A lock hole positioning system and method for a split-type container spreader

Abstract

This invention discloses a lock hole positioning system and method for a split-type container spreader, relating to the technical field of container freight. It uses a camera and a laser sensor for data acquisition in the positioning system. The camera serves as an auxiliary method, primarily for identifying container types and simultaneously prompting the truck driver to stop within the detection range of the laser sensor. The laser sensor is used for positioning, and the coordinates of the center of each container corner fitting hole are calculated through coordinate transformation based on the container type. This invention can meet the container landing accuracy requirements of split-type container spreaders and increase the accuracy of coordinate recognition.

Description

Technical Field

[0001] This invention relates to the technical field of container freight, and specifically to a lock hole positioning system and method for a split-type container spreader. Background Technology

[0002] The statements in this section are provided only as background information in relation to this disclosure and may not constitute prior art.

[0003] Suspended monorail container freight is an emerging container transportation system. Currently, some ports have begun to use suspended transport systems to realize container transshipment. However, its technical route is top corner fitting transport, and the spreader is an integral type. According to the transportation requirements of containers, when transporting long distances at high speeds, bottom corner fittings should be used for transport.

[0004] To facilitate long-distance, high-speed container transport, CRRC Ziyang Locomotive Co., Ltd. has developed a new transportation method that adapts vehicles to the corner fastening of the bottom brackets. However, this transportation method cannot be used with integrated spreaders. While using split spreaders will not interfere with the vehicle structure, it has very high requirements for positioning the container. Currently, there is no method for positioning split spreaders. Summary of the Invention

[0005] The purpose of this invention is to address the current lack of a method for positioning split-type spreader attachments by providing a lock hole positioning system and method for split-type container spreader attachments. To meet high-precision positioning requirements, a camera and a laser sensor are used for data acquisition in the positioning system. The camera serves as an auxiliary method, primarily for identifying the container type and simultaneously prompting the truck driver to stop within the detection range of the laser sensor. The laser sensor, as the positioning method, combines the container type with coordinate transformation to determine the coordinates of the center holes of each container corner fitting, thereby solving the aforementioned problem.

[0006] The technical solution of the present invention is as follows:

[0007] A lock hole positioning system for a split-type container spreader includes:

[0008] A camera and a laser sensor, wherein the camera and laser sensor acquire images and ranging data of the hoisting area;

[0009] The hoisting calculation module has built-in visual calculation algorithms and vector coordinate calculation algorithms. The image captured by the camera is analyzed by the visual calculation algorithm to determine the container type. The ranging data collected by the laser sensor is combined with the container type and analyzed by the vector coordinate calculation algorithm to determine the coordinates of the center of the corner fitting hole in the world coordinate system.

[0010] The lifting control computer controls automated lifting equipment to perform lifting based on the coordinates of the center of the corner fitting holes in the world coordinate system.

[0011] Furthermore, the hoisting area is located between the two columns of the track beam bridge of the split container spreader; the split container spreader is suspended on the track beam bridge and located above the hoisting area;

[0012] The world coordinate system has its origin at the connection point between the column and the track beam bridge, and the straight line where the column and the track beam bridge are located is the X-axis and Y-axis.

[0013] Furthermore, the camera is a visual camera, mounted on the column, to photograph the hoisting area at a certain angle;

[0014] The laser sensor is a matrix laser sensor, arranged horizontally on the column and lifting area, used to acquire distance measurement data of the container's end face and side face.

[0015] Furthermore, it also includes: a display screen that displays the camera's captured images in real time, the display screen being located within the truck driver's field of vision, used to instruct the truck driver to adjust the vehicle's posture so that the truck remains within the lifting area.

[0016] Furthermore, the visual computing algorithm parsing includes:

[0017] Visual computing algorithms parse images to obtain the coordinates of key points;

[0018] Based on the coordinates of key points and the principle of parallax, the size of the container's outer contour is obtained, thereby determining the container type.

[0019] Furthermore, the vector coordinate calculation algorithm analysis includes:

[0020] After the truck enters the hoisting area, the laser sensor measures the distance to the container on the truck and obtains the coordinates of multiple measuring points in the world coordinate system.

