Berthing control method based on marker and wireless communication sensor and apparatus thereof

Abstract

According to an embodiment of the present invention, disclosed is a berthing control method based on a marker and a wireless communication sensor.

Description

Marker and wireless communication sensor-based eye contact control method and device thereof

[0001] The present invention relates to a control method for berthing a ship.

[0002] When small vessels like boats are finished using them, users often trailer them, placing them on trailers. Accurately berthing a vessel on a trailer requires precise calculations of relative distances and angles. Berthing via a trailer, rather than a fixed dock, requires expensive berthing position measurement equipment, taking into account the trailer's inherent mobility.

[0003] More specifically, in order to automatically load a leisure boat onto a trailer using the autodocking function, the relative position between the vessel and the trailer must be estimated with a positional accuracy of several centimeters between the trailer and the leisure boat. However, since the performance of GPS installed on boats generally has a positional accuracy of several meters, there is a problem that it is difficult to safely perform autodocking without installing an expensive separate autodocking device.

[0004] The technical problem that the present invention seeks to solve is to provide a method that can safely perform automatic docking using only a marker and a wireless communication sensor.

[0005] A method according to one embodiment of the present invention for solving the above technical problem includes the steps of: receiving a signal of intent to berth; determining whether a marker of a trailer is present within the field of view of a camera of a ship; generating a control command of the ship based on a result of determining whether a marker is present and data received from a wireless communication sensor of the trailer; and performing berthing control of the ship for the trailer based on the generated control command.

[0006] According to another embodiment of the present invention for solving the above technical problem, a device includes a memory storing at least one program; and a processor performing a calculation by executing the at least one program, wherein the processor, upon receiving a berthing signal, determines whether a marker of a trailer is present within the field of view of a camera of the ship, and generates a control command of the ship based on a result of determining whether the marker is present and data received from a wireless communication sensor of the trailer.

[0007] One embodiment of the present invention can provide a computer-readable recording medium storing a method for executing the above method.

[0008] According to the present invention, automatic docking can be safely performed even without expensive position measuring equipment for automatic docking.

[0009] The present invention can provide high-accuracy positioning data to a vessel even at a narrow and difficult-to-access berthing angle, such as a trailer.

[0010] According to the present invention, by comprehensively analyzing camera and wireless communication sensor data, the relative distance and relative azimuth from the eye contact position can be obtained, and automatic eye contact can be precisely performed.

[0011] Additionally, the present invention enables a vessel to accurately recognize the relative distance to the berthing position over a wide range.

[0012] In particular, according to the present invention, it is possible to automatically berth a ship without human intervention even at an unfixed berthing position.

[0013] Figure 1 is a drawing conceptually explaining a process to which the present invention is applied.

[0014] Figure 2 is a drawing for explaining the wireless communication process between a ship and a trailer.

[0015] Figure 3 is a drawing conceptually explaining a method for controlling eye contact according to the present invention.

[0016] FIG. 4 is a diagram illustrating a method for a docking control device to estimate a relative distance of a vessel from a trailer by performing a positioning algorithm.

[0017] Figure 5 is a drawing illustrating how a docking control device estimates the relative distance of a vessel from a trailer using a marker.

[0018] Fig. 6 is a block diagram showing an example of an eyepiece control device according to the present invention.

[0019] Figure 7 is a flowchart illustrating an example of a method for controlling eye contact.

[0020] A method according to one embodiment of the present invention for solving the above technical problem includes the steps of: receiving a signal of intent to berth; determining whether a marker of a trailer is present within the field of view of a camera of a ship; generating a control command of the ship based on a result of determining whether a marker is present and data received from a wireless communication sensor of the trailer; and performing berthing control of the ship for the trailer based on the generated control command.

[0021] In the above method, the marker may be image data that can be read using a predetermined reading technique when captured by the camera to obtain predetermined information.

[0022] In the above method, the step of generating a control command for the ship may generate the control command using only data received from the wireless communication sensor if the marker does not exist within the field of view as a result of determining the presence or absence of the marker.

[0023] In the above method, the step of generating a control command for the vessel calculates a relative distance between the position of the trailer and the current position of the vessel based on data received from the wireless communication sensor, and generates a first control command for moving the vessel to an adjacent distance of the trailer based on the calculated relative distance, and the step of performing the berthing control can move the vessel based on the generated first control command.

