NL2016444B1 - Disturbance compensating telescopic knuckle boom crane, ship provided therewith and method therefor - Google Patents

Abstract

The present invention relates to a disturbance compensating knuckle boom crane, ship and method, with the crane comprising: - a pedestal and/or base frame having a main joint; - a main boom connected to the pedestal and/or base frame at the main joint and comprising a luffing cylinder for rotation around a main boom rotation axis; and - a telescopic knuckle boom, a knuckle boom connector configured to connect the telescopic knuckle boom and the main boom, and a knuckle boom cylinder for rotation of the telescopic knuckle boom at the knuckle boom connector around a main knuckle boom rotation axis; - a compensation controller configured for monitoring and/or controlling compensation movement of the crane; and wherein the telescopic knuckle boom comprises a main telescopic part, a telescopic part and a telescopic drive configured for extending and retracting the telescopic part.

Description

DISTURBANCE COMPENSATING TELESCOPIC KNUCKLE BOOM CRANE, SHIP PROVIDED THEREWITH AND METHOD THEREFOR

The present invention relates to a disturbance compensating knuckle boom crane, preferably a marine and off-shore knuckle boom crane. The crane can be used for loading and unloading goods. For example, the knuckle boom crane can be used to load and/or unload goods from and/or to a ship or vessel or offshore fixed installation.

Conventional knuckle boom cranes are often designed to provide a compact crane configuration for storage and manoeuvring. Such cranes are often rotatable around a pedestal and/or base frame. The booms of the crane can be rotated to enable folding back the crane. This enables the crane to hoist loads that are close to the foot of the crane, such as on the deck of a vessel. Such compact configuration may have practical limitations for the crane.

In practice, knuckle boom cranes are confronted with a lot of disturbances when being used. These disturbances are due to wind and wind gusts. In case of a marine and off-shore crane also waves and wave motion may disturb the correct operation of the crane. In case disturbances become too large operation is no longer safe and loading and/or unloading has to be interrupted. This may significantly increase the costs of loading and/or unloading. Also, disturbances may lead to unsafe operating conditions resulting in accidents involving injuries and/or damage to goods. Furthermore, cranes are being applied in different situations requiring different crane configurations. This restricts the flexible application of cranes. This is especially true in marine and off-shore applications. Often, a ship or vessel is provided with a specific crane and independent on the actual circumstances for the loading and/or unloading operation this crane has to be used.

The present invention has for one of its objects to obviate or at least improve the aforementioned problems with conventional cranes.

The present invention provides for this purpose a disturbance compensating knuckle boom crane, the crane comprising: a pedestal and/or base frame having a main joint; a main boom connected to the pedestal and/or base frame at the main joint and comprising a luffing cylinder for rotation of the main boom at the main joint around a main boom rotation axis; and a telescopic knuckle boom, a knuckle boom connector configured to connect the telescopic knuckle boom and the main boom, and a knuckle boom cylinder for rotation of the telescopic knuckle boom at the knuckle boom connector around a main knuckle boom rotation axis; a compensation controller configured for monitoring and/or controlling compensation movement of the crane; and wherein the telescopic knuckle boom comprises a main telescopic part, a telescopic part and a telescopic drive configured for extending and retracting the telescopic part.

In the construction of the crane according to the invention with the pedestal and the base frame the main boom is being connected to the pedestal and/or the base frame at a main joint. The construction further comprises a luffing cylinder for rotation at the main joint around a main boom rotation axis, thereby enabling raising and lowering the crane. Preferably, the pedestal and/or base frame also comprises a slew bearing to be capable of the slewing movement to provide additional freedom when operating the crane by enabling a main rotation of the pedestal and/or base frame around a substantially vertical axis.

The crane further comprises a telescopic knuckle boom that is connected to the main boom at the knuckle boom connector. Furthermore, the crane comprises a knuckle boom cylinder for rotation at the knuckle boom connector around a main knuckle boom rotation axis. This provides additional flexibility when positioning the crane.

The crane is further provided with a compensation controller. This controller is configured for controlling compensation movement of the crane. This enables an effective control of disturbances caused by waves. For example, wave disturbances when loading and/or unloading a vessel or ship is caused by wave motion involving a number of wave variables including heading, frequency and height. The disturbances act on the crane and on the vessel provided with such crane. For example, waves influence movement of the vessel including roll, pitch and yaw rotational movement and surge, sway and heave translational movements. The compensation controller automatically determines the correction actions that are required for the individual drives or compensators to provide disturbance compensation. This enlarges the window of safe operation with the crane according to the present invention.

