DE102020120699A1 - Slewing jib crane with a camera and methods for reducing load sway during crane operation - Google Patents

Abstract

The invention relates to a slewing jib crane (1) with a jib (5) which has at least one deflection pulley for at least one hoisting cable (11) in the area of its jib tip (5a), and a drive for pivoting the jib (5) about a horizontal luffing axis ( W) and a drive for rotating the jib (5) about a vertical axis of rotation (D) and a drive for raising or lowering an element (T; LAM; L) hanging on the at least one hoist rope (11) in the form of a suspension means (T ) and/or load lifting device (LAM) and/or a load (L) picked up by it and a control (15). In order to improve the jib slewing crane, it is proposed that a camera (12) be arranged in the area of the jib tip (5a), whose detection range is directed towards the element (T; LAM; L) and whose camera axis (12a) is aligned essentially parallel to a weight axis (200), the camera (12) being set up to capture a lateral actual position of the element (T; LAM;L) to record n, and the controller (15) is designed and set up, a relative displacement between the lateral actual position and a lateral target position of the element (T; LAM; L) and to determine control commands for at least one of the aforementioned drives on the basis of the relative displacement. The invention also relates to a method for reducing, preferably eliminating or avoiding, pendulum movements during operation of a slewing jib crane (1).

Description

The invention relates to a slewing jib crane according to the preamble of claim 1 and a method according to claim 8.

Due to the mechanical properties of the hoist rope, in particular its flexibility, and due to the forces acting on the element hanging from it, in particular the suspension element and/or the load handling device and/or the load carried by it, for example centrifugal or wind forces, as well as due to diagonal pull, it can come to a relative displacement of the respective element from a lateral target position. Undesirable pendulum movements can arise, in particular load pendulum movements. In order to be able to determine such displacements and then at least reduce or avoid the undesired pendulum movements with appropriate control strategies of the drives, a lateral actual position of the suspension element and/or load handling element and/or the load must be known.

From the EP 1 992 583 B1 a crane with a sensor unit for determining a cable angle relative to the direction of gravitational force is known, in which the sensor unit is arranged on a cable follower element guided on the hoist cable. However, such a mechanism that swings with the hoist rope is susceptible to damage.

From the EP 1 880 971 B1 a crane with a gyroscope sensor for determining a twisting of a hook beam is known, the gyroscope sensor being arranged on the hook beam. Such an arrangement of the sensor has the disadvantage that radio data transmission from the sensor to a crane controller is unreliable.

Proceeding from this state of the art, the object of the present invention is to improve a slewing jib 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 support means and/or load-carrying means and/or the load during crane operation is made possible.

This object is achieved by a slewing jib crane with the features of claim 1 and a method with the features of claim 8. Advantageous refinements of the invention are specified in the dependent claims and in the following description.

According to the invention, a slewing jib crane is provided with a jib which has at least one deflection pulley for at least one hoist rope in the area of its jib tip, and a drive for pivoting the jib about a horizontal luffing axis and a drive for rotating the jib about a vertical axis of rotation and a drive for lifting or Lowering an element hanging on the at least one hoist rope in the form of a suspension element and/or load suspension device and/or a load taken up by it and a control, improved in that a camera is arranged in the area of the boom tip, the detection range of which is limited to that on the at least one hoist rope directed hanging element and whose camera axis is aligned essentially parallel to a weight axis, wherein the camera is set up to detect a lateral actual position of the element, and the controller is designed and set up, a relative displacement between the lateral actual position and to determine a lateral target position of the element and, based on the relative displacement, to determine control commands for at least one of the aforementioned drives in order to reduce, preferably completely eliminate or avoid the relative displacement.

Within the scope of the invention, suspension means is understood to mean a component which is firmly connected to the crane and which is arranged between the hoisting cable and a load handling device or between the hoisting cable and a load which is connected directly and directly to the suspension means. The suspension means can, for example, comprise a load hook, a bottom block and/or a hook crossbeam, with the corresponding suspension means then being and remaining connected to the crane for permanent operation, even for different types and shapes of load handling devices and/or loads. On the other hand, the load-carrying means, which is preferably intended for immediate and direct pick-up of the load, can be changed during operation depending on the type and shape of the loads to be handled, for example from a container spreader for handling containers to a gripper for handling bulk goods or else between different sizes of the same type of load handling device, for example different grippers for different bulk goods.