[0024] In the above method, the step of generating a control command for the ship may generate the control command by using the result of reading the marker and data received from the wireless communication sensor, if a marker exists within the field of view as a result of determining the presence or absence of the marker.

[0025] In the above method, the wireless communication sensor may be a UWB (Ultra-wideband) sensor.

[0026] In the above method, the wireless communication sensor includes at least a first sensor, a second sensor, and a third sensor, and the first sensor, the second sensor, and the third sensor are arranged symmetrically with respect to the marker based on a predetermined technique, and the step of generating a control command for the ship can generate a second control command including a distance and an azimuth for the ship to move to the trailer based on a result of reading the marker and data received from the first sensor, the second sensor, and the third sensor.

[0027] According to another embodiment of the present invention for solving the above technical problem, a device includes a memory storing at least one program; and a processor performing a calculation by executing the at least one program, wherein the processor, upon receiving a berthing signal, determines whether a marker of a trailer is present within the field of view of a camera of the ship, and generates a control command of the ship based on a result of determining whether the marker is present and data received from a wireless communication sensor of the trailer.

[0028] In the above device, the marker may be image data that can be read using a predetermined reading technique when captured by the camera to obtain predetermined information.

[0029] In the above device, the processor can generate the control command using only data received from the wireless communication sensor if the marker does not exist within the field of view as a result of determining the presence or absence of the marker.

[0030] In the above device, the processor calculates a relative distance between the position of the trailer and the current position of the ship based on data received from the wireless communication sensor, generates a first control command for moving the ship to an adjacent distance of the trailer based on the calculated relative distance, and moves the ship based on the generated first control command.

[0031] In the above device, the processor can, if a marker exists within the field of view as a result of determining the presence or absence of the marker, generate the control command using the result of reading the marker and data received from the wireless communication sensor.

[0032] In the above device, the wireless communication sensor may be a UWB sensor.

[0033] In the above device, the wireless communication sensor includes at least a first sensor, a second sensor, and a third sensor, and the first sensor, the second sensor, and the third sensor are arranged symmetrically with respect to the marker based on a predetermined technique, and the processor can generate a second control command including a distance and an azimuth for the ship to move to the trailer based on a result of reading the marker and data received from the first sensor, the second sensor, and the third sensor.

[0034] One embodiment of the present invention can provide a computer-readable recording medium storing a method for executing the above method.

[0035] The present invention is capable of various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, as well as the methods for achieving them, will become clearer with reference to the embodiments described in detail below, along with the drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

[0036] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals, and redundant descriptions thereof will be omitted.

[0037] In the following examples, the terms first, second, etc. are not used in a limiting sense, but are used for the purpose of distinguishing one component from another.

[0038] In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0039] In the following examples, terms such as “include” or “have” mean that a feature or component described in the specification is present, and do not preclude the possibility that one or more other features or components may be added.

[0040] In some embodiments, where the implementation is otherwise feasible, a particular process sequence may be performed in a different order than described. For example, two processes described in succession may be performed substantially simultaneously, or in a reverse order from the described order.

[0041] Figure 1 is a drawing conceptually explaining a process to which the present invention is applied.

[0042] In FIG. 1, the first vessel (110) is a vessel that approaches the trailer (130) closely so that the marker of the trailer (130) can be identified by the camera, and the second vessel (120) is a vessel that is far from the trailer (130) so that the marker of the trailer (130) cannot be identified by the camera. The present invention proposes a methodology that enables automatic berthing not only for the first vessel (110) but also for the second vessel (120). The trailer (130) is typically located at a mooring (150), but the method according to the present invention controls berthing by using a marker attached to the trailer (130) and a wireless communication sensor (160), so information about the mooring (150) is not required. When the vessel is loaded on the trailer (130), the transport vehicle (140) loads the trailer (130) and moves to the warehouse.

[0043] A trailer (130) refers to a dedicated vehicle that can load a vessel that has completed its voyage, and is typically connected to a transport vehicle (140). In the present invention, the trailer (130) may include a marker and a wireless communication sensor (160).

