Method for optimizing anti-rolling function

Abstract

In order to optimize an anti-swing algorithm for transporting a load across a hoisting area by a hoisting device comprising a trolley, a threading system and a tool for handling the load, a control device is capable of creating (S1a) a first table giving an angular offset of the trolley from a measurement of the tilt angle of the trolley, depending on physical properties of the load and mechanical parameters related to the trolley, creating (S1b) a second table giving a probability of a secondary swing of the load from a measurement of the acceleration and angular position of the tool, depending on physical properties of the load, mechanical parameters related to the threading system and the tool, transporting (S2) the load in the hoisting area by using an anti-swing algorithm taking into account the first table and the second table, wherein the anti-swing algorithm takes as input dynamic parameters of the hoisting device, including a current position of the trolley, the load and a current angle of the load relative to the trolley.

Description

Technical Field

[0001] The present invention generally relates to a method for anti-swaying functionality of lifting equipment applied across a warehouse, the lifting equipment being arranged to carry a load suspended by cables from a crane that can move with the lifting equipment. Background Technology

[0002] Lifting equipment 1, such as that of bridge cranes, gantry cranes, or overhead mobile cranes, typically includes a trolley 2, which can move along a horizontal axis X on a single beam or a set of tracks 3, such as... Figure 1 As shown. This first movement along the X-axis is generally referred to as short-stroke movement and / or trolley movement. Depending on the type of equipment, the beam or the set of rails 3 (also called a bridge) can also move along the horizontal axis Y perpendicular to the X-axis, thus enabling the trolley to move along both the X and Y axes. This second movement along the Y-axis is generally referred to as long-stroke movement and / or bridge or crane movement. The amount of available short stroke along the X-axis and long stroke along the Y-axis determines the lifting area spanned by the hoist 1.

[0003] Tool 4 (also known as load suspension device) is associated with a winding system having a cable passing through the crane 2. The length of the cable 5 is controlled by the crane 2 to change, thereby enabling the load 6 to be displaced along the vertical axis Z, which is called lifting motion.

[0004] Moving suspended loads between warehouses, lobbies, shipyards, metallurgical plants, or nuclear power plants requires operators to exercise extreme caution to prevent any impact or damage to personnel, obstacles, or objects present in the lifting area. Therefore, in addition to size, the swaying (often referred to as rocking) of the suspended load is something operators must consider when maneuvering the load across the work area along a trajectory within the lifting area boundaries. Furthermore, secondary rocking can occur and interfere with normal lifting operations.

[0005] This complexity hinders the development of fully automated lifting systems capable of independently transferring suspended loads along a trajectory. Implementing advanced anti-sway functions is difficult and time-consuming, primarily due to the numerous variable and specific parameters of each crane. Therefore, there is a need to develop cranes that can perform optimized and easily closed-loop anti-sway adjustments. Summary of the Invention

[0006] This summary is provided to introduce concepts related to the subject matter of the invention. It is not intended to identify the essential features of the claimed subject matter, nor is it intended to define or limit the scope of the claimed subject matter.

[0007] In one embodiment, a method is provided for optimizing an anti-sway algorithm for transporting a load across a lifting area using a lifting device, the lifting device including a crane, a threading system, and a load handling tool, the method comprising:

[0008] Based on the physical characteristics of the load and the mechanical parameters associated with the crane, a first table is created to provide the angular offset of the crane, which is determined by measuring the crane's tilt angle.

[0009] Based on the physical characteristics of the load, the mechanical parameters related to the winding system, and measurements of the tool's acceleration and angular position, a second table is created to give the probability of the load's secondary oscillation.

[0010] The load is transported in the lifting area by using an anti-sway algorithm that takes into account the first and second tables. The anti-sway algorithm takes the dynamic parameters of the lifting equipment as input, including the current position of the crane, the load, and the current angle of the load relative to the crane.