Determining control commands is understood within the scope of the invention to mean that control commands are defined in terms of their type, for example rocking or turning, and in terms of their size, for example for a duration of ten seconds or by an angle of 10°. Defining the control commands can include creating or generating the control commands. The control commands are then sent to the respective drive.

In other words, the camera arranged and set up according to the invention can be used to optically record, for example, the lateral actual position of the suspension element and/or the load handling element and/or the load picked up as an element hanging on at least one hoist rope. The lateral actual position of the respective element can be detected in particular using at least one, in particular outer, contour of the element and/or, within the framework of the system mentioned below, using at least one target marking on the element that can be detected by the camera. In this context, typical contours of the element considered for determining the relative displacement can also be stored in the controller, which can then be compared with camera data, in particular camera images, in order to record the actual lateral position of the element.

The controller determines, in particular with the help of suitable evaluation software, a deviation of the lateral actual position from a lateral target position of the element. This can be done in particular based on a deviation of the actual position of the at least one target marking and/or contour recorded by the camera from a target position of the at least one target marking and/or contour.

It is also conceivable that a center of gravity of the element considered for determining the relative displacement can be determined using the detected contours and the center of gravity is used for determining the relative displacement between the lateral actual position and a lateral target position of the element.

The lateral target position is predetermined and, in particular, freely selectable. A center of gravity of the element under consideration, in particular the suspension element and/or load handling device and/or load, preferably lies in the lateral target position on a virtual target line which points in the direction of the weight axis and thereby through the run-off point of the hoist rope from the deflection pulley or at several hoisting ropes and deflection pulleys and corresponding drainage points through a center point of a line formed by all drainage points.

Based on the relative displacement of the element considered for its determination, the controller determines control commands for at least one of the drives in order to dampen or avoid pendulum movements of the element, i.e. in particular the suspension element and/or load handling element and/or the load. It is possible in particular to avoid oscillating movements by detecting (undesirable) diagonal pull from a load that has not yet been lifted, with the controller being able to determine control commands for at least one of the drives before oscillating movements occur.

The camera is preferably set up to also detect a rotational displacement or rotation of the element in addition to the lateral displacement. On the basis of such a displacement, in particular an angular position of the element, in particular of the load, can be determined, which can be taken into account in particular when handling the element, in particular the load.

With the slewing jib crane according to the invention, the lateral actual position of the corresponding element can be determined in an advantageous manner without additional sensors on the hoist cable or suspension means. The camera is located in an area of the jib where low forces act. Mechanical connections with the hoist rope or the suspension means or another element hanging on the hoist rope are not required. Signal transmission from the camera to the controller can therefore be implemented in a particularly simple manner via a transmission-safe cable connection. However, wireless signal transmission is also advantageously possible, since the arrangement of the camera on the boom tip means that there is no risk of the direct signal path being impaired, for example by movements of the at least one hoisting cable and elements hanging from it.

It is advantageously provided that the camera is articulated about a first bearing axis, which is arranged perpendicular to the camera axis, and/or about a second bearing axis, which is arranged perpendicular to the camera axis and to the first bearing axis and preferably intersects the first bearing axis, about a Allow alignment of the camera axis.

A rotatability of the camera about the first bearing axis is used in particular to compensate for pivoting movements of the boom, ie when changing the radius of the boom.

A rotary joint can be provided for each bearing axis, which enables the camera to rotate about the respective bearing axis, in particular in two directions of rotation. It is therefore conceivable that two rotary joints are provided, with each of the rotary joints enabling the camera to rotate about one of the bearing axes. A single swivel joint is preferably provided, which enables rotary movements of the camera about the first and second bearing axis. A superimposition of the rotational movements about the first and second bearing axis is possible.

A ball joint for mounting the camera on the boom is also conceivable, but movements that do not occur around the first or second axis are undesirable and therefore preferably prevented, for example by a corresponding guide.

This makes it possible to align the camera axis essentially parallel to the weight force axis, even during pivoting and/or rotating movements of the boom, in order to record the actual lateral position as precisely as possible and thus determine the relative displacement between the actual lateral position as precisely as possible - Position and the lateral target position.

In a structurally simple manner, a focal point of the camera is arranged at a distance from the bearing axis(s) in such a way that the camera is suspended like a pendulum, with the camera axis being aligned automatically by its own weight. This passively, that is to say without further aids, achieves the situation in which the camera axis is aligned essentially parallel to the weight axis when the camera is in an equilibrium position.

Movement of the camera can advantageously be dampened by means of a damper, and the damper is preferably designed as a torsion damper.

