Bridge crane operation shipping space ship map management system

Abstract

The invention discloses a bridge crane operation shipping space ship map management system, which is characterized in that a shipping space ship map of a target operation ship is loaded to a bridge crane driver auxiliary operation system, and a driver can plan a bridge crane trolley running path in advance by means of a positioning position of an operation target box displayed in the shipping space ship map of the auxiliary operation system and by observing a field environment; even if a driver is difficult to clearly observe the operation target box during operation of the bridge crane, the position of the operation target box on the target operation ship can be accurately judged according to the real environment where the bridge crane trolley currently walks and the ship body environment where the operation target box is located in the shipping space ship map, the time for artificially planning the operation path of the bridge crane trolley is shortened, and the working efficiency of the bridge crane trolley is improved. And the operation efficiency of the bridge crane is improved. Besides, the shipping space ship graph of the target workboat is corrected, and the subsequent bridge crane scheme of the target workboat is adjusted in a targeted manner on the basis of the correction result, so that the operation efficiency and the operation accuracy are both considered in the subsequent bridge crane operation of the target workboat.

Description

Technical Field

[0001] The invention relates to the technical field of port operation, and in particular to a bridge crane operation space ship chart management system. Background Art

[0002] During the operation of the bridge crane at the container terminal, the bridge crane driver usually manually determines the operating target box of each bridge crane based on the real-time images of the target ship collected by the quay crane remote control system. However, due to reasons such as the obstruction of the video window, the driver may not be able to clearly observe the operating target box during the operation of the bridge crane, making it difficult for the driver to plan the operation path of the bridge crane trolley in advance, resulting in reduced operating efficiency.

[0003] The ship chart can reflect the placement of each container on the target ship, and can be used as a basis for the driver to quickly find the target container and plan the operation path of the bridge crane trolley. However, the placement of the container shown on the ship chart may not match the actual placement. For such target ships with a high error rate, the terminal can formulate different bridge crane plans for container loading and unloading operations. For example, for target ships with a low error rate, it is marked as: the driver can rely on the ship chart for bridge crane operations. For target ships with a high error rate, it is marked as: the ship chart is only for reference, and the driver's manual operation is still the main method.

[0004] Therefore, how to use the space ship map to achieve efficient bridge crane operation for the target ship, and after completing the bridge crane operation, to correct the space ship map, and use the correction result as the basis for adjusting the bridge crane plan for subsequent bridge crane operations on the target ship, and improve the pertinence of the bridge crane plan is a technical problem that this application needs to solve. Summary of the invention

[0005] The present invention is based on the ship correction result of the target operation ship's space, and provides a bridge crane operation space ship diagram management system by adjusting the subsequent bridge crane plan for the target operation ship, so that the subsequent bridge crane plan for the target operation ship is more targeted and the bridge crane operation is more efficient.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] Provided is a bridge crane operation space ship chart management system, including:

[0008] The ship map acquisition and loading module is used to obtain the ship map of the target operation ship and load it into the bridge crane driver auxiliary operating system;

[0009] A code scanning function activation module, connected to the auxiliary operating system, used to activate the code scanning function of the bridge crane code scanning device installed on the bridge crane by taking the selection of the operation target box in the space ship map displayed in the auxiliary operating system by the bridge crane driver as an instruction;

[0010] The bridge crane code scanning device is used to generate a grabbing instruction for the operation target box after processing at least one code image scanned by itself during the movement of the bridge crane trolley;

[0011] The operation box grabbing and ship map correction module is connected to the bridge crane scanning device, and is used to execute the grabbing action of the operation target box according to the operation target box grabbing instruction generated by the bridge crane scanning device, and execute the ship map correction process after completing the grabbing, and adjust the subsequent bridge crane plan for the target operation ship based on the correction result.

