EP2110357B1 - Method for damping oscillations of a bulk goods load led by a crane, control program and crane automation system - Google Patents

Abstract

In a process to dampen the pendulum motion of a crane load consisting of bulk aggregate solids, a regulator sets a value for the motor power output setting the load in motion. The value initiates the motion along a predetermined time-optimised trajectory. This trajectory is determined by an oscillation model relating to the aggregate solid load, from a starting point within the load take-up point towards a predetermined discharge point. The load is discharged while still in motion over the release point. Further claimed are a control program and an automated crane system.

Description

Large lifting heights of loads transported by a crane involve safety risks and require a great deal of crane operator experience for transport without pendulum suspension. Also critical are long Auspendelvorgänge, which also results in a bulk transport significantly worse handling performance. To make matters worse comes in bulk, that an irregular distribution of bulk material in a load handling device, for example in a gripper, without control intervention can lead to an uneven lifting process, which are caused by further load oscillations. Especially when unloading ships can be caused by a crane gripper without effective pendulum damping action severe damage to walls of ship holds. Due to this problem, a fully or partially automated unloading of ships with bulk material is not yet considered.

Attempts to adapt pendulum damping system for container cranes to bulk cranes have hitherto failed at significantly slow positioning operations, resulting in unacceptable turnover rates. In particular, pendulum damping systems for container cranes prove to be less suitable for allowing controlled load oscillations to increase the handling capacity. Controlled permitting of load oscillations should take into account, in particular, boundary conditions of a ship cargo hold geometry, in particular with regard to load compartment hatches and cargo spaces.

In DE 32 33 899 A1 a method according to the preamble of claim 1 is disclosed, which allows for the discharge of bulk material with lateral displacement of the load by a trolley a time-optimized pendulum motion during Katzfahrt by the process of the trolley is automated. For this purpose, the pendulum movement of the lifting device is divided into different time periods and the different time periods are associated with positive or negative accelerations of the trolley. This serves a time-optimized unloading of the load-receiving means by controlling the movement of the trolley. The control causes an always constant movement or a constant time intervals associated acceleration of the trolley. Any changes in the process and ambient conditions that affect the load handler are largely disregarded. An interactive optimization by a controlled vibration damping for collision avoidance with simultaneous time-optimized trajectory does not take place.

The present invention has for its object to provide a method for damping oscillations of a guided by a crane bulk load, which suppresses critical load oscillations and fast turnaround times when loading and unloading bulk loads while collision avoidance allows, as well as to provide a suitable implementation of the method.

This object is achieved by a method with the features specified in claim 1, by a control program with the features specified in claim 11 and by a crane automation system with the features specified in claim 12. Advantageous developments of the present invention are specified in the dependent claims.

According to the method according to the invention for damping oscillations of a bulk material load guided by a crane, a controller provides at least one manipulated variable for at least one drive device of the crane for moving the bulk material load with a predetermined deviation along a time-optimized trajectory. Taking into account a vibration model of the bulk material load guided by the crane, the time-optimized trajectory is determined for a movement of the bulk material load from a starting point within a bulk material receiving area to a predefinable bulk material unloading area. A load-receiving means receiving the bulk material load is emptied at at least one overshoot point within the bulk material discharge area. The deviation with which the bulk material load is moved along the time-optimized trajectory can be influenced, for example, by selecting a quality measure for a controller design, by establishing weighting factors for the quality measure or by predeterminable controller parameters.

In addition, setpoints for a crane paw position and for a crane rope length are only released for clearance by a collision detection system for monitoring the bulk material intake and / or unloading area. As a result, at least a partial automation of a bulk material handling is possible, which is not realized according to previous solutions.

The time-optimized trajectory is preferably determined by minimizing a quadratic quality measure for a state-variable controller coupled to the at least one drive device. To simplify a controller design, the state variable controller can be designed for a constant crane pitch and a given average bulk mass be. In this way, robust, relatively easy to handle control systems can be realized.

Advantageously, at least one drive device of the crane is switched off as soon as the bulk material load reaches the bulk material discharge area. The drive device can be, for example, a motor for a crane winch and / or for a crane-drive. After a predefined residence time for the lifting device movement to the bulk material receiving area the drive device is switched on again. During the dwell time, the load handling device is emptied. This offers the advantage that no time delays caused by a compensation of the load-receiving means in a rest position.