A damper is preferably provided for each bearing axis, so that rotational movements about the respective bearing axis can be damped. In particular, the damper is assigned exclusively to a single bearing axis. However, it is also possible for a damper to be assigned to several bearing axes.

The damper is located between the camera and the boom. The damper can form a structural unit with the respective swivel joint or can be arranged independently of the respective swivel joint.

The damper, designed for example as a torsion damper, is assigned to a single bearing axis, is arranged around the respective bearing axis and preferably forms a structural unit with the rotary joint.

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

By means of the damper, an essentially parallel alignment of the camera axis to the weight force axis is made possible, even in the case of dynamic movements and/or vibrations of the boom.

It is particularly advantageous for an angle sensor arranged on the camera to be able to detect an angular deviation of the camera axis from the weight axis, and for the control to correct the actual lateral position of the element detected by the camera, preferably mathematically, based on the angular deviation.

In other words, the angular deviation of the camera axis from the weight force axis detected, in particular measured, by the angle sensor is used to correct the actual lateral position of the suspension element detected by the camera, which is incorrect due to the angular deviation. By means of the controller, in particular by means of the evaluation software, the angular deviation can be taken into account when determining the relative displacement.

The angle sensor preferably detects the angle deviation in all, for example four, possible directions of rotation of the camera. It is also conceivable that the angle sensor detects the angular deviation in only one, two or three directions of rotation. In addition, in an embodiment with only one bearing axis of the camera, it can be provided that the angle sensor detects angular deviations transversely, preferably perpendicularly, to the possible directions of rotation of the camera, which can occur, for example, due to elastic deformations of the boom during its rotational movements.

Such an angular deviation can be, for example, a dynamic angular deviation generated by vibrations and/or a pendulum movement of the camera. A static angle deviation due to friction in or on the swivel joint and/or damper is also possible.

Knowing the angular deviation makes it possible to achieve a high degree of accuracy when determining the actual position of the element considered for determining the relative displacement. An angular deviation would be interpreted as a relative displacement between the actual lateral position and the desired lateral position, so that erroneous control commands would be determined.

The slewing jib crane is advantageously designed as a harbor crane, in particular a mobile harbor crane. Such a crane is from the WO 2011/098542 A1 known. Furthermore, so-called mobile harbor cranes are already known from the company brochure of Konecranes Global Corporation entitled "Diesel-Electric Model 4 Mobile Harbor Cranes", with which containers or Bulk goods are handled in seaports or container terminals. Such a jib slewing crane consists essentially of an undercarriage, with which the jib slewing crane is supported on land, for example a quay, or on a floating pontoon, and an upper carriage rotatably mounted on the undercarriage about a vertical axis of rotation. The undercarriage may be traversable via tires on the quay or via rail wheels on rails. The undercarriage can be supported on supports during handling operations.

On the superstructure are a vertically extending tower, a slewing gear for rotating a boom and/or superstructure around the axis of rotation, a hoist for winding and unwinding a hoist rope for lifting or lowering the element hanging thereon in the form of a suspension element and/or or load handling equipment and/or a load picked up by it. A counterweight is also preferably arranged on the superstructure. The boom can be connected to the superstructure or the tower on a side of the tower facing away from the counterweight so that it can pivot about a horizontal luffing axis. In addition, the jib can be pivoted via a luffing cylinder articulated on the jib and on the superstructure or tower from its laterally cantilevered operating position into a less cantilevered or upright other operating or rest position. In addition, the boom is preferably designed as a framework construction, for example in the form of a lattice mast. Depending on the design of the crane, some of the aforementioned components can also be left out or connected to one another in a different way, since the presence of a jib on a corresponding slewing jib crane that can be pivoted about the luffing axis and rotated about the axis of rotation is sufficient. For example, it is conceivable that the crane does not have an upper carriage and the tower with the boom is mounted on the undercarriage via the slewing gear and can be rotated together about the vertical axis of rotation. The hoist and the counterweight are then not carried by the superstructure, but are each located at another suitable location on the crane, for example on the tower.

The reduction in the relative displacement can be further improved by using a system with a slewing jib crane according to the invention and at least one target marking arranged on the element, in particular support means and/or load handling means and/or a load carried by them, for detecting the lateral actual position of the Elements is formed. This enables a particularly reliable detection of the lateral actual position of the element considered for this purpose.

