CN109019347A - A kind of bridge crane automatic control system - Google Patents

Abstract

The invention relates to an automatic control system of a bridge crane; comprising: a first image acquisition module, a second image acquisition module, a distance measurement module, a main control unit and a display operation module; the display operation module is used to display images so that operators Mark the position of the goods to be hoisted on the image; the main control unit is used to receive the position marks of the goods to be hoisted, the first positioning image, the second positioning image, the position information of the cart, trolley and spreader, and send the Longitudinal cart track movement, trolley running along the horizontal cart track and spreader lowering or lifting control instructions, so that the spreader drives the goods to be hoisted to the designated position; The labor cost is reduced, and the efficiency of hoisting goods is greatly improved; in addition, the present invention has simple structure, good safety, high reliability and easy maintenance, and can be widely used for hoisting various goods.

Description

An automatic control system of bridge crane

technical field

The invention relates to the field of crane automatic operation control, and the invention relates to a bridge crane automatic control system.

Background technique

In the fields of economic construction and people's livelihood development, cranes play an irreplaceable role. Especially with the rapid development of my country's national economy and the continuous improvement of people's living standards in recent years, hoisting cargo equipment and various materials are especially important. Many areas of construction, such as cargo containers, are increasingly dependent on cranes. However, the overall automatic control of cranes in my country is still not popular enough, and the relevant technical personnel are not clear enough about automation, which is still far behind other countries. In a standardized workshop, most of the cranes are used manually to operate the cargo box, which is time-consuming and requires precise operation, which requires high operator proficiency. Even a skilled driver needs to adjust the spreader several times. ; In addition, misoperation is unavoidable in operation, and the quality of the cargo box is generally large, and the adverse consequences caused by misoperation are also very serious. Therefore, it is urgent to develop a crane system with automatic control operation.

Contents of the invention

(1) Technical problems to be solved

In order to solve the above problems in the prior art, the present invention provides an automatic control system for bridge cranes, a control method for the automatic control system for bridge cranes, and a bridge crane based on the automatic control system for bridge cranes.

(2) Technical solutions

In order to achieve the above object, the main technical solutions adopted in the present invention include:

The first image acquisition module, the second image acquisition module, the ranging module, the main control unit and the display operation module;

The first image acquisition module is arranged under the cart track of the bridge crane to obtain the first positioning image of the area where the goods are located; the second image acquisition module is arranged under the trolley of the bridge crane to obtain the location image of the area where the goods are located The second positioning image; the display operation module is used to display the image, so that the operator can mark the position of the goods to be hoisted on the image; the distance measurement module is used to obtain the position information of the cart, trolley and spreader;

The main control unit is used to receive the position mark of the cargo to be hoisted, the first positioning image, the second positioning image, the position information of the cart, the trolley and the spreader, and send the cart to move along the cart track set in the longitudinal direction, and the cart to move along the The trolley track running horizontally and the control command of lowering or lifting the spreader, so that the spreader can reach the area where the goods to be hoisted after being lowered or lifted, and/or the spreader can drive the goods to be hoisted to the designated position.

Optionally, the first image acquisition module includes: at least one group of binocular cameras;

The binocular cameras are set at intervals, and each group of binocular cameras is symmetrically set under the cart rails on both sides;

Wherein, each group of binocular cameras of the first image acquisition module is pre-calibrated, and a spatial point reconstruction method is used to form a mapping relationship between the two images collected by each group of binocular cameras and the actual position.

Optionally, the ranging module includes: a first ranging unit, a second ranging unit and a third ranging unit;

The first ranging unit is arranged on the cart and is used to measure the longitudinal position information of the cart relative to the cart track;

The second ranging unit is arranged on the trolley, and is used to measure the lateral position information of the trolley relative to the trolley track;

The third ranging unit is arranged under the spreader and is used to measure the position information of the spreader relative to the cargo to be hoisted;

Wherein, the first distance measuring unit and the second distance measuring unit are both infrared range finders, and the third distance measuring unit is an ultrasonic range finder.

Optionally, the main control unit, the first distance measuring unit, the second distance measuring unit, the third distance measuring unit and the display operation module all use wireless communication to receive or send information.