[0044] In the present invention, the marker may be image data that can be read using a predetermined reading technique when captured by a camera to obtain predetermined information. The marker may be present at a specific location on the trailer (130). In addition, in the present invention, a wireless communication sensor (160) may implement communication between a ship and a trailer (130). At least one wireless communication sensor (160) is installed on a ship that is a berthing target, and a number greater than a preset standard number may be installed on the trailer (130). Here, the standard number may be three, but is not limited thereto. If the number of wireless communication sensors (160) installed on the trailer (130) is less than the preset standard number, sufficient information to perform automatic berthing is not collected, and thus berthing control according to the present invention may be impossible.

[0045] The berthing control device according to the present invention performs operations for berthing control of a vessel, and then transmits control commands to the vessel's main controller to control the vessel's movements. Therefore, the berthing control device may be physically or logically incorporated into the first vessel (110) and the second vessel (120).

[0046] Figure 2 is a drawing for explaining the wireless communication process between a ship and a trailer.

[0047] The vessel of FIG. 2 is assumed to be the first vessel (110) of FIG. 1. The first vessel (110) includes a receiver capable of receiving sensing values ​​from a wireless communication sensor to communicate with a trailer (130). Furthermore, although not shown in FIG. 2, the first vessel (110) is assumed to necessarily include a camera for recognizing the presence or absence of a marker attached to the trailer (130).

[0048] Referring to FIG. 2, the trailer (130) includes a total of four wireless communication sensors. Assuming that the preset standard number is three, the number of wireless communication sensors included in the trailer (130) exceeds the standard number, and therefore, the first vessel (110) is a vessel capable of berthing control for the trailer (130). In the present invention, the wireless communication sensors may be ultra-wideband sensors (UWB sensors).

[0049] According to the conditions described above, the first vessel (110) can capture and read the marker of the trailer (130) through a camera, and use the data received from four wireless communication sensors of the trailer (130) together with the result of reading the marker to calculate the relative distance and relative azimuth to the berthing position through a positioning algorithm. After the relative distance and relative azimuth are calculated, the first vessel (110) can control the first vessel (110) in a manner of continuously narrowing the relative distance and maintaining the relative azimuth at a specific angle, thereby allowing the first vessel (110) to berth on the trailer (130).

[0050] The docking control device estimates the position coordinates of the first vessel (110) using data received from the UWB installed in the trailer (130) in FIG. 2, photographs the central marker of the trailer (130) with the camera of the first vessel (110), and estimates the position coordinates of the first vessel (110) using the photographing result. Then, the two estimated position coordinates are corrected using the Kalman filter technique to finally estimate the position of the vessel.

[0051] At this time, the four UWB sensors installed on the trailer (130) are arranged symmetrically based on the center marker of the trailer (130). In addition, assuming the trailer (130) as a rectangular solid as shown in FIG. 2, the UWB sensors are arranged as dispersed as possible so that only one UWB sensor is arranged at the same height on one side of the trailer (130). In a situation like FIG. 2, in order for the berthing control device to execute automatic berthing control for the first vessel (110), the following relationship must be established between the set values ​​of the first vessel (110) and the trailer (130).

[0052] First, in Fig. 2, the length of the interval X1 of the UWB sensor existing on one side of the trailer (130) must be greater than or equal to X2, which is the distance between the bow of the ship and the UWB sensor receiver. In addition, the center marker of the trailer (130) must be placed at 0.5H1, which is half the height of H1, which is the total height of the trailer (130). In addition, H1, which is the total height of the trailer (130), must be greater than (H2 + H3), which is the total height of the UWB receiver of the first ship (110). The docking control device according to the present invention can perform automatic docking with the first ship (110) with high accuracy in a state where the center marker and the UWB sensors are appropriately placed on the trailer (130) according to the above-described conditions. The specific operation of the docking control device will be described later with reference to Figs. 3 to 5.

[0053] As an optional embodiment, the arrangement of the UWB sensor attached to the trailer (130) may be optimized through a genetic algorithm (GA).

[0054] Figure 3 is a drawing conceptually explaining a method for controlling eye contact according to the present invention.

[0055] Hereinafter, a device performing a different eye contact control method according to the present invention will be abbreviated as a "eye contact control device." Furthermore, in Fig. 3, it is assumed that all of the basic conditions described in Fig. 2 are met in order to perform eye contact control.

