Automatic control method and system for cantilever crane

Abstract

The invention relates to the technical field of manipulator control, and provides an automatic control method and system for a cantilever crane, and the method comprises the following steps: configuring control equipment for controlling the cantilever crane; acquiring initial position information and final position information of a to-be-hoisted article; and according to the initial position information and the final position information, the rotating angle and the moving path of the cantilever crane are controlled through control equipment, so that the object to be hoisted is hoisted from the initial position to the final position. According to the invention, the control equipment for controlling the cantilever crane is configured, the initial position information and the final position information of the to-be-hoisted article are obtained, and the rotation angle and the moving path of the cantilever crane are controlled by using the control equipment, so that the to-be-hoisted article can be hoisted from the initial position to the final position, and the automatic control level of the cantilever crane is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to an automatic control method and system for a cantilever crane. Background Art

[0002] During the handling and transshipment of large-diameter barrel sections, it is necessary to use the crane's suspension arm to take the barrel section from the pallet, lift it and flip it 90°, and place it on the docking trolley or designated location. During this process, the main arm and terminal arm of the suspension arm need to be controlled and rotated in coordination to achieve smooth and safe handling of the large-diameter barrel section.

[0003] The existing cantilever crane transportation of the crane still has the problem that the control method is not effective enough, which affects the stability and safety of the transportation and affects the transportation efficiency of the cantilever crane.

[0004] Therefore, it is necessary to provide an automatic control method and system for a cantilever crane. Summary of the invention

[0005] The present invention provides an automatic control method and system for a cantilever crane. By configuring a control device for controlling the cantilever crane and obtaining the starting position information and the ending position information of the object to be lifted, and then using the control device to control the rotation angle and the moving path of the cantilever crane, the object to be lifted can be lifted from the starting position to the ending position, thereby improving the automatic control level of the cantilever crane.

[0006] The present invention provides an automatic control method and system for a cantilever crane, comprising:

[0007] A control device configured to control the cantilever crane;

[0008] Obtain the starting position information and the ending position information of the object to be lifted;

[0009] According to the starting position information and the end position information, the control device is used to control the rotation angle and the moving path of the cantilever crane to lift the object from the starting position to the end position.

[0010] Furthermore, a control device for controlling the cantilever crane is configured, comprising:

[0011] A controller configured to control the rotation of the main arm and the terminal arm of the cantilever crane;

[0012] Configure a positioning device for determining the starting position information and the ending position information, and a positioning signal receiver for receiving the starting position information and the ending position information of the object to be hoisted, and set the network connection parameters between the positioning device and the positioning signal receiver.

[0013] Furthermore, the positioning device includes a position sensor and a radio frequency identification technology tag device.

[0014] Furthermore, the starting position information and the ending position information of the object to be hoisted are obtained, including:

[0015] Based on the position sensor, the basic information of the starting position and the end position of the object to be lifted is collected and obtained;

[0016] Based on the radio frequency identification technology tag equipment, the accurate information of the starting position and the ending position of the items to be lifted are collected and obtained;

[0017] Generate the starting position information of the object to be hoisted based on the basic information of the starting position and the precise information of the starting position;

[0018] Based on the basic information of the destination location and the precise information of the destination location, the destination location information of the items to be lifted is generated.

[0019] Further, according to the starting position information and the end position information, the control device is used to control the rotation angle and the moving path of the cantilever crane to lift the object from the starting position to the end position, including:

[0020] According to the starting position information and the end position information, the moving distance of the cantilever crane is obtained;

[0021] According to the starting position information and the transportation requirements of the objects to be hoisted, the rotation angles of the main arm and the terminal arm of the cantilever crane are obtained;

[0022] Using positioning sensors configured on the main arm and the terminal arm of the cantilever crane to obtain multiple moving position information of the cantilever crane;

[0023] Generate a moving path of the cantilever crane based on the moving distance and moving position information;

[0024] According to the moving path, the cantilever crane is controlled to lift the object to be lifted from the starting position to the end position.