An automatic control method for a bridge crane, comprising the following steps:

101. The main control unit acquires at least one pair of first positioning images of the first image acquisition module;

102. The operator marks the position of the cargo to be hoisted in the first positioning image displayed by the display operation module;

103. The main control unit recognizes the location information of the cargo to be hoisted according to the position mark of the cargo to be hoisted and the image of the first positioning map, and obtains the position information of the cart and the trolley respectively according to the information of the first distance measuring unit and the second distance measuring unit; Use the position information of the goods to be hoisted and the position information of the cart and the trolley to send respective control instructions to the cart and the trolley, so that the cart drives the trolley to reach the top of the goods to be hoisted;

104. The main control unit obtains the second positioning image of the second image acquisition module, obtains the precise position information of the goods to be hoisted according to the second positioning image, and obtains the cart, The position information of the trolley; use the precise position information of the goods to be hoisted and the position information of the cart and trolley to send respective control instructions to the trolley and trolley, so that the spreader can be accurately aligned with the goods to be hoisted;

105. The main control unit controls the lowering or lifting of the steel wire of the hook according to the information of the third distance measuring unit, and controls the cart and trolley to move along the horizontal or vertical track, so that the spreader drives the goods to be hoisted to the designated position.

Optionally, step 104 also includes:

The second positioning image automatically recognizes the precise position information of the goods to be hoisted, and the operator judges whether the automatic recognition is accurate, and if not, the operator specifies the precise position information through the display operation module.

Optionally, in step 104, also include:

Judging whether the horizontal and vertical position deviations of the spreader and the cargo to be hoisted are less than the preset value, if not, repeat step 104 until the position of the spreader relative to the cargo to be hoisted in the horizontal and vertical deviations meet the preset value, to accurately Adjust the position of the spreader relative to the cargo to be hoisted.

Optionally, in step 105, also include:

Before step 105, the main control unit obtains the current value of the spreader motor;

The main control unit controls the speed of lowering or lifting the steel wire of the hook according to the current value of the spreader motor and/or the information of the third distance measuring unit;

Before the spreader loads the goods to be hoisted, according to the information measured by the third distance measuring unit, it is determined that the distance of the spreader relative to the goods to be hoisted is less than the preset value, then reduce the speed at which the steel wire of the spreader is lowered;

After the spreader is loaded with goods to be hoisted, the main control unit judges the weight of the goods according to the current value of the spreader motor and adjusts the speed of lowering or lifting the steel wire.

optional,

The operator inputs the designated location where the cargo to be hoisted needs to be delivered through the display operation module.

An overhead crane, comprising: a bus, a storage unit, a communication unit, a cart, a trolley, a cart track, a trolley track, a spreader, a control room, and the above-mentioned overhead crane automatic control system;

The main control unit, the bus, the storage unit and the communication unit are integrated to form a control box, and the control box is set on the cart;

The control room is set in the factory building where the goods are located, and the display operation module is set in the control room;

The multiple groups of binocular cameras of the first image acquisition module are arranged at intervals, and each group of binocular cameras is symmetrically arranged under the cart rails on both sides;

The cart is arranged at the end of the trolley track, and the cart drives the trolley track and the first distance measuring unit to move longitudinally;

The spreader is arranged on the trolley, and the trolley drives the spreader and the second distance measuring unit to move laterally, and the second image acquisition module is arranged on the side of the trolley close to the spreader.

(3) Beneficial effects

The beneficial effects of the present invention are: the system of the present invention is applied to accurate positioning of cargo hoisting positions, saves labor costs, and greatly improves the efficiency of hoisting cargo; in addition, the present invention has simple structure, good safety, high reliability, easy maintenance and can be widely used. Used for hoisting of various goods.

Description of drawings

Fig. 1 is a structural schematic diagram of an automatic control system for a bridge crane provided by an embodiment of the present invention

Fig. 2 is a schematic diagram of the bridge crane mechanism based on the bridge crane automatic control system provided by an embodiment of the present invention.

Detailed ways

In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below through specific embodiments in conjunction with the accompanying drawings.

Embodiment one

As shown in Figure 1, the present embodiment provides an automatic control system for bridge cranes, including:

The first image acquisition module, the second image acquisition module, the ranging module, the main control unit and the display operation module;

The first image acquisition module is arranged under the cart track of the bridge crane, and is used to acquire the first positioning image of the area where the goods are located;

For example, the first image acquisition module includes: at least one group of binocular cameras;

The binocular cameras are set at intervals, and each group of binocular cameras is symmetrically set under the cart rails on both sides;

Wherein, each group of binocular cameras of the first image acquisition module is pre-calibrated, and a spatial point reconstruction method is used to form a mapping relationship between the two images collected by each group of binocular cameras and the actual position.

