EP2977343B1 - Crane with active damping of pendular movements of loads - Google Patents

Description

• wobei eine Steuereinrichtung des Krans während der Pendelbewegung Daten entgegennimmt, die für einen Auslenkwinkel der Pendelbewegung und/oder eine zeitliche Ableitung des Auslenkwinkels der Pendelbewegung charakteristisch sind,
• wobei die Steuereinrichtung eine wirksame Seillänge des Seilsystems während der Pendelbewegung entsprechend einem resultierenden Längensollwert einstellt.

The present invention is based on a method for influencing a pendulum movement of a load, wherein the load is suspended via a cable system of a crane at a load suspension point of the crane, wherein the pendulum movement takes place about the load suspension point, is related to the load suspension point containing vertical plane and a Pendulum frequency,

• wherein a control device of the crane during the pendulum movement receives data that are characteristic of a deflection angle of the pendulum movement and / or a time derivative of the deflection angle of the pendulum movement,
• wherein the control means adjusts an effective cable length of the cable system during pendulum movement in accordance with a resulting length setpoint.

The present invention is further based on a computer program, the computer program comprising machine code which can be processed by a control device for a crane, wherein the execution of the machine code by the control device causes the control device to operate the crane according to such a method.

The present invention is further based on a control device for a crane, wherein the control device is programmed with such a computer program.

• wobei der Kran einen Lastaufhängepunkt aufweist, an dem über ein Seilsystem des Krans eine Last aufgehängt ist,
• wobei der Kran eine Erfassungseinrichtung aufweist, mittels derer Daten erfassbar sind, die für einen Auslenkwinkel einer um den Lastaufhängepunkt erfolgenden, auf eine den Lastaufhängepunkt enthaltende vertikale Ebene bezogenen und eine Pendelfrequenz aufweisenden Pendelbewegung der Last und/oder eine zeitliche Ableitung des Auslenkwinkels der Pendelbewegung charakteristisch sind,
• wobei der Kran eine derartige Steuereinrichtung aufweist.

The present invention is further based on a crane,

• the crane having a load suspension point on which a load is suspended via a cable system of the crane,
• the crane having detecting means for acquiring data indicative of a deflection angle of a pendulum movement of the load around the load suspension point relative to a vertical plane containing the load suspension point and having a pendulum frequency and / or a time derivative of the deflection angle of the pendulum motion are characteristic,
• the crane having such a control device.

The mentioned objects are well known.

The handling of loads - for example, between two of the components ship, truck, railway wagon, container or other warehouse, etc. are often used cranes.

Cranes often have a substantially horizontally oriented boom on which a trolley is linearly movable. The trolley in this case corresponds to the load suspension point of the present invention. Furthermore, often the crane as a whole can also be moved. The direction of travel of the crane as a whole in this case usually also runs horizontally, but orthogonally to the direction of travel of the trolley. Such cranes can be designed in particular as container bridges.

For cranes with a trolley, state of the art is known to detect the deflection of the load (pendulum angle), for example by means of a camera system and to dampen it by a suitable movement of the load suspension point (= trolley). Such an approach is a true control that dampens both vibrations due to active movements of the crane or trolley and vibrations due to external stimuli such as wind. In the prior art it is also known to avoid or at least minimize the excitation of pendulum movements by suitable profiling of reference variables, in particular of the trolley. Such a procedure is merely a control by means of which vibrations due to active travel movements of the trolley can be damped, but not vibrations due to external excitations. Furthermore, in both approaches, only a damping of vibrations is possible in which the pendulum movement of the load takes place in a plane which runs parallel to the direction of travel of the trolley.

The known methods always influence the movement of the load suspension point, so for example the trolley.

During operation of the crane, pendulum movements of the load can continue to occur which run orthogonally to the direction of travel of the trolley. Such a pendulum motion can be excited, for example, by crosswind or by a movement of the crane as a whole. This pendulum movement is referred to in professional circles as a side sway. An attenuation of such oscillations is not possible by means of the procedures known in the prior art.

A pendulum movement has a negative effect on the handling capacity, which can be achieved by means of the crane, regardless of their pendulum level. In particular, after the procedure to a destination at which the load is to be discontinued, often wait until the pendulum movement has subsided. Alternatively, the pendulum movement must be damped, for example by manual intervention of the crane operator in manual control mode.

