G05D 1/00 (2006.01)
CPC G01S 5/14 (2013.01) [G01S 5/0221 (2013.01); G01S 19/48 (2013.01); G05D 1/0278 (2013.01); G05D 1/028 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A position specifying system for a mobile object, the position specifying system specifying a position of the mobile object using a first radio communication device in a structure and a second radio communication device in a structure, wherein
first position information, which is about a position of the first radio communication device, is associated with the first radio communication device, and second position information, which is about a position of the second radio communication device, is associated with the second radio communication device,
the first radio communication device includes a first time specifying unit configured to specify a first time, and the second radio communication device includes a second time specifying unit configured to specify a second time,
the first radio communication device includes a first radio transmitter configured to transmit the first position information and the first time, and the second radio communication device includes a second radio transmitter configured to transmit the second position information and the second time,
the mobile object includes: a radio receiver configured to receive the first position information and the first time transmitted from the first radio transmitter, and configured to receive the second position information and the second time transmitted from the second radio transmitter; and a position specification processing unit configured to specify the position of the mobile object based on the first position information, the first time, the second position information and the second time, all of which are received by the radio receiver,
a first timing of transmission of the first position information and the first time to the radio receiver of the mobile object is after elapse of a first delay time set in advance in the first radio communication device or after elapse of a first variable delay time where transmission includes a length of the first delay time apart from the first position information, and
a second timing of transmission of the second position information and the second time to the radio receiver of the mobile object is after elapse of a second delay time set in advance in the second radio communication device or after elapse of a second variable delay time where transmission includes a length of the second delay time apart from the second position information.