Abstract
Crane arrangement (2) arranged to be mounted on a vehicle (4), the crane arrangement (2) comprising a movable arm (6) comprising a plurality of crane booms; a crane manoeuvring unit (10) arranged to generate crane operation commands (12), such as commands for movements of the movable arm (6), based on received inputs (14) by an operator of the crane arrangement (2); a positioning arrangement (16) configured to determine the position of the crane manoeuvring unit (10), and to generate positioning signals (18) in dependence thereto, and a crane controller (24) arranged to monitor and control the movements of the movable arm (6) in response to operation commands (12) received from the crane manoeuvring unit (10) and received positioning signals (18) from the positioning arrangement (16). The crane controller (24) is arranged to define at least one predefined two- or three-dimensional working space (20) on said vehicle (4) and/or on a trailer of said vehicle (2), wherein said working space(s) (20) encloses a loading space of the vehicle (4) and/or a loading space of a trailer attached to the vehicle (4). The crane controller is further configured to determine the position of the crane manoeuvring unit (10) in relation to said working space(s) (20), based upon the received positioning signals (18), wherein, if it is determined that the position of the crane manoeuvring unit (10) is within said working space(s) (20), the crane controller (24) is configured to enter a safety operating mode resulting in that movements of the movable arm (6) is halted or restricted, according to a set of movement limitation rules.