[0011] Therefore, the anti-sway algorithm was optimized to significantly reduce load sway, thereby improving the mechanical stress on the crane and enhancing the productivity and operational performance of the lifting equipment. The improved anti-sway algorithm takes into account the mechanical environment, the tool's swaying behavior under load, and the time delay caused by command chain information processing, reducing the debugging time for the anti-sway algorithm.

[0012] In one embodiment, the method further includes creating a third table that includes a global command delay based on motion commands from the control device to the crane, and wherein the anti-sway algorithm also takes into account the third table.

[0013] In one embodiment, the mechanical parameters associated with the crane include at least the position of the crane.

[0014] In one embodiment, the physical characteristics of the load include at least the weight of the load.

[0015] In one embodiment, the mechanical parameters associated with the winding system include at least the cable length of the winding system.

[0016] In one embodiment, the third table also includes an angle measurement delay from an angle sensor linked to the crane.

[0017] In one embodiment, the tilt angle of the crane is measured by an inclinometer linked to the crane.

[0018] In one embodiment, the measurement of the tool's acceleration and angular position is performed by an accelerometer and a gyroscope linked to the tool.

[0019] In one embodiment, the anti-sway algorithm uses the angle offset of a first table for a given load and takes the current position of the crane and the current angle of the load relative to the crane as input to determine the real-time angle offset to be considered for the adjustment loop of the anti-sway algorithm.

[0020] In one embodiment, the anti-sway algorithm analyzes the probability of secondary swaying for a given load and adjusts the coefficient of the regulating loop when the probability of secondary swaying changes with the length of the cable winding through the system.

[0021] In one embodiment, the coefficient is related to the correction factor of the control loop, the coefficient corresponding to the speed change, acceleration or deceleration of the crane.

[0022] In one embodiment, the anti-sway algorithm uses a third table to predict the triggering of motion commands that are effectively executed by the crane after a global command delay.

[0023] In another embodiment, an apparatus is provided for optimizing an anti-sway algorithm for transporting a load across a lifting area using a lifting device, the lifting device including a crane, a threading system, and tools for handling the load, the apparatus comprising:

[0024] One or more network interfaces for communicating with telecommunications networks;

[0025] A processor, which is connected to a network interface and configured to execute one or more processes; and

[0026] Memory configured to store procedures that can be executed by a processor, which, when executed, can operate as follows:

[0027] Based on the physical characteristics of the load and the mechanical parameters associated with the crane, a first table is created to provide the angular offset of the crane, which is determined by measuring the crane's tilt angle.

[0028] Based on the physical characteristics of the load, the mechanical parameters related to the winding system, and measurements of the tool's acceleration and angular position, a second table is created to give the probability of the load's secondary oscillation.

[0029] The load is transported in the lifting area by using an anti-sway algorithm that takes into account the first and second tables. The anti-sway algorithm takes the dynamic parameters of the lifting equipment as input, including the current position of the crane, the load, and the current angle of the load relative to the crane.

[0030] In another embodiment, a computer-readable medium is provided, having included a computer program for performing a method for optimizing anti-sway functionality for lifting regional transport loads via a lifting device that traverses a crane, a winding system, and a load handling tool. The computer program includes instructions for performing steps of the method according to the invention. Attached Figure Description

[0031] Detailed description is provided with reference to the accompanying drawings. In the drawings, the leftmost numeral of the reference numeral indicates the drawing in which that numeral first appears. The same numerals are used in all drawings to refer to similar features and parts. Some embodiments of the system and / or method according to this subject matter will now be described by way of example and with reference to the accompanying drawings, wherein:

[0032] Figure 1 An example of a lifting device is shown schematically;

[0033] Figure 2 An example of a communication system optimized for an anti-sway algorithm used to transport loads by lifting equipment is illustrated schematically;

[0034] Figure 3 The components of the lifting device involved in the secondary swing are shown;

[0035] Figure 4 The difference between the primary and secondary swings is shown;

[0036] Figure 5 A flowchart illustrating a method for optimizing an anti-sway algorithm for transporting loads by lifting equipment, according to one embodiment, is shown.