The invention is also directed to a method for reducing, preferably eliminating or avoiding, pendulum movements of an element hanging on at least one hoist rope of a jib slewing crane in the form of a suspension element and/or load handling device and/or a load carried by it, with the at least one hoist rope being attached to a The jib of the jib slewing crane is deflected in the area of its jib tip, with a camera arranged in the area of the jib tip detecting a lateral actual position of the element and using a controller to determine a relative displacement between the lateral actual position and a lateral target position of the element is determined and on the basis of the relative displacement control commands for a drive to pivot the boom about a horizontal luffing axis and/or a drive to rotate the boom about a vertical axis of rotation and/or a drive to raise or lower the element and preferably to the respective drive are sent to reduce the relative displacement, preferably eliminate or avoid it completely.

Provision can advantageously be made for the lateral actual position to be detected using at least one target marking on the element or using at least one contour of the element and/or using an angle sensor to detect an angular deviation of a camera axis from a weight axis and, based on the angular deviation, a The lateral actual position detected by the camera is corrected, preferably by calculation, and the relative displacement between the corrected lateral actual position and the lateral target position of the element is then determined.

It is particularly advantageous for a distance between the element and the boom tip to be determined using the camera and using the at least one target marking on the element or using the at least one contour of the element and using the controller in order to determine a free length of the hoist rope and to be included in the determination of the control commands for the drive for pivoting the jib about the horizontal luffing axis and/or the drive for rotating the jib about the vertical axis of rotation and/or the drive for raising or lowering the element.

The size of the at least one target marking and/or the at least one contour is known here, so that a distance between the target marking and/or contour and the camera and from this a distance between the element and the Detect boom tip are cash. The free length of the hoist rope, also referred to as the free pendulum length, can then be determined, in particular calculated.

• 1 eine schematische Ansicht eines Auslegerdrehkrans und
• 2 eine schematische Ansicht des Auslegerdrehkrans mit einer an seiner Auslegerspitze angeordneten Kamera

zeigt.Further details of the invention result from the following description of exemplary embodiments with reference to the drawing

• 1 a schematic view of a slewing jib crane and
• 2 a schematic view of the jib slewing crane with a camera arranged on its jib tip

indicates.

the 1 shows a schematic view of a slewing jib 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 container terminals. Accordingly, the slewing jib crane 1 is provided with a suitable carrying means T, which hangs on its at least one hoist rope 11 and can accommodate a load handling device LAM, which is designed here, for example, as a spreader for accommodating ISO containers or other standardized containers. The slewing jib crane 1 can also be equipped with a gripper for handling bulk goods. The load handling device LAM is connected to a load L designed as an example of an ISO container.

The jib slewing crane 1 essentially comprises an undercarriage 2 and an optional upper carriage 3 with a tower 4 and a jib 5. The jib slewing crane 1 is supported in the usual way via its undercarriage 2 on land, here a quay 7. The slewing jib crane 1 can be moved on the quay 7 via the undercarriage 2 with the chassis 6, in particular a wheel tire chassis, and is supported on this during handling operation via a supporting device 8, in particular its supports. It is also possible that the slewing jib crane 1 can be moved on rails or fixed in a stationary manner on a floating pontoon.

The optional upper carriage 3 is mounted on the undercarriage 2 and can be pivoted by a slewing gear d about a vertical axis of rotation D and in particular relative to the undercarriage 2 . The slewing gear d usually has a slewing ring in engagement with a drive gear. The superstructure 3 also carries a hoist h and a counterweight 9 at the rear.

Also supported on the superstructure 3 is the tower 4 which extends in the vertical direction and at the top of which a roller head 10 is fastened with sheaves. Furthermore, the jib 5 is articulated on the tower 4, approximately in the region of half its length and on the side facing away from the counterweight 9. The jib 5 is pivotably connected to the tower 4 about a horizontal luffing axis W and additionally via a luffing gear w, which is articulated to the jib 5 and below to the superstructure 3 and which is usually designed as a hydraulic cylinder, from its laterally projecting operating position into an upright rest position pivotable. In addition, the boom 5 is designed in the usual way as a lattice mast. On a jib tip 5a of the jib 5 facing away from the tower 4, one or more deflection pulley(s) are rotatably mounted, via which, starting from the hoist h, one or more hoist ropes 11 are connected via the pulley head 10 to the on the hoist rope(s) 11 attached support means T are guided. The aforementioned components and their connection to one another are described purely by way of example and are not a requirement for the implementation of the invention, which is not limited to the mobile harbor crane specifically described by way of example.

