Crane control system and control method

A crane control system comprising:

• a position acquisition unit that successively acquires a current position of a crane having a pair of travel devices that are arranged away from each other in a direction of extension of a girder member arranged in an upper portion of a structure and are attached to a lower end of the structure;
• and
• a travel control unit that is connected to the position acquisition unit and each of the pair of travel devices, characterized in that
• the position acquisition unit is installed in an upper portion of the structure, the current position acquired by the position acquisition unit indicates a predetermined position in an upper position of the structure in plan view,
• the crane control system includes a target line that is bent in the direction orthogonal to the direction of extension of a straight target line in accordance with an inclination relative to a horizontal plane of a road surface on which the crane travels among inclinations of the crane in a case where the crane is made to travel based on the straight target line forming a straight line, using a height of a road surface on which the crane travels as a reference, extending in the direction of travel of the crane in plan view, and
• the travel control unit carries out a control of making the crane travel by adjusting respective travel speeds of the pair of travel devices based on a travel deviation between the target line and the current position acquired by the position acquisition unit using the target line as a target for the current position.