Control method for boom, controller, crane and storage medium

The invention relates to the field of mechanical engineering, in particular to a control method for a boom, a controller, a crane and a storage medium. The method comprises the steps that under the condition that a hoisting starting instruction is received, the current position of a boom, the cargo position of cargoes to be unloaded and the target placement position of the cargoes to be unloaded are determined; according to the current position, the cargo position and the target placement position, determining subtasks of the cantilever crane, a task starting point and a task ending point corresponding to each subtask, and an execution sequence of the subtasks; determining an expected path of each sub-task according to the task starting point and the task ending point of each sub-task; generating a hoisting execution instruction corresponding to each sub-task according to the execution sequence of the sub-tasks and the expected path of each sub-task; and according to the hoisting execution instruction, the ar