[0012] Preferably, the bridge crane code scanning device comprises:

[0013] A distance detection unit, used for detecting a first vertical distance from the scanned code image in real time based on the scanned code image as an instruction;

[0014] a code image vertex recognition unit, connected to the distance detection unit, and configured to perform a vertex recognition action on the scanned code image, taking the first vertical distance detected to be less than a preset first distance threshold as an instruction;

[0015] An angle calculation unit, connected to the code map vertex recognition unit, is used to calculate the deflection angle formed by the straight line and the vertical line between each vertex belonging to the same code map and the center point of the field of view of the bridge crane code scanning device, using all the vertices of the code map recognized by the code map vertex recognition unit as instructions;

[0016] an angle deviation identification unit, connected to the angle calculation unit, for calculating whether the absolute angle difference of the deflection angles associated with each of the vertices belonging to the same code image is less than a preset angle difference threshold,

[0017] If yes, then generate the operation target box grabbing instruction;

[0018] If not, the operation target box grabbing instruction is not generated.

[0019] Preferably, the operation box grabbing and ship map correction module includes:

[0020] A grabbing and locking monitoring unit, used to generate a tripping monitoring instruction after monitoring that the bridge crane completes the grabbing and locking action of the operation target box;

[0021] A tripping monitoring and cabin information acquisition unit, connected to the grabbing and locking monitoring unit, is used to monitor whether the operation target box has a tripping action within a preset time period after receiving the tripping monitoring instruction, and after monitoring the tripping action of the operation target box, obtain the second cabin information bound to the tripped buckle, and generate and output a ship map correction instruction;

[0022] A space information acquisition unit, connected to the tripping monitoring and space information acquisition unit, is used to acquire the first space information of the operation target box where the tripping action occurs in the space ship map acquired by the ship map acquisition and loading module after receiving the ship map correction instruction;

[0023] a ship chart correction unit, connected to the trip monitoring and cabin information acquisition unit and the cabin information acquisition unit, respectively, for determining whether the second cabin information is consistent with the first cabin information,

[0024] If not, the first space information is updated in the space ship map with the second space information.

[0025] Preferably, the grab lock monitoring unit comprises:

[0026] A grasping condition fulfillment instruction receiving subunit, used to receive the grasping condition fulfillment instruction sent by the bridge crane code scanning device;

[0027] The tripping monitoring instruction generating subunit is used to generate the tripping monitoring instruction after the remote control system controls the bridge crane to complete the grabbing and locking action of the operation target box according to the grabbing condition.

[0028] Preferably, after generating the work target box grabbing instruction for the work target box, the bridge crane code scanning device continues to detect the second vertical distance from the code image attached to the top of the work target box, and determines whether the second vertical distance is less than a preset second distance threshold. If so, it generates the grabbing condition achievement instruction.

[0029] Preferably, the second vertical distance associated with the same work target box is smaller than the first vertical distance, and the first vertical distance is: the distance detection unit in the bridge crane scanning device uses the scanning module's first complete scan of the code image attached to the top of the work target box as an instruction, and detects in real time the first vertical distance between the code image and the scanned code image.

[0030] The present application also provides a method for managing a bridge crane operation space ship chart, which is implemented by the bridge crane operation space ship chart management system, comprising the steps of:

[0031] S1, the remote control system obtains the ship's cabin map of the target operation ship and loads it into the bridge crane driver assistance operating system;

[0032] S2, the remote control system activates the scanning function of the bridge crane scanning device installed on the bridge crane by taking the bridge crane driver's selection of the operation target box in the space ship map displayed in the auxiliary operating system as an instruction;

[0033] S3, the bridge crane code scanning device is used to generate a grabbing instruction for the operation target box after processing at least one code image scanned by itself in the process of following the movement of the bridge crane;

[0034] S4, the remote control system executes the grabbing action of the operation target box according to the grabbing instruction of the operation target box, and executes the ship map correction process after completing the grabbing, and adjusts the subsequent bridge crane plan for the target operation ship based on the correction result.