[0025] Furthermore, according to the starting position information and in combination with the transportation requirements of the objects to be hoisted, the rotation angles of the main arm and the terminal arm of the cantilever crane are obtained, including:

[0026] According to the starting position information and in combination with the transportation requirements of the objects to be hoisted, a plurality of first combined rotation angles of the cantilever crane for hoisting the objects to be hoisted are obtained; the first combined rotation angles include a first rotation angle of the main arm and a first rotation angle of the terminal arm;

[0027] According to the terminal position information and in combination with the transportation requirements of the object to be hoisted, a second combined rotation angle of the cantilever crane from hoisting the object to be hoisted to starting to move toward the terminal position is obtained; the second combined rotation angle includes a second rotation angle of the main arm and a second rotation angle of the terminal arm;

[0028] According to the terminal position information and the transportation requirements of the objects to be lifted, multiple third combined rotation angles are obtained for the cantilever crane to unload the objects to be lifted at the terminal position; the third combined rotation angle includes the third rotation angle of the main arm and the third rotation angle of the terminal arm.

[0029] Furthermore, positioning sensors disposed on the main arm and the terminal arm of the cantilever crane are used to obtain multiple moving position information of the cantilever crane, including:

[0030] By using positioning sensors arranged on the main arm and the terminal arm of the cantilever crane, a plurality of moving position change information are obtained according to the angle change from the first combined rotation angle to the second combined rotation angle, and the angle change from the second combined rotation angle to the third combined rotation angle.

[0031] Further, according to the moving path, controlling the cantilever crane to lift the object to be lifted from the starting position to the end position includes:

[0032] According to the moving path, multiple position pulse information of the main arm and the terminal arm on the moving path is obtained by using the angle encoder and the pulse generator configured on the main arm and the terminal arm;

[0033] The control device is used to control the rotation of the crane's motor according to the position pulse information, so that the cantilever crane can complete the lifting of the object to be lifted.

[0034] Furthermore, according to the moving path, multiple position pulse information of the main arm and the terminal arm on the moving path is obtained by using the angle encoder and the pulse generator configured on the main arm and the terminal arm, including:

[0035] According to the moving path, multiple encoding information of the main arm and the terminal arm is collected and acquired by using the angle encoders configured on the main arm and the terminal arm;

[0036] The pulse generator connected to the angle encoder is used to convert the encoded information into multiple position pulse information.

[0037] An automatic control system for a cantilever crane, comprising:

[0038] A control device configuration module, used to configure the control device for controlling the cantilever crane;

[0039] A position information acquisition module is used to obtain the starting position information and the ending position information of the object to be lifted;

[0040] The automatic control module of the cantilever arm is used to control the rotation angle and movement path of the cantilever crane using the control device according to the starting position information and the end position information, so as to realize the lifting of the object to be lifted from the starting position to the end position.

[0041] Compared with the prior art, the present invention has the following advantages and beneficial effects: by configuring a control device for controlling the cantilever crane and obtaining the starting position information and the end position information of the object to be lifted, and then using the control device to control the rotation angle and the moving path of the cantilever crane, the object to be lifted can be lifted from the starting position to the end position, thereby improving the level of automation control of the cantilever crane.

[0042] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0043] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0045] Figure 1 It is a schematic diagram of the steps of an automatic control method for a cantilever crane;

[0046] Figure 2 A schematic diagram of the steps of a method for configuring a control device for controlling a jib crane;

[0047] Figure 3 This is a schematic diagram of the structure of the automatic control system for a cantilever crane. DETAILED DESCRIPTION

[0048] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0049] The present invention provides an automatic control method and system for a cantilever crane, such as Figure 1 As shown, including:

[0050] A control device configured to control the jib crane;

[0051] Obtain the starting position information and the ending position information of the object to be lifted;

[0052] According to the starting position information and the end position information, the control device is used to control the rotation angle and the moving path of the cantilever crane to lift the object from the starting position to the end position.

[0053] The working principle of the above technical solution is: configure a control device for controlling the cantilever crane;

[0054] Obtain the starting position information and the ending position information of the object to be lifted;

[0055] According to the starting position information and the end position information, the control device is used to control the rotation angle and the moving path of the cantilever crane to lift the object from the starting position to the end position.