[0021] Two perpendicular vectors of the container edge are obtained by measuring the coordinates of multiple points, and a vector coordinate matrix A is established. The starting point O of the two perpendicular vectors is located at the top corner of the container. At the same time, a container coordinate system is established with point O as the origin and the container edge as the X-axis and Y-axis.

[0022] By finding the inverse matrix A -1 This yields the inverse transformation between the container coordinate system and the world coordinate system;

[0023] Determine the coordinates of the center of each container corner fitting hole in the container coordinate system according to the container type, and establish coordinate matrix B;

[0024] Transform coordinate matrix B through its inverse matrix A -1Multiplying these coordinates yields the coordinates of the center of each container corner fitting hole in the container coordinate system, with the X and Y axes of the world coordinate system as the basis.

[0025] The coordinates of point O in the world coordinate system are calculated.

[0026] The coordinates of point O in the world coordinate system are added to the coordinates of the center of each container corner fitting hole in the container coordinate system, based on the X and Y axes of the world coordinate system, to obtain the coordinates of each container corner fitting hole center in the world coordinate system.

[0027] A lock hole positioning method for a split-type container spreader, based on the aforementioned lock hole positioning system for a split-type container spreader, includes:

[0028] Step S1: Acquire images and ranging data of the container using a camera and laser sensor;

[0029] Step S2: Analyze the image using a visual computing algorithm to determine the container type;

[0030] Step S3: Using a vector coordinate calculation algorithm and in conjunction with the container type, analyze the distance measurement data to determine the coordinates of the center of each container corner fitting hole in the world coordinate system;

[0031] Step S4: The lifting control computer controls the automated lifting equipment to lift the containers according to the coordinates of the center of each corner fitting hole in the world coordinate system.

[0032] Further, step S2 includes:

[0033] Step S21: The visual computing algorithm analyzes the image to obtain the coordinates of key points;

[0034] Step S22: Based on the coordinates of key points and the principle of parallax, the size of the outer contour of the container is obtained, thereby determining the type of container.

[0035] Further, step S3 includes:

[0036] Step S31: The laser sensor measures the distance to the container and obtains the coordinates of multiple measurement points in the world coordinate system;

[0037] Step S32: Obtain two perpendicular vectors of the container edge through the coordinates of multiple measuring points, and establish a vector coordinate matrix A; the starting point O of the two perpendicular vectors is located at the top corner of the container, and at the same time, establish a container coordinate system with point O as the origin and the container edge as the X-axis and Y-axis;

[0038] Step S33: Find the inverse matrix A using the adjoint matrix method. -1 This yields the inverse transformation between the container coordinate system and the world coordinate system;

[0039] Step S34: Determine the coordinates of the center of each container corner fitting hole in the container coordinate system according to the container type, and establish coordinate matrix B;

[0040] Step S35: Convert coordinate matrix B through its inverse matrix A -1 Multiplying these coordinates yields the coordinates of the center of each container corner fitting hole in the container coordinate system, with the X and Y axes of the world coordinate system as the basis.

[0041] Step S36: Calculate the coordinates of point O in the world coordinate system;

[0042] Step S37: Add the coordinates of point O in the world coordinate system to the coordinates of the center of each container corner fitting hole in the container coordinate system, based on the X and Y axes of the world coordinate system, to obtain the coordinates of each container corner fitting hole center in the world coordinate system.

[0043] Furthermore, in step S31, obtaining the coordinates of multiple measurement points in the world coordinate system includes:

[0044] The coordinates of multiple laser sensors in the world coordinate system are added together with the corresponding ranging values.

[0045] Compared with existing technologies, the advantages of this invention are:

[0046] A lock hole positioning system and method for a split-type container spreader is disclosed. The system uses a camera and a laser sensor for data acquisition. The camera serves as an auxiliary method, primarily for identifying the container type and simultaneously prompting the truck driver to stop within the detection range of the laser sensor. The laser sensor is used for positioning, and the coordinates of the corner holes of each container are calculated through coordinate transformation based on the container type. This positioning system and method can meet the container landing accuracy requirements of split-type container spreaders and increase the accuracy of coordinate identification. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of a lock hole positioning system for a split-type container spreader.