The control program according to the invention can be loaded into a main memory of a computer and has at least one code section, in the execution of which method steps described above are executed when the computer program runs in the computer. The crane automation system according to the invention comprises a controller for at least one drive device of the crane for moving the bulk material load with at most a predefinable deviation along a time-optimized trajectory. In this case, taking into account a vibration model of the bulk material load guided by the crane, the trajectory is determined for a movement of the bulk material load from a starting point within a bulk material receiving area to a predefinable bulk material emptying area. In addition, a control means for emptying a load receiving the bulk material load is provided at least one overshoot point within the bulk material discharge area.

Figur 1

ein Ablaufdiagramm für ein Verfahren zur Dämpfung von Pendelungen einer durch einen Kran geführten Schüttgutlast,

Figur 2a-c

eine schematische Darstellung von Krankatz- und -greiferkinematik zur Erläuterung einer regelungstechnischen Modellierung eines Kransystems

Figur 3

ein regelungstechnisches Blockschaltbild für eine linearisierte Modellierung von Krankatz- und-greiferkinematik und für eine Kranregelung,

Figur 4

eine schematische Darstellung eines Kransystems zur Schüttgutbe- und -entladung,

Figur 5

eine an einer Krananlage montierte Sensoranordnung zur Erfassung von Lastpendelungen.

The invention will be explained in more detail using an exemplary embodiment with reference to the drawing. It shows

FIG. 1

a flow chart for a method for damping oscillations of a guided by a crane bulk load,

Figure 2a-c

a schematic representation of crane set and gripper kinematics for explaining a control engineering modeling of a crane system

FIG. 3

a control-engineering block diagram for a linearized modeling of crane-tackle and gripper kinematics and for crane control,

FIG. 4

a schematic representation of a crane system for bulk material loading and unloading,

FIG. 5

a mounted on a crane system sensor arrangement for detecting load oscillations.

According to the in FIG. 1 A time-optimized trajectory for a movement of the bulk material load from a starting point within a bulk material receiving area to a predefinable bulk material emptying area is first determined, taking into account a vibration model of the bulk material load guided by the crane (step 101). The time-optimized trajectory is determined in the present exemplary embodiment by minimizing a quadratic quality measure for a state variable controller coupled to the at least one drive device. The state variable controller is a Ricatti controller, as will be explained in more detail below.

Subsequently, it is checked whether a load-receiving means receiving the bulk material load is in a critical area in which load objects could damage other objects in the surroundings of the load-receiving means (step 102). This is to be avoided, for example, that a loading wall in a ship or hatch edges is damaged by a swinging in acceleration of a crane crane gripper. Is the load handler still in a critical Area, it is further raised (step 103). Otherwise, at least one drive device of the crane, for example a cat drive and / or a linear actuator, is controlled by a crane controller such that the bulk material load is moved along the determined trajectory with at most one predeterminable deviation (step 104). In this case, it is continuously checked whether a limit of the bulk material discharge area has been reached (step 105). When the bulk material discharge area is reached, a dwell time starts to run, the sequence of which is checked (step 106).

If the dwell time has not yet expired, the load receiving means is also emptied at least one overshoot point by utilizing a pendulum movement of the load receiving means within the bulk material discharge area (step 107). Since no compensation of the bulk material load is carried out in a rest position before a settling, this results in a significant reduction in turnover times between loading and unloading. The fact that the bulk material load is guided within a predetermined tolerance range along the determined trajectory, although load oscillations are not completely eliminated, but at least limited to a non-critical measure.

If the residence time has expired, a return to the bulk material receiving area takes place (step 108). For this purpose, the crane controller is switched from a target position above the bulk material discharge area to a target position above the bulk material receiving area. As a result, crane trolleys and load handling devices are accelerated in the direction of the bulk material receiving area. If the load pick-up has approached the above critical range far enough, a final setpoint for a crane cable adjustment is activated and the load-carrying means is switched to a desired one Lowered position. This completes a work cycle of a bulk material unloading operation.

The in the Figures 2a-c schematically illustrated crane set and gripper kinematics used to derive a control engineering modeling of a crane system, which forms the basis for a controller design described below. A trolley gripper system with a crane trolley 201 and a crane gripper 202 connected thereto via a crane cable 203 represents, from a control engineering point of view, a pendulum to be controlled.

mit Krankatzenmasse m_K, Krankatzenkoordinate x_K, Krankatzenantriebskraft F_K, Seilzugkraft S und Krangreiferauslenkung ϑ.For crane trolley 201, the following equation of motion results in the x-direction, ie in the direction of travel (see FIG. 2b ): $$m_K\cdot {\ddot{x}}_K=F_K+S\cdot \sin \theta$$

with crane paw mass m _K , crane set coordinate x _K , crane paw drive force F _K , cable pull force S and crane grab deflection θ.