[0035] The present invention has the following beneficial effects:

[0036] 1. Load the ship chart of the target operation ship into the auxiliary operation system of the bridge crane driver. With the help of the positioning position of the operation target box displayed in the ship chart of the auxiliary operation system and by observing the on-site environment, the driver can plan the operation path of the bridge crane trolley in advance. Even if the bridge crane is in operation, it is difficult for the driver to clearly observe the operation target box, but according to the actual environment in which the bridge crane trolley is currently moving and the hull environment of the operation target box in the ship chart, the driver can accurately judge the position of the operation target box on the target operation ship, thereby reducing the time for manual planning of the operation path of the bridge crane trolley and improving the operation efficiency of the bridge crane.

[0037] 2. By correcting the ship's cargo hold diagram of the target operating vessel and taking the correction result as the basis, the subsequent bridge crane plan for the target operating vessel is adjusted in a targeted manner. In the subsequent bridge crane operation of the target operating vessel, both operation efficiency and operation accuracy are taken into account. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 It is a structural schematic diagram of a bridge crane operation space ship chart management system provided by an embodiment of the present invention.

[0040] Figure 2 It is a schematic diagram of the deflection angle formed by the straight line and the vertical line between the vertex in the code map and the center point of the field of view of the bridge crane scanning device. DETAILED DESCRIPTION

[0041] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0042] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0043] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0044] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] The embodiment of the present invention provides a bridge crane operation space ship chart management system, such as Figure 1 As shown, including:

[0046] The ship acquisition and loading module 10 is used to acquire the ship chart of the target operation ship according to the user's instruction and load it into the bridge crane driver auxiliary operating system;

[0047] The code scanning function activation module 20 is connected to the auxiliary operating system and is used to activate the code scanning function of the bridge crane code scanning device (such as a high-speed camera) installed on the bridge crane by taking the operation target box selected in the cabin ship map displayed in the auxiliary operating system as an instruction by the bridge crane driver;

[0048] The bridge crane code scanning device 30 is used to generate a grabbing instruction for the operation target box after processing at least one code image scanned by the bridge crane trolley during its movement;

[0049] The operation box grabbing and ship map correction module 40 is connected to the bridge crane scanning device 30, and is used to execute the grabbing action of the operation target box according to the operation target box grabbing instruction generated by the bridge crane scanning device 30, and execute the ship map correction process after completing the grabbing, and adjust the subsequent bridge crane plan for the target operation ship based on the correction result.

[0050] The following describes the method of using a bridge crane barcode scanning device to scan a barcode image and how to process the scanned barcode image.

[0051] The bridge crane code scanning equipment specifically includes:

[0052] The distance detection unit is used to detect the vertical distance (defined as the first vertical distance) to the scanned code image in real time with the scanned code image as an instruction; it should be noted here that the bridge crane code scanning device follows the bridge crane trolley and tries to scan the two-dimensional code image attached to the top of the container at a set frequency and set accuracy during the movement. The scanning accuracy of the bridge crane code scanning device can be set, for example, as follows: when the vertical height of the two-dimensional code image of a specified size is less than a preset height threshold, the two-dimensional code image can be scanned. Assuming that at a certain height, the bridge crane code scanning device scans 3 code images attached to the tops of different containers, the distance detection unit detects the vertical distance (first vertical distance) to the center points of these 3 code images respectively. There are many existing identification methods for the center point of the code image, which will not be described in detail here.

[0053] The code image vertex recognition unit is connected to the distance detection unit and is used to perform a vertex recognition action on the scanned code image based on the detected first vertical distance being less than a preset first distance threshold as an instruction;

[0054] For example, if the distance detection unit detects that the first vertical distances to the code image a, code image b, and code image c are all less than the preset first distance threshold, the vertex recognition action for the code image a, code image b, and code image c is performed. In this embodiment, the code image is preferably a square, and the vertices of the code image are the four vertices of the square. The vertex recognition of the code image adopts the existing method, for example, the pixel boundary of the code image can be first identified, and then the intersection of two boundaries with a 90° angle feature can be identified as the corresponding vertex.

