CN115884937A

CN115884937A - Jib slewing crane with camera and method for reducing load pendulum during crane operation

Info

Publication number: CN115884937A
Application number: CN202180048859.8A
Authority: CN
Inventors: D·罗特尔; M·黑格瓦尔德
Original assignee: Konecranes PLC
Current assignee: Konecranes PLC
Priority date: 2020-08-05
Filing date: 2021-08-04
Publication date: 2023-03-31
Anticipated expiration: 2041-08-04
Also published as: EP4192779A1; EP4192779B1; WO2022029155A1; CN115884937B; DE102020120699A1; ES2972375T3

Abstract

The invention relates to a jib slewing crane (1) comprising: a drive device for lifting or lowering an element (T; LAM; L) suspended at the at least one lifting rope (11), the element being in the form of a load-bearing device (T) and/or a load-receiving device (LAM) and/or a load (L) received by the load-receiving device; and a control device (15), wherein a camera (12) is arranged in the region of the cantilever tip (5 a), the detection range of which camera is directed at the component (T; LAM; L). In order to improve the jib slewing crane, it is proposed that an angular deviation (100) of the camera axis (12 a) from the gravitational axis (200) can be detected by means of an angle sensor (13) arranged at the camera (12), and that the lateral actual position of the element (T; LAM; L) detected by means of the camera (12) can be corrected by means of the control device on the basis of the angular deviation (100), preferably by calculation. The invention also relates to a method for reducing, preferably eliminating or avoiding pendulum movements during operation of the jib slewing crane (1).

Description

Jib slewing crane with camera and method for reducing load pendulum during crane operation

The present invention relates to a jib slewing crane according to the preamble of claim 1 and a method according to claim 7.

Due to the mechanical properties of the hoisting ropes, in particular their flexibility, and due to forces acting on the elements suspended there (in particular the load bearing means and/or the load receiving means and/or the load received by the load receiving means), such as centrifugal forces or wind forces, and due to diagonal tension, relative displacements of the respective elements from a laterally set position may occur. In this case, undesirable pendulum movements, in particular load pendulum movements, may occur. In order to be able to determine such a displacement and then to be able to at least reduce or avoid an undesired pendulum movement by means of a corresponding drive control strategy, the lateral actual position of the carrying device and/or the load receiving device and/or the load must be known.

A crane with a sensor unit for determining the angle of the cable with respect to the direction of gravity is known from EP 1 992 583 B1, wherein the sensor unit is arranged at a cable follower element which is guided at the hoisting cable. However, such mechanisms that oscillate with the hoisting ropes are easily damaged.

A crane with a gyro sensor for determining the torsion of a hook beam is known from EP 1 880 971 B1, wherein the gyro sensor is arranged on the hook beam. Such a sensor arrangement has the disadvantage that the radio data transmission from the sensor to the crane control is not secure.

A generic jib slewing crane is known from DE 10 2013 012 019 A1. Other cranes with cameras for detecting the load or rope angle are known from EP 2 878 565 A1, DE EP 3 000 761 A1 and DE 26 42 373 A1.

Starting from this prior art, the object of the invention is to develop a jib slewing crane and a method by means of which it is possible in a simple manner to reduce, preferably eliminate or avoid, pendulum movements of the carrying device and/or the load receiving device and/or the load during operation of the crane.

This object is achieved by a jib slewing crane having the features of claim 1 and a method having the features of claim 7. Advantageous embodiments of the invention are given in the dependent claims and in the following description.

According to the invention, a jib slewing crane is thus developed, which comprises: a boom having at least one deflecting roller for at least one hoisting rope in the region of its boom tip; and a drive for pivoting the boom about a horizontal luffing axis; and drive means for rotating the cantilever about a vertical axis of rotation; and drive means for lifting or lowering an element suspended at the at least one hoisting rope, the element being in the form of a load bearing means and/or a load receiving means and/or a load received by the load receiving means; and a control device, wherein a camera is arranged in the region of the cantilever tip, the detection range of which camera is directed at the element suspended at the at least one lifting rope, and the camera axis of which camera is aligned substantially parallel to the gravitational axis, wherein the camera is adapted to detect a lateral actual position of the element, and the control device is designed and adapted to determine a relative displacement between the lateral actual position of the element and a laterally set position, and to determine a control command for at least one of the above-mentioned drive devices on the basis of the relative displacement in order to reduce, preferably completely eliminate or avoid the relative displacement, such that an angular deviation of the camera axis from the gravitational axis can be detected by means of an angle sensor arranged at the camera, and the lateral actual position of the element detected by means of the camera can be corrected by means of the control device on the basis of the angular deviation, preferably by calculation.