The object of the present invention is to provide ways by which - regardless of how a pendulum motion has been stimulated - in a simple and reliable way an automated damping of a pendulum movement of the load is possible.

The object is achieved by a method having the features of claim 1. Advantageous embodiments of the method are the subject of the dependent claims 2 to 4.

• dass die Steuereinrichtung den resultierenden Längensollwert anhand der Summe eines Grundlängensollwerts und eines Zusatzlängensollwerts ermittelt und
• dass die Steuereinrichtung den Zusatzlängensollwert derart ermittelt, dass der Zusatzlängensollwert sich mit einer Modulationsfrequenz ändert, die gleich dem doppelten der Pendelfrequenz ist, und dass der Zusatzlängensollwert in den Umkehrpunkten der Pendelbewegung minimal und im Nulldurchgang der Pendelbewegung maximal ist.

According to the invention, a method of the type mentioned is configured by

• in that the control device determines the resulting length setpoint based on the sum of a basic length setpoint and an additional length setpoint, and
• in that the control device determines the additional length setpoint in such a way that the additional length setpoint changes at a modulation frequency equal to twice the oscillation frequency, and that the additional length setpoint is minimal at the reversal points of the oscillating movement and at the zero crossing of the pendulum motion.

The present invention is thus based on the same principle by means of which a child swings on a swing. When swinging on a swing, the child shifts (without being aware of the physical events as such) his weight in at least one of the end points of the swing process (usually at the end of the swing back) down and in the middle of the rocking motion (zero crossing) again up. As a result, the swinging motion energy is supplied, so that the swinging motion aufklingt or at least frictional forces are compensated. The present invention uses the same principle, but takes the inverse approach, so that the pendulum motion is deprived of energy as a result. The pendulum motion must therefore decay.

In many cases, the load suspension point by means of a trolley of the crane in a direction of travel is movable. In this case, the vertical plane to which the pendulum motion is related may alternatively be parallel or orthogonal to the travel direction of the trolley. By means of the present invention, it is thus not only possible to damp a "normal" occurring in the direction of travel of the trolley pendulum motion, but also a transversely to the direction of travel of the trolley occurring pendulum motion, so the so-called side sway.

It is possible that the basic length setpoint is kept constant during the pendulum motion. Alternatively, it is also possible that the control device varies the base length setpoint during the pendulum motion. The procedure according to the invention can thus also take place during the lifting or lowering of the load. In such a case, the varying of the base length setpoint is preferably done during at least one period of the constant speed oscillation. Particularly preferred in this context is that the constant velocity is tuned to the variation of the additional length setpoint such that during the at least one period of the pendulum motion a change in the resulting length setpoint is strictly monotone.

This procedure results in a particularly gentle operation of the crane, since the load does not have to be cyclically alternately decelerated and accelerated in and against its main direction of movement (as determined by varying the basic length setpoint). The load in this case is rather continuously raised or lowered, albeit at a speed modulated by the additional length setpoint.

In many cases, the cable system comprises four cables which run from a respective upper corner point arranged in the region of the load suspension point to a respective lower corner point arranged in the region of the load. Such a configuration of the cable system is particularly often found in container cranes for the suspension of the so-called spreader. In the case of a cable system comprising four cables, it is preferred that the control device individually act on each one of the four cables acting adjusting elements each with the additional length setpoint, but not with the basic length setpoint. In an analogous manner, in this case, the control device preferably acts on a hoist of the crane acting in a similar manner on all four cables with the basic length setpoint, but not with the additional length setpoint.

Control elements, which act individually on each of the four cables, are common with conventional container cranes anyway present, for example, to realize the so-called TLS functionality (T = trim, L = list, S = skew) in manual mode. According to the invention, however, these control elements can also be used for the admission of the cable system with the additional length setpoint.

The object is further achieved by a computer program having the features of claim 5. According to the invention, the execution of the machine code by the control device causes the control device to operate the crane according to a method according to the invention.

The object is further achieved by a control device with the features of claim 6. According to the invention, the control device is programmed with a computer program according to the invention.

The object is further achieved by a crane having the features of claim 7. According to the invention, a crane of the type mentioned is configured in that its control device is designed according to the invention.

FIG 1

einen Kran von der Seite,

FIG 2

den Kran von FIG 1 von vorne,

FIG 3

Zeitdiagramme,

FIG 4

ein Ablaufdiagramm,

FIG 5

ein Zeitdiagramm,

FIG 6

ein Zeitdiagramm und

FIG 7

eine Last, einen Lastaufhängepunkt und ein Seilsystem.

