Control device, crane, and method for controlling crane

A control device for a crane that transports a load from a start point to an end point based on control of respective movements of a boom and a winch, the control device comprising:

• an acquisition unit that acquires position information pertaining to the start point and position information pertaining to the end point;
• a horizontal trajectory generation unit that generates, with an optimal control theory in which frequency weighting of swaying of the load is considered, a horizontal trajectory of a distal-end part of the boom represented by a horizontal component of a straight line linking the start point and the end point;
• a movement trajectory generation unit that generates, for transport of the load along the horizontal trajectory, a trajectory of movement of the boom and a trajectory of rotational movement of the winch;
• and
• a movement control unit that controls, based on the trajectory of movement of the boom and the trajectory of rotational movement of the winch, respective movements of the boom and the winch,
• wherein
• the horizontal trajectory is segmented, from the start point to the end point, into an acceleration section, a constant-velocity section, and a deceleration section in order,
• the movement trajectory generation unit creates the trajectory of rotational movement of the winch such that
• the load is transported at a constant height in the acceleration section,
• the load, in the constant-velocity section, is transported in a height direction by a difference in height between the start point and the end point, and
• the load is transported at a constant height in the deceleration section, and
• the acquisition unit, the horizontal trajectory generation unit, the movement trajectory generation unit, and the movement control unit are each implemented via at least one processor.