Fast crane and operation method for same

An operation method for a crane having a cable with two segments hanging an object according to a piecewise acceleration schedule for moving the object to constrain the object to sway for a cycle of a pendulum period of the cable only and to sway within a maximum swaying angle during moving, comprising:

• calculating the pendulum period of the cable;
• performing the piecewise acceleration schedule comprising the following steps in sequence:
• moving the object with a first acceleration during a first stage time;
• continuously moving the object with a first constant speed during a second stage time;
• and
• continuously moving the object with a second acceleration during a third stage time;
• continuously moving the object with a second constant speed during a fourth stage time;
• and
• continuously moving the object with the first acceleration during a fifth stage time;
• wherein the first acceleration, the second acceleration, the first constant speed, the second constant speed, the first stage time, the second stage time, the third stage time, the fourth stage time and the fifth stage time are calculated based on the pendulum period and the maximum swaying angle, so as to constrain the object to sway for the cycle only and within the maximum swaying angle during moving.