The compensation initiated by the compensation controller can be performed involving the telescopic boom and a horizontal axis and optionally a vertical axis, for example.

The telescopic knuckle boom of the crane according to the present invention comprises a main telescopic part, one or more telescopic part(s) and a telescopic drive. In a presently preferred embodiment the main telescopic part houses the telescopic part. The telescopic part is configured to extend and/or retract relative to the main telescopic part. A telescopic drive, such as a hydraulic cylinder, is configured for extending and retracting the telescopic part. Providing a telescopic knuckle boom improves the flexibility of the crane for dealing with different situations. This telescopic knuckle boom enlarges the operational reach of the crane without increasing the required storage space of the crane. Storage space is important in loading and off-shore situations wherein available space is often limited. By enlarging the operational reach of the crane according to the present invention a broader range of operational situations can be dealt with. This is especially relevant in case of marine and off-shore applications wherein a ship is provided with a crane that is confronted with certain conditions while goods have to be loaded and/or unloaded. Providing two or more telescopic parts further enhances these effects.

The compensation controller counteracts the effects of the disturbances thereby providing the possibility of changing the length of the telescopic knuckle boom. In a presently preferred embodiment the compensation controller is provided with information about the position of the boom tip, for example involving angles of the main boom and/or knuckle boom, slewing angle and/or length of telescopic boom such that this information can be taken into account when determining the required compensation control actions.

The crane according to the invention is capable to operate in a safe mode under a wider range of weather conditions involving wave disturbances thereby reducing waiting times. This renders the transfer operation more cost effective. Also, the crane according to the invention prevents unsafe operations thereby reducing the number of injuries and accidents when working with the crane.

In a preferred embodiment according to the present invention the knuckle boom connector comprises a two-axis compensation joint comprising a compensation joint and a compensation drive.

Providing the knuckle boom connector and a two-axis compensation joint enables rotation around the main knuckle boom rotation axis and enables handling of a compensation movement.

By providing the compensation movement with the two-axis compensation joint of the knuckle boom connector a compensation of disturbances acting on the crane is made possible at the end of the main boom, therefore relatively close to the load. This has the advantage that a more accurate compensation can be performed and/or less power requirements are involved. Furthermore, this enables providing the telescopic crane and two-axis compensation joint as a modular (sub)-system that can also be mounted in conventional systems. A further advantage of providing the connector with the two-axis compensation joint is the reduction of the influence of the inertia. This is especially relevant when dealing with the relatively heavy own weight of all components between the connector and the base frame and the corresponding inertia thereof. Also, small compensators may suffice to compensate the disturbances. In a presently preferred embodiment the compensation drive comprises at least one compensating cylinder with relatively small dimensions.

Preferably the knuckle boom connector is configured for rotating the knuckle boom relative to the main boom at the compensation joint around a compensating axis that is substantially perpendicular to the main knuckle boom rotation axis. This compensation movement is preferably achieved by controlling the compensation cylinder of the compensation drive. This provides an effective disturbance compensation.

In a further preferred embodiment according to the present invention the compensation drive comprises two compensation cylinders on opposite sides of the compensation joint.

By providing two compensation cylinders on opposite sides of the compensation joint and, therefore, opposite sides of the two-axis compensation joint an accurate compensation movement is made possible, enabling the use of relatively small actuators and minimal power requirements. A compensation rotation is achieved by extending a first compensation cylinder on a first side of the joint and retracting a second compensation cylinder on the second side of the compensation joint. This reduces negative effects due to play and/or friction. Also, the applied forces are distributed more symmetrical relative to the compensation joint thereby enabling a more stable, robust and accurate disturbance compensation. It will be understood that the number and configuration of the compensation cylinders can be designed appropriately to provide a sufficient compensation and may involve the use of a different number of cylinders, for example 4 or 6 cylinders. The actual design may depend on the required forces that are expected for the compensation, for example.

In a presently preferred embodiment the two-axis compensation joint comprises a second compensation joint with a rotation axis that extends in a significantly horizontal direction. Preferably, 1 or 2 additional compensation luffing cylinders are provided to enable fast response to disturbances acting on the crane causing compensation movement around a second compensation axis that extends in a substantially horizontal direction, and preferably substantially perpendicular to the (first) compensation axis of the two-axis compensation joint.