In other words, the angular deviation of the camera axis from the gravitational axis, which is detected by the angle sensor, in particular measured, is used to correct the lateral actual position of the carrier device, which is detected by the camera, and which is incorrect due to the angular deviation. By means of the control device, in particular by means of suitable evaluation software, the angular deviation can be correspondingly taken into account when determining the relative displacement.

In the context of the present invention, a "load carrier" is understood to be a part which is firmly connected to the crane, which part is arranged between the hoisting rope and the load-receiving device or between the hoisting rope and the load which is directly connected to the load carrier. The support devices can comprise, for example, a hook block and/or a hook cross member, wherein the respective support devices are then each connected to the crane and remain connected for permanent operation, but also for different types and shapes of load-receiving devices and/or loads. In contrast, the load receiving devices, which are preferably provided for receiving and directly receiving loads without other devices, can be changed during operation depending on the type and shape of the load to be handled, for example from container spreaders, also known as "spaaders" (english, a kind of container spreader), for handling containers, to grippers for handling bulk goods, or between different sizes of load receiving devices of the same type, for example different grippers for different bulk goods.

In the context of the present invention, "determining a control command" is understood to mean that the control command is determined according to its type (e.g. a wobble or a rotation) and according to its size (e.g. a duration of ten seconds or an angle of 10 °). Determining the control instruction may include generating or generating the control instruction. These control commands are then sent to the respective drive means.

In other words, the lateral actual position of the carrying device and/or the load-receiving device and/or the received load as an element suspended at the at least one hoisting rope can be detected optically, for example, by means of the camera arranged and adapted according to the invention. The lateral actual position of the respective element can be detected in particular on the basis of at least one contour, in particular an outer contour, of the element and/or, within the framework of the system mentioned below, on the basis of at least one target marking at the element, which can be detected by a camera. In this connection, the typical contours of the elements to be taken into account for determining the relative displacement can also be stored in the control device, and these can then be matched to the camera data, in particular the camera image, in order to detect the lateral actual position of the elements.

In particular, with the aid of suitable evaluation software, the control device determines a deviation of the lateral actual position of the element from the lateral set position. This can be done in particular as a function of the deviation of the actual position of the at least one target marking and/or contour detected by the camera from the set position of the at least one target marking and/or contour.

It is also conceivable that the center of gravity of the element considered for determining the relative displacement can be detected by means of the detected contour and used for determining the relative displacement between the lateral actual position and the lateral set position of the element.

The transverse setting position is predetermined and in particular freely selectable. Preferably, the center of gravity of the considered element, in particular of the load carrier and/or the load receiving device and/or the load, is located in a transversely set position on a virtual set line which is directed in the direction of the axis of gravity and which passes through the running points of the hoisting ropes away from the diverting wheels simultaneously or, in the case of several hoisting ropes and several diverting wheels and corresponding running points, through the center point of a line formed by all running points.

Depending on the relative displacement of the elements to be taken into account for determining the relative displacement, a control command is determined for the at least one drive by means of the control device in order to damp or prevent a pendulum movement of the elements, i.e. in particular of the carrier device and/or the load-receiving device and/or the load. In particular, it is possible to avoid a pendulum movement by detecting an (undesired) diagonal pull of the load which has not yet been lifted, wherein the control device can determine a control command for the at least one drive device before the pendulum movement occurs.

The camera is preferably adapted to detect rotational displacement or torsion in addition to the lateral displacement of the element. On the basis of such a displacement, it is possible in particular to determine an angular position of the element, in particular of the load, which can be taken into account, in particular, when handling the element, in particular the load.