The above-described characteristics, features and advantages of this invention, as well as the manner in which they are achieved, will become clearer and more clearly understood in connection with the following description of the embodiments, which will be described in more detail in conjunction with the drawings. Here are shown in a schematic representation:

FIG. 1

a crane from the side,

FIG. 2

the crane of FIG. 1 from the front,

FIG. 3

Time charts

FIG. 4

a flow chart,

FIG. 5

a time diagram,

FIG. 6

a time chart and

FIG. 7

a load, a load suspension point and a cable system.

According to the 1 and 2 a crane 1 has a load suspension point 2. The load suspension point 2, for example, as shown in the 1 and 2 be arranged on a trolley 3, which is movable on a boom 4 of the crane 1 in a traversing x. Starting from the load suspension point 2, a cable system 5 runs to a load 6. The load 6 is suspended via the cable system 5 at the load suspension point 2. By adjusting an effective rope length L of the cable system 5, the load 6 can be raised and lowered.

The crane 1 is in accordance with 1 and 2 designed as a so-called container bridge. Accordingly, the load 6 according to the 1 and 2 designed as a spreader with container. If no container is currently being transported, the spreader alone represents the load 6 in the sense of the present invention. The present invention will be explained below in connection with an embodiment of the crane 1 as a container bridge. However, it is not limited to gantry cranes or other container cranes. For example, with appropriate design of the crane 1, the load 6 may also be designed as (empty or full) gripper for bulk material. Other embodiments are possible.

The crane 1 is controlled by a control device 7. The control device 7 is generally designed as a software programmable control device. The design of the control device 7 is effected in this case by a computer program 8, with which the control device 7 is programmed. The computer program 8 comprises machine code 9, which can be processed by the control device 7. The execution of the machine code 9 by the control device 7 causes the control device 7 operates the crane 1.

The processing of the machine code 9 by the control device 7 initially causes the normal handling of the load 6 or the normal operation of the crane 1, as in the prior art also. Furthermore, the processing of the machine code 9 causes in addition, by the control device 7, however, that the control device 7 operates the crane 1 during the turning of the load 6 according to a method for influencing a pendulum movement of the load 6, which will be explained in more detail below.

The computer program 8 can be supplied to the control device 7 in any desired manner. As shown in the 1 and 2 the supply of the computer program 8 via a data carrier 10, on which the computer program 8 in machine-readable form - for example, in electronic form - is deposited. The data carrier 10 can as shown in the 1 and 2 be designed for example as a USB memory stick. However, other embodiments are possible as well.

It is possible that the load 6 suspended via the cable system 5 at the load suspension point 2 performs a pendulum movement about the load suspension point 2. The pendulum movement is related to a vertical plane 11. The vertical plane 11 contains the load suspension point 2. The pendulum movement can be described by a deflection angle φ of the cable system 5 from the vertical about the load suspension point 2, wherein the deflection angle φ in accordance with FIG. 3 varies with time t. The pendulum movement takes place with a pendulum frequency f1. Such a pendulum motion should be attenuated or suppressed according to the invention.

As shown in FIG. 1 it is possible that the load 6 oscillates in the direction of travel x of the trolley 3. In this case, the vertical plane 11 corresponding to the mark in FIG. 2 parallel to the direction of travel x of the trolley 3. Alternatively, it is possible that the load 6 as shown in FIG FIG. 2 orthogonal to the direction of travel x of the trolley 3 oscillates. In this case, the vertical plane 11 corresponding to the mark in FIG. 1 orthogonal to the travel direction x of the trolley 3 (so-called side sway). In the context of the present invention, both types of pendulum movements be steamed. It is also possible to damp a pendulum motion in which the load 6 oscillates in another vertical plane 11.

The crane 1 has a detection device 12. By means of the detection device 12 data D can be detected, which are characteristic of the deflection angle φ of the cable system 5 and / or at least a time derivative of the deflection angle φ - for example, the angular velocity or the angular acceleration. For example, as shown in FIGS 1 and 2 By means of cameras, which are arranged fixedly on the crane 1, images are acquired, by the evaluation of which the deflection angle φ and / or its time derivative can be determined. Alternatively, it is possible to detect a downwardly directed image by means of a camera arranged on the trolley 3 and to determine the deflection angle φ and / or its time derivative by its evaluation. Furthermore, it is possible to detect a horizontally acting force which acts on the trolley 3 and to process this force in the sense of a corresponding evaluation. The last-mentioned approach is possible in particular when the vertical plane 11 runs parallel to the travel direction x. Which procedure is taken concretely is of minor importance in the context of the present invention. It is only decisive that the deflection angle φ and / or its time derivative can be determined on the basis of the acquired data D.

