CN115884937B

CN115884937B - Cantilever rotary crane and method for reducing load pendulum in crane operation

Info

Publication number: CN115884937B
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: 2024-02-09
Anticipated expiration: 2041-08-04
Also published as: CN115884937A; ES2972375T3; DE102020120699A1; EP4192779A1; WO2022029155A1; EP4192779B1

Abstract

The invention relates to a jib slewing crane (1), comprising: drive means for lifting or lowering an element (T; LAM; L) suspended at the at least one lifting rope (11), which element takes the form of a load-bearing means (T) and/or a load-receiving means (LAM) and/or a load (L) received by the load-receiving means; 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 towards the element (T; LAM; L). In order to improve the jib 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 transverse 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 further relates to a method for reducing, preferably eliminating or avoiding, pendulum movements of the jib slewing crane (1) during operation.

Description

Cantilever rotary crane and method for reducing load pendulum in crane operation

The invention relates to a cantilever rotary crane and a method for reducing load pendulum during crane operation.

Due to the mechanical properties of the hoisting ropes, in particular their flexibility, and due to forces acting on the elements suspended therein, 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, a relative displacement of the respective elements from the laterally set position may occur. In which undesired pendulum movements, in particular load pendulum movements, may occur. In order to be able to determine such a displacement and then at least reduce or avoid undesired pendulum movements by means of a corresponding drive control strategy, the lateral actual position of the carrier device and/or the load receiving device and/or the load must be known.

A crane with a sensor unit for determining the rope angle relative to the direction of gravity is known from EP 1 992 583 B1, wherein the sensor unit is arranged at a rope driven element which is guided at the hoisting rope. However, such a mechanism swinging with the hoisting ropes is easily damaged.

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

A general cantilever rotary crane is known from DE 10 2013 012 019 A1. Other cranes with cameras for detecting loads or rope angles 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 rotary 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 crane operation.

This object is achieved by a jib slewing crane and a method for reducing load pendulum during crane operation according to embodiments of the invention. Advantageous embodiments of the invention are given in the dependent claims and in the following description.

According to the invention, a jib crane is thereby improved, which has: a boom having at least one diverting pulley for at least one hoisting rope in the region of its boom tip; and drive means for pivoting the cantilever about the horizontal luffing axis; and a drive means for rotating the cantilever about a vertical rotation axis; and a drive device for lifting or lowering an element suspended at the at least one lifting rope, the element being in the form of a load carrying device and/or a load receiving device and/or a load received by the load receiving device; and a control device, wherein a camera is arranged in the area of the cantilever tip, the detection range of which camera points towards the element suspended at the at least one hoisting rope, and the camera axis of which camera is aligned substantially parallel to the gravitational axis, wherein the camera is adapted to detect the lateral actual position of the element, and wherein the control device is designed and adapted to determine a relative displacement between the lateral actual position and the lateral set position of the element, and to determine a control command for at least one of the above-mentioned drive devices based on the relative displacement, so as 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 based on the angular deviation, preferably by calculation.

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

In the context of the present invention, a "load bearing means" is understood to be a component firmly connected to the crane, which component is arranged between the hoisting ropes and the load receiving means or between the hoisting ropes and the load directly connected to the load bearing means. The load-bearing means may comprise, for example, hooks, hook blocks and/or hook beams, wherein the respective load-bearing means are then each connected to the crane and remain connected for permanent operation, as well as for different types and shapes of load-receiving means and/or loads. Instead, the load receiving means, which are preferably arranged for receiving and directly receiving the load without other means, can be changed during operation depending on the type and shape of the load to be handled, for example from a container spreader, also called "spreader" (in english, a container spreader) for handling containers, to a gripper for handling bulk goods, or between different sizes of the same type of load receiving means, for example different grippers for different bulk goods.