The compensation initiated by the compensation controller can be performed more accurately with the two-axis compensation joint as compared to compensation with (only) the knuckle boom and luffing cylinders, for example. Preferably, the hoist system is also compensated to compensate length variation of the telescopic boom, for example.

In presently preferred embodiments the drives of the crane comprise hydraulic cylinders or other hydraulic elements. It will be understood that other drives could also be implied including electrical and pneumatic cylinders/drives.

Preferably, the knuckle boom connector comprises a modular construction enabling easy mounting and dismounting the two-axis compensation joint. Furthermore, such modular construction enables exchanging the two-axis compensation joint and the telescopic knuckle boom with another crane module, such as a so-called heavy load module. Such modular setup with the knuckle boom connector having a modular construction enhances the flexibility of the crane according to the present invention.

In an optional embodiment of the present invention the compensation controller acts on the knuckle boom cylinder and luffing cylinder, and on at least one of the associated compensation drives.

By providing compensation movement in such optional embodiment by controlling the knuckle boom cylinder and the luffing cylinder compensation movements around the main boom rotation axis and the main knuckle boom rotation axis are made possible. By enabling compensation movements at the two-axis compensation joint compensation around a compensating axis that is substantially perpendicular to the main knuckle boom rotation axis can be achieved. This enables disturbance compensation in the relevant directions.

In a presently preferred embodiment in addition to, or as an alternative to, compensation actions with the knuckle boom cylinder (and optionally the main boom cylinder) compensation is possible with the first and second compensation joints of the two-axis compensation joint, together with the telescopic movement. This provides effective compensation. An additional advantage is that the two-axis compensation joint at the location of the knuckle boom connector is capable of effectively handling varying lengths of the telescopic knuckle boom. This is especially relevant in marine and off-shore applications of the crane according to the present invention. The compensation controller determines which cylinder or drive, or combination thereof, should take corrective action. This corrective action is then preferably superposed on the regular transfer operations for loading and/or unloading goods. As already mentioned, the compensation controller preferably takes the length of the telescopic knuckle boom into account.

Preferably, the compensation controller comprises an input for receiving information about measured and/or predicted disturbances. Providing the compensation controller with information about the disturbances that are measured and/or predicted enables the compensation controller to determine the optimal corrective action to provide a disturbance compensation for the (marine) knuckle boom crane. For example, disturbances can be measured by the motion reference unit (MRU). It will be understood that also other systems can be used to provide disturbance information to the compensation controller. Furthermore, the compensation controller preferably receives information about the effective length of the telescopic knuckle boom. This enables the compensation controller to take the varying dynamics of the telescopic knuckle boom into account when determining the required compensation control actions and movements.

In a presently preferred embodiment the possibilities for positioning are further improved by providing a second knuckle boom connected at the second knuckle joint to the first knuckle boom and comprising a second knuckle cylinder for rotation at the second knuckle joint around a second knuckle boom rotation axis. It will be understood that the number of booms can be chosen in accordance with the requirements for the crane. For example, the number of booms can be two, three, four or even more.

Such construction for the crane with preferably two or three booms enables positioning the tip of the crane at the desired locating for loading and/or unloading goods. Preferably, the crane enables transferring goods with a hoisting system capable of transferring an uncompensated safe working load (SWL) or a compensated safe working load, or, in case the crane is provided with a double hoisting system, the crane is capable of transferring both uncompensated and compensated loads. It will be understood that the number of cylinders may vary between different cranes depending on the loads, conditions of use etc.

In a further preferred embodiment according to the present invention the crane comprises a winch that is attached to the telescopic part of the telescopic knuckle boom.

By attaching a winch or winch system to the telescopic part the need to compensate the winch or winch system is reduced or obviated.

In a further preferred embodiment according to the present invention the crane comprises a mobile pedestal and/or base frame capable of carrying and/or housing the crane.

By providing a mobile pedestal and/or base frame the crane can be stored and transported effectively. The mobility can be achieved by mounting the pedestal and/or base frame on, at or in a trailer, truck, container and the like. In case of a marine and off-shore crane this enables providing such crane to a ship in case goods have to be transferred or remove the crane from the ship in case no goods need to be transferred. This enhances the flexibility of the crane according to the present invention.