[0056] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, by configuring a control device for controlling the cantilever crane, and obtaining the starting position information and the end position information of the object to be lifted, and then using the control device to control the rotation angle and the moving path of the cantilever crane, it is possible to lift the object to be lifted from the starting position to the end position, thereby improving the level of automation control of the cantilever crane.

[0057] In one embodiment, Figure 2 As shown, the control device configured to control the cantilever crane includes:

[0058] A controller configured to control the rotation of the main arm and the terminal arm of the cantilever crane;

[0059] Configure a positioning device for determining the starting position information and the ending position information, and a positioning signal receiver for receiving the starting position information and the ending position information of the object to be hoisted, and set the network connection parameters between the positioning device and the positioning signal receiver.

[0060] The working principle of the above technical solution is: in order to realize the configuration of the control device for controlling the cantilever crane, the present invention first configures a controller for controlling the rotation of the main arm and the terminal arm of the cantilever crane; then configures a positioning device for determining the starting position information and the end position information, and a positioning signal receiver for receiving the starting position information and the end position information of the object to be hoisted, and sets the network connection parameters between the positioning device and the positioning signal receiver.

[0061] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, a basis is provided for the subsequent control of the cantilever crane by controlling the configuration of the control device of the cantilever crane.

[0062] In one embodiment, the positioning device includes a position sensor and a radio frequency identification technology tag device.

[0063] The working principle of the above technical solution is: obtain the basic location information of the starting position and the end position through the position sensor in the positioning device, and obtain the fine and accurate location information of the starting position and the end position through the radio frequency identification technology tag device.

[0064] The beneficial effect of the above technical solution is: by adopting the solution provided by this embodiment, the necessary conditions for better positioning acquisition are provided through the position sensor and the radio frequency identification technology tag device in the positioning device.

[0065] In one embodiment, obtaining the starting position information and the ending position information of the object to be hoisted includes:

[0066] Based on the position sensor, the basic information of the starting position and the end position of the object to be lifted is collected and obtained;

[0067] Based on the radio frequency identification technology tag equipment, the accurate information of the starting position and the ending position of the items to be lifted are collected and obtained;

[0068] Generate the starting position information of the object to be hoisted based on the basic information of the starting position and the precise information of the starting position;

[0069] Based on the basic information of the destination location and the precise information of the destination location, the destination location information of the items to be lifted is generated.

[0070] The working principle of the above technical solution is: in order to obtain the starting position information and the end position information of the object to be lifted, the present invention first collects and obtains the basic information of the starting position and the basic information of the end position of the object to be lifted based on the position sensor; then collects and obtains the precise information of the starting position and the precise information of the end position of the object to be lifted based on the radio frequency identification technology tag device; then, based on the basic information of the starting position and the precise information of the starting position, the starting position information of the object to be lifted is generated; based on the basic information of the end position and the precise information of the end position, the end position information of the object to be lifted is generated.

[0071] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, by obtaining the starting position information and the end position information of the object to be lifted, convenience is provided for the subsequent lifting control.

[0072] In one embodiment, according to the starting position information and the end position information, the control device is used to control the rotation angle and the moving path of the cantilever crane to lift the object from the starting position to the end position, including:

[0073] According to the starting position information and the end position information, the moving distance of the cantilever crane is obtained;

[0074] According to the starting position information and the transportation requirements of the objects to be hoisted, the rotation angles of the main arm and the terminal arm of the cantilever crane are obtained;

[0075] Using positioning sensors configured on the main arm and the terminal arm of the cantilever crane to obtain multiple moving position information of the cantilever crane;

[0076] Generate a moving path of the cantilever crane based on the moving distance and moving position information;

[0077] According to the moving path, the cantilever crane is controlled to lift the object to be lifted from the starting position to the end position.