The second image acquisition module is arranged under the trolley of the bridge crane, and is used to acquire the second positioning image of the area where the goods are located;

For example, the second image acquisition module is a camera, wherein the pixels of the first positioning image are 2 million, and the pixels of the camera of the second positioning image module are 3 million;

The display operation module is used to display the image, so that the operator can mark the position of the goods to be hoisted on the image;

The ranging module is used to obtain the position information of the cart, trolley and spreader;

For example, the ranging module includes: a first ranging unit, a second ranging unit and a third ranging unit;

The first ranging unit is arranged on the cart and is used to measure the longitudinal position information of the cart relative to the cart track;

The second ranging unit is arranged on the trolley, and is used to measure the lateral position information of the trolley relative to the trolley track;

The third ranging unit is arranged under the spreader and is used to measure the position information of the spreader relative to the cargo to be hoisted;

Wherein, the first distance measuring unit and the second distance measuring unit are both infrared range finders, and the third distance measuring unit is an ultrasonic range finder.

The main control unit is used to receive the position mark of the cargo to be hoisted, the first positioning image, the second positioning image, the position information of the cart, the trolley and the spreader, and send the cart to move along the cart track set in the longitudinal direction, and the cart to move along the The trolley track running horizontally and the control command of lowering or lifting the spreader, so that the spreader can reach the area where the goods to be hoisted after being lowered or lifted, and/or the spreader can drive the goods to be hoisted to the designated position.

In this embodiment, the main control module and the image recording module, the main control unit and the distance measuring module, and the main control unit and the display operation module all use wireless communication to receive or send information.

Embodiment two

An automatic control method for a bridge crane based on Embodiment 1, comprising the following steps:

101. The main control unit acquires at least one pair of first positioning images of the first image acquisition module;

For example, in the present embodiment, the CPU of the main control unit is ARM Cortex-A8, and the kernel is an AM5338 processor, and the main control unit uses a Linux development environment, and transplants OpenCV to build an embedded environment for image processing;

102. The operator marks the position of the cargo to be hoisted in the first positioning image displayed by the display operation module, for example, multiple group images are displayed on the display operation module;

Further, the operator selects a pair of first positioning images from all the first positioning images and marks the goods to be hoisted by using the point-and-click recognition method through the display operation module, so as to obtain the location marks of the goods to be hoisted; for example , the main control unit recognizes the location mark of the cargo to be hoisted, and highlights the cargo to be hoisted for confirmation by the operator.

103. The main control unit recognizes the location information of the cargo to be hoisted according to the position mark of the cargo to be hoisted and the image of the first positioning map, and obtains the position information of the cart and the trolley respectively according to the information of the first distance measuring unit and the second distance measuring unit; Use the position information of the goods to be hoisted and the position information of the cart and the trolley to send respective control instructions to the cart and the trolley, so that the cart drives the trolley to reach the top of the goods to be hoisted;

For example, according to the selected first positioning image, the internal parameters and external parameters of the binocular camera are used to determine the position information of the cargo to be hoisted using the image matching and spatial point reconstruction method; that is, any point in space is imaged separately by the binocular camera , the coordinates of the point on the two images are obtained. When the internal parameters and external parameters of the binocular camera are known, four linear equations with the world coordinates of the point as unknowns are established, and the least square method is used to solve the obtained The world coordinates of the point, and then obtain the position information of the point;

104. The main control unit obtains the second positioning image of the second image acquisition module, obtains the precise position information of the goods to be hoisted according to the second positioning image, and obtains the cart, The position information of the trolley; use the precise position information of the goods to be hoisted and the position information of the cart and trolley to send respective control instructions to the trolley and trolley, so that the spreader can be accurately aligned with the goods to be hoisted;

Further, step 104 also includes:

The second positioning image automatically recognizes the precise position information of the goods to be hoisted, and the operator judges whether the automatic recognition is accurate, and if not, the operator specifies the precise position information through the display operation module;

In the specific implementation process, the second positioning image can automatically identify the center position of the goods to be hoisted and form a closed figure with the center position to indicate the recognition result. If the operator judges that the recognition result is incorrect, that is, the closed figure is not When the goods are delivered, the correct precise location is given by the operator by clicking on the identification method on the display operation module.