In z-Richtung - also in Lasthubrichtung - ergibt sich: $$m_G\cdot {\ddot{z}}_G=m_G\cdot {\ddot{x}}_G-S\cdot \mathrm{cos\vartheta }$$

mit Krangreifermasse m_G und Krangreiferkoordinaten x_G, z_G.For the crane gripper 202 arise accordingly Figure 2c two power relations. In the x-direction applies: $$m_K\cdot {\ddot{x}}_K=F_K+S\cdot \sin \theta \mathrm{,}$$

In z-direction - ie in load direction - results: $$m_G\cdot {\ddot{z}}_G=m_G\cdot {\ddot{x}}_G-S\cdot \cos$$

with crane gripper mass m _G and crane gripper coordinates x _G , z _G.

$$z_G=r\cdot \cos \vartheta$$

mit Kranseillänge r.As kinematic conditions result: $$x_G=x_K+r\cdot \sin \theta$$

$$z_G=r\cdot \cos \theta$$

with crane rope length r.

For the kinetic energy of crane crane 201 and crane crane 202, the following applies: $$W=\frac{1}{2}{m}_K\cdot {{\dot{x}}_{\mathrm{<figure-callout\; id="2"\; label="K"\; filenames="imgf0003.png"\; state="\{\{state\}\}">K</figure-callout>}}}^2+\frac{1}{2}{m}_G\left({{\dot{x}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="imgf0003.png"\; state="\{\{state\}\}">G</figure-callout>}}}^2+{{\dot{z}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="imgf0003.png"\; state="\{\{state\}\}">G</figure-callout>}}}^2\right)\mathrm{,}$$

According to the following approach, the Lagrange equations of motion are derived from the kinetic energy: $$Q_K=\frac{d}{\mathit{dt}}\left(\frac{\partial W}{\partial {\dot{q}}_K}\right)-\frac{\partial W}{\partial q_K}\mathrm{,}$$

Herein Q _K generalized forces and q _K are generalized coordinates. As generalized coordinates, x and θ are used in the present embodiment, while crane-post driving force F _K and force F _{θ are selected} on the crane gripper 202 in the coordinate θ direction as generalized forces. For the force F _θ results: $$F_{\theta }=-m_G\cdot G\cdot r\cdot \sin \theta \mathrm{,}$$

This results in the following equations of motion for the coordinates x and θ: $$F_K=\left(m_K+m_G\right){\ddot{x}}_K+m_{G}r\ddot{\theta }\cdot \cos \theta -m_{G}r{\dot{\theta }}^2\cdot \sin \theta +2m_G\dot{r}\dot{\theta }\cdot \cos \theta +m_G\ddot{r}\cdot \sin \theta -G\cdot \sin \theta ={\ddot{x}}_K\cdot \cos \theta +r\ddot{\theta }+2\dot{r}\dot{\theta }$$

The equations of motion can be linearized for small deflection angles θ with the following approximations: $$\sin \mathrm{\theta }\approx \mathrm{\theta }\cos \mathrm{\theta }\approx 1{\dot{\mathrm{\theta }}}^2\approx \mathrm{0th}$$

This results in the following linearized equations of motion: $$F_K=\left(m_K+m_G\right){\ddot{x}}_K+m_{G}r\ddot{\theta }+2m_G\dot{r}\dot{\theta }+m_G\ddot{r}\theta -G\cdot \theta ={\ddot{x}}_K+r\ddot{\theta }+2\dot{r}\dot{\theta }$$

In FIG. 3 is a control engineering block diagram for a linearized modeling of crane set and gripper kinematics and shown for a crane control. The block diagram includes a controlled system 301, which the above a kitten drive means 302 for moving the crane trolley 201 in the x direction, a lifting drive means 303 for moving the crane gripper 202 in the z direction, a state size controller 311, a controller 321 and a pre-filter 322 for the cat propulsion device and a controller 331 for the Hubantriebseinrichtung (see also Figures 2a-c ).