[0048] Figure 2 This is a schematic diagram of a lock hole positioning system for a split-type container spreader;

[0049] Figure 3 This is a schematic diagram of the laser sensor collecting ranging data in Example 3;

[0050] Figure 4 This is a schematic diagram of step 2 in Example 3;

[0051] Figure 5 This is a schematic diagram of step 3 in Example 3;

[0052] Figure 6This is a schematic diagram of the container dimensions given in step 5 of Example 3. Detailed Implementation

[0053] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0054] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0055] Example 1

[0056] Suspended monorail container freight is an emerging container transportation system. Currently, some ports have begun to use suspended transport systems to realize container transshipment. However, its technical route is top corner fitting transport, and the spreader is an integral type. According to the transportation requirements of containers, when transporting long distances at high speeds, bottom corner fittings should be used for transport.

[0057] To facilitate long-distance, high-speed container transport, CRRC Ziyang Locomotive Co., Ltd. has developed a new transportation method that adapts vehicles to the corner fastening of the bottom brackets. However, this transportation method cannot be used with integrated spreaders. While using split spreaders will not interfere with the vehicle structure, it has very high requirements for positioning the container. Currently, there is no method for positioning split spreaders.

[0058] This embodiment addresses the aforementioned problems by proposing a lock hole positioning system and method for split-type container spreaders. The system uses a camera and a laser sensor for data acquisition, with the camera serving as an auxiliary method. Its primary purpose is to identify the container type and simultaneously guide the truck driver to stop within the detection range of the laser sensor. The laser sensor is used for positioning, and the coordinates of the corner holes of each container are calculated through coordinate transformation based on the container type. This positioning system and method can meet the container landing accuracy requirements of split-type container spreaders and increase the accuracy of coordinate identification.

[0059] Please see Figure 1-2 A lock hole positioning system for a split-type container spreader, specifically comprising:

[0060] A camera and a laser sensor are used to acquire images and distance measurement data of the hoisting area; that is, to acquire images and distance measurement data of containers located in the hoisting area.

[0061] The hoisting calculation module has built-in visual calculation algorithms and vector coordinate calculation algorithms. The image captured by the camera is analyzed by the visual calculation algorithm to determine the container type. The ranging data collected by the laser sensor is combined with the container type and analyzed by the vector coordinate calculation algorithm to determine the coordinates of the center of the corner fitting hole in the world coordinate system.

[0062] The lifting industrial control computer controls the automated lifting equipment to lift containers based on the coordinates of the center of the corner fitting holes in the world coordinate system. It should be noted that the spreader in the automated lifting equipment is a split-type container spreader, and the working coordinate system of the split-type container spreader is the world coordinate system. By controlling the automated lifting equipment, the split-type container spreader is correctly inserted into the corner fitting holes of the container.

[0063] In this embodiment, for details, please refer to... Figure 2 The hoisting area is located between the two columns of the track beam bridge of the split container spreader; the split container spreader is suspended on the track beam bridge and located above the hoisting area; preferably, the distance between the two columns is generally 25m, and the hoisting area is located within this distance.

[0064] The world coordinate system has its origin at the connection point between the column and the track beam bridge, and the straight line where the column and the track beam bridge are located is the X-axis and Y-axis.

[0065] In this embodiment, specifically, the camera is a vision camera, which is mounted on the column to photograph the hoisting area at a certain angle;

[0066] The laser sensors are matrix laser sensors, and there are multiple of them, which are arranged on the columns and laterally in the lifting area to acquire distance measurement data of the container end face and side; that is, the laser sensors are arranged in the longitudinal and lateral directions of the lifting area.

[0067] In this embodiment, specifically, it also includes: a display (not shown in the figure) that displays the camera's captured images in real time. The display is located within the truck driver's field of vision and is used to instruct the truck driver to adjust the vehicle's posture so that the truck is always within the lifting area. Preferably, the display is an LED display.

[0068] In this embodiment, specifically, the visual computing algorithm parsing includes:

[0069] A visual computing algorithm analyzes an image to obtain the coordinates of key points; preferably, the coordinates of the key points are the coordinates of each vertex of the container.

[0070] The container's outer contour size is obtained based on the coordinates of key points and the principle of parallax, thereby determining the container type. It should be noted that the specific steps involved in determining the container type through visual computing algorithms are known to those skilled in the art and will not be elaborated here.