Further, in step 104, also include:

Judging whether the horizontal and vertical position deviations of the spreader and the cargo to be hoisted are less than the preset value, if not, repeat step 104 until the position of the spreader relative to the cargo to be hoisted in the horizontal and vertical deviations meet the preset value, to accurately Adjust the position of the spreader relative to the cargo to be hoisted.

105. The main control unit controls the lowering or lifting of the steel wire of the hook according to the information of the third distance measuring unit, and controls the cart and trolley to move along the horizontal or vertical track, so that the spreader drives the goods to be hoisted to the designated position.

In the specific implementation process, the main control unit controls the cart to move along the longitudinal track according to the information of the first distance measuring unit, and controls the trolley to move along the transverse track according to the information of the second distance measuring unit so that the spreader can drive the goods to the pre-input or selected location.

For example, before step 105, the main control unit acquires the current value of the spreader motor;

The main control unit controls the speed of lowering or lifting the steel wire of the hook according to the current value of the spreader motor and/or the information of the third distance measuring unit;

Before the spreader loads the goods to be hoisted, according to the information measured by the third distance measuring unit, it is determined that the distance of the spreader relative to the goods to be hoisted is less than the preset value, then reduce the speed at which the steel wire of the spreader is lowered;

After the spreader is loaded with goods to be hoisted, the main control unit judges the weight of the goods according to the current value of the spreader motor and adjusts the speed of lowering or lifting the steel wire.

In this embodiment, the operator inputs the designated location where the cargo to be hoisted needs to be delivered through the display operation module.

Embodiment three

This implementation provides a bridge crane, including:

The first image acquisition module composed of multiple groups of binocular cameras, the second image acquisition module composed of one camera, the displacement detection module, the first distance measurement module composed of infrared range finders, and the second distance measurement module composed of infrared range finders, The third distance measuring module composed of ultrasonic detector, the display operation module composed of touch screen and buttons, and the main control unit; the crane body includes: cart, trolley, spreader, cart track and trolley track;

For example, as shown in Figure 2, the first image acquisition module in this embodiment includes three groups of binocular cameras, and each group of binocular cameras is symmetrically installed below the cart track for collecting images of goods in the factory building. The captured image is sent to the main control unit to identify the location of the cargo box; in the specific implementation process, the number of binocular cameras is appropriately adjusted according to the number of workshops;

The first distance measuring unit is installed on the cart body; the second distance measuring unit is installed on the trolley body; the third distance measuring unit is installed on the wire end of the spreader.

The second image acquisition module is a camera installed under the trolley to accurately identify the center position of the cargo to be hoisted.

The main control unit is installed on the cart body or in the control cabinet. For example, the main control unit can calculate and store and integrate through the bus interface.

As an example, the working process of the bridge crane is as follows:

201. After the equipment is started and running, the first image acquisition module records the condition of the freight boxes in the factory building in real time, and the operator clicks on the touch screen the freight boxes that need to be lifted; after the operator clicks, the system automatically highlights them and waits The operator confirms that the calculation unit of the main control unit takes a screenshot of the video from the storage unit at this time, intercepts the current picture of the relevant goods and processes it.

202. Position recognition and running to the hoisting point: First, calculate the location interval according to the nearest first image acquisition module where the selected cargo box is located. Since the binocular cameras are paired, binocular positioning is used to accurately locate the location of the cargo box. According to the image positioning of the first image acquisition module, the overall position of the target freight box can be accurately determined, and the plane xy coordinates formed by the cart track and the trolley track; and the infrared rangefinder on the trolley to calculate the absolute position of the spreader, that is, the plane xy coordinates; calculate the plane coordinate difference to obtain the direction and distance that the trolley and trolley need to run, and at the same time give the crane a translation command, and at the same time the horizontal and vertical directions The infrared rangefinder records the distance moved in real time, and when the distance reaches the input command, the trolley and cart stop running, and they have moved to the target position at this time.

203. Lowering of the spreader: there are two parts in program control of lowering of the spreader. The first part is lowered. At this time, the lowering speed is faster. When the ultrasonic detector detects that the distance between the spreader and the cargo box below reaches a certain threshold, the spreader retracting device is controlled to perform the second part lowered. The lowering speed at this time is relatively slow. Until the distance information collected by the ultrasonic detection module reaches the preset hoisting distance threshold. The lowering speed in both sections can be set as desired.