The controller 321 and the pre-filter 322 provide as a manipulated variable for the Katzantriebseinrichtung 302 a torque setpoint on a cable drum of the Katzantriebseinrichtung. This torque command value is compared with a torque value for the cat drive device 302 provided by the state variable controller 311. Based on a comparison result, a manipulated variable for the cat drive device 302 is specified. A torque on a cable drum of the lifting drive device 303 is manipulated variable for a control of the rope length r, which in turn adaptively affects the state size controller 311.

A position control of the crane gripper 202 is divided into a position control of the crane trolley 201 and a control of the cable length. The position control of the trolley is performed by a position controller with a subordinate speed control. The position controller is in the present embodiment, a proportional controller with gain K _P and additional control variable limit in terms of magnitude and slope.

mit Stellgröße M_K ^STELL.The output of the position controller is setpoint for a subordinate state variable control of a cat speed, for which the pre-filter 322 is also provided. A desired pole position for the state variable controller 311 is achieved by optimization according to Ricatti for a medium rope length and a mean grip mass. In the optimization, cat speed, pendulum angle, pendulum angular velocity and manipulated variable for the cat driver 302 are considered by weighting matrices Q and R for a quadratic quality measure J. The quality measure J has the following form: $$J=\frac{1}{2}\underset{0}{\overset{\infty }{\mathrm{\int }}}\left(\begin{array}{cc}{\dot{x}}_K& \begin{array}{cc}\begin{array}{c}\theta \end{array}& \dot{\begin{array}{c}\begin{array}{c}\theta \end{array}\end{array}}\end{array}\end{array}\right)Q\left(\begin{array}{c}{\dot{x}}_K\\ \theta \\ \dot{\theta }\end{array}\right)+{M_K}^{\mathit{PARKING}}R{M_K}^{\mathit{PARKING}}\mathit{dt}$$

with manipulated variable M _K ^STELL .

By the quality measure J requirements are taken into account that on the one hand a transition of any initial state should not be too slow in a desired final state and overshoots should not be too strong, and that on the other hand be required for the transition point energy in terms of manipulated variable consumption as small as possible should.

mit $$\left(\begin{array}{c}{K}_1\left(r\right)\\ K_2\left(r\right)\\ K_3\left(r\right)\end{array}\right)=\left(\begin{array}{c}\frac{m_K}{g}{p}_0\cdot r\\ \left(m_K+m_G\right)g-m_K{p}_1\cdot r\\ \frac{m_K}{g}{p}_0\cdot r^2-m_K{p}_2\cdot r\end{array}\right),$$

wobei p₀, p₁, p₂ Koeffizienten eines durch Minimierung des obigen Gütemaßes J bestimmten charakteristischen Polynoms sind.The state variable controller 311 is initially designed for constant pitch and gripper mass using linearized crane-and-crane kinematics modeling. An optimum pole position determined for the state variable controller 311 then serves as the basis for a controller design according to Ackermann, in which the rope length and gripper mass are carried along as open parameters. This results in an adaptive controller with respect to the cable length. A state feedback K (r) for the torque M _{K of} the cat drive device 302 describing the state variable controller 311 is thus: $$M_K=-\left(\begin{array}{cc}{K}_1\left(r\right)& \begin{array}{cc}\begin{array}{c}{K}_2\left(r\right)\end{array}& K_3\left(r\right)\end{array}\end{array}\right)\cdot \left(\begin{array}{c}{\dot{x}}_K\\ \theta \\ \dot{\theta }\end{array}\right)$$

With $$\left(\begin{array}{c}{K}_1\left(r\right)\\ K_2\left(r\right)\\ K_3\left(r\right)\end{array}\right)=\left(\begin{array}{c}\frac{m_K}{\mathrm{<figure-callout\; id="0"\; label="G\; \; p"\; filenames="imgf0003.png"\; state="\{\{state\}\}">G\; </figure-callout>}}{p}_{}{}_0\cdot r\\ \left(m_K+m_G\right)G-m_{\mathrm{<figure-callout\; id="1"\; label="K\; \; p"\; filenames="imgf0003.png"\; state="\{\{state\}\}">K\; </figure-callout>}}{p}_{}{}_1\cdot r\\ \frac{m_K}{G}{\mathrm{<figure-callout\; id="0"\; label="p"\; filenames="imgf0003.png"\; state="\{\{state\}\}">p</figure-callout>}}_0\cdot r^2-m_{\mathrm{<figure-callout\; id="2"\; label="K\; \; p"\; filenames="imgf0003.png"\; state="\{\{state\}\}">K\; </figure-callout>}}{p}_{}{}_2\cdot r\end{array}\right).$$

where p ₀ , p ₁ , p _{2 are} coefficients of a characteristic polynomial determined by minimizing the above measure of merit J.