[0037] In all the accompanying drawings, the same reference numerals denote the same elements or elements of the same type.

[0038] Those skilled in the art will understand that any block diagram herein represents a conceptual diagram of an illustrative system embodying the principles of the subject matter. Similarly, it will be understood that any flowchart, diagrammatic flowchart, state transition diagram, pseudocode, etc., represents various processes that can be substantially represented in a computer-readable medium and executed by a computer or processor, whether or not such a computer or processor is explicitly shown. Detailed Implementation

[0039] The accompanying drawings and the following description illustrate specific exemplary embodiments of the invention. Therefore, it should be understood that those skilled in the art will be able to design various arrangements, which, although not explicitly described or shown herein, embody the principles of the invention and are included within its scope. Furthermore, any examples described herein are intended to aid in understanding the principles of the invention and are to be construed as not being limited to these specifically enumerated examples and conditions. Therefore, the invention is not limited to the specific embodiments or examples described below, but is defined by the claims and their equivalents.

[0040] refer to Figure 2 The communication system optimized for anti-swaying algorithms by increasing the load transported by the equipment includes a control unit CD, a set of sensors SS, and a monitoring system SUP.

[0041] Elevated areas such as warehouses, yards, lobbies, or other work areas are equipped with a Surveillance Upgrade (SUP) system, which is an IT control system used to monitor the elevated area. The SUP system provides the Control Unit (CD) with information for trajectory execution, authorization (i.e., access management), and general security.

[0042] The control unit CD can communicate with the monitoring system SUP and the group of sensors SS via a telecommunications network TN. The telecommunications network can be wired or wireless, or a combination of both. The telecommunications network can be associated with packet networks, such as high-speed IP (“Internet Protocol”) networks like the Internet or intranets, or even a dedicated corporate network. The control unit CD can be a programmable logic controller (PLC) and other automation devices capable of implementing industrial processes and communicating with the monitoring system to exchange data, such as requests, inputs, and control data.

[0043] In one embodiment, the sensor set SS includes a positioning system PS, an angle sensor AS, an inclinometer INC, an accelerometer ACC, and a gyroscope GYR.

[0044] The positioning system PS can be linked to the crane and configured to measure the crane's position. In one embodiment, the positioning system PS, such as a radar system including a radio transmitter and radio detector, can emit radio waves that will be reflected by structures in the surrounding environment, such as warehouse walls, which will be detected by the radar's detectors. This will allow the determination of the distance between the crane and the wall in the X and Y directions. This will also allow the determination of the distance between the crane and a track reference position. In one embodiment, the positioning system PS is associated with the crane and can determine the crane's position relative to short-stroke motion and / or crane movement, and relative to long-stroke motion and / or bridge or crane movement along the X and Y axes. In another embodiment, the positioning system PS includes two radar systems, one linked to the crane for the X-axis and the other linked to the gantry crane for the Y-axis.

[0045] The inclinometer INC can be linked to the crane and configured to measure the angular deviation of the crane relative to the horizontal plane, which depends on the physical characteristics of the load and the mechanical parameters associated with the crane. The physical characteristics of the load can be its weight, dimensions, and center of gravity. The mechanical parameters associated with the crane include at least its position. The angular deviation of the crane is due to several mechanical characteristics related to the overall infrastructure of the crane, including, for example, track linearity and structural deformation of the crane.

[0046] During the initial teaching phase for a specific load, the load is transported along a predetermined path within the lifting area. This initial teaching phase can be enriched during different operating periods of the lifting equipment. At consecutive time intervals or specific locations, the control unit CD receives measurements of the crane's angular offset from the inclinometer INC and correlates these measurements with the crane's position given by the positioning system PS. Thus, the control unit CD can create a first table that provides the angular offset based on the mechanical environment. Angular offsets can lead to undesirable angular measurements during lifting equipment operation, resulting in inappropriate correction decisions.