The invention further relates to a ship comprising an earlier described disturbance compensation knuckle boom crane.

Such ship provides the same advantages and effects as those described for the crane. Especially the combination of disturbance compensation and telescopic knuckle boom significantly increases the operational window for the crane according to the invention.

The invention further also relates to a method for transferring goods with a disturbance compensating knuckle boom crane as described earlier, comprising the steps of: providing such crane; and transferring the goods.

Such method provides the same advantages and effects as described for the crane and/or ship.

In a further preferred embodiment the method further comprises the steps of determining a disturbance, calculating a compensation with a compensation controller for the determined disturbance, and compensating the disturbance.

Preferably, transferring goods may involve extending and retracting the telescopic part of the knuckle boom. This increases the operational window for the crane.

Further advantages, features and details of the invention are elucidated on the basis of preferred embodiments thereof, wherein reference is made to the accompanying drawings in which: - Figure 1 shows a marine knuckle boom crane installed on a ship; - Figure 2 shows the crane of figure 1 in a different position; - Figure 3 shows a detail of the crane of figure 2; - Figure 4 A-C shows an alternative crane according to the invention; - Figure 5 shows an alternative mobile crane according to the invention; - Figure 6 shows an alternative embodiment of the crane of figure 1.

Disturbance compensating knuckle boom crane 2 (figure 1) is installed on ship 4 that is at sea 6. Ship 4 may deliver goods to construction 8, such as windmill foundation having platform 10. Crane 2 comprises pedestal and/or base frame 12 and main boom 14. Main boom 14 is connected at joint 16 to pedestal/base frame 12. Luffing cylinder 18 is connected at joint 20 to pedestal/base frame 12 and at joint 22 to main boom 14. Telescopic knuckle boom 24 is connected at connector 26 to main boom 14. Knuckle boom cylinder 28 is at one end connected at joint 30 to main boom 14 and at the opposite end at joint 32 to knuckle boom 24. Knuckle boom 24 comprises main knuckle boom part 34 that houses first telescopic part 36 and second telescopic part 38 and optionally further telescopic parts.

In the illustrated embodiment crane 2 further comprises hoist system 40 capable of transferring load 42 between platform 10 of construction 8 and ship 4.

Crane 2 can be folded (figure 2) when not in use. This involves retracting knuckle boom cylinder 28 and retracting telescopic parts 36, 38 with telescopic drive 46. Optionally, it is also possible to retract luffing cylinder 18. Slew bearing 48 (figure 3) enables rotation of crane 2 around a substantial vertical axis. In the illustrated embodiment crane 2 is provided with two luffing cylinders 18 and two knuckle boom cylinders 28.

In an alternative configuration, crane 102 (figure 4 A-C) comprises similar components as described earlier for the crane that is illustrated in figures 1-3. In the illustrated embodiment of the alternative crane 102 two luffing cylinders 18 and one knuckle boom cylinder 28 are provided. Also, crane 102 comprises two-axis compensation joint 104 with telescopic knuckle boom 106 having parts 34, 36, 38 enabling telescopic movement in direction A. In the illustrated embodiment two-axis compensation joint 104 is connected at joint 108 having a rotation axis that is substantially perpendicular to other rotation axes. At joint 110, with a substantially horizontal rotation axis, two-axis compensation joint 104 is connected to the other part of connector 26. Compensation knuckle boom cylinders 112 are connected at joints 114 to two-axis compensation joint 104 and enable compensation movement in direction B. Additional compensation knuckle boom cylinders 116 are connected at joints 115 and enable another rotational compensation movement in direction C around a substantial horizontal axis at jointllO.

Controller 118 (figure 4 A) receives disturbance input from the MRU or other sources and calculates the desired compensation and control actions 120 to cylinders 112, 116 of two-axis compensation joint 104 and telescopic drive 46. Optionally, controller 118 also acts on one or more of the main cylinders 18, 28.

In an alternative configuration (figure 3) controller 50 receives disturbance input from the MRU or other sources and calculates the desired compensation and control actions 52 for cylinders 18, 28.

Preferably, controllers 118, 50 receive information about the position of telescopic knuckle boom parts 34, 36, 38 to improve the compensation.