[0071] In this embodiment, specifically, the vector coordinate calculation algorithm parsing includes:

[0072] After the truck enters the hoisting area, the laser sensor measures the distance to the container on the truck and obtains the coordinates of multiple measuring points in the world coordinate system.

[0073] Two perpendicular vectors of the container edge are obtained by measuring the coordinates of multiple points, and a vector coordinate matrix A is established. The starting point O of the two perpendicular vectors is located at the top corner of the container. At the same time, a container coordinate system is established with point O as the origin and the container edge as the X-axis and Y-axis.

[0074] Find the inverse matrix A using the adjoint matrix method. -1 This yields the inverse transformation between the container coordinate system and the world coordinate system;

[0075] Determine the coordinates of the center of each container corner fitting hole in the container coordinate system according to the container type, and establish coordinate matrix B;

[0076] Transform coordinate matrix B through its inverse matrix A -1 Multiplying these coordinates yields the coordinates of the center of each container corner fitting hole in the container coordinate system, with the X and Y axes of the world coordinate system as the basis.

[0077] The coordinates of point O in the world coordinate system are calculated.

[0078] The coordinates of point O in the world coordinate system are added to the coordinates of the center of each container corner fitting hole in the container coordinate system, based on the X and Y axes of the world coordinate system, to obtain the coordinates of each container corner fitting hole center in the world coordinate system.

[0079] Example 2

[0080] Example 2, based on the lock hole positioning system of a split-type container spreader in Example 1, proposes a lock hole positioning method for a split-type container spreader. Please refer to [link / reference]. Figure 1-2 Specifically, it includes the following steps:

[0081] Step S1: Acquire images and ranging data of the container using a camera and laser sensor;

[0082] Step S2: Analyze the image using a visual computing algorithm to determine the container type;

[0083] Step S3: Using a vector coordinate calculation algorithm and in conjunction with the container type, analyze the distance measurement data to determine the coordinates of the center of each container corner fitting hole in the world coordinate system;

[0084] Step S4: The lifting control computer controls the automated lifting equipment to lift the containers according to the coordinates of the center of each corner fitting hole in the world coordinate system.

[0085] In this embodiment, specifically, step S2 includes:

[0086] Step S21: The visual computing algorithm analyzes the image to obtain the coordinates of key points;

[0087] Step S22: Based on the coordinates of key points and the principle of parallax, the size of the outer contour of the container is obtained, thereby determining the type of container.

[0088] In this embodiment, specifically, step S3 includes:

[0089] Step S31: The laser sensor measures the distance to the container and obtains the coordinates of multiple measurement points in the world coordinate system;

[0090] Step S32: Obtain two perpendicular vectors of the container edge through the coordinates of multiple measuring points, and establish a vector coordinate matrix A; the starting point O of the two perpendicular vectors is located at the top corner of the container, and at the same time, establish a container coordinate system with point O as the origin and the container edge as the X-axis and Y-axis;

[0091] Step S33: Find the inverse matrix A using the adjoint matrix method. -1 This yields the inverse transformation between the container coordinate system and the world coordinate system;

[0092] Step S34: Determine the coordinates of the center of each container corner fitting hole in the container coordinate system according to the container type, and establish coordinate matrix B;

[0093] Step S35: Convert coordinate matrix B through its inverse matrix A -1 Multiplying these coordinates yields the coordinates of the center of each container corner fitting hole in the container coordinate system, with the X and Y axes of the world coordinate system as the basis.

[0094] Step S36: Calculate the coordinates of point O in the world coordinate system;

[0095] Step S37: Add the coordinates of point O in the world coordinate system to the coordinates of the center of each container corner fitting hole in the container coordinate system, based on the X and Y axes of the world coordinate system, to obtain the coordinates of each container corner fitting hole center in the world coordinate system.

[0096] In this embodiment, specifically, step S31, obtaining the coordinates of multiple measurement points in the world coordinate system, includes:

[0097] The coordinates of multiple laser sensors in the world coordinate system are added together with the corresponding ranging values.

[0098] Example 3

[0099] Example 3 further illustrates step S3 in Example 2 based on a specific case. Please refer to [link / reference]. Figure 1-6 .