The data D detected by the detection means 12 are read according to the 1 and 2 fed to the control device 7. The control device 7 takes the data D according to FIG. 4 in a step S1 opposite.

In a step S2, the control device 7 determines the deflection angle φ on the basis of the data D and, if appropriate with the additional use of at least one previous deflection angle φ, at least its first time derivative, ie the angular velocity φ '.

In a step S3, the control device 7 then determines an additional length setpoint L2 *. The control device 7 determines according to the illustration in FIG FIG. 3 the additional length setpoint value L2 * such that the additional length setpoint value L2 * changes with a modulation frequency f2. The modulation frequency f2 is as is FIG. 3 equal to twice the pendulum frequency f1. Furthermore, a phase angle of the additional length setpoint L2 * is determined such that the additional length setpoint L2 * in the reversal points of the pendulum motion (when the deflection angle φ is thus maximum or minimum and thus the angular velocity φ 'is zero) is minimal and in the zero crossing of the pendulum motion (if the deflection angle φ is therefore zero and the corresponding amount of angular velocity is maximal).

As shown in FIG. 3 the additional length setpoint L2 * oscillates sinusoidally. However, this is not mandatory. Alternatively, for example (at least approximately) a sawtooth shape, a triangular shape or a rectangular shape could be realized. Other functional processes are possible.

The extent to which the additional length setpoint L2 * oscillates (ie its amplitude) determines the damping of the pendulum motion. It can be determined as needed. However, it must - of course - the usual technical constraints are met, such as the distance to obstacles and maximum possible forces and moments of drive means by which the effective rope length L is set. It is possible that the additional length setpoint value L2 * of the control device 7 is fixed or specified as such, for example by an operator of the crane 1. Alternatively, it is possible that the control device 7, a damping is fixed or fixed by the operator of the crane. 1 is given. In this case, the Control 7 determine the corresponding additional length setpoint L2 * based on the predetermined attenuation.

In a step S4, the control device 7 adds the additional length setpoint value L2 * to a basic length setpoint value L1 * and thereby determines a resulting length setpoint value L *.

In a step S5, the control device 7 sets the effective cable length L of the cable system 5 according to the resulting length setpoint L *. This is done by appropriate control of acting on the effective rope length L actuators 13, 14th

The basic length setpoint L1 * can be determined as needed if and as long as it does not influence the damping of the pendulum movement of the load 6 by the additional length setpoint L2 * or at least only insignificantly. As a rule, this means that the basic length setpoint L1 * -based on a respective period of the pendulum movement -is either constant or changes strictly monotonically. In the latter case, the control device 7 thus varies the basic length setpoint L1 * during the pendulum movement. During at least one period of the pendulum movement, the variation of the basic length setpoint L1 * takes place according to FIG. 5 but at a constant speed. The constant speed can be determined as needed. Preferably, the constant speed is according to FIG. 6 however, greater than the maximum value with which the additional length setpoint L2 * changes. The superimposition of the two velocities - ie the change in the resulting length setpoint L * - thus always has the same sign within the considered period of the pendulum motion, ie it is either uniformly positive or uniformly negative during the considered period of the pendulum motion.

Particularly in the case of a container crane, the cable system 5 comprises, as shown in FIG FIG. 7 often four ropes 15. In this case, each one of the ropes 15 runs from a respective arranged in the region of the load suspension point 2 upper corner point 16 to a respective arranged in the region of the load 6 lower corner point 17. The ropes 15, the upper corner points 16 and the lower corner points 17 are in FIG. 7 supplemented by a respective letter a to d. In general, define as shown in FIG. 7 the upper corner points 16 an upper rectangle. Analogously, the lower corner points 17 define a lower rectangle. As a rule, the upper rectangle is larger than the lower rectangle.