[0078] The working principle of the above technical scheme is: in order to lift the objects to be lifted from the starting position to the end position, the present invention first obtains the moving distance of the cantilever crane according to the starting position information and the end position information; then, according to the starting position information and in combination with the transportation requirements of the objects to be lifted, the rotation angles of the main arm and the terminal arm of the cantilever crane are obtained; the positioning sensors arranged on the main arm and the terminal arm of the cantilever crane are used to obtain multiple moving position information of the cantilever crane; based on the moving distance and the moving position information, the moving path of the cantilever crane is generated; finally, according to the moving path, the cantilever crane is controlled to lift the objects to be lifted from the starting position to the end position.

[0079] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, the moving path of the cantilever crane is generated by analyzing the moving distance and moving position information, which can ensure that the objects to be lifted are lifted from the starting position to the end position.

[0080] In one embodiment, according to the starting position information and in combination with the transportation requirements of the objects to be hoisted, the rotation angles of the main arm and the terminal arm of the cantilever crane are obtained, including:

[0081] According to the starting position information and in combination with the transportation requirements of the objects to be hoisted, a plurality of first combined rotation angles of the cantilever crane for hoisting the objects to be hoisted are obtained; the first combined rotation angles include a first rotation angle of the main arm and a first rotation angle of the terminal arm;

[0082] According to the terminal position information and in combination with the transportation requirements of the object to be hoisted, a second combined rotation angle of the cantilever crane from hoisting the object to be hoisted to starting to move toward the terminal position is obtained; the second combined rotation angle includes a second rotation angle of the main arm and a second rotation angle of the terminal arm;

[0083] According to the terminal position information and the transportation requirements of the objects to be lifted, multiple third combined rotation angles are obtained for the cantilever crane to unload the objects to be lifted at the terminal position; the third combined rotation angle includes the third rotation angle of the main arm and the third rotation angle of the terminal arm.

[0084] The working principle of the above technical solution is: in order to obtain the rotation angle of the main arm and the terminal arm of the cantilever crane, by controlling the combination of the 330° rotation range of the main arm of the cantilever crane and the 300° rotation range of the terminal arm, the 360° coverage of the working range of the cantilever crane can be achieved; the present invention first obtains a plurality of first combined rotation angles of the cantilever crane lifting the object to be lifted according to the starting position information and the transportation requirements of the object to be lifted; the first combined rotation angle includes the first rotation angle of the main arm and the first rotation angle of the terminal arm; then, according to the terminal position information and the transportation requirements of the object to be lifted, the second combined rotation angle of the cantilever crane from lifting the object to be lifted to starting to move to the terminal position is obtained; the second combined rotation angle includes the second rotation angle of the main arm and the second rotation angle of the terminal arm; finally, according to the terminal position information and the transportation requirements of the object to be lifted, a plurality of third combined rotation angles of the cantilever crane unloading the object to be lifted at the terminal position are obtained; the third combined rotation angle includes the third rotation angle of the main arm and the third rotation angle of the terminal arm.

[0085] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, the rotation angles of the main arm and the terminal arm of the cantilever crane are obtained, thereby providing necessary conditions for subsequent rotation control.

[0086] In one embodiment, a plurality of moving position information of the cantilever crane is obtained by using positioning sensors configured on the main arm and the terminal arm of the cantilever crane, including:

[0087] By using positioning sensors arranged on the main arm and the terminal arm of the cantilever crane, a plurality of moving position change information are obtained according to the angle change from the first combined rotation angle to the second combined rotation angle, and the angle change from the second combined rotation angle to the third combined rotation angle.

[0088] The working principle of the above technical scheme is: in order to obtain multiple mobile position information of the cantilever crane by using the positioning sensors arranged on the main arm and the terminal arm of the cantilever crane, the present invention uses the positioning sensors arranged on the main arm and the terminal arm of the cantilever crane to obtain multiple mobile position change information for the angle change from the first combined rotation angle to the second combined rotation angle, and the angle change from the second combined rotation angle to the third combined rotation angle.

[0089] The beneficial effect of the above technical solution is: by adopting the solution provided by this embodiment, the mobile position change information can be used for subsequent refined control by acquiring the mobile position change information.