[0055] The angle calculation unit is connected to the code map vertex recognition unit and is used to calculate the deflection angle formed by the straight line and the vertical line between each vertex belonging to the same code map and the center point of the field of view of the bridge crane code scanning device, using all the vertices of the code map recognized by the code map vertex recognition unit as instructions;

[0056] Figure 2 In the figure, point 100 is the center point of the field of view of the bridge crane scanning device, and θ is the angle (deflection) formed by the straight line connecting the vertex 200 and point 100 and the vertical line. The deflection is calculated using the existing method, so it is not described in detail.

[0057] The angle deviation recognition unit is connected to the angle calculation unit and is used to calculate whether the absolute angle difference of the deflection angles associated with each other vertices belonging to the same code map is less than a preset angle difference threshold.

[0058] If so, generate a job target box grabbing instruction;

[0059] If not, no job target box grabbing instruction is generated.

[0060] For example, Figure 2 The deviation angles associated with vertex 200, vertex 300, vertex 400, and vertex 500 are θ1, θ2, θ3, and θ4 respectively. The angle deviation recognition unit calculates the absolute value of the angle difference between θ1-θ4 (absolute angle difference). When all the absolute angle differences are less than the preset angle difference threshold, an operation target box grabbing instruction is generated.

[0061] The following describes how the operation box grabbing and ship map correction module performs the grabbing action on the operation target box and how to correct the ship map after the grabbing is completed.

[0062] Specifically, the operation box grabbing and ship map correction module includes:

[0063] The grabbing and locking monitoring unit is used to generate a tripping monitoring instruction after monitoring that the bridge crane has completed the grabbing and locking action on the operation target box;

[0064] Here, how the grabbing and locking monitoring unit detects that the bridge crane completes the grabbing and locking action of the operation target box is described. The grabbing and locking monitoring unit further includes:

[0065] The grabbing condition fulfillment instruction receiving subunit is used to receive the grabbing condition fulfillment instruction sent by the bridge crane code scanning device, and the bridge crane remote control system controls the bridge crane trolley to start grabbing the operation target box according to the grabbing condition fulfillment instruction. The generation condition of the grabbing condition fulfillment instruction is: after the bridge crane code scanning device generates the operation target box grabbing instruction for the operation target box, it continues to detect the second vertical distance from the code image attached to the top of the operation target box, and determines whether the second vertical distance is less than the preset second distance threshold. If so, the grabbing condition fulfillment instruction is generated.

[0066] It should be noted here that the second vertical distance associated with the same work target box is smaller than its first vertical distance, indicating that when the angle deviation identification unit has generated a grabbing instruction for the work target box, the driver has the ability to further control the bridge crane trolley to try to grab the work target box.

[0067] The grab lock monitoring unit also includes:

[0068] The tripping monitoring instruction generating subunit is used to generate a tripping monitoring instruction after the remote control system controls the bridge crane to complete the grabbing and locking action of the operating target box according to the grasping conditions.

[0069] The job box grabbing and ship map correction module also includes:

[0070] The tripping monitoring and cabin information acquisition unit is connected to the grabbing and locking monitoring unit, and is used to monitor whether the operation target box has a tripping action within a preset time period after receiving the tripping monitoring instruction, and after monitoring the tripping action of the operation target box, obtain the second cabin information bound to the tripped buckle (the location of the cabin where the buckle is located in the cabin ship map), and generate and output the ship map correction instruction;

[0071] A space information acquisition unit, connected to the tripping monitoring and space information acquisition unit, is used to obtain the first space information (the positioning position of the operation target box in the acquired and loaded ship map) of the operation target box where the tripping action occurs in the space ship map acquired by the ship map acquisition and loading module after receiving the ship map correction instruction;

[0072] The ship chart correction unit is respectively connected to the trip monitoring and cabin information acquisition unit and the cabin information acquisition unit, and is used to determine whether the second cabin information is consistent with the first cabin information.

[0073] If not, the first space information is updated in the space chart with the second space information;

[0074] If so, the first cabin information in the ship chart is not updated.