[0047] Accelerometers (ACC) and gyroscopes (GYR) can be linked to the tool and configured to measure its acceleration and angular position. For inclinometers, the physical characteristics of the load can be its weight, dimensions, and center of gravity. Mechanical parameters related to the winding system can include the cable length and stiffness of the winding system.

[0048] During the second teaching phase for a specific load, which can operate simultaneously with the first teaching phase, the load is transported along a predetermined path in the lifting area. The control unit CD receives measurements of acceleration and angular position from the accelerometer ACC and gyroscope GYR, and correlates these measurements with mechanical parameters associated with the threading system. For example, the cable length of the threading system can vary, such as after picking up the load and before lowering it. This can be derived from measurements of the acceleration and angular position probabilities of the load's secondary oscillation. Therefore, the control unit CD can create a second table giving the probability of the load's secondary oscillation based on mechanical parameters associated with the threading system, such as the cable length of the threading system.

[0049] The first teaching phase can be performed for different loads to enrich the data with information related to those loads. Therefore, the control unit CD can create a first table providing angular offsets based on the load weight and the crane's position. For each position of the crane, there can be different angular offsets, each related to a different load based on its weight. From another perspective, for each load with a specific weight, a given position of the crane has a given angular offset.

[0050] The second teaching phase can also be performed for different loads to enrich the data with information relevant to different loads. Therefore, the control unit CD can create a second table that provides the probability of secondary oscillation based on the load weight and the length of the cable winding system. For a specific load (with a given weight), some cable lengths may be associated with a high probability of secondary oscillation, while other cable lengths may be associated with a low probability. The second table can provide probability values ​​or categorize probabilities into a set of levels, such as low, medium, and high.

[0051] The control unit CD can communicate with the angle sensor AS and other command devices of the crane, which execute movement commands of the crane from the control unit. A series of commands can exist between the control unit CD and the crane, executed by different command devices such as sensors, networks, PLCs, speed drivers, motors, etc. The angle sensor AS can be linked to the crane and configured to measure the angle between the load and the vertical axis.

[0052] During the third teaching phase, which can operate simultaneously with the first or second teaching phase, the load can be commanded to move to a given position or to accelerate or decelerate. The control unit CD estimates dynamic parameters related to the crane's command device, which are associated with time delays in motion commands, including measurement delays, communication delays, and processing delays. The control unit CD can distinguish between delays associated with angle measurements from the angle sensor AS and delays associated with motion commands from the command device. The control unit CD can therefore create a third table providing these delays based on the control environment.

[0053] To estimate the time delay of motion commands, the control unit CD can use different mechanisms, such as querying the response time of each device, or comparing the new response given by the positioning system PS after a command to move the crane with the response given directly by another accelerometer linked to the crane.

[0054] The control unit CD is configured to create a path that the crane follows to transport loads from one location to another within the lifting area. Typically, during the operation of a bridge crane, anti-sway algorithms are used to dampen the swaying of the load, which provides increased mechanism performance and reduces the risk of accidents and injuries. Methods for achieving this include mathematical modeling and computer simulation. Anti-sway systems rely on the use of load angle sensors with internal variables of the electrically driven system. For example, the anti-sway algorithm takes as input dynamic parameters of the lifting equipment, including the current position of the crane and the current angle of the load relative to the crane.

[0055] However, to more actively dampen load swaying, the anti-sway algorithm can consider the crane's mechanical environment causing the gantry angular deflection, the dynamic behavior of the load corresponding to secondary load swaying, and the control behavior of a series of commands through a first, second, and third table, respectively. It is assumed that the first, second, and third tables are generated for a specific load and are used in conjunction with the anti-sway algorithm when transporting loads similar to said specific load.

[0056] The first table provides real-time angle offsets for the anti-sway algorithm, allowing adjustments to be made based on the crane's current position and load. If the crane is stationary, adjustments to the anti-sway algorithm may include crane displacement, or acceleration or deceleration when the crane is in motion.