[0056] The docking control device can receive the user's docking intent (S310). There may be various ways for the docking control device to receive the user's docking intent in step S310. For example, the user may directly input an input device on the vessel to perform auto-docking. In this case, the user's input may include not only a physical input to the vessel's control device but also a voice input to the vessel's microphone. Furthermore, the user may input a predetermined input to a user terminal used by the user to perform an auto-docking command, and the auto-docking command input on the user terminal may be transmitted to the docking control device via communication and executed.

[0057] After receiving the user's intention to place the eyepiece, the eyepiece control device may initiate a positioning process (S320). The positioning process may include a step of detecting marker and wireless communication sensor data (S321), a step of collecting positioning data (S323), and a step of executing a positioning algorithm based on the collected positioning data (S325).

[0058] The berthing control device can determine whether a marker of a trailer (130) is present within the field of view of a camera of the ship. More specifically, when the trailer (130) is photographed by the camera of the ship, the berthing control device determines whether the trailer (130) is close enough to identify a marker, and if the marker is close enough, the berthing control device can analyze the image generated by the camera and transmit the identified marker to the next step (S323) for analysis. In addition, the berthing control device can receive data from a wireless communication sensor of the trailer (130) and transmit the received data to the next step (S323) for use with the marker.

[0059] The positioning data collected in step S323 may be transmitted to step S325 for performing a positioning algorithm. The docking control device may calculate the relative distance and relative azimuth for determining the docking position by using the time point at which the presence of the marker on the trailer (130) is detected by the ship's camera, the data received from the wireless communication sensor of the trailer (130), and the time information of the data.

[0060] When the relative distance and relative azimuth to the berthing position between the ship and the trailer (130) are calculated, the automatic berthing module generates a control command to perform automatic berthing using the calculated relative distance and relative azimuth to the berthing position (S330), and the generated control command is transmitted to the ship (boat) to control the movement of the ship.

[0061] The description of FIG. 3 described above can be applied to a case where the distance between the vessel and the trailer (130) is close enough that the vessel to be docked can identify the marker of the trailer (130) like the first vessel (110) of FIG. 1. That is, when the distance between the vessel and the trailer (130) is close, the docking control device can obtain the relative coordinates and relative azimuth with respect to the docking position of the first vessel (110) through the marker captured by the camera, and the time difference of signal from the wireless communication sensor (160). The docking control device can perform a known positioning algorithm using the relative coordinates with respect to the docking position and the time difference of signals between a plurality of wireless communication sensors (160) attached to the trailer (130), and as a result of the positioning algorithm, the relative distance and relative azimuth between the first vessel (110) and the trailer (130) can be calculated.

[0062] Meanwhile, the berthing control method according to the present invention can be effectively applied even when the distance between the vessel and the trailer (130) is a long distance. Here, the distance between the vessel and the trailer (130) is a long distance, which means that the berthing control process is between the second vessel (120) and the trailer (130) in FIG. 1. Since the second vessel (120) is far away from the trailer (130), the marker of the trailer (130) cannot be identified within the field of view of the camera of the second vessel (120). Therefore, the berthing control device can receive data from a wireless communication sensor attached to the trailer (130) according to predetermined installation conditions (conditions described in FIG. 2) and apply the difference in the time at which each data was received to a positioning algorithm to calculate the relative distance to the berthing position. Thereafter, the berthing control device can input the calculated relative distance to the berthing position as an input value of the automatic berthing module, thereby controlling the second vessel (120) to approach the trailer (130) in a direction that reduces the relative distance from the trailer (130). In an embodiment, when the second vessel (120) is sufficiently close to the trailer (130), the marker of the trailer (130) can be identified, and thus automatic docking to the trailer (130) can be achieved through the same process as the first vessel (110).

[0063] FIG. 4 is a diagram illustrating a method for a docking control device to estimate a relative distance of a vessel from a trailer by performing a positioning algorithm.