[0075] After completing the unloading of all containers on the target operation ship, the remote control system determines the number of updates of the space information associated with each container in the space ship map of the target operation ship. The accuracy of the space ship map is evaluated by the number of updates. For example, if the space update number is less than 10 times, the space ship map is evaluated as accuracy level A, and 10-20 times is evaluated as accuracy level B, etc. Then, the accuracy evaluation data of the space ship map bound to several transportation tasks of the target operation ship is obtained. For example, when the accuracy evaluation of the space ship map of the same target operation ship is A for 10 consecutive times, the target operation ship is marked as: the bridge crane trolley is controlled based on the space ship map to perform the bridge crane operation operation, otherwise it is marked as: the bridge crane operation operation is performed based on the space ship map and the trolley is manually controlled in the actual environment.

[0076] In summary, this application loads the cabin ship map of the target operation ship into the bridge crane driver auxiliary operation system. The driver can plan the operation path of the bridge crane trolley in advance by using the positioning position of the operation target box displayed in the cabin ship map of the auxiliary operation system and observing the on-site environment. Even if the bridge crane is in operation, it is difficult for the driver to clearly observe the operation target box, but according to the actual environment in which the bridge crane trolley is currently moving and the hull environment in which the operation target box is located in the cabin ship map, the location of the operation target box on the target operation ship can be accurately judged, which reduces the time for manually planning the operation path of the bridge crane trolley and improves the bridge crane operation efficiency. In addition, by correcting the cabin ship map of the target operation ship and taking the correction result as the basis, the subsequent bridge crane plan for the target operation ship is adjusted in a targeted manner. In the subsequent bridge crane operation of the target operation ship, both operation efficiency and operation accuracy are taken into account.

[0077] This embodiment also provides a method for managing a bridge crane operation space ship chart, which is implemented by the above-mentioned management system and specifically includes the following steps:

[0078] S1, the remote control system obtains the ship's cabin map of the target operation ship and loads it into the bridge crane driver assistance operating system;

[0079] S2, the remote control system uses the operation target box selected by the bridge crane driver in the space ship map displayed in the auxiliary operating system as an instruction to activate the scanning function of the bridge crane scanning device installed on the bridge crane;

[0080] S3, a bridge crane code scanning device, which is used to process at least one code image scanned by itself in the process of following the bridge crane movement, and generate a grabbing instruction for the operation target box;

[0081] S4, the remote control system executes the grabbing action of the operation target box according to the grabbing instruction of the operation target box, and executes the ship map correction process after completing the grabbing, and adjusts the subsequent bridge crane plan for the target operation ship based on the correction result.

[0082] It should be noted that the above specific implementations are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art should understand that various modifications, equivalent substitutions, changes, etc. can be made to the present invention. However, as long as these changes do not deviate from the spirit of the present invention, they should be within the scope of protection of the present invention. In addition, some terms used in the specification and claims of this application are not restrictive, but are only for the convenience of description.

Claims

1. A bridge crane operation space ship chart management system, characterized in that: include: The ship map acquisition and loading module is used to obtain the ship map of the target operation ship and load it into the bridge crane driver auxiliary operating system; A code scanning function activation module, connected to the auxiliary operating system, used to activate the code scanning function of the bridge crane code scanning device installed on the bridge crane by taking the selection of the operation target box in the space ship map displayed in the auxiliary operating system by the bridge crane driver as an instruction; The bridge crane code scanning device is used to generate a grabbing instruction for the operation target box after processing at least one code image scanned by itself during the movement of the bridge crane trolley; The operation box grabbing and ship map correction module is connected to the bridge crane scanning device, and is used to execute the grabbing action of the operation target box according to the operation target box grabbing instruction generated by the bridge crane scanning device, and execute the ship map correction process after completing the grabbing, and adjust the subsequent bridge crane plan for the target operation ship based on the correction result.