In the context of the present invention, a "determining control command" is understood to mean that the control command is determined according to its type (e.g. wobble or rotation) and according to its size (e.g. duration of ten seconds or 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 load-bearing means and/or the load-receiving means and/or the received load as elements suspended at the at least one hoisting rope can be detected optically, for example, by means of a camera arranged and adapted according to the invention. The lateral actual position of the respective element can be detected in particular from at least one contour, in particular an outer contour, of the element and/or, in the framework of the system mentioned below, from at least one target marking at the element which can be detected by a camera. In this connection, the typical contours of the elements which are taken into account for determining the relative displacement can also be stored in the control device, which 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 the deviation of the transverse actual position of the element from the transverse set position. This may in particular be done on the basis of a deviation of the actual position of the at least one target mark and/or contour detected by the camera from the set position of the at least one target mark 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 transverse actual position and the transverse set position of the element.

The lateral setting position is predetermined and in particular freely selectable. Preferably, the element in question, in particular the centre of gravity of the load-bearing means and/or the load-receiving means and/or the load, is located in a transverse setting position on a virtual setting line which points in the direction of the gravitational axis and passes through the hoisting ropes simultaneously away from the operating point of the diverting wheel or, in the case of several hoisting ropes and several diverting wheels and corresponding operating points, through the centre point of the line formed by all operating points.

Based on the relative displacement of the elements considered for determining the relative displacement, control commands are determined for at least one drive device by means of a control device in order to achieve damping or avoidance of the 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 pendulum movements by detecting (undesired) diagonal draws of the load that has not been lifted, wherein the control device can determine control commands for the at least one drive device before the pendulum movements occur.

The camera is preferably adapted to detect rotational displacement or torsion in addition to lateral displacement of the element. Based on such a displacement, in particular the angular position of the element, in particular of the load, can be determined, which can in particular be taken into account when processing the element, in particular of the load.

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

Advantageously, provision is made for the camera to be mounted in an articulated manner in order to enable an 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 which is arranged perpendicularly to the first bearing shaft and preferably intersects the first bearing shaft, in order to enable an alignment of the camera axis.

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

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

Live ball joints for mounting the camera at the boom are also conceivable, however movements not about the first axis or the second axis are not desirable, and thus such movements are preferably inhibited, for example by corresponding guiding means.

It is thus possible that the camera axis is aligned substantially parallel to the gravitational axis even during pivoting and/or rotational movements of the cantilever in order to ensure that the transverse actual position is detected as accurately as possible and that the relative displacement between the transverse actual position and the transverse set position is thereby determined as accurately as possible.

The center of gravity of the camera is arranged in a structurally simple manner at a distance from the bearing shaft in such a way that a pendulum-like suspension of the camera is formed, wherein the alignment of the camera axis takes place automatically 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 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 that one damper is assigned to several bearing shafts.

The damper is arranged between the camera and the cantilever. The damper may form one structural unit with the respective rotary joint or be arranged separately from the respective rotary joint.

The damper, which is designed for example as a torsional damper, is assigned in each case to a single bearing shaft, is arranged around the respective bearing shaft, and preferably forms 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 may be used.

By means of the damper, it is possible to align the camera axis substantially parallel to the gravitational axis even when the cantilever is dynamically moving and/or vibrating.

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 only detects angular deviations in one, two or three rotational directions. In addition, in embodiments in which the camera has only one bearing shaft, it may be provided that the angle sensor detects angular deviations in the transverse direction, preferably perpendicular to the possible rotational direction of the camera, which deviations may occur, for example, due to elastic deformations of the cantilever in the rotational movement.

Such an angular deviation may be, for example, a dynamic angular deviation generated by vibration and/or pendulum movement of the camera. Static angular deviations due to friction in or at the swivel joint and/or damper are also possible.

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 an erroneous control command will be determined.

Advantageously, the jib slewing crane is designed as a port crane, in particular a mobile port crane. Such a crane is known from WO 2011/098542 A1. Furthermore, so-called mobile port cranes are already known from the company manual named "diesel electric type 4 mobile port crane" of the company koni worldwide, which is used at seaports or container terminals for transporting containers or bulk goods. Such a jib slewing crane essentially consists of a bottom carriage by means of which the jib slewing crane is supported on land, for example on a quay, or on a pontoon, and a top carriage rotatably mounted on the bottom carriage about a vertical rotation axis. The bottom trolley may be moved on the quay via tires or on rails via rail wheels. During the handling operation, the bottom trolley may be supported via the rack.