With the jib slewing crane according to the invention, the transverse actual position of the corresponding element can be determined in an advantageous manner without additional sensors at the hoisting ropes or at the carrying device. The camera is arranged in a region of the cantilever, in which only very small forces act. No mechanical connection to the hoisting rope or the load-bearing device or other elements suspended at the hoisting rope is required. The signal transmission from the camera to the control device can thus be realized in a particularly simple manner via a cable connection that is secure in terms of transmission. Advantageously, however, wireless signal transmission is also possible, since by arranging the camera at the cantilever tip, there is no fear of the direct signal path being damaged, for example, by the movement of the at least one lifting rope and the element suspended there.

It is advantageously provided that the camera is mounted in an articulated manner in order to enable alignment of the camera axis, wherein the camera is preferably mounted in an articulated manner about a first bearing shaft, which is arranged perpendicularly to the camera axis, and/or about a second bearing shaft, which is arranged perpendicularly to the camera axis and to the first bearing shaft and preferably intersects the first bearing shaft, in order to enable alignment of the camera axis.

The rotatability of the camera about the first bearing axis is particularly helpful for compensating the pivoting movement of the boom, i.e. when changing the extension of the boom.

A rotary joint may be provided for each bearing shaft, which rotary joint makes it possible for the camera to perform a rotary movement about the respective bearing shaft, in particular in both directions of rotation. It is also conceivable to provide two swivel joints, wherein each of the swivel joints enables a swivel movement of the camera about one of the bearing axes. Preferably, a single rotary joint is provided, which makes possible a rotary movement of the camera about the first bearing axis and the second bearing axis. It is possible to superimpose the rotational movements about the first bearing axis and the second bearing axis.

A ball and socket joint for mounting the camera at the boom is also conceivable, however movements which do not take place around the first axis or the second axis are undesirable and are therefore preferably prohibited, for example by corresponding guiding means.

It is therefore possible for the camera axis to be aligned substantially parallel to the gravitational axis even during the pivoting and/or rotational movement of the boom, in order to ensure that the lateral actual position is detected as accurately as possible and thus that the relative displacement between the lateral actual position and the lateral set position is determined as accurately as possible.

The center of gravity of the camera is arranged in a structurally simple manner spaced apart from the bearing shaft in such a way that a pendulum suspension of the camera is formed, wherein the alignment of the camera axis is automatically carried out by its own weight. Thus, it is achieved passively (i.e. without further auxiliary means): in the equilibrium position of the camera, the camera axis is aligned substantially parallel to the gravitational axis.

Advantageously, the movement of the camera can be damped by means of a damper, and the damper is preferably designed as a torsional damper.

Preferably, one damper is provided for each bearing shaft, so that a rotational movement about the respective bearing shaft can be damped. In particular, the damper is assigned to only one single bearing shaft. However, it is also possible for one damper to be assigned to several bearing shafts.

A damper is disposed between the camera and the boom. The dampers may form one structural unit with the respective rotary joints or be arranged independently of the respective rotary joints.

The dampers, which are designed as torsional dampers for example, are assigned in each case to a single bearing shaft, are arranged around the respective bearing shaft and preferably form a structural unit with the rotary joint.

The damper, in particular the torsional damper, can be designed, for example, as an oil damper. Of course, other types of dampers can be used.

With the aid of the damper, it is possible to align the camera axis substantially parallel to the gravitational axis even in the event of dynamic movements and/or vibrations of the boom.

The angle sensor preferably detects angular deviations in all (e.g. four) possible rotational directions of the camera. It is also conceivable that the angle sensor detects only angular deviations in one, two or three rotational directions. In addition, in embodiments in which the camera has only one bearing shaft, it can be provided that the angle sensor detects angular deviations in the transverse direction, preferably perpendicular to the possible direction of rotation of the camera, which deviations may occur, for example, as a result of elastic deformation of the cantilever during the rotational movement.

Such an angular deviation may be, for example, a dynamic angular deviation caused by vibrations and/or pendulum movements of the camera. It is also possible that static angular deviations occur due to friction in or at the rotary joint and/or the damper.

By knowing the angular deviation, it is possible to obtain a high accuracy in determining the actual position of the element to be considered for determining the relative displacement. The angular deviation will be interpreted as a relative displacement between the lateral actual position and the lateral set position, so that a wrong control command will be determined.