When load 42 has to be transferred between platform 10 and ship 4, as a first step ship 4 is manoeuvred towards construction 8. Crane 2 is unfolded by steering cylinders 18, 28 and, if necessary extending telescopic knuckle boom 24. Crane 2 can be rotated with slew bearing 48 around a substantially vertical axis and can be rotated at joint 16 and joint 26 around substantially horizontal axes to transfer load 42. After transferring load 42 crane 2 is brought into a folded position involving respective control action. Disturbances acting on crane 2 are compensated with compensating controller 50, 118 involving compensation movements. Compensation controller 50, 118 may act in different embodiments that are illustrated for crane 2, 102.

In a further embodiment mobile crane 202 (figure 5) comprises crane 204 and mobile platform 206. Crane 204 comprises similar elements as compared to the other embodiments of crane 2, 102. Alternatively crane 204 is placed in or on a (sea) container.

In an alternative embodiment crane 302 (figure 6) is provided with cabin 304.

Furthermore, crane 302 comprises hoist system 306 with winch 308 that is provided at or near the end of telescopic part 38. This reduces or obviates the need for compensation. Crane 302 further comprises similar components as described earlier for the cranes that are illustrated in figures 1-5.

Optionally, telescopic knuckle boom 24 is removed from crane 2, 102, 302 by removing two-axis compensation joint 104 of the connector 26. This provides a modular system for crane 2, 102. This further improves the applicability of the crane 2, 102 for different operations.

Experiments with compensation controller 50, 118 in the presence of wave disturbances acting on crane 2, 102 have shown that the deviations of the tip of telescopic knuckle boom 24 in the X-Y-Z-directions can be significantly reduced. This illustrates the effects of the compensation of crane 2, 102, 302. It will be understood that this significantly improves the operational window for crane 2, 102, 302.

In the illustrated embodiment the maximum reach between tip of telescopic knuckle boom 24 and the centre of pedestal/base frame 12 is about 27 meters. This enables reaching a distance of about 24 meter between the centre of pedestal/base frame 12 and (the landing zone of) platform 10. This implies a maximum distance of about 20 meters between the side of the ship 4 and the outer surface of construction 8. It will be understood that other configuration could also be envisaged.

The present invention is by no means limited to the above described and preferred embodiments thereof. The rights sought are defined by the following claims in the scope of which many modifications can be envisaged.

CLAUSES 1. Disturbance compensating knuckle boom crane, comprising: a pedestal and/or base frame having a main joint; a main boom connected to the pedestal and/or base frame at the main joint and comprising a luffing cylinder for rotation of the main boom at the main joint around a main boom rotation axis; and a telescopic knuckle boom, a knuckle boom connector configured to connect the telescopic knuckle boom and the main boom, and a knuckle boom cylinder for rotation of the telescopic knuckle boom at the knuckle boom connector around a main knuckle boom rotation axis; a compensation controller configured for monitoring and/or controlling compensation movement of the crane; and wherein the telescopic knuckle boom comprises a main telescopic part, a telescopic part and a telescopic drive configured for extending and retracting the telescopic part. 2. Disturbance compensating knuckle boom crane according to clause 1, wherein the knuckle boom connector comprises a two-axis compensation joint comprising a compensation joint and a compensation drive. 3. Disturbance compensating knuckle boom crane according to clause 2, wherein the knuckle boom connector is configured for rotating the knuckle boom relative to the main boom at the compensation joint around a compensating axis that is substantially perpendicular to the main knuckle boom rotation axis. 4. Disturbance compensating knuckle boom crane according to clause 2 or 3, wherein the compensation drive comprises a compensation cylinder. 5. Disturbance compensating knuckle boom crane according to clause 4, wherein the compensation drive comprises two compensation cylinders on opposite sides of the compensation joint. 6. Disturbance compensating boom crane according to one or more of clauses 2-5, further comprising a second compensation joint configured for rotating the telescopic knuckle boom relative to the main boom at the second compensation joint around a second compensation axis that extends in a substantially horizontal direction. 7. Disturbance compensating boom crane according to one or more of clauses 2-6, wherein the compensation controller acts on the knuckle boom cylinder and the luffing cylinder, and on at least of the compensation drives. 8. Disturbance compensating knuckle boom crane according to one or more of the foregoing clauses, wherein the compensation controller comprises an input for receiving information about measured and/or predicted disturbances. 9. Disturbance compensating crane according to one or more of the foregoing clauses, further comprising a second knuckle boom connected at a second knuckle joint to the first knuckle boom and comprising a second knuckle cylinder for rotation at the second knuckle joint around a second knuckle boom rotation axis. 10. Disturbance compensating knuckle boom crane according to one or more of the foregoing clauses, wherein the crane further comprises a slew bearing configured to enable a slewing movement. 11. Disturbance compensating knuckle boom crane according to one or more of the foregoing clauses, wherein the crane further comprises a winch that is attached to the telescopic part of the telescopic knuckle boom. 12. Disturbance compensating knuckle boom crane according to one or more of the foregoing clauses, comprising a mobile platform capable of carrying and/or housing the crane. 13. Ship comprising a disturbance compensating knuckle boom crane according to one or more of the foregoing clauses. 14. Method for transferring goods with a disturbance compensating knuckle boom crane, comprising the steps of: providing a disturbance compensation knuckle boom crane according to one or more of the foregoing clauses; and transferring the goods. 15. Method according to clause 14, further comprising the steps of determining a disturbance; calculating a compensation with a compensation controller for the determined disturbance; and compensating the disturbance. 16. Method according to clause 14 or 15, wherein transferring involves extending and/or retracting the telescopic part of the knuckle boom.