Furthermore, the following relationship applies to the pre-filter 322 in order to achieve a steady state accuracy with the state variable controller 311: $${M_K}^{\mathit{SHOULD}}={v_K}^{\mathit{SHOULD}}\cdot K_1\left(r\right)\mathrm{,}$$

The controller 331 for the lifting drive device 303 for adjusting the cable length is a time-optimal position controller.

Since the crane grab should only move within a certain range, for example, should it not hit a quay wall or a ship hatch, a feedforward control is additionally provided. This feedforward control does not release setpoints for set position and rope length until collision risk no longer exists. The setpoint for the cat position at an in FIG. 4 schematically shown bulk material transport from a starting point within a bulk material receiving area 404 to a predetermined bulk material emptying area 405 along a time-optimized trajectory 421 is only released when the crane gripper 402 is lifted, for example, from a ship. Likewise, the crane gripper 402 is lowered only at the level of a ship hatch when it is above the open ship hatch. To realize such a free-lift function, the position of a ship's hatch edge x _L , height of the Schiffslukenkante z _L , maximum acceleration a _{K max of} the trolley 401 and maximum lowering speed v _{SENK max of} the crane _rope 403 detected.

A release of a trolley travel from the bulk material receiving area 404 in the ship to the bulk material emptying area 405 and a release of a lifting of the crane gripper 402 takes place only when the following condition is met: $$\left(z_L-r\right)-\sqrt{\frac{2\left|x_L-x_K\right|}{a_{K\mathrm{Max}}}}\cdot \dot{r}>\mathrm{0th}$$

Even with maximum acceleration, the crane trolley 401 can thus no longer reach the ship's hatch edge before the crane gripper 402 is led out of the ship's hatch when it is raised further at a constant lifting speed.

A lowering of the crane gripper 402 in the bulk goods receiving area 404 after a return to the ship is not released until the following condition is met: $$\frac{r-z_L}{v_{\mathit{SENK}\mathrm{Max}}}{\dot{x}}_K-\left(x_L-\left(x_K+r\cdot \mathrm{sin\theta }\right)\right)>\mathrm{0th}$$

Thus, even when the crane gripper 402 is lowered at maximum speed, the crane gripper 402 does not reach the height of the ship's hatch edge before it is above it when the crane trolley 401 continues to move at the current speed.

If the crane gripper 402 reaches the bulk material emptying area 405, a freely selectable time for a residence time over the bulk material emptying area 405 begins to run. During this time, the crane gripper 402 moves further towards the center of the bulk material discharge area 405 or remains above the bulk material discharge area 405. After the residence time has elapsed, a return journey to the bulk goods receiving area takes place 404 triggered. For this purpose, set values for the cat position and cable length corresponding to a gripper position over or in the bulk material receiving area 404 are specified.

In the FIG. 5 shown mounted on a crane system sensor arrangement for detecting load oscillations comprises an active marker 521 on the crane gripper 502 and a moving with the trolley 501 the marker 521 detecting camera 511. Signals detected by the camera 511 signals via a wireless connection 561, such as a W-LAN Connection, to a receiver station 506 on a bulk goods receiving area side crane boom end 504 and transmitted from there via a wired connection to an evaluation device 507. The evaluation device 507 can be arranged, for example, in an electric room of a crane. The camera 511 is powered by at least one generator connected to a pulley of the trolley 501. In addition, 502 load swayings are determined by means of a control-technical observer model for the crane gripper. In this way, a detection of load oscillations for time intervals is ensured in which the camera 521 does not provide measured values or measured values in low sampling density. If required, a radio receiver station 505 can also be installed on a bulk goods unloading area-side crane boom end, which establishes a radio link to the camera 511 by means of a handover mechanism and forwards the signal received by the camera 511 to the evaluation device.

The application of the present invention is not limited to the described embodiment.