Advantageously, the jib slewing crane is designed as a harbour crane, in particular as a mobile harbour crane. Such a crane is known from WO 2011/098542 A1. Furthermore, so-called mobile harbor cranes have been known from the company manual entitled "diesel electric type 4 mobile harbor cranes" of the company global to cunen, which are used at seaports or container terminals for handling containers or bulk goods. Such jib slewing cranes are essentially composed of a bottom trolley, by means of which the jib slewing crane is supported on the ground, for example on a quay, or on a pontoon, and a top trolley which is mounted rotatably on the bottom trolley about a vertical axis of rotation. The bottom trolley can be moved on the quay via tires or on rails via rail wheels. The bottom trolley may be supported via a stand during the handling operation.

On the top trolley there are arranged a tower extending in the vertical direction, a swivel mechanism for rotating the boom and/or the top trolley about an axis of rotation, a lifting mechanism for winding and unwinding a lifting rope for lifting or lowering an element suspended there, in the form of a load carrier and/or a load receiving device and/or a load received by the load receiving device. Preferably, a counterweight is also arranged on the top trolley. The jib can be connected pivotably about a horizontal luffing axis with the top trolley or the bottom trolley at the side of the tower facing away from the counterweight. Additionally, the boom can be pivoted from its laterally projecting operative position to a less projecting or upright operative or rest position via a luffing cylinder articulated at the boom and at the top trolley or tower. Furthermore, the boom is preferably designed as a frame structure, for example in the form of a lattice mast. Depending on the embodiment of the crane, individual ones of the above-described components can also be dispensed with or connected to one another in a different manner, since in the context of the present invention it is sufficient for there to be a jib which can be pivoted about a luffing axis and can be rotated about an axis of rotation at the respective jib slewing crane. For example, it is conceivable that the crane does not have a top trolley and that the tower together with the boom is supported on a bottom trolley via a rotation mechanism and is thereby able to rotate jointly about a vertical rotation axis. The hoisting mechanism and the counterweight are then not carried by the top trolley, but are each arranged at other suitable locations of the crane, for example at the tower.

The reduction of the relative displacement can be further improved by forming a system with a jib slewing crane according to the invention and at least one target mark arranged at the element, in particular at the load carrier and/or the load receiving device and/or the load received by the load receiving device, for detecting the transverse actual position of the element. This makes it possible to detect the lateral actual position of the element in question particularly reliably.

The invention further relates to a method for reducing, preferably eliminating or avoiding, a pendulum movement of an element suspended at least one lifting rope of a jib slewing crane, the element being in the form of a load-bearing device and/or a load-receiving device and/or a load received by the load-receiving device, wherein the at least one lifting rope is deflected in the region of the jib tip of the jib slewing crane in the region of the jib tip thereof, wherein a transverse actual position of the element is detected by means of a camera arranged in the region of the jib tip, and a relative displacement between the transverse actual position and a transverse set position of the element is determined by means of a control device, and on the basis of the relative displacement a control command is determined for a drive device for pivoting the jib about a horizontal luffing axis and/or a drive device for rotating the jib about a vertical rotational axis and/or a drive device for lifting or lowering the element and is preferably transmitted to the respective drive device in order to reduce, preferably completely eliminate or avoid the relative displacement. In this case, according to the invention, it is provided that an angular deviation of the camera axis from the gravitational axis is detected by means of an angle sensor, and a preferably calculated correction of the lateral actual position detected by the camera is carried out on the basis of this angular deviation, and then a relative displacement between the corrected lateral actual position and the lateral set position of the element is determined.

Advantageously, provision can be made for the transverse actual position to be detected from at least one target marking at the element or from at least one contour of the element.

It is particularly advantageously provided that the distance between the element and the boom tip is determined by means of the camera and by means of the at least one target mark at the element or by means of the at least one contour of the element and by means of the control device in order to determine the free length of the hoisting rope and to determine a control command for the drive device for pivoting the boom about the horizontal luffing axis and/or for rotating the boom about the vertical axis of rotation and/or for lifting or lowering the element.

In this case, the dimensions of the at least one target marking and/or of the at least one contour are known, so that the distance between the target marking and/or contour and the camera, and thus the distance between the element and the cantilever tip, can be determined by means of the target marking and/or contour detected by the camera. Subsequently, the free length of the hoisting rope, also called free pendulum length, can be determined (in particular calculated).

Further details of the invention follow from the following on the basis of the drawings

The description of the embodiments follows, among others

FIG. 1 shows a schematic view of a jib slewing crane, and

fig. 2 shows a schematic view of a jib slewing crane with a camera arranged at its jib tip.

