Method for controlling a movement of a load in a workspace of a load transport device

A method for controlling a movement of a load in a workspace of a load transport device using a control device of the load transport device, the load transport device comprising a load carrier and a load pick-up apparatus fastened to the load carrier for picking up the load, at least three positioning cables, and at least three suspension apparatuses arranged at a distance from one another, each said suspension apparatus has a positioning cable winch for winding and unwinding one of the positioning cables, and the load carrier is suspended from the suspension apparatuses by the positioning cables, the load carrier and the load pick-up apparatus being fastened thereto are displaceable at least one of in or over the workspace by actuation of the positioning cable winches, the method comprising the steps:

• acquiring target coordinates that are currently to be set of a target point in the workspace towards which the load pick-up apparatus is to be moved;
• determining a load measured value by measuring a weight of the load picked up at the load pick-up apparatus using a load measuring device of the load transport device;
• determining actual cable lengths of the positioning cables;
• determining desired cable lengths, which are to be set by the respective positioning cable winch by winding or unwinding, for the positioning cables for the target coordinates of the target point that are currently to be set and for the current load measured value;
• adapting the actual cable lengths of the respective positioning cables to the desired cable lengths to be set for the respective positioning cables, by actuating the respective positioning cable winch by a cable length adjustment of the control device and winding or unwinding the respective positioning cables;
• and
• wherein the control device has a database in which a large number of data sets are stored, each said data set storing a precalculated desired cable length for in each case one of the positioning cables for predefined target coordinates of a predefined target point and for a predefined load value, and the desired cable lengths to be set for the positioning cables by the respective positioning cable winch are determined by the control device by querying the database, and for each of the positioning cables, the control device searching the database for at least one data set that matches the target coordinates of the target point that are currently to be set and the current load measured value, and the desired cable length to be set for the respective positioning cable is determined based on the precalculated desired cable length of the at least one data set that matches.