Crane pathfinding system and method

Abstract

The present invention relates to a method of controlling a crane system (2) comprising defining one or more forbidden zone (28), the forbidden zone defining a location in which a carrying member (18) of the crane or the load thereon is not permitted. A first path (36) between a first location (32) and second location (24) is determined, the first path (36) configured such that the carrying member (18) or the load thereon does not enter a forbidden zone (28) during traversal of the first path (36). The carrying member (18) is moved along said first path (36) and detecting if an obstacle (30) is within a threshold distance of the carrying member (10), the load thereon and / or the first path. A second path (38) is determined if said obstacle (30) is within a threshold distance of the carrying member (10), the load or the first path, the second path (38) defining a path where the carrying member (18) or the load thereon avoids said obstacle (30).