A camera 12 (see FIG 2 ) Arranged and furnished according to the invention. In addition, the slewing jib crane 1 includes a controller 15, by means of which the method according to the invention can be carried out in particular.

the 2 shows a schematic view of the slewing jib crane 1 with a camera 12 arranged on its jib tip 5a. For the sake of simplicity, only one hoisting cable 11 is shown here as an example.

The detection area of the camera 12 arranged in the area of the jib tip 5a is directed towards the suspension means T hanging on the at least one hoist rope 11 . A camera axis 12a of the camera 12 is aligned essentially parallel to a weight axis 200 . Camera 12 is set up to optically detect a lateral actual position of suspension element T, for example using at least one, in particular outer, contour of suspension element T and/or using at least one target marking on suspension element T that can be captured by camera 12. The actual position of the suspension element T is then sent to the controller 15 by means of a signal connection 16 .

The arrangement of the controller 15 on the slewing jib crane 1 can be freely selected. In the 2 The selected arrangement of the controller 15 is only used for a simplified schematic representation.

The camera 12 is articulated about a first bearing axis 14.1, the first bearing axis 14.1 being arranged perpendicularly to the camera axis 12a, in the present representation of FIG 2 also perpendicular to the drawing plane. Rotatability of the camera 12 about the first bearing axis 14.1 serves to compensate for pivoting movements of the boom 5 about the horizontal rocking axis W. This also enables the camera axis 12a to be aligned when the boom 5 is pivoting. The camera 12 can also be articulated about a second bearing axis 14.2, which is arranged perpendicularly to the camera axis 12a and to the first bearing axis 14.1. A rotary joint is optionally provided for each bearing axis 14.1, 14.2, which enables the camera 12 to rotate about the respective bearing axis 14.1, 14.2 in two directions of rotation. A superimposition of rotational movements about the first bearing axis 14.1 and the second bearing axis 14.2 is possible here. A focal point of the camera 12 is arranged at a distance from the bearing axes 14.1, 14.2 in such a way that the camera 12 is suspended like a pendulum. The camera axis 12a is thus aligned automatically by its own weight. Movements of the camera 12 are dampened by means of a damper (not shown), in particular a torsion damper, in order to enable the camera axis 12a to be aligned essentially parallel to the weight force axis 200 even in the event of dynamic movements and/or vibrations of the boom 5 . A damper is provided for each bearing axis 14.1, 14.2, so that rotational movements about the respective bearing axis 14.1, 14.2 can be damped.

An angular deviation 100 of the camera axis 12a from the weight force axis 200 can be detected by means of an angle sensor 13 arranged on the camera 12 . The angle sensor 13 detects the angular deviation 100 in all possible directions of rotation of the camera 12, in this case four. A static angle deviation 100 due to friction in or on the respective swivel joint and/or damper is also possible. The angular deviation 100 is sent to the controller 15 by means of a signal connection 16, which can be the signal connection 16 for the camera 12 for transmitting the detected actual position of the suspension element T or a further separate signal connection 16.

The controller 15 determines, for example with the aid of suitable evaluation software, a relative displacement between the lateral actual position and a lateral target position of the suspension element T. The lateral target position is predetermined and in particular freely selectable. A center of gravity of suspension element T in the lateral target position preferably lies on a virtual target line that points in the direction of weight axis 200 and, in doing so, passes through the point at which hoist rope 11 runs off the deflection pulley or, in the case of multiple hoist ropes 11 and deflection pulleys, through a center point of one of line formed at all drainage points.

By means of the controller 15, in particular by means of the evaluation software, the angle deviation 100 can be taken into account when determining the relative displacement. The angle deviation 100 of the camera axis 12a from the weight force axis 200 detected by the angle sensor 13 is used here to correct the lateral actual position of the suspension element T detected by the camera 12, which is incorrect due to the angle deviation 100.

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

Reference List

1

jib crane

2

undercarriage

3

superstructure

4

tower

5

boom

5a

boom tip

6

landing gear

7

Kai

8th

support device

9

counterweight

10

roller head

11

hoist rope

12

camera

12a

camera axis

13

angle sensor

14.1

first bearing axis

14.2

second bearing axis

15

steering

16

signal connection

100

angular deviation

200

weight axis

i.e

slewing gear

D

axis of rotation

H

hoist

L

load

LAM

load handling equipment

T

carrying means

w

luffing gear

W

rocking axis

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• EP 1992583 B1 [0003]
• EP 1880971 B1 [0004]
• WO 2011/098542 A1 [0034]

Claims (10)