[0090] In one embodiment, according to the moving path, controlling the cantilever crane to lift the object to be lifted from the starting position to the end position includes:

[0091] According to the moving path, multiple position pulse information of the main arm and the terminal arm on the moving path is obtained by using the angle encoder and the pulse generator configured on the main arm and the terminal arm;

[0092] The control device is used to control the rotation of the crane's motor according to the position pulse information, so that the cantilever crane can complete the lifting of the object to be lifted.

[0093] The working principle of the above technical solution is: in order to control the cantilever crane to lift the objects to be lifted from the starting position to the end position according to the moving path, the present invention first uses the angle encoder and pulse generator configured on the main arm and the terminal arm to obtain multiple position pulse information of the main arm and the terminal arm on the moving path according to the moving path; and then uses the control device to control the rotation of the crane's motor according to the position pulse information, so that the cantilever crane completes the lifting of the objects to be lifted.

[0094] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, accurate position pulse information can be obtained by configuring the angle encoder and pulse generator on the main arm and the terminal arm, so as to better control the rotation of the crane's motor, so that the cantilever crane can complete the lifting of the objects to be lifted.

[0095] In one embodiment, according to the moving path, multiple position pulse information of the main arm and the terminal arm on the moving path is obtained by using angle encoders and pulse generators configured on the main arm and the terminal arm, including:

[0096] According to the moving path, multiple encoding information of the main arm and the terminal arm is collected and acquired by using the angle encoders configured on the main arm and the terminal arm;

[0097] The pulse generator connected to the angle encoder is used to convert the encoded information into multiple position pulse information.

[0098] The working principle of the above technical solution is: in order to obtain multiple position pulse information of the main arm and the terminal arm on the moving path, the present invention first uses the angle encoder configured on the main arm and the terminal arm according to the moving path to collect and obtain multiple coding information of the main arm and the terminal arm; and then uses a pulse generator connected to the angle encoder to convert the coding information into multiple position pulse information.

[0099] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, through the combined use of the angle encoder and the pulse generator, it is possible to ensure that accurate multiple position pulse information is obtained.

[0100] An automatic control system for a cantilever crane, such as Figure 3 As shown, including:

[0101] A control device configuration module, used to configure the control device for controlling the cantilever crane;

[0102] A position information acquisition module is used to obtain the starting position information and the ending position information of the object to be lifted;

[0103] The automatic control module of the cantilever arm is used to control the rotation angle and movement path of the cantilever crane using the control device according to the starting position information and the end position information, so as to realize the lifting of the object to be lifted from the starting position to the end position.

[0104] The working principle of the above technical scheme is: in order to realize an automatic control system for a cantilever crane, the present invention proposes a control device configuration module for configuring a control device for controlling the cantilever crane; proposes a position information acquisition module for acquiring the starting position information and the end position information of the object to be lifted; proposes a suspension arm automatic control module for controlling the rotation angle and the moving path of the cantilever crane using the control device according to the starting position information and the end position information, so as to realize lifting the object to be lifted from the starting position to the end position.

[0105] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, by configuring a control device for controlling the cantilever crane, and obtaining the starting position information and the end position information of the object to be lifted, and then using the control device to control the rotation angle and the moving path of the cantilever crane, it is possible to lift the object to be lifted from the starting position to the end position, thereby improving the level of automation control of the cantilever crane.

[0106] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic control method for a cantilever crane, characterized in that: include: A control device configured to control the jib crane; Obtain the starting position information and the ending position information of the object to be lifted; According to the starting position information and the end position information, the control device is used to control the rotation angle and the moving path of the cantilever crane to lift the object from the starting position to the end position.

2. The automatic control method for a cantilever crane according to claim 1, characterized in that: The control equipment configured to control the cantilever crane includes: A controller configured to control the rotation of the main arm and the terminal arm of the cantilever crane; Configure a positioning device for determining the starting position information and the ending position information, and a positioning signal receiver for receiving the starting position information and the ending position information of the object to be hoisted, and set the network connection parameters between the positioning device and the positioning signal receiver.

3. The automatic control method for a cantilever crane according to claim 2, characterized in that: Positioning devices include location sensors and radio frequency identification technology tag devices.