The spreader is further connected to the cargo box; for example, the spreader is provided with hanging claws, and there are at least four hanging claws. Has a recessed structure on the top side of the target shipping box. This step adopts an automatic operation mode. When the spreader is lowered, it will automatically shrink, and then control the spreader to rise slowly. When the distance between the spreader and the cargo box remains unchanged after rising to a certain distance, it is confirmed that the lift of the spreader has been completed. Connect automatically, otherwise repeat the process. Manual operation can be used under appropriate circumstances. When manual operation is used, the on-site operator will embed each lifting claw with the groove on the cargo box.

204 . Lifting the spreader trolley to run to the end point: the operator clicks on the touch screen to select the end point position, and this step can also be completed in 201 . After the selection is completed, if the cargo box is placed on the ground, the center point of the location will be displayed with a red dot on the screen. If it is stacked above the cargo box, the target cargo box will be highlighted. Also according to the positioning of the first image acquisition module, the overall position of the target drop point, that is, the plane xy coordinates, can be accurately determined. Then calculate the distance and direction to run according to the difference between the current position and the target position, and send instructions to the crane gear controller. Due to the different weights of the freight boxes, the light and heavy loads can be judged according to the motor current to control the operating speed of the lifter.

Lowering of the spreader: the control of the lowering of the spreader by the main control unit is also divided into two parts. In the first part, when the cargo box is within the field of view of the first image acquisition module and the distance from the ground below or the cargo box is greater than a certain threshold, it is lowered at a faster speed. When the cargo box is out of the field of view of the first image acquisition module or the distance from the ground below or the cargo box is less than a certain threshold, it enters the second stage and is lowered at a slower speed until the cargo is lowered and the spreader is released and raised.

For example, in this embodiment, the Linux operating system used by the main control unit, in the hardware composition of the system, the ARM processor is the core of the hardware platform and the entire system, the function of the camera is to collect video images, and the ranging module is to obtain Precise displacement of the crane. It also includes a bus interface and memory for connecting devices and transferring data.

The main function of the Linux operating system is to provide driver support for cameras, storage, etc. At the same time, as the core processor, the Linux operating system is also responsible for memory allocation management, interrupt management, image acquisition and processing task management and other tasks. After the entire system is started, the system driver will initialize the system-related hardware first, and then the system will allocate memory for the image acquisition task, store the acquired video images in the buffer, and the image information in the buffer is also provided Operate and process with programs, and output the processing results.

The application program is the part of functional development and design, which is designed according to the needs of the system and processed based on the software and hardware platforms. What the user wants to achieve in this design is mainly image acquisition and processing. The application program first opens the image acquisition device, collects the image, stores the collected data in the system buffer, and then uses the user program combined with the processing algorithm to process the image. The data is processed, and then targeted on-site debugging in different situations.

The system of the present invention is applied to accurate positioning of cargo hoisting positions, saves labor costs, and greatly improves the efficiency of hoisting cargo; in addition, the present invention has simple structure, good safety, high reliability and easy maintenance, and can be widely used in hoisting of various cargoes .

Finally, it should be noted that: the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand : It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention range.

Claims (10)

