Crane with crane control

A crane with a crane control, wherein the crane control comprises:

• a coordinate control system with a plurality of nodes defined in the crane and a three-axis coordinate system including x, y and z axes intersecting each other in orthogonal main planes in a space;
• a node information processing module, a route establishment module and an operation processing module, wherein the node information processing module is configured to collect and store node information in an initial state of the crane 4, and the route establishment module is configured, based on a control command indicated by a crane operator, to establish an effective operation path for each node to a route in which the operation processing module is used, in an actual route, to displace a crane tip included in the crane from a current starting or initial coordinate position in the initial state to a desired target coordinate position in the space, wherein the route establishment module is being configured, in a preparatory calculation, to plan an actual motion of the crane tip along a route by dividing the effective operation path of each of the plurality of nodes into a series of fictional partial steps, wherein each node is assigned a predetermined mobility status,
• wherein each of the plurality of nodes is assigned a free mobility status or a locked mobility status during each fictional partial step, and wherein said free mobility status implies that the node is only allowed to be displaced along a single partial stretch or a combination of a first partial stretch and a second partial stretch, and wherein each such partial stretch constitutes a linear projection of an operation path for the node towards some of the main plane of the coordinate system, and wherein said locked mobility status implies that the node is fixed against displacement,
• wherein a predetermined procedure generates a control strategy assigning a respective node its mobility status being based on an instruction in the operator's indicated control command,
• wherein the instruction of the operator's control command is performed in respect of the operator's desired change of position In, Out, Up, Down by displacement of the crane tip relative to the main planes of the coordinate system, and
• wherein the procedure is configured to select a control strategy based on at least one of following instructions indicated in the crane operator's control command at a desired speed of change in the state of the crane tip:
• motion command in an in/out component in the coordinate system,
• motion command in an up/down component in the coordinate system, or
• a combination of said motions in an in/out component and up-down component.