Slewing jib crane (1) with a jib (5) which has at least one deflection pulley for at least one hoist rope (11) in the area of its jib tip (5a), and a drive for pivoting the jib (5) about a horizontal luffing axis (W) and a Drive for rotating the jib (5) about a vertical axis of rotation (D) and a drive for raising or lowering an element (T; LAM; L) hanging on the at least one hoist rope (11) in the form of a suspension element (T) and/or Load handling means (LAM) and/or a load (L) picked up by it and a control (15), characterized in that a camera (12) is arranged in the area of the boom tip (5a), the detection range of which is on the element (T; LAM; L) and whose camera axis (12a) is aligned essentially parallel to a weight axis (200), the camera (12) being set up to detect a lateral actual position of the element (T; LAM; L), and the controller (15) is formed and arranged, ei ne relative displacement between the actual lateral position and a desired lateral position of the element (T; LAM; L) to determine and on the basis of the relative displacement to determine control commands for at least one of the aforementioned drives. Boom slewing crane (1) after claim 1 , characterized in that the camera (12) is arranged about a first bearing axis (14.1) which is perpendicular to the camera axis (12a) and/or about a second bearing axis (14.2) which is perpendicular to the camera axis (12a) and to the first bearing axis (14.1) is arranged and preferably the first bearing axis (14.1) intersects, is articulated to allow alignment of the camera axis (12a). Boom slewing crane (1) after claim 2 , characterized in that a center of gravity of the camera (12) is arranged at a distance from the bearing axis(s) (14.1, 14.2) such that the camera (12) is suspended like a pendulum, in which the alignment of the camera axis (12a ) is carried out automatically by its own weight. Boom slewing crane (1) according to one of claims 2 or 3 , characterized in that a movement of the camera (12) can be damped by means of a damper, and the damper is preferably designed as a torsion damper. Slewing jib crane (1) according to one of the preceding claims, characterized in that an angular deviation (100) of the camera axis (12a) from the weight force axis (200) can be detected by means of an angle sensor (13) arranged on the camera (12) and by means of the controller Based on the angular deviation (100), the actual lateral position of the element (T; LAM; L) detected by the camera (12) can be corrected, preferably by calculation. Slewing jib 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. System with a slewing jib crane (1) according to one of the preceding claims and at least one arranged on the element (T; LAM; L), in particular support means (T) and/or load handling means (LAM) and/or a load (L) carried by them Target marking for detecting the actual lateral position of the element (T; LAM; L). Method for reducing, preferably eliminating or avoiding, pendulum movements of an element (T; LAM; L) hanging on at least one hoist rope (11) of a slewing jib crane (1) in the form of a suspension element (T) and/or load handling device (LAM) and/or a load (L) carried by it, the at least one hoist rope (11) being deflected on a boom (5) of the jib slewing crane (1) in the area of its boom tip (5a), characterized in that by means of a in the area of the boom tip (5a) arranged camera (12) a lateral actual position of the element (T; LAM; L) is detected, and by means of a controller (15) a relative displacement between the lateral actual position and a lateral target position of the element (T; LAM ; L) is determined and, on the basis of the relative displacement, control commands for a drive for pivoting the boom (5) about a horizontal rocking axis (W) and/or a drive for rotating the boom (5) about a vertical axis of rotation (D) and/or a drive for raising or lowering the element (T; LAM; L) can be determined in order to reduce, preferably completely eliminate or avoid, the relative displacement. procedure after claim 8 , characterized in that the lateral actual position is detected using at least one target marking on the element (T; LAM; L) or using at least one contour of the element (T; LAM; L) and/or by means of an angle sensor (13). angular deviation (100) of a camera axis (12a) from a weight axis (200) is detected and based on the angular deviation (100) a, preferably mathematical, correction of the actual lateral position detected by the camera (12) is carried out and then the relative displacement between the corrected lateral actual position and the lateral target position of the element (T; LAM; L) is determined. procedure after claim 8 or 9 , characterized in that by means of the camera (12) and based on the at least one target marking on the element (T; LAM; L) or based on the at least one contour of the element (T; LAM; L) and by means of the controller (15). Distance between the element (T; LAM; L) and the jib tip (5a) is determined in order to determine a free length of the hoisting cable (11) and in the determination of the control commands for the drive to pivot the jib (5) about the horizontal luffing axis (W) and/or the drive to rotate the jib (5) about the vertical axis of rotation (D) and/or the drive to raise or lower the element (T; LAM; L).

Images