[0064] In the present invention, a method of calculating a relative distance between a vessel and a trailer (130) by using a time difference of data (signals) received from wireless communication sensors (160) of a trailer (130) may be a previously known positioning algorithm. Positioning algorithms may be classified into distance-based positioning, angle-based positioning, and signal strength-based positioning, and the berthing control device receives signals from a plurality of wireless communication sensors (160) that are arranged as far apart as possible from a central marker of the trailer (130), and performs trilateration (triangulation) based on differences in the strength or arrival times of the received signals, thereby estimating the distance at which the vessel is from the trailer (130). At this time, as described above, a Kalman Filter algorithm may be applied as a base algorithm for processing a marker identification algorithm and a UWB-based positioning algorithm.

[0065] In Fig. 4, the coordinates of the target ship (400) were estimated as (x, y) through a positioning algorithm, and Fig. 4 intuitively shows that data received from the first sensor (410), the second sensor (420), and the third sensor (430), which are UWB sensors, were used to estimate the coordinates of the target ship (400). After the target ship (400) compares the time information of the signals received from the first sensor (410), the second sensor (420), and the third sensor (430), the target ship can roughly determine the sensor that is closer to the ship and the sensor that is farther from the ship through the time gap of the signals. In the present invention, since at least three UWB sensors are arranged as wireless communication sensors in the trailer (130), the trilateration (triangulation) illustrated in Fig. 4 can be similarly applied.

[0066] Figure 5 is a drawing illustrating how a docking control device estimates the relative distance of a vessel from a trailer using a marker.

[0067] When the first vessel (110) is sufficiently close to the trailer (130), if it is recognized that a marker of the trailer (130) exists within the angle of view of the camera of the first vessel (110), the berthing control device can estimate the relative distance between the first vessel (110) and the trailer (130) by inversely calculating the ratio of the size of the marker in the image captured by the camera and the physical size of the marker obtained in advance. Specifically, the positioning method using a marker (April Tag) refers to a method of recognizing a marker including a specific pattern, decoding the pattern inside, using the pixel coordinates of the corners (four edges) of the marker, and calculating the tag position and rotation direction (tilt) in the camera coordinate system through this. The berthing control device can then convert the calculated result into the vessel coordinate system, and then fuse it with the relative position calculated from UWB using a Kalman filter to derive the final relative distance and relative bearing (azimuth).

[0068] As described above, in order to accurately perform automatic docking, the docking control device applies a Kalman filter to utilize both the relative distance estimated through the marker of the trailer (130) and the relative distance estimated through the signal time difference of multiple wireless communication sensors of the trailer (130), and uses the positioning data obtained therefrom as an input value of the automatic docking module to precisely perform automatic docking.

[0069] Fig. 6 is a block diagram showing an example of an eyepiece control device according to the present invention.

[0070] Referring to FIG. 6, it can be seen that the eyepiece control device (600) includes a communication unit (610), a processor (630), and a memory (650).

[0071] The communication unit (610) may include one or more components that enable wired / wireless communication with external devices. For example, the communication unit (610) may include at least one piece of hardware necessary to implement short-range communication, such as Wi-Fi or Bluetooth, in a network provided by a communication network, or to implement various communications, including the Internet, when a LAN cable is connected.

[0072] The memory (650) is hardware that stores various data processed within the eye control device (600), and can store a program for processing and controlling the processor (630). The memory (650) may include a random access memory (RAM) such as a dynamic random access memory (DRAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a CD-ROM, a Blu-ray or other optical disk storage, a hard disk drive (HDD), a solid state drive (SSD), or a flash memory.

[0073] The processor (630) can control the overall operation of the eyepiece control device (600). For example, the processor (630) can control the operation of the input unit (not shown), display (not shown), communication unit (610), memory (650), etc. included in the eyepiece control device (600) by executing programs stored in the memory (650).

[0074] For example, when receiving a berthing signal, the processor (630) can determine whether a marker of a trailer is within the field of view of the camera of the ship, and generate a control command for the ship based on the result of determining whether a marker is present and data received from a wireless communication sensor of the trailer. The main controller of the ship can control the ship to perform berthing control for the trailer based on the control command generated by the berthing control device (600).

[0075] In one embodiment, the marker may be image data that can be read using a predetermined reading technique when captured by a camera to obtain predetermined information.

[0076] In one embodiment, the processor (630) can generate a control command using only data received from a wireless communication sensor if the presence or absence of a marker is determined to be absent within the field of view.