Fig. 1 shows a schematic view of a cantilever rotary crane 1 in the form of a mobile harbor crane for handling standardized containers, in particular ISO containers, between land and water or vice versa or within a container terminal. Correspondingly, the jib slewing crane 1 is provided with a suitable load carrier T which is suspended at its at least one hoisting rope 11 and which can receive a load receiving device LAM, which in this context is designed exemplarily as a spreader (spreader) for receiving ISO containers or other standardized containers. The jib slewing crane 1 can also be equipped with a gripper for handling bulk goods. The load-receiving means LAM are connected to a load L which is designed as an ISO container by way of example.

The jib slewing crane 1 mainly comprises a bottom trolley 2 and an optional top trolley 3 with a tower 4 and a jib 5. Usually, the jib slewing crane 1 is supported via its bottom trolley 2 on land, here on a quay 7. The jib slewing crane 1 can be moved on a quay 7 via a bottom trolley 2 with a running gear 6, in particular a tire running gear, and is supported on the quay via a support device 8, in particular a stand thereof, during a handling operation. It is also possible that the jib slewing crane 1 is fixed to the pontoon in a manner movable on the rail or in a stationary manner.

On the bottom trolley 2 an optional top trolley 3 is mounted, which can be pivoted about a vertical axis of rotation D, and in particular with respect to the bottom trolley 2, by a swivel mechanism D. The rotation mechanism d typically has a rotating ring that meshes with a drive gear. The top trolley 3 also carries a lifting mechanism h and, in the rear region, a counterweight 9.

A tower 4 extending in the vertical direction is also supported on the top trolley 3, at the tip of which a pulley head 10 with a rope pulley is fixed. Furthermore, a jib 5 is articulated at the tower 4 approximately in the region of half the length of the tower and on the side facing away from the counterweight 9. The jib 5 can be connected pivotally about a horizontal jib axis W to the tower 4 and can additionally be pivoted from its laterally projecting operating position into an upright rest position via a luffing mechanism W, which is usually designed as a hydraulic cylinder, articulated at the jib 5 and at the top trolley 3. Furthermore, the boom 5 is usually designed as a lattice mast. At the boom tip 5a of the boom 5 facing away from the tower 4, one or several deflecting rollers are rotatably mounted, via which, starting from the hoisting mechanism h, one or several hoisting ropes 11 are guided via pulley heads 10 to a carrier T suspended at the hoisting rope 11. The above-mentioned components and their mutual connections have been described purely by way of example and are not a condition for the implementation of the invention, which is not limited to the mobile harbor crane described in the example in detail.

According to the invention, a camera 12 is arranged and adapted at the cantilever tip 5a of the cantilever 5 (see fig. 2). In addition, the jib slewing crane 1 comprises a control device 15, by means of which the method according to the invention can be carried out in particular.

Fig. 2 shows a schematic illustration of the jib slewing crane 1 with a camera 12 arranged at its jib tip 5 a. The jib slewing crane 1 has at least one deflecting roller for at least one hoisting rope 11 in the region of the jib tip 5a of its jib 5. For simplicity of illustration, only one hoisting rope 11 is shown here by way of example.

The detection range of the camera 12 arranged in the region of the cantilever tip 5a is directed towards the carrying means T suspended at the at least one hoisting rope 11. Wherein the camera axis 12a of the camera 12 is aligned substantially parallel to the gravitational axis 200. The camera 12 is adapted to optically detect the lateral actual position of the carrier T, for example from at least one contour, in particular an outer contour, of the carrier T and/or from at least one target mark at the carrier T that can be detected by the camera 12. The actual position of the carrier T is then transmitted to the control device 15 by means of the signal connection 16.

The arrangement of the control device 15 at the jib slewing crane 1 can be freely selected. The arrangement of the control device 15 selected in fig. 2 is only to be regarded as a simplified schematic.