2. A bridge crane operation space ship chart management system according to claim 1, characterized in that: The bridge crane code scanning device comprises: A distance detection unit, used for detecting a first vertical distance from the scanned code image in real time based on the scanned code image as an instruction; a code image vertex recognition unit, connected to the distance detection unit, and configured to perform a vertex recognition action on the scanned code image, taking the first vertical distance detected to be less than a preset first distance threshold as an instruction; An angle calculation unit, connected to the code map vertex recognition unit, is used to calculate the deflection angle formed by the straight line and the vertical line between each vertex belonging to the same code map and the center point of the field of view of the bridge crane code scanning device, using all the vertices of the code map recognized by the code map vertex recognition unit as instructions; an angle deviation identification unit, connected to the angle calculation unit, for calculating whether the absolute angle difference of the deflection angles associated with each of the vertices belonging to the same code image is less than a preset angle difference threshold, If yes, then generate the operation target box grabbing instruction; If not, the operation target box grabbing instruction is not generated.

3. A bridge crane operation space ship chart management system according to claim 1, characterized in that: The operation box grabbing and ship map correction module includes: A grabbing and locking monitoring unit, used to generate a tripping monitoring instruction after monitoring that the bridge crane completes the grabbing and locking action of the operation target box; A tripping monitoring and cabin information acquisition unit, connected to the grabbing and locking monitoring unit, is used to monitor whether the operation target box has a tripping action within a preset time period after receiving the tripping monitoring instruction, and after monitoring the tripping action of the operation target box, obtain the second cabin information bound to the tripped buckle, and generate and output a ship map correction instruction; A space information acquisition unit, connected to the tripping monitoring and space information acquisition unit, is used to acquire the first space information of the operation target box where the tripping action occurs in the space ship map acquired by the ship map acquisition and loading module after receiving the ship map correction instruction; a ship chart correction unit, connected to the trip monitoring and cabin information acquisition unit and the cabin information acquisition unit, respectively, for determining whether the second cabin information is consistent with the first cabin information, If not, the first space information is updated in the space ship map with the second space information.

4. A bridge crane operation space ship chart management system according to claim 3, characterized in that: The grab lock monitoring unit comprises: A grasping condition fulfillment instruction receiving subunit, used to receive the grasping condition fulfillment instruction sent by the bridge crane code scanning device; The tripping monitoring instruction generating subunit is used to generate the tripping monitoring instruction after the remote control system controls the bridge crane to complete the grabbing and locking action of the operation target box according to the grabbing condition.

5. A bridge crane operation space ship chart management system according to claim 4, characterized in that: After generating the work target box grabbing instruction for the work target box, the bridge crane code scanning device continues to detect the second vertical distance from the code image attached to the top of the work target box, and determines whether the second vertical distance is less than the preset second distance threshold. If so, the grab condition achievement instruction is generated.

6. A bridge crane operation space ship chart management system according to claim 5, characterized in that: The second vertical distance associated with the same work target box is smaller than the first vertical distance. The first vertical distance is: the distance detection unit in the bridge crane scanning device uses the scanning module's first complete scan of the code image attached to the top of the work target box as an instruction, and detects in real time the first vertical distance between the code image and the scanned code image.

7. A method for managing a bridge crane operation space ship chart, implemented by the bridge crane operation space ship chart management system according to any one of claims 1 to 6, characterized in that: Includes steps: S1, the remote control system obtains the ship's cabin map of the target operation ship and loads it into the bridge crane driver assistance operating system; S2, the remote control system activates the scanning function of the bridge crane scanning device installed on the bridge crane by taking the bridge crane driver's selection of the operation target box in the space ship map displayed in the auxiliary operating system as an instruction; S3, the bridge crane code scanning device is used to generate a grabbing instruction for the operation target box after processing at least one code image scanned by itself in the process of following the movement of the bridge crane; S4, the remote control system executes the grabbing action of the operation target box according to the grabbing instruction of the operation target box, and executes the ship map correction process after completing the grabbing, and adjusts the subsequent bridge crane plan for the target operation ship based on the correction result.

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