1. A bridge crane automatic control system, characterized in that, comprising: The first image acquisition module, the second image acquisition module, the ranging module, the main control unit and the display operation module; The first image acquisition module is arranged under the cart track of the bridge crane to obtain the first positioning image of the area where the goods are located; the second image acquisition module is arranged under the trolley of the bridge crane to obtain the location image of the area where the goods are located The second positioning image; the display operation module is used to display the image, so that the operator can mark the position of the goods to be hoisted on the image; the distance measurement module is used to obtain the position information of the cart, trolley and spreader; The main control unit is used to receive the position mark of the cargo to be hoisted, the first positioning image, the second positioning image, the position information of the cart, the trolley and the spreader, and send the cart to move along the cart track set in the longitudinal direction, and the cart to move along the The trolley track running horizontally and the control command of lowering or lifting the spreader, so that the spreader can reach the area where the goods to be hoisted after being lowered or lifted, and/or the spreader can drive the goods to be hoisted to the designated position. 2. The system according to claim 1, wherein the first image acquisition module comprises: at least one group of binocular cameras; The binocular cameras are set at intervals, and each group of binocular cameras is symmetrically set under the cart rails on both sides; Wherein, each group of binocular cameras of the first image acquisition module is pre-calibrated, and a spatial point reconstruction method is used to form a mapping relationship between the two images collected by each group of binocular cameras and the actual position. 3. The system according to claim 2, wherein the ranging module comprises: a first ranging unit, a second ranging unit and a third ranging unit; The first ranging unit is arranged on the cart and is used to measure the longitudinal position information of the cart relative to the cart track; The second ranging unit is arranged on the trolley, and is used to measure the lateral position information of the trolley relative to the trolley track; The third ranging unit is arranged under the spreader and is used to measure the position information of the spreader relative to the cargo to be hoisted; Wherein, the first distance measuring unit and the second distance measuring unit are both infrared range finders, and the third distance measuring unit is an ultrasonic range finder. 4. The system of claim 3, wherein: The main control unit, the first distance measuring unit, the second distance measuring unit, the third distance measuring unit and the display operation module all receive or send information by means of wireless communication. 5. A bridge crane automatic control method based on the arbitrary described system of claim 1 to 4, it is characterized in that, comprising the following steps: 101. The main control unit acquires at least one pair of first positioning images of the first image acquisition module; 102. The operator marks the position of the cargo to be hoisted in the first positioning image displayed by the display operation module; 103. The main control unit recognizes the location information of the cargo to be hoisted according to the position mark of the cargo to be hoisted and the image of the first positioning map, and obtains the position information of the cart and the trolley respectively according to the information of the first distance measuring unit and the second distance measuring unit; Use the position information of the goods to be hoisted and the position information of the cart and the trolley to send respective control instructions to the cart and the trolley, so that the cart drives the trolley to reach the top of the goods to be hoisted; 104. The main control unit obtains the second positioning image of the second image acquisition module, obtains the precise position information of the goods to be hoisted according to the second positioning image, and obtains the cart, The position information of the trolley; use the precise position information of the goods to be hoisted and the position information of the cart and trolley to send respective control instructions to the trolley and trolley, so that the spreader can be accurately aligned with the goods to be hoisted; 105. The main control unit controls the lowering or lifting of the steel wire of the hook according to the information of the third distance measuring unit, and controls the cart and trolley to move along the horizontal or vertical track, so that the spreader drives the goods to be hoisted to the designated position. 6. The method according to claim 5, wherein step 104 further comprises: The second positioning image automatically recognizes the precise position information of the goods to be hoisted, and the operator judges whether the automatic recognition is accurate, and if not, the operator specifies the precise position information through the display operation module. 7. The method according to claim 6, further comprising in step 104: Judging whether the horizontal and vertical position deviations of the spreader and the cargo to be hoisted are less than the preset value, if not, repeat step 104 until the position of the spreader relative to the cargo to be hoisted in the horizontal and vertical deviations meet the preset value, to accurately Adjust the position of the spreader relative to the cargo to be hoisted. 8. The method according to claim 7, further comprising in step 105: Before step 105, the main control unit obtains the current value of the spreader motor; The main control unit controls the speed of lowering or lifting the steel wire of the hook according to the current value of the spreader motor and/or the information of the third distance measuring unit; Before the spreader loads the goods to be hoisted, according to the information measured by the third distance measuring unit, it is determined that the distance of the spreader relative to the goods to be hoisted is less than the preset value, then reduce the speed at which the steel wire of the spreader is lowered; After the spreader is loaded with goods to be hoisted, the main control unit judges the weight of the goods according to the current value of the spreader motor and adjusts the speed of lowering or lifting the steel wire. 9. The method of claim 8, wherein, The operator inputs the designated location where the cargo to be hoisted needs to be delivered through the display operation module. 10. An overhead crane, characterized in that it comprises: Bus, storage unit, communication unit, cart, trolley, cart track, trolley track, spreader, control room and the above-mentioned overhead crane automatic control system; The main control unit, the bus, the storage unit and the communication unit are integrated to form a control box, and the control box is set on the cart; The control room is set in the factory building where the goods are located, and the display operation module is set in the control room; The multiple groups of binocular cameras of the first image acquisition module are arranged at intervals, and each group of binocular cameras is symmetrically arranged under the cart rails on both sides; The cart is arranged at the end of the trolley track, and the cart drives the trolley track and the first distance measuring unit to move longitudinally; The spreader is arranged on the trolley, and the trolley drives the spreader and the second distance measuring unit to move laterally, and the second image acquisition module is arranged on the side of the trolley close to the spreader.