[0057] The second table adjusts the anti-sway algorithm's adjustment coefficient based on cable length and load, making it smoother when there's a high probability (risk) of secondary swaying, or steeper when there's a low probability (risk) of secondary swaying. The adjustment coefficient can be linked to different types of adjustment loops using a correction factor. In one example, the correction factor is proportional to the error corresponding to the difference between the instruction (the value to be achieved) and the measurement. By default, the instruction might correspond to a 0° angle, as normal operating conditions should keep the axis of the winding system (cable) vertical. If the measured angle is 3°, the error is -3°. The correction factor is the result of multiplying the error by the adjustment coefficient or gain.

[0058] For example, when there is no risk of secondary swaying, the control unit CD can allow the crane to travel at a higher speed, or change speed or accelerate, without changing the adjustment coefficient. If there is a high risk of secondary swaying, the adjustment coefficient may be reduced due to excessive changes in speed or acceleration that could lead to secondary swaying.

[0059] The third table provides the actual delay parameters for setting the anti-sway algorithm. Regardless of the type of load being transported, the anti-sway algorithm can predict when the movement command sent to the crane will take effect.

[0060] refer to Figure 3 The image shows some components of a lifting device involving secondary oscillation. The lifting device includes a trolley that controls the length of a cable threading system linked at the bottom to a tool for handling the load or product. The cable is linked to the trolley via an upper block and to the tool via a lower block.

[0061] The location of a tool's center of gravity depends on the type of tool, while the center of gravity of a load is more or less located in the middle of the load. The overall equivalent center of gravity of the tool and load combination lies between the tool's center of gravity and the load's center of gravity: the heavier the load, the closer the overall equivalent center of gravity is to the load's center of gravity.

[0062] When the distance in the winding system is very small, a secondary swaying phenomenon may occur. This distance more or less corresponds to the cable length between the crane and the tool, i.e., the distance between the center of the upper block (similar to a pulley) and the center of the lower block (similar to a pulley). The secondary swaying phenomenon may also depend on the overall equivalent center of gravity.

[0063] refer to Figure 4 This illustrates the difference between primary and secondary oscillations. In the case of primary oscillation, the load can be balanced along an arc below the crane from the vertical axis, parallel to the crane's direction of travel. The axis of rotation is located at the upper part of the winding system linked to the crane. In the case of secondary oscillation, the tool can be further balanced along an arc below the crane from the axis of the overall equivalent center of gravity, parallel to the crane's direction of travel. The axis of rotation is located between the lower part of the winding system linked to the tool and the load's center of gravity.

[0064] Reference Figure 5 According to an embodiment of the present invention, an optimization method for an anti-sway algorithm for transporting loads by increasing equipment includes steps S1 and S2.

[0065] In step S1, the control device CD initiates a teaching phase for different loads. During this phase, the mechanical environment of the lifting equipment, the oscillation behavior of the tool along with the load, and delays are analyzed and calculated based on the control environment. During the teaching phase, the load can be transported to different areas to cover the entire lifting area, and the control device CD receives measurements from the set of sensors at a given location.

[0066] In sub-step S1a, the control unit CD receives a measurement of the angular offset from the inclinometer INC and correlates this measurement with the position and load of the crane. The control unit CD creates a first table showing the angular offset based on the mechanical environment. The angular offset for a given position and load allows the angle measurement to be corrected using the angle sensor at that given position.

[0067] In sub-step S1b, the control device CD receives acceleration and velocity measurements from the accelerometer ACC and gyroscope GYR, and correlates these measurements with the cable length. The control device CD then creates a second table that gives the probability of secondary oscillation of the load based on mechanical parameters (such as cable length) associated with the load and the winding system.

[0068] In substep S1c, the control unit CD estimates the different time delays caused by the information processing of a series of commands. The control unit CD creates a third table that provides the delays based on the control environment.