On the top trolley there are arranged a tower extending in a vertical direction, a rotation mechanism for rotating the boom and/or the top trolley about an axis of rotation, a hoisting mechanism for winding and unwinding a hoisting rope for hoisting or lowering an element suspended therein in the form of a load carrying means and/or a load receiving means and/or a load received by the load receiving means. Preferably, the counterweight is also arranged on the top trolley. The cantilever can be pivotally connected to the top trolley or the bottom trolley about a horizontal luffing axis at the side of the tower facing away from the counterweight. Additionally, the boom can be pivoted from its laterally projecting operating position to a less projecting or upright operating or rest position via a luffing cylinder articulated at the boom and at the overhead 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-mentioned components can also be omitted or connected to each other in a different manner, since in the context of the present invention it is sufficient that there is a cantilever at the corresponding cantilever-rotating crane, which cantilever is pivotable about the luffing axis and rotatable about the rotation axis. For example, it is conceivable that the crane does not have a top trolley and that the tower is supported together with the boom on the bottom trolley via a rotation mechanism and is thereby co-rotatable 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, such as at the tower.

The reduction of the relative displacement can be further improved by forming a system with a jib crane according to the invention and at least one target marking arranged at the element, in particular at the carrying means and/or the load receiving means and/or the load received by the load receiving means, for detecting the lateral actual position of the element. This makes possible a particularly reliable detection of the lateral actual position of the component considered for this purpose.

The invention also relates to a method for reducing, preferably eliminating or avoiding, pendulum movements of an element suspended at least one hoisting rope of a jib slewing crane, which element takes the form of a carrying means and/or a load receiving means and/or a load received by the load receiving means, wherein the at least one hoisting rope is turned in the region of its jib tip in the jib of the jib slewing crane, wherein the transverse actual position of the element is detected by means of a camera arranged in the region of the jib tip, and the relative displacement between the transverse actual position and a transverse set position of the element is determined by means of a control means, and based on the relative displacement, control instructions are determined for a drive means for pivoting the jib about a horizontal luffing axis and/or a drive means for rotating the jib about a vertical rotation axis and/or a drive means for lifting or lowering the element, and are preferably sent to the corresponding drive means, in order to reduce, preferably completely eliminate or avoid the relative displacement. In this case, it is provided according to the invention that the angular deviation of the camera axis from the gravitational axis is detected by means of an angle sensor, and that a correction, preferably by calculation, of the lateral actual position detected by the camera is carried out on the basis of the angular deviation, and that a relative displacement between the corrected lateral actual position and the lateral set position of the element is subsequently determined.

Advantageously, it may be provided that the transverse actual position is detected from at least one target marking at the element or from at least one contour of the element.

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

In this case, the dimensions of the at least one target mark and/or the at least one contour are known, so that the distance between the target mark 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 mark 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 are described below with reference to the drawings

From the description of the embodiments, wherein

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-bearing means T suspended at least one of its hoisting ropes 11 and able to receive a load-receiving means LAM, which in this context is exemplarily designed as a spreader for receiving an ISO container or other standardized container. 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 exemplarily designed as an ISO container.

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. Typically, the jib slewing crane 1 is supported via its bottom trolley 2 on land, here on a quay 7. The jib crane 1 can be moved on a quay 7 via a bottom trolley 2 with a travelling mechanism 6, in particular a tire travelling mechanism, and is supported on the quay via a support device 8, in particular a cradle thereof, during a handling operation. It is also possible that the jib crane 1 is fixed to the pontoon in a manner that it can move on rails or in a stationary manner.

