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US 12,613,098 B2Granted
Method and apparatus for matching ship map and harbor map
AssigneeLKSYS Inc.
InventorHuiwon Lee
Life of this patent
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Abstract
The present embodiment provides a method and an apparatus for matching a ship map of a moving ship and a harbor map of a harbor terminal, capable of connecting the ship map to the harbor map, in transferring an autonomous driving vehicle using a ship from a harbor to another harbor, in order to use the harbor map and the ship map, similarly to control of the autonomous driving vehicle on a road.
Claims5
A map matching apparatus for matching a ship map of a ship with a harbor map of a harbor terminal, comprising:
- a memory storing the harbor map of the harbor terminal and the ship map of the ship;
- and
- a processor operatively coupled to the memory and configured to:
- extract coordinates of a plurality of harbor wharf locations from the harbor map;
- select, based on the coordinates of the plurality of harbor wharf locations, a final wharf among the harbor wharf locations that has no ship anchored nearby and has a space corresponding to a size of the ship;
- determine ship docking center coordinates as a location spaced apart from the final wharf by a predetermined distance;
- extract ship center coordinates from the ship map;
- transmit the ship docking center coordinates to the ship and cause the ship to move such that the ship center coordinates coincide with the ship docking center coordinates;
- extract wharf inclination information corresponding to the final wharf from the harbor map;
- transmit the wharf inclination information to the ship and cause the ship to turn by an angle corresponding to the wharf inclination information;
- and
- match the harbor map and the ship map wherein it is confirmed that the ship docking center coordinates and the ship center coordinates match after the ship bas turned by the angle corresponding to the wharf inclination information.
9 more elements
A computer-implemented map matching method for matching a ship map of a ship with a harbor map of a harbor terminal, comprising:
- extracting, from the harbor map of the harbor terminal, coordinates of a plurality of harbor wharf locations;
- selecting, based on the coordinates of the plurality of harbor wharf locations and a size of the ship, a final wharf that has no ship anchored nearby and has a space corresponding to the size of the ship;
- determining ship docking center coordinates as a location spaced apart from the final wharf by a predetermined distance;
- extracting ship center coordinates from a digital ship map of the ship;
- transmitting that the ship docking center coordinates to the ship and causing the ship to move such that the ship center coordinates coincide with the ship docking center coordinates;
- extracting wharf inclination information corresponding to the final wharf from the harbor map;
- transmitting the wharf inclination information to the ship and causing the ship to turn by an angle corresponding to the wharf inclination information;
- and
- matching the harbor map and the ship map upon confirming that the ship docking center coordinates and the ship center coordinates match after the ship has turned by the angle corresponding to the wharf inclination information.
6 more elements
Dependencies are inferred from the claim text.