[0077] In one embodiment, the processor (630) calculates a relative distance between the position of the trailer and the current position of the vessel based on data received from a wireless communication sensor, generates a first control command for moving the vessel to a close distance from the trailer based on the calculated relative distance, and moves the vessel based on the generated first control command. Here, the first command may be a control command transmitted to the vessel when the vessel is located at a distance from the trailer (130).

[0078] In one embodiment, the processor (630) may, if the marker is present within the field of view as a result of determining the presence or absence of a marker, generate a control command using the result of reading the marker and data received from a wireless communication sensor.

[0079] In one embodiment, the wireless communication sensor includes at least a first sensor, a second sensor, and a third sensor, wherein the first sensor, the second sensor, and the third sensor are symmetrically arranged with respect to the marker based on a predetermined technique, and the processor (630) can generate a second control command including a distance and an azimuth for the vessel to move to the trailer based on a result of reading the marker and data received from the first sensor, the second sensor, and the third sensor. Here, the second command may be a control command transmitted to the vessel when the vessel is located at a short distance from the trailer (130).

[0080] When the eye control device (600) is implemented as a physical device, the processor (630) may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

[0081] In addition, when the eye control device (600) of the present invention is implemented in the form of an application (program) that runs on an integrated data processing device such as a server, the processor (630) and memory (650) included in the eye control device (600) may be implemented in the form of a virtual machine that implements hardware such as DSPs, microcontrollers, RAM, ROM, HDD, etc. as software (command script).

[0082] Figure 7 is a flowchart illustrating an example of a method for controlling eye contact.

[0083] Since the method according to Fig. 7 can be implemented by the eye control device (600) described in Fig. 6, it will be described below with reference to Figs. 1 to 6, and any description that overlaps with the content already described will be omitted.

[0084] The eyepiece control device can receive the eyepiece signal in various ways (S710).

[0085] The docking control device can determine the presence or absence of a marker on the trailer within the field of view of the ship's camera (S730).

[0086] The docking control device generates a control command for the ship based on the result of determining the presence or absence of a marker (S750), and can control the docking of the ship with the generated control command (S770).

[0087] The present invention can provide high accuracy data even at narrow and difficult to access angles such as trailers.

[0088] According to the present invention, by comprehensively analyzing camera and wireless communication sensor data, the relative distance and relative azimuth from the eye contact position can be obtained, and automatic eye contact can be precisely performed.

[0089] Additionally, the present invention enables a vessel to accurately recognize the relative distance to the berthing position over a wide range.

[0090] In particular, according to the present invention, it is possible to automatically berth a ship without human intervention even at an unfixed berthing position.

[0091] The embodiments of the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded on a computer-readable medium. At this time, the medium may include a magnetic medium such as a hard disk, a floppy disk, and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magneto-optical medium such as a floptical disk, and a hardware device specifically configured to store and execute program instructions, such as a ROM, a RAM, a flash memory, etc.

[0092] Meanwhile, the computer program may be specifically designed and constructed for the present invention, or may be one known and available to those skilled in the computer software field. Examples of computer programs may include not only machine language code, such as that generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

[0093] The specific implementations described in the present invention are exemplary embodiments and do not limit the scope of the present invention in any way. For the sake of brevity, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the lines connecting or connecting members between components illustrated in the drawings are merely representative of functional connections and / or physical or circuit connections, and may be replaced or represented as various additional functional connections, physical connections, or circuit connections in an actual device. In addition, unless specifically mentioned as “essential,” “important,” etc., a component may not be absolutely necessary for the application of the present invention.

[0094] The use of the term "above" and similar referential terms in the specification of the present invention (especially in the claims) may refer to both singular and plural. Furthermore, if a range is described in the present invention, it includes inventions that apply individual values ​​within the range (unless otherwise stated), and is equivalent to describing each individual value constituting the range in the detailed description of the invention. Finally, unless the order of the steps constituting the method according to the present invention is explicitly stated or otherwise stated to the contrary, the steps may be performed in any appropriate order. The present invention is not necessarily limited by the order in which the steps are described. The use of all examples or exemplary terms (e.g., "for example," etc.) in the present invention is merely intended to illustrate the present invention in detail, and the scope of the present invention is not limited by the examples or exemplary terms, unless otherwise defined by the claims. Furthermore, those skilled in the art will appreciate that various modifications, combinations, and variations can be made within the scope of the appended claims or their equivalents, depending on design conditions and factors.

