CONTROL DEVICE, CRANE, AND METHOD FOR CONTROLLING CRANE

This crane control device controls the operation of a boom and a winch and transports a load from a start point to an end point, the control device comprising: an acquisition unit that acquires position information of the start point and position information of the end point; a horizontal trajectory generation unit that, by using an optimal control theory, generates a horizontal trajectory for a distal-end part of the boom as represented by a horizontal-direction component of a straight line linking the start point and the end point; a movement trajectory generation unit that generates a trajectory of movement of the boom for transporting the load so as to follow the horizontal trajectory, and a trajectory of rotational movement of the winch; and a movement control unit that controls the boom and the winch based on the trajectory of movement of the boom and the winch.