The ropes 15 are often assigned control elements 13, which act individually on each one of the four cables 15. For example, it may be individual hoists, by means of which the ropes 15 can be adjusted individually to a considerable extent. As a rule, however, only a relatively small length adjustment of the respective cable 15 can take place by means of the adjusting elements 13. For example, the adjusting elements 13 may be formed as a hydraulic cylinder. If by means of the adjusting elements 13 only a relatively small length adjustment of the respective cable 15 is possible, in addition to the adjusting elements 13, a lifting mechanism 14 is provided which acts on all four ropes 15 similar.

If the adjusting elements 13 are designed as individual hoists and no further, on all four ropes 15 identically acting hoist 14 is present, the adjusting elements 13 are always acted upon by the resulting length setpoint L *. However, if in addition to the adjusting elements 13, the lifting mechanism 14 is present, preferably applied according to the representation in FIG. 7 the control device 7, the adjusting elements 13 each with the additional length setpoint L2 *, but not with the basic length setpoint L1 *. Conversely, the control device 7 acts in this case, the hoist 14 with the basic length setpoint L1 *, but not with the additional length setpoint L2 *. The respective action on the control elements 13 and the hoist 14 is therefore exclusive. Alternatively, however, it is also possible in the case of Presence of both the control elements 13 and the hoist 14 to apply the hoist 14 always with the resulting length setpoint L *.

• Eine Last 6 ist über ein Seilsystem 5 eines Krans 1 an einem Lastaufhängepunkt 2 des Krans 1 aufgehängt. Zur Beeinflussung einer Pendelbewegung der Last 6, die um den Lastaufhängepunkt 2 erfolgt, auf eine den Lastaufhängepunkt 2 enthaltende vertikale Ebene 11 bezogen ist und eine Pendelfrequenz f1 aufweist, nimmt eine Steuereinrichtung 7 des Krans 1 während der Pendelbewegung Daten D entgegen, die für einen Auslenkwinkel ϕ der Pendelbewegung und/oder eine zeitliche Ableitung ϕ' des Auslenkwinkels ϕ der Pendelbewegung charakteristisch sind. Die Steuereinrichtung 7 stellt eine wirksame Seillänge L des Seilsystems 5 während der Pendelbewegung entsprechend einem resultierenden Längensollwert L* ein. Die Steuereinrichtung 7 ermittelt den resultierenden Längensollwert L* anhand der Summe eines Grundlängensollwerts L1* und eines Zusatzlängensollwerts L2*. Die Steuereinrichtung 7 ermittelt den Zusatzlängensollwert L2* derart, dass der Zusatzlängensollwert L2* sich mit einer Modulationsfrequenz f2 ändert, die gleich dem doppelten der Pendelfrequenz f1 ist, und dass der Zusatzlängensollwert L2* in den Umkehrpunkten der Pendelbewegung minimal und im Nulldurchgang der Pendelbewegung maximal ist.

In summary, the present invention thus relates to the following facts:

• A load 6 is suspended via a cable system 5 of a crane 1 at a load suspension point 2 of the crane 1. To influence a pendulum movement of the load 6, which takes place around the load suspension point 2, to a load suspension point 2 containing vertical plane 11 and has a pendulum frequency f1, takes a control device 7 of the crane 1 during the pendulum motion data D, which for a deflection angle φ of the pendulum motion and / or a time derivative φ 'of the deflection angle φ of the pendulum motion are characteristic. The control device 7 sets an effective cable length L of the cable system 5 during the pendulum movement in accordance with a resulting length setpoint L *. The control device 7 determines the resulting length setpoint value L * based on the sum of a basic length setpoint value L1 * and an additional length setpoint value L2 *. The control device 7 determines the additional length setpoint value L2 * such that the additional length setpoint value L2 * changes with a modulation frequency f2 equal to twice the oscillation frequency f1 and that the additional length setpoint value L2 * is minimal in the reversal points of the oscillating movement and maximal in the zero crossing of the oscillating movement ,

The present invention has many advantages. In particular, the procedure according to the invention can be implemented with any crane 1, since a length adjustment of the cable system 5 is always present. Furthermore, the procedure according to the invention can be implemented independently of the orientation of the vertical plane 11, ie both in a pendulum motion parallel to the travel direction x of the trolley 3 and in a pendulum motion transverse to the travel direction x of the trolley 3 as well as in a pendulum motion in which the vertical plane 11 lies between these two orientations.

Another advantage is that the method of the trolley 3 is not affected by the procedure according to the invention. In particular, the actual movement of the trolley 3 as such can be carried out thereby optimally. Another advantage is that the procedure according to the invention can also be combined with a length adjustment of the cable system 5.