An optional top trolley 3 is mounted on the bottom trolley 2, which top trolley can be pivoted about a vertical rotation axis D by a rotation mechanism D, and in particular with respect to the bottom trolley 2. The rotation mechanism d typically has a rotation 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, and a pulley head 10 having a sheave is fixed to the tip of the tower. Furthermore, at the tower 4, a cantilever 5 is hinged approximately in the region of half the length of the tower and on the side facing away from the counterweight 9. The boom 5 is pivotably connected to the tower 4 about a horizontal luffing axis W and can additionally be pivoted from its transversely projecting operating position to an upright rest position via a luffing mechanism W, which is usually designed as a hydraulic cylinder, articulated at the boom 5 and at the top trolley 3. Furthermore, the boom 5 is typically designed as a lattice mast. At the boom tip 5a of the boom 5 facing away from the tower 4, one or several diverting pulleys are rotatably mounted, via which, starting from the hoisting mechanism h, one or several hoisting ropes 11 are guided via a pulley head 10 to a load-bearing device T suspended at the hoisting ropes 11. The above-described components and their interconnections are described purely by way of example and are not intended to be limiting as to the exemplary specifically described mobile harbor crane.

According to the invention, a camera 12 (see fig. 2) is arranged and fitted at the boom tip 5a of the boom 5. Furthermore, the jib crane 1 comprises a control device 15, by means of which the method according to the invention can be implemented in particular.

Fig. 2 shows a schematic view of a jib slewing crane 1 with a camera 12 arranged at its jib tip 5 a. The jib slewing crane 1 has at least one steering wheel 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 area of the cantilever tip 5a is directed towards the load bearing device 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 crane 1 is freely selectable. The arrangement of the control device 15 selected in fig. 2 is only 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 perpendicularly to the camera axis 12a, in the present illustration of fig. 2 also perpendicularly to the drawing plane. The rotatability of the camera 12 about the first bearing axis 14.1 helps to compensate for the pivoting movement of the cantilever 5 about the horizontal luffing axis W. Thus, alignment of the camera axis 12a is made possible even when the cantilever 5 is pivotally moved. In addition, the camera 12 can 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 possible a rotary movement of the camera 12 about the respective bearing shaft 14.1, 14.2 in both rotational directions. 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-like suspension of the camera 12 is formed. The alignment of the camera axis 12a is thereby automated 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 for the camera axis 12a to be aligned substantially parallel to the gravitational axis 200 even when the cantilever 5 is dynamically moving and/or vibrating. A damper is provided for each bearing shaft 14.1, 14.2, so that a rotary movement about the respective bearing shaft 14.1, 14.2 can be damped.

By means of the angle sensor 13 arranged at the camera 12, the 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 (here four) rotational directions of the camera 12. Such an angular deviation 100 may be, for example, a dynamic angular deviation 100 generated by vibration and/or pendulum motion of the camera 12. It is also possible that static angular deviations 100 occur due to friction in or at the respective swivel joint and/or damper. The angular deviation 100 is transmitted to the control device 15 by means of a signal connection 16, wherein it can be a signal connection 16 for transmitting the detected actual position of the carrier device T of the camera 12 or another separate signal connection 16.

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

The angular deviation 100 can be correspondingly taken into account by the control device 15, in particular by means of an evaluation software, 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.

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

Reference numerals and signs

1. Cantilever rotary crane

2. Bottom trolley

3. Top trolley

4. Tower column

5. Cantilever arm

5a cantilever tip

6. Walking mechanism

7. Wharf

8. Supporting device

9. Counterweight for vehicle

10. Pulley head

11. Lifting 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. Angular deviation

200. Gravity axis

d rotation mechanism

D axis of rotation

h lifting mechanism

L load

LAM load receiving device

T bearing device

W amplitude variation mechanism

W amplitude-changing shaft

Claims

1. A jib slewing crane (1), the jib slewing crane having: -a boom (5) with at least one diverting pulley for at least one hoisting rope (11) in the area of its boom tip (5 a); and a drive for pivoting the cantilever (5) about a horizontal luffing axis (W); and a drive means for rotating the cantilever (5) about a vertical rotation axis (D); and a drive device for lifting or lowering an element (T; LAM; L) suspended at the at least one lifting rope (11), 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; 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 points towards the element (T; LAM; L) and the camera axis (12 a) of which camera is aligned substantially parallel to the gravitational axis (200), wherein the camera (12) is adapted to detect the lateral actual position of the element (T; LAM; L) and the control device (15) is designed and adapted to determine a relative displacement between the lateral actual position and a lateral set position of the element (T; LAM; L) and to determine a control command for at least one of the above-mentioned 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 the lateral actual position of the element (T; LAM; L) can be corrected by means of the control device on the basis of the angular deviation (100).