Claims (12)

1. Method for damping oscillations of a bulk goods load guided by a crane, in which

   - a control unit (321) supplies at least one actuating variable for at least one drive mechanism of the crane for moving the bulk goods load with a predefined deviation along a time-optimized trajectory (421), which trajectory is determined, with due regard to a vibration model of the bulk goods load guided by the crane, for a movement of the bulk goods load from a starting point within a bulk goods receiving region (404) to a predefinable bulk goods emptying region (405),

   - a bulk-carrying load-receiving means (202, 402, 502) is emptied at at least one swing-over point within the bulk goods emptying region (405),

   characterized in that

   - desired values for a crane trolley position and for a crane cable length are enabled only when approved by a collision detection system for monitoring the bulk goods receiving and/or emptying region (404, 405),

   - a check is made as to whether the bulk-carrying load-receiving means (202, 402, 502) is in a critical region in which other objects in the surroundings of the load-receiving means (202, 402, 502) could be damaged by load oscillations,

   - the drive mechanism of the crane is controlled by a crane control unit such that the bulk goods load is moved with at most a predefinable deviation along the determined trajectory (421) once the load instrument is no longer in the critical region.
2. Method according to Claim 1,
   in which the time-optimized trajectory (421) is determined by minimization of a quadratic quality measure for a state variable control unit coupled to the at least one drive mechanism.
3. Method according to Claim 2,
   in which the state variable control unit is a Ricatti control unit.
4. Method according to one of Claims 2 or 3,
   in which the state variable control unit is designed for a constant crane cable length and a predefined average bulk goods mass.
5. Method according to one of Claims 1 to 4,
   in which the at least one drive mechanism is switched off as soon as the bulk goods load reaches the bulk goods emptying region (405), and after a predefinable dwell time is switched on again for movement of the load-receiving means to the bulk goods receiving region (404), and in which the load-receiving means (202, 402, 502) is emptied during the dwell time.
6. Method according to one of Claims 1 to 5,
   in which the at least one drive mechanism of the crane is a motor for a crane cable winch and/or for a crane trolley drive.
7. Method according to one of Claims 1 to 6,
   in which the load oscillations are determined by means of an active marker on the load-receiving means and by means of a camera which is moved with a crane trolley (201, 401, 501) and registers the marker (511).
8. Method according to Claim 7,
   in which signals registered by the camera (511) are transmitted via a radio link (561) to a receiver station (506) on a crane jib end (504) situated on the bulk goods receiving region side, and from there via a cable-bound link to an evaluating device (507).
9. Method according to one of Claims 7 or 8,
   in which the camera is powered by at least one generator connected to a cable pulley of the crane trolley (201, 401, 501).
10. Method according to one of Claims 7 to 9,
    in which load oscillations are additionally determined by means of a control engineering observer model for the load-receiving means (202, 402, 502).
11. Control program, which is loadable into a main memory of a computer and has at least one code portion and in the embodiment whereof:

    - a control unit (321) supplies at least one actuating variable for at least one drive mechanism of the crane for moving the bulk goods load with a predefined deviation along a time-optimized trajectory (421), which trajectory is determined, with due regard to a vibration model of the bulk goods load guided by the crane, for a movement of the bulk goods load from a starting point within a bulk goods receiving region (404) to a predefinable bulk goods emptying region (405),

    - a bulk-carrying load-receiving means is emptied at at least one swing-over point within the bulk goods emptying region (405),

    when the computer program is running in the computer,
    characterized in that

    - desired values for a crane trolley position and for a crane cable length are enabled only when approved by a collision detection system for monitoring the bulk goods receiving and/or emptying region (404, 405),

    - a check is made as to whether a bulk-carrying load-receiving means (202, 402, 502) is in a critical region in which other objects in the surroundings of the load-receiving means (202, 402, 502) could be damaged by load oscillations,

    - the drive mechanism of the crane is controlled by a crane control unit such that the bulk goods load is moved with at most a predefinable deviation along the determined trajectory (421) once the load instrument is no longer in the critical region.
12. Crane automation system for damping oscillations of a bulk goods load guided by a crane, comprising

    - a control unit for at least one drive mechanism of the crane for moving the bulk goods load with at most a predefinable deviation along a time-optimized trajectory, which trajectory is determined, with due regard to a vibration model of the bulk goods load guided by the crane, for a movement of the bulk goods load from a starting point within a bulk goods receiving region to a predefinable bulk goods emptying region,

    - a control means for emptying of a bulk-carrying load-receiving means at at least one swing-over point within the bulk goods emptying region,

    characterized by

    - a collision detection system for monitoring the bulk goods receiving and/or emptying region (404, 405), as well as for approving desired values for a crane trolley position and for a crane cable length.

Images