A further advantage is that the procedure according to the invention for damping a pendulum movement orthogonal to the travel direction x of the trolley 3 can be used and at the same time the trolley 3 can be used for damping a pendulum movement parallel to the travel direction x of the trolley 3. Because in this case, two independent and also decoupled options are available to dampen the two oscillations independently of each other. In particular, by this approach, an effective damping of the resulting pendulum motion of the load 6 even possible when the pendulum motion parallel to the direction of travel x of the trolley 3 and the oscillating motion orthogonal to the travel direction x of the trolley 3 have a phase offset relative to each other, so that through
Superposition of the two pendulum movements resulting resulting pendulum motion describes a circle or an ellipse.

The method according to the invention is preferably carried out in the middle region of the movement of the load 6 from an initial location to a destination. At the beginning of the movement (ie at the initial location and in its vicinity) and at the end of the movement (ie at the destination and in its vicinity), the inventive method is preferably suppressed.

Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

Claims (7)

1. Method for influencing a pendular movement of a load (6), wherein the load (6) is suspended on a load suspension point (2) of the crane (1) by way of a cable system (5) of a crane (1), wherein the pendular movement occurs about the load suspension point (2), is based on a vertical plane (11) containing the load suspension point (2) and has a pendular frequency (f1),

   - wherein during the pendular movement a control facility (7) of the crane (1) receives data (D) which is characteristic of an angle of deflection (φ) of the pendular movement and/or a temporal derivation (φ') of the angle of deflection (φ) of the pendular movement,

   - wherein the control facility (7) sets an effective cable length (L) of the cable system (5) during the pendular movement in accordance with a resulting length target value (L*),

   - characterised in that

   the control facility (7) determines the resulting length target value (L*) on the basis of the total of a basic length target value (L1*) and an additional length target value (L2*) and

   - wherein the control facility (7) determines the additional length target value (L2*) such that the additional length target value (L2*) changes with a modulation frequency (f2) which is equal to double the pendular frequency (f1) and that the additional length target value (L2*) is minimal in the reversal points of the pendular movement and maximal in the zero-crossing of the pendular movement.
2. Method according to claim 1,
   characterised in that
   the load suspension point (2) can be moved in a movement direction (x) by means of a trolley (3) of the crane (1) and that the vertical plane (11), on which the pendular movement is based, runs in parallel to or othogonally to the movement direction (x) of the trolley (3).
3. Method according to claim 1 or 2,
   characterised in that
   the control facility (7) varies the basic length target value (LI^*) during the pendular movement, such that the basic length target value (L1*) varies during at least one period of the pendular movement with constant speed and the constant speed is attuned to the variation of the additional length target value (L2*) such that a change in the resulting length target value (L*) is strictly monotonous during the at least one period of the pendular movement.
4. Method according to claim 1, 2 or 3,
   characterised in that
   the cable system (5) comprises four cables (15), which run from a respective upper corner point (16) arranged in the region of the load suspension point (2) to a respective lower corner point (17) arranged in the region of the load (6), that the control facility (7) in each case applies the additional length target value (L2*), but not the basic length target value (L1*), to control members (13) which each act individually on one of the four cables (15), and that the control facility (7) applies the basic length target value (L1*), but not the additional length target value (L2*), to a lifting unit (14) of the crane (1) which acts uniformly on all four cables (15).
5. Computer program, wherein the computer program comprises machine code (9), which can be processed by a control facility (7) for a crane (1), wherein the processing of the machine code (9) by the control facility (7) causes the control facility (7) to operate the crane (1) in accordance with a method according to one of the above claims.
6. Control facility for a crane (1), wherein the control facility is programmed with a computer program (8) according to claim 5.
7. Crane,

   - wherein the crane has a load suspension point (2), on which a load (6) is suspended by way of a cable system (5) of the crane,

   - wherein the crane has a detection facility (12), by means of which data (D) can be detected, which is characteristic of an angle of deflection (φ) of a vertical plane (11) occurring about the load suspension point (2) and based on a vertical plane (11) containing the load suspension point (2) and a pendular movement of the load (6) having a pendular frequency (f1) and/or a temporal derivation (φ') of the angle of deflection (φ) of the pendular movement,

   - wherein the crane has a control facility (7), which is embodied according to claim 6.

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