The camera 12 is mounted in an articulated manner about a first bearing shaft 14.1, wherein the first bearing shaft 14.1 is arranged perpendicular to the camera axis 12a, in the present illustration of fig. 2 also perpendicular to the plane of the drawing. The rotatability of the camera 12 about the first bearing shaft 14.1 helps to compensate for the pivoting movement of the boom 5 about the horizontal luffing axis W. It is thus possible to align the camera axis 12a even during the pivoting movement of the boom 5. In addition, the camera 12 may be mounted in an articulated manner about a second bearing shaft 14.2, which is arranged perpendicularly to the camera axis 12a and the first bearing shaft 14.1. Optionally, a rotary joint is provided for each bearing shaft 14.1,14.2, which rotary joint makes it possible to perform a rotary movement of the camera 12 about the respective bearing shaft 14.1,14.2 in both directions of rotation. In this case, it is possible to superimpose the rotational movements about the first bearing shaft 14.1 and the second bearing shaft 14.2. The center of gravity of the camera 12 is arranged spaced apart from the bearing shafts 14.1,14.2 in such a way that a pendulum suspension of the camera 12 is formed. Thereby, the alignment of the camera axis 12a is automatically performed by its own weight. The movement of the camera 12 is damped by means of a damper, not shown, in particular a torsional damper, in order to make it possible to align the camera axis 12a substantially parallel to the gravitational axis 200 even in the event of dynamic movements and/or vibrations of the boom 5. One damper is provided for each bearing shaft 14.1,14.2, so that a rotational movement about the respective bearing shaft 14.1,14.2 can be damped.

By means of an angle sensor 13 arranged at the camera 12, an angular deviation 100 of the camera axis 12a from the gravitational axis 200 can be detected. The angle sensor 13 detects angular deviations 100 in all possible (in this case four) rotational directions of the camera 12. Such an angular deviation 100 may be, for example, a dynamic angular deviation 100 resulting from vibrations and/or pendulum movements of the camera 12. It is also possible that static angular deviations 100 occur due to friction in or at the respective rotary joint and/or damper. The angular deviation 100 is transmitted to the control device 15 by means of a signal connection 16, which may be the signal connection 16 of the camera 12 for transmitting the detected actual position of the carrier T or another separate signal connection 16.

The control device 15 determines, for example with the aid of suitable evaluation software, the relative displacement between the lateral actual position and the lateral set position of the carrying device T. The transverse setting position is predetermined and in particular freely selectable. Preferably, the centre of gravity of the carrying means T is located in a transversely set position on a virtual set line which points in the direction of the gravitational axis 200 and which passes through the running points of the hoisting ropes 11 away from the diverting wheels or, in the case of several hoisting ropes 11 and several diverting wheels, through the centre point of the line formed by all the running points.

By means of the control device 15, in particular by means of the evaluation software, the angular deviation 100 can be correspondingly taken into account when determining the relative displacement. In this case, the angular deviation 100 of the camera axis 12a detected by the angle sensor 13 from the gravitational axis 200 is used to correct the lateral actual position of the carrier T detected by the camera 12, which is incorrect due to the angular deviation 100.

On the basis of the relative displacement, the control device 15 determines control commands for the drive of the rotary mechanism d and/or the drive of the luffing mechanism w and/or the drive of the lifting mechanism h in order to reduce, preferably completely eliminate or avoid, the relative displacement. Control commands are transmitted from the control device 15 to the respective drive device by means of a further signal connection 16.

