Crane and crane control method

Abstract

The invention addresses the problem of providing a crane and a crane control method that can suppress load swaying when controlling an actuator on the basis of the load. The invention is provided with a turntable camera () that detects the current position coordinates p(n) of a load W with respect to a reference position, wherein the invention: converts a target speed signal Vd to target position coordinates p(n+1) of the load W with respect to the reference position; calculates the current position coordinates q(n) of a boom () with respect to the reference position from a turning angle θz(n), a hoisting angle θx(n), and an extension/contraction length lb(n); calculates a feed amount l of the wire rope and the directional vector e(n) of the wire rope from the current position coordinates p(n) of the load W and the current position coordinates (n) of the boom (); calculates the target position coordinates q(n+1) of the boom () with regards to the target position coordinates (n+1) of the load W from the feed amount l and the directional vector e(n) of the wire rope; and generates an actuator operation signal Md on the basis of the target position coordinates q(n+1) of the boom ().