[0095] One embodiment of the present invention can be used in an industry that manufactures leisure boats.

Claims

1. Step of receiving eye examination; A step of determining whether a trailer marker is present within the camera field of view of the ship; A step of generating a control command for the vessel based on the result of determining the presence or absence of a marker and data received from the wireless communication sensor of the trailer; and A marker and wireless communication sensor-based berthing control method, comprising a step of performing berthing control of the vessel to the trailer based on a generated control command.

2. In paragraph 1, The above marker is, A marker and wireless communication sensor-based eye control method, which is image data that can be read using a predetermined reading technique when captured by the above camera and obtain predetermined information.

3. In paragraph 1, The step of generating the control command of the above vessel is: A marker and wireless communication sensor-based eye control method, which generates the control command using only data received from the wireless communication sensor when the presence or absence of the marker is determined to be absent within the field of view.

4. In paragraph 3, The step of generating the control command of the above vessel is: Calculating the relative distance between the position of the trailer and the current position of the ship based on the data received from the wireless communication sensor, and generating a first control command to move the ship to a distance adjacent to the trailer based on the calculated relative distance, The step of performing the above eye contact control is as follows: A marker and wireless communication sensor-based berthing control method for moving the vessel based on the first control command generated above.

5. In paragraph 1, The step of generating the control command of the above vessel is: A marker and wireless communication sensor-based eye control method, which, as a result of determining the presence or absence of the marker, if a marker exists within the field of view, generates the control command using the result of reading the marker and data received from the wireless communication sensor.

6. In paragraph 1, The above wireless communication sensor is a marker and wireless communication sensor-based eye contact control method, which is a UWB sensor.

7. In paragraph 1, The above wireless communication sensor, comprising at least a first sensor, a second sensor and a third sensor, The first sensor, the second sensor and the third sensor, Based on a given technique, they are arranged symmetrically with respect to the above markers, The step of generating the control command of the above vessel is: A marker and wireless communication sensor-based berthing control method, which generates a second control command including a distance and azimuth for the vessel to move to the trailer based on the result of reading the marker and data received from the first sensor, the second sensor, and the third sensor.

8. A computer-readable recording medium storing a program for executing the method according to paragraph 1.

9. Memory in which at least one program is stored; and By executing at least one program, a processor is included that performs an operation, The above processor, Upon receiving the berthing notice, the presence or absence of the trailer marker within the field of view of the ship's camera is determined. A marker and wireless communication sensor-based berthing control device that generates a control command for the vessel based on the result of determining the presence or absence of the marker and data received from the wireless communication sensor of the trailer.

10. In paragraph 9, The above marker is, A marker and wireless communication sensor-based eyepiece control device, which is image data that can be read using a predetermined reading technique when captured by the above camera and obtain predetermined information.

11. In paragraph 9, The above processor, A marker and wireless communication sensor-based eye control device that generates the control command using only data received from the wireless communication sensor when the presence or absence of the marker is determined to be absent within the field of view.

12. In paragraph 11, The above processor, Calculating the relative distance between the position of the trailer and the current position of the ship based on the data received from the wireless communication sensor, and generating a first control command to move the ship to a distance adjacent to the trailer based on the calculated relative distance, A marker and wireless communication sensor-based berthing control device that moves the vessel based on the first control command generated above.

13. In paragraph 9, The above processor, A marker and wireless communication sensor-based eyepiece control device that, when determining the presence or absence of the marker, if a marker exists within the field of view, generates the control command using the result of reading the marker and data received from the wireless communication sensor.

14. In paragraph 9, The above wireless communication sensor is a marker and wireless communication sensor-based eye control device, which is a UWB sensor.

15. In paragraph 9, The above wireless communication sensor, comprising at least a first sensor, a second sensor and a third sensor, The first sensor, the second sensor and the third sensor, Based on a given technique, they are arranged symmetrically with respect to the above markers, The above processor, A marker and wireless communication sensor-based berthing control device that generates a second control command including a distance and azimuth for the vessel to move to the trailer based on the result of reading the marker and data received from the first sensor, the second sensor, and the third sensor.

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