2. The jib crane (1) according to claim 1, characterized in that the lateral actual position of the element (T; LAM; L) detected by means of the camera (12) is corrected by calculation.

3. The jib crane (1) according to claim 1, characterized in that the camera (12) is mounted in an articulated manner in order to enable alignment of the camera axis (12 a).

4. A jib crane (1) according to claim 3, characterized in that the camera (12) is mounted in an articulated manner around a first bearing shaft (14.1) arranged perpendicularly to the camera axis (12 a) and/or around a second bearing shaft (14.2) arranged perpendicularly to the camera axis (12 a) and the first bearing shaft (14.1) in order to enable alignment of the camera axis (12 a).

5. The jib crane (1) according to claim 4, characterized in that the second bearing shaft (14.2) is arranged to intersect the first bearing shaft (14.1).

6. The jib crane (1) according to claim 4, characterized in that the centre of gravity of the camera (12) is arranged spaced apart from the first bearing shaft (14.1) and the second bearing shaft (14.2) such that a pendulum suspension of the camera (12) is formed, wherein the alignment of the camera axis (12 a) is automated by its own weight.

7. Cantilever-rotary crane (1) according to one of claims 3 or 6, characterized in that the movement of the camera (12) can be damped by means of a damper.

8. The jib crane (1) according to claim 7, characterized in that the damper is designed as a torsional damper.

9. Cantilever crane (1) according to claim 1, characterized in that the cantilever crane is designed as a harbor crane.

10. Cantilever crane (1) according to claim 9, characterized in that the cantilever crane is designed as a mobile harbor crane.

11. System with a jib crane (1) according to one of the preceding claims and at least one target mark arranged at the element (T; LAM; L) for detecting the lateral actual position of the element (T; LAM; L).

12. The system according to claim 11, characterized in that the at least one target marking is arranged at the load-bearing means (T) and/or the load-receiving means (LAM) and/or the load (L) received by the load-receiving means.

13. Method for reducing the pendulum movement of an element (T; LAM; L) suspended at least one hoisting rope (11) of a jib slewing crane (1), said element taking the form of a load-bearing means (T) and/or a load-receiving means (LAM) and/or a load (L) received by said load-receiving means, wherein said at least one hoisting rope (11) is turned in the region of its jib tip (5 a) at the jib (5) of said jib slewing crane (1), wherein the lateral actual position of said element (T; LAM; L) is detected by means of a camera (12) arranged in the region of said jib tip (5 a) and the relative displacement between said lateral actual position and a lateral set position of said element (T; LAM; L) is determined by means of a control means (15), and on the basis of said relative displacement, a driving means for pivoting said jib (5) about a horizontal axis (W) and/or a driving means for pivoting said jib (5) about a vertical rotation axis (D) and/or a lowering of said drive element (L) is determined by means of said camera (12), an angular deviation from the drive axis (100) is determined by means of said camera (12) is determined, and performing a correction of the lateral actual position detected by the camera (12) based on the angular deviation (100), and subsequently determining the relative displacement between the corrected lateral actual position and the lateral set position of the element (T; LAM; L).

14. The method of claim 13, wherein reducing the relative displacement comprises eliminating or avoiding the relative displacement.

15. The method according to claim 13, characterized in that the correction of the lateral actual position is performed by calculation.

16. The method of claim 13, wherein reducing the pendulum motion comprises eliminating or avoiding the pendulum motion.

17. Method according to claim 13, characterized in that the lateral 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).

18. Method according to claim 13 or 17, 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 the at least one target marking at the element (T; LAM; L) or 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 command is determined for the drive device for pivoting the boom (5) about the horizontal luffing axis (W) and/or the drive device for rotating the boom (5) about the vertical rotation axis (D) and/or the drive device for lifting or lowering the element (T; LAM; L).