[0069] In step S2, the control device CD generates a trajectory for the lifting equipment to transport a given load from the starting point to the target point through the lifting area. The control device CD commands the crane to begin transporting the load and uses an anti-sway algorithm to adjust the crane's behavior during transport.

[0070] The anti-sway algorithm takes the dynamic parameters of the lifting device as input, including the current position of the crane and the current angle of the load relative to the crane. In real time, the current position of the crane is provided by the positioning system PS, and the current angle of the load relative to the crane (assuming it is the angle between the load and the vertical axis) is provided by the angle sensor AS linked to the crane.

[0071] The anti-sway algorithm uses the angular offset of a first table for a given load, and takes the crane's current position and the load's current angle relative to the crane as input to determine the real-time angular offset to be considered in the adjustment. For example, at a given position, the angle sensor AS provides a measurement of 1° for the current angle. The first table contains the angular offset value for that given position. If this value is also 1°, it means no correction needs to be applied. If the value is different from 1°, adjustments should be made to compensate for or avoid the angular offset, for example, by moving the crane to another position.

[0072] The anti-sway algorithm analyzes the probability of secondary swaying under a given load and adjusts the coefficient of the regulating loop as the probability of secondary swaying changes with the cable length of the winding system.

[0073] For a given load, the probability of secondary sway depends on the possible different lengths of the cable used in the winding system during crane operation. For certain lengths of the cable in the winding system, the probability of secondary sway may be high, and the coefficient of the regulating loop may decrease.

[0074] The anti-sway algorithm uses a third table to predict the triggering of movement commands, thereby predicting the time when the crane can effectively execute movement commands.

[0075] The anti-sway algorithm uses a first table, a second table, and a third table to better adjust the behavior of the crane during transportation.

[0076] The embodiment includes a control device (CD) in the form of a device, the device including one or more processors, I / O interfaces, and memory coupled to the processors. The processor can be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, state machines, logic circuits, and / or any means of manipulating signals based on operating instructions. The processor can be a single processing unit or multiple units, all of which may also include multiple computing units. Among other capabilities, the processor is configured to fetch and execute computer-readable instructions stored in memory.

[0077] Functionality implemented by a processor can be provided using dedicated hardware and hardware capable of executing software associated with appropriate software. When provided by a processor, functionality can be provided by a single dedicated processor, a single shared processor, or multiple separate processors, some of which may be shared. Furthermore, the explicit use of the term "processor" should not be construed as referring specifically to hardware capable of executing software, and may implicitly include, but is not limited to, digital signal processor (DSP) hardware, network processors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), read-only memory (ROM) for storing software, random access memory (RAM), and non-volatile memory. Other conventional and / or custom hardware may also be included.

[0078] Memory may include any computer-readable medium known in the art, such as volatile memory like static random access memory (SRAM) and dynamic random access memory (DRAM), and / or non-volatile memory like read-only memory (ROM), erasable programmable ROM, flash memory, hard disk, optical disk, and magnetic tape. Memory includes modules and data. Modules include routines, programs, objects, components, data structures, etc., which perform specific tasks or implement specific abstract data types. Data serves as a repository for storing data processed, received, and generated by one or more modules.

[0079] Those skilled in the art will readily recognize that the steps of the methods described above can be performed by a programmed computer. In this document, some embodiments are also intended to cover program storage devices, such as digital data storage media, which are machine- or computer-readable and encode machine-executable or computer-executable instruction programs, said instructions performing some or all of the steps of the methods. Program storage devices can be, for example, digital memories, magnetic storage media (e.g., disks and magnetic tapes), hard disk drives, or optically readable digital data storage media.

[0080] Although the invention has been described above with reference to specific embodiments, it is not limited to the particular forms set forth herein. Rather, the invention is limited only by the appended claims, and other embodiments besides the specific embodiments described above are also possible within the scope of these appended claims.

