A method of guiding a sheave, especially of an overhead crane, to the catching portion of a structural member to be lifted or moved to another location, using gyroscopic stabilization based on the operation of a gyrostabilizer, imaging systems performing transforming the real three-dimensional space to its own space based on a perspective transformation model with camera calibration and identification of internal and external camera parameters, where as a result of the calibration operation, the focal length, the center point of the imaging grid and the distortion vector are obtained, which allows to determine the focal length by the number of pixels of the imaging matrix, which are used to determine the position of the catching part of the structural element in three-dimensional space and using the template matching method, which aims to find the object defined by the template based on the comparison of the input image with the template, using a template matching method by comparing three image planes - saturation, color and grayscale, and using distance measurement, said sheave guidance method characterized in that the motors of the crane cart and the motor for raising and lowering the sheave are controlled using a predictive closed-loop position control system, in which the preset trajectory of the sheave's movement is determined by defining successive preset positions for the sheave relative to the position of the catching part of the structural member that is being raised, a vision and sensory subsystem is used, containing at least two vision modules, a two-stage guidance of the sheave to the catching member is used, in the first stage the first vision module mounted on the overhead crane cart is used, operating in the far-zone control system to move the sheave over the catching part of the structural member, before lowering it until the distance to the catching part of the structural member reaches the first distance, in the second stage, a second vision module mounted in the sheave is used, operating in the near zone control system for moving the sheave over the catching part of the member to determine the displacement vector of the sheave with respect to the catching part of the member within a measurement range smaller than the first distance. gyroscopic stabilization based on the operation of a gyrostabilizer, imaging systems performing transforming the real three-dimensional space to its own space based on a perspective transformation model with camera calibration and identification of internal and external camera parameters, where as a result of the calibration operation, the focal length, the center point of the imaging grid and the distortion vector are obtained, which allows to determine the focal length by the number of pixels of the imaging matrix, which are used to determine the position of the catching part of the structural element in three-dimensional space and using the template matching method, which aims to find the object defined by the template based on the comparison of the input image with the template, using a template matching method by comparing three image planes - saturation, color and grayscale, and using distance measurement, said sheave guidance method characterized in that the motors of the crane cart and the motor for raising and lowering the sheave are controlled using a predictive closed-loop position control system, in which the preset trajectory of the sheave's movement is determined by defining successive preset positions for the sheave relative to the position of the catching part of the structural member that is being raised, a vision and sensory subsystem is used, containing at least two vision modules, a two-stage guidance of the sheave to the catching member is used, in the first stage the first vision module mounted on the overhead crane cart is used, operating in the far-zone control system to move the sheave over the catching part of the structural member, before lowering it until the distance to the catching part of the structural member reaches the first distance, in the second stage, a second vision module mounted in the sheave is used, operating in the near zone control system for moving the sheave over the catching part of the member to determine the displacement vector of the sheave with respect to the catching part of the member within a measurement range smaller than the first distance.