Reference numerals

1. Cantilever rotary crane

2. Bottom trolley

3. Top trolley

4. Tower with a tower body

5. Cantilever arm

5a cantilever tip

6. Traveling mechanism

7. Wharf

8. Supporting device

9. Counterweight

10. Pulley head

11. Hoisting rope

12. Video camera

12a camera axis

13. Angle sensor

14.1 First bearing shaft

14.2 Second bearing shaft

15. Control device

16. Signal connection

100. Deviation of angle

200. Axis of gravity

d rotary mechanism

D axis of rotation

h lifting mechanism

L load

LAM load receiving device

T bearing device

W luffing mechanism

W amplitude shaft

Claims

1. A jib slewing crane (1) having: a boom (5) having at least one deflecting roller for at least one hoisting rope (11) in the region of its boom tip (5 a); and a drive for pivoting the boom (5) about a horizontal luffing axis (W); and drive means for rotating the boom (5) about a vertical axis of rotation (D); and a drive device for lifting or lowering an element (T; LAM; L) suspended at the at least one lifting rope (11), the element being in the form of a load-bearing device (T) and/or a load-receiving device (LAM) and/or a load (L) received by the load-receiving device; and a control device (15), wherein a camera (12) is arranged in the region of the cantilever tip (5 a), the detection range of which is directed at the element (T; LAM; L) and the camera axis (12 a) of which is aligned substantially parallel to a gravitational axis (200), wherein the camera (12) is adapted to detect a transverse actual position of the element (T; LAM; L), and the control device (15) is designed and adapted to determine a relative displacement between the transverse actual position and a transverse set position of the element (T; LAM; L) and to determine a control command for at least one of the aforementioned drive devices on the basis of the relative displacement, characterized in that an angular deviation (100) of the camera axis (12 a) from the gravitational axis (200) can be detected by means of an angle sensor (13) arranged at the camera (12), and an angular deviation (100) of the element (T; LAM; L) detected by means of the camera (12) can be corrected by means of the control device, preferably by calculation, on the basis of the angular deviation (100).

2. The jib slewing crane (1) according to claim 1, wherein the camera (12) is mounted in an articulated manner in order to enable alignment of the camera axis (12 a), wherein the camera (12) is preferably mounted in an articulated manner about a first bearing shaft (14.1) arranged perpendicular to the camera axis (12 a) and/or about a second bearing shaft (14.2) arranged perpendicular to the camera axis (12 a) and the first bearing shaft (14.1) and preferably intersecting the first bearing shaft (14.1) in order to enable alignment of the camera axis (12 a).

3. The jib slewing crane (1) according to claim 2, wherein the centre of gravity of the camera (12) is arranged spaced apart from the bearing shaft (14.1,14.2) in such a way that a pendulum suspension of the camera (12) is formed, wherein the alignment of the camera axis (12 a) is performed automatically by its own weight.

4. The jib slewing crane (1) according to one of claims 2 or 3, wherein the movement of the camera (12) can be damped by means of a damper, and the damper is preferably designed as a torsional damper.

5. Jib slewing crane (1) according to one of the preceding claims, characterized in that it is designed as a harbor crane, in particular a mobile harbor crane.

6. System with a jib slewing crane (1) according to one of the preceding claims and at least one target marking arranged at the element (T; LAM; L), in particular at the carrier device (T) and/or the load receiving device (LAM) and/or a load (L) received by the load receiving device, for detecting the lateral actual position of the element (T; LAM; L).

7. A method for reducing, preferably eliminating or avoiding the occurrence of elements (T; method for pendulum movement of a LAM; L), which element takes the form of a load-bearing device (T) and/or a load-receiving device (LAM) and/or a load (L) received by the load-receiving device, wherein the at least one hoisting rope (11) is deflected in the region of its boom tip (5 a) in the boom (5) of the boom slewing crane (1), wherein the transverse actual position of the element (T; LAM; L) is detected by means of a camera (12) arranged in the region of the boom tip (5 a), and a relative displacement between the transverse actual position and a transverse set position of the element (T; LAM; L) is determined by means of a control device (15), and on the basis of the relative displacement a drive device for pivoting the boom (5) about a horizontal luffing axis (W) and/or a drive device for rotating the boom (5) about a vertical swivel axis (D) and/or a drive device for lifting or lowering the element (T; LAM; L) is determined, preferably a control command is determined so as to eliminate a deviation of the relative angle of the camera (12) from the detection angle of the sensor (100), and a preferably calculated correction of the lateral actual position detected by the camera (12) is carried out on the basis of the angular deviation (100), and the relative displacement between the corrected lateral actual position and the lateral expected position of the element (T; LAM; L) is then determined.

8. Method according to claim 7, characterized in that the transverse actual position is detected from at least one target mark at the element (T; LAM; L) or from at least one contour of the element (T; LAM; L).

9. Method according to claim 7 or 8, characterized in that the distance between the element (T; LAM; L) and the boom tip (5 a) is determined by means of the camera (12) and by means of the at least one target mark at the element (T; LAM; L) or by means of the at least one contour of the element (T; LAM; L) and by means of the control device (15) in order to determine the free length of the hoisting rope (11) and the control instructions are determined for the drive for pivoting the boom (5) about the horizontal luffing axis (W) and/or for rotating the boom (5) about the vertical rotational axis (D) and/or for lifting or lowering the element (T; LAM; L).