[0081] Furthermore, although exemplary embodiments have been described above with some exemplary combinations of components and / or functions, it should be understood that alternative embodiments may be provided by different combinations of components and / or functions without departing from the scope of this disclosure. In particular, it is contemplated that specific features described separately or as part of an embodiment may be combined with other separately described features or as part of other embodiments.

Claims

1. A method for optimizing an anti-sway algorithm for transporting a load across a lifting area using a lifting device, said lifting device comprising a crane, a winding system, and a load handling tool, the method comprising, in a control device: Based on the physical characteristics of the load and the mechanical parameters related to the crane, create (S1a) a first table that gives the angular offset of the crane, which is determined by the measurement of the crane's tilt angle; Based on the physical characteristics of the load, the mechanical parameters related to the winding system, and the measurements of the tool's acceleration and angular position, a second table (S1b) is created to give the probability of the load's secondary oscillation. The load is transported in the lifting area (S2) by using an anti-sway algorithm that takes into account the first and second tables, wherein the anti-sway algorithm takes the dynamic parameters of the lifting equipment as input, including the current position of the crane, the load, and the current angle of the load relative to the crane.

2. The method of claim 1, further comprising creating (S1c) a third table including a global command delay based on the motion command from the control device to the crane, wherein, The anti-sway algorithm also considers a third table.

3. The method according to claim 1, wherein, The mechanical parameters associated with the crane include at least the position of the crane.

4. The method according to any one of the preceding claims, wherein, The physical characteristics of the load include at least its weight.

5. The method according to any one of claims 1 to 3, wherein, The mechanical parameters associated with the winding system include at least the cable length of the winding system.

6. The method according to claim 2, wherein, The third table also includes angle measurement delays from angle sensors linked to the crane.

7. The method according to any one of claims 1 to 3, wherein, The tilt angle of the crane is measured by an inclinometer linked to the crane.

8. The method according to any one of claims 1 to 3, wherein, The acceleration and angular position of the tool are measured by accelerometers and gyroscopes linked to the tool.

9. The method according to any one of claims 1 to 3, wherein, The anti-sway algorithm uses the angle offset of the first table for a given load, and takes the current position of the crane and the current angle of the load relative to the crane as input to determine the real-time angle offset to be considered for the adjustment loop of the anti-sway algorithm.

10. The method according to claim 5, wherein, The anti-sway algorithm analyzes the probability of secondary swaying for a given load, and adjusts the coefficient of the regulating loop when the probability of secondary swaying changes with the cable length of the winding system.

11. The method according to claim 10, wherein, The coefficient is associated with the correction factor of the adjustment circuit and the coefficient corresponding to the speed change, acceleration, or deceleration of the hoist.

12. The method according to claim 2, wherein, The anti-sway algorithm uses the third table to predict the triggering of motion commands that are effectively executed by the crane after a global command delay.

13. An apparatus for optimizing anti-swaying functionality for transporting loads across a lifting area using a lifting device, the lifting device comprising a crane, a winding system, and tools for handling the load, the apparatus comprising: One or more network interfaces for communicating with telecommunications networks; A processor that is connected to a network interface and configured to execute one or more processes; as well as Memory configured to store procedures that can be executed by a processor, which, when executed, can operate as follows: Based on the physical characteristics of the load and the mechanical parameters associated with the crane, a first table is created to provide the angular offset of the crane, which is determined by measuring the crane's tilt angle. Based on the physical characteristics of the load, the mechanical parameters related to the winding system, and measurements of the tool's acceleration and angular position, a second table is created to give the probability of the load's secondary oscillation. The load is transported in the lifting area by using an anti-sway algorithm that takes into account both a first table and a second table. The anti-sway algorithm takes the dynamic parameters of the lifting equipment as input, including the current position of the crane, the load, and the current angle of the load relative to the crane.

14. A computer-readable medium having a computer program thereon for performing the method according to any one of claims 1 to 12, the method optimizing anti-sway functionality for transporting loads across a lifting area via a lifting device, said lifting device comprising a crane, a winding system, and tools for handling the load.

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