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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 12043248 B1

PDFFull Text
Date of Patent:
Jul. 23, 2024

Filed:

Jun. 28, 2021

Precise truck parking method, device, and system in quayside container crane area

Applicant:

Beijing Tusen Zhitu Technology Co., Ltd., Beijing, CN;

Inventors:

Yiming Li, Shanghai, CN;

Xu Xiao, Shanghai, CN;

Yuhe Jin, Shanghai, CN;

Jinpeng Cai, Shanghai, CN;

Nan Wu, Beijing, CN;

Assignee:

Beijing Tusen Zhitu Technology Co., Ltd., Beijing, CN;

Attorney:

Perkins Coie LLP

Primary Examiner:

Redhwan K Mawari

Int. Cl.
CPC ...
B60W 30/06 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 50/00 (2006.01); G01S 7/48 (2006.01); G01S 17/42 (2006.01); G01S 17/931 (2020.01); G06F 18/232 (2023.01); G06T 7/521 (2017.01); G06V 10/75 (2022.01); G08G 1/00 (2006.01); B66C 13/18 (2006.01); B66C 19/00 (2006.01);
U.S. Cl.
CPC ...
B60W 30/06 (2013.01); B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 50/0098 (2013.01); G01S 7/4802 (2013.01); G01S 17/42 (2013.01); G01S 17/931 (2020.01); G06F 18/232 (2023.01); G06T 7/521 (2017.01); G06V 10/751 (2022.01); G08G 1/205 (2013.01); B60W 2050/006 (2013.01); B60W 2300/12 (2013.01); B60W 2420/408 (2024.01); B60W 2556/45 (2020.02); B66C 13/18 (2013.01); B66C 19/002 (2013.01); G06T 2207/10028 (2013.01); G06V 2201/08 (2022.01);
Abstract

A method, a device, and a system for parking a truck accurately in a shore crane area are provided. A vehicle controller transmits a parking request for a truck to be parked. A main controller receives the parking request and acquires real-time point cloud data by scanning one or more lanes crossed by a shore crane using one or more LiDARs. The main controller clusters the real-time point cloud data to obtain a set of point clouds for the truck and applies an Iterative Closest Point algorithm to the set of point clouds and a vehicle point cloud model to obtain a real-time distance from the truck to a target parking space. The vehicle controller controls the truck to stop at the target parking space based on the real-time distance.

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