Claims (16)

A disturbance compensated hinge arm valve, comprising: a base and / or base frame with a main hinge; a main arm connected to the main hinge of the base and / or base frame and comprising a lifting cylinder for rotation of the main arm with the main hinge about a main arm rotation axis; a telescopic articulated arm, a articulated arm connector for connecting the telescopic articulated arm to the main arm, and a articulated arm cylinder for rotating the telescopic articulated arm with the articulated arm connector about an articulated arm main rotation axis; a compensation controller configured to monitor and / or control the compensation movement of the crane; and wherein the telescopic articulated arm comprises a telescopic main part, a telescopic part and a telescopic drive configured to extend and retract the telescopic part. The disturbance-compensated articulated arm crane according to claim 1, wherein the articulated arm connector comprising a two-axis compensation hinge including a compensation hinge and a compensation drive. The disturbance-compensated articulated arm crane of claim 2, wherein the articulated arm connector is configured to rotate the articulated arm relative to the main arm with the compensation hinge about a compensation axis extending in a direction substantially perpendicular to the articulated arm-main rotation- ash. 4. A disturbance-compensated articulated arm crane according to claim 2 or 3, wherein the compensation drive comprises a compensation cylinder. The disturbance-compensated articulated arm crane according to claim 4, wherein the compensation drive comprises two compensation cylinders on either side of the compensation hinge. The disturbance-compensated articulated arm crane according to one or more of claims 2-5, further comprising a second compensation hinge configured for rotation of the telescopic articulated arm relative to the main arm with the second compensation hinge about a second compensation axis extending in a substantially compensation axis horizontal direction. 7. A disturbance-compensated articulated arm crane according to one or more of claims 2-6, wherein the compensation controller acts on the lifting cylinder and articulated arm cylinder, and on at least one of the compensation drives. A disturbance-compensated articulated arm crane according to one or more of the preceding claims, wherein the compensation controller comprises an input for receiving information about measured and / or predicted disturbances. A disturbance-compensated articulated arm crane according to any one of the preceding claims, further comprising a second articulated arm connected to a second articulated joint with the first articulated arm and comprising a second articulated arm cylinder for rotation with the second articulated joint about a second articulated arm rotation axis. 10. A disturbance-compensated articulated arm crane according to one or more of the preceding claims, wherein the crane further comprises a pivot bearing configured for enabling a rotational movement. 11. A disturbance-compensated articulated arm crane according to one or more of the preceding claims, further comprising a winch system mounted on the telescopic part of the telescopic articulated arm. A disturbance-compensated articulated arm crane according to one or more of the preceding claims, further comprising a mobile platform for carrying or housing the crane. A ship comprising a disturbance-compensated articulated arm crane according to one or more of the preceding claims. 14. Method for transferring goods with a disturbance-compensated articulated arm crane, comprising the steps of: - providing a disturbance compensated maritime articulated arm crane according to one or more of the preceding claims; and - the transfer of the goods. The method of claim 14, further comprising the steps of: - determining a disturbance; - calculating a compensation with a compensation controller for the particular disturbance; and - compensating for the disturbance. A method according to claim 14 or 15, wherein the transferring comprises extending and / or retracting the telescopic part.