4. The automatic control method for a cantilever crane according to claim 3, characterized in that: Get the starting and ending position information of the object to be lifted, including: Based on the position sensor, the basic information of the starting position and the end position of the object to be lifted is collected and obtained; Based on the radio frequency identification technology tag equipment, the accurate information of the starting position and the ending position of the items to be lifted are collected and obtained; Generate the starting position information of the object to be hoisted based on the basic information of the starting position and the precise information of the starting position; Based on the basic information of the destination location and the precise information of the destination location, the destination location information of the items to be lifted is generated.

5. The automatic control method for a cantilever crane according to claim 1, characterized in that: According to the starting position information and the end position information, the control device is used to control the rotation angle and the moving path of the cantilever crane to lift the object from the starting position to the end position, including: According to the starting position information and the end position information, the moving distance of the cantilever crane is obtained; According to the starting position information and the transportation requirements of the objects to be hoisted, the rotation angles of the main arm and the terminal arm of the cantilever crane are obtained; Using positioning sensors configured on the main arm and the terminal arm of the cantilever crane to obtain multiple moving position information of the cantilever crane; Generate a moving path of the cantilever crane based on the moving distance and moving position information; According to the moving path, the cantilever crane is controlled to lift the object to be lifted from the starting position to the end position.

6. The automatic control method for a cantilever crane according to claim 5, characterized in that: According to the starting position information and the transportation requirements of the objects to be hoisted, the rotation angles of the main arm and the terminal arm of the cantilever crane are obtained, including: According to the starting position information and in combination with the transportation requirements of the objects to be hoisted, a plurality of first combined rotation angles of the cantilever crane for hoisting the objects to be hoisted are obtained; the first combined rotation angles include a first rotation angle of the main arm and a first rotation angle of the terminal arm; According to the terminal position information and in combination with the transportation requirements of the object to be hoisted, a second combined rotation angle of the cantilever crane from hoisting the object to be hoisted to starting to move toward the terminal position is obtained; the second combined rotation angle includes a second rotation angle of the main arm and a second rotation angle of the terminal arm; According to the terminal position information and the transportation requirements of the objects to be lifted, multiple third combined rotation angles are obtained for the cantilever crane to unload the objects to be lifted at the terminal position; the third combined rotation angle includes the third rotation angle of the main arm and the third rotation angle of the terminal arm.

7. The automatic control method for a cantilever crane according to claim 6, characterized in that: The positioning sensors configured on the main arm and terminal arm of the cantilever crane are used to obtain multiple mobile position information of the cantilever crane, including: By using positioning sensors arranged on the main arm and the terminal arm of the cantilever crane, a plurality of moving position change information are obtained according to the angle change from the first combined rotation angle to the second combined rotation angle, and the angle change from the second combined rotation angle to the third combined rotation angle.

8. The automatic control method for a cantilever crane according to claim 5, characterized in that: According to the moving path, control the cantilever crane to lift the object from the starting position to the end position, including: According to the moving path, multiple position pulse information of the main arm and the terminal arm on the moving path is obtained by using the angle encoder and the pulse generator configured on the main arm and the terminal arm; The control device is used to control the rotation of the crane's motor according to the position pulse information, so that the cantilever crane can complete the lifting of the object to be lifted.

9. The automatic control method for a cantilever crane according to claim 8, characterized in that: According to the moving path, the angle encoder and pulse generator configured on the main arm and the terminal arm are used to obtain multiple position pulse information of the main arm and the terminal arm on the moving path, including: According to the moving path, multiple encoding information of the main arm and the terminal arm is collected and acquired by using the angle encoders configured on the main arm and the terminal arm; The pulse generator connected to the angle encoder is used to convert the encoded information into multiple position pulse information.

10. An automatic control system for a cantilever crane, characterized in that: include: A control device configuration module, used to configure the control device for controlling the cantilever crane; A position information acquisition module is used to obtain the starting position information and the ending position information of the object to be lifted; The automatic control module of the cantilever arm is used to control the rotation angle and movement path of the cantilever crane using the control device according to the starting position information and the end position information, so as to realize the lifting of the object to be lifted from the starting position to the end position.

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