[0100] 1. The laser sensor acquires the coordinates of points A, B, C, and D in the world coordinate system (whether to start point E detection depends on the container type), where the coordinates of point A are (X1, Y1), the coordinates of point B are (X2, Y2), the coordinates of point C are (X3, Y3), and the coordinates of point D are (X4, Y4).

[0101] 2. Generate lines Lab and Lcd through points AB and CD; the intersection of lines Lab and Lcd yields point O.

[0102] 3. Then calculate the vector. sum vector Obtain vectors β1 and β2 based on the direction of the container edges, and create a vector coordinate matrix A = (β1, β2).

[0103] 4. Find the inverse matrix A using the adjoint matrix method. -1 This yields an inverse transformation with respect to the coordinate system. Under this inverse transformation, the position of the container is essentially corrected, and the inverse matrix A is obtained. -1 Its function is to produce a rotational change.

[0104] 5. Find the coordinates of the four corner fitting holes in the container coordinate system, denoted as (x1′, y1′), (x2′, y2′), (x3′, y3′), and (x4′, y4′); these coordinates can be obtained through... Figure 6 The results can be obtained from simple calculations in Table 1, and will not be elaborated further here. Figure 3 The specific meanings of each parameter are as follows:

[0105] C1 = Critical dimension of the corner piece, 101.5mm

[0106] C2 = Critical dimension of the corner piece, 89mm

[0107] D = Distance between corner fitting holes, D1, D2, D3, D4, D5 and D6

[0108] H = External height of the container

[0109] L = External length of the container

[0110] P = Spacing between corner holes along the width direction

[0111] S = Spacing between the center holes of the corner fittings along the length direction

[0112] W = External width of the container

[0113] Table 1 Container Models and Dimensions

[0114]

[0115]

[0116] 6. Construct coordinate matrix B by finding the coordinates of the four corner fitting holes in the container coordinate system;

[0117]

[0118] 7. Transform coordinate matrix B through its inverse matrix A. -1 Multiplying them together yields the inverse matrix A. -1 The coordinates after rotation transformation, based on the X and Y axes of the world coordinate system, are: (x1″, y1″), (x2″, y2″), (x3″, y3″), (x4″, y4″).

[0119]

[0120] 8. Calculate the coordinates (x, y) of point O in the world coordinate system. O y O It should be noted that calculating the coordinates of point O in the world coordinate system based on the above-mentioned known parameters is something that those skilled in the art should know, and will not be elaborated here.

[0121] 9. Finally, compare (x1″, y1″), (x2″, y2″), (x3″, y3″), and (x4″, y4″) with (x1″, y1″), respectively. O y O Adding these together, we obtain the coordinates of the center of each container corner fitting hole in the world coordinate system.

[0122] (x 1世 y 1世 )=(x1″+x O y1″+y O )

[0123] (x 2世 y 2世 )=(x2″+x O y2″+y O )

[0124] (x 3世 y 3世 )=(x3″+x O y3″+y O )

[0125] (x 4世 y 4世 )=(x4″+x O y4″+y O ).

[0126] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

[0127] This background section is provided to generally present the context of the invention. The work of the currently named inventors, the work to the extent described in this background section, and aspects of this section that did not constitute prior art at the time of application are neither expressly nor impliedly acknowledged as prior art to the invention.

Claims

1. A lock hole positioning system for a split-type container spreader, characterized in that, include: A camera and a laser sensor, wherein the camera and laser sensor acquire images and ranging data of the hoisting area; The hoisting calculation module has built-in visual calculation algorithms and vector coordinate calculation algorithms. The image captured by the camera is analyzed by the visual calculation algorithm to determine the container type. The ranging data collected by the laser sensor is combined with the container type and analyzed by the vector coordinate calculation algorithm to determine the coordinates of the center of the corner fitting hole in the world coordinate system. The hoisting industrial control computer controls automated hoisting equipment to perform hoisting based on the coordinates of the center of the corner fitting holes of the container in the world coordinate system. The hoisting area is located between the two columns of the track beam bridge of the split container spreader; the split container spreader is suspended on the track beam bridge and located above the hoisting area. The world coordinate system has its origin at the connection point between the column and the track beam bridge, and the straight line where the column and the track beam bridge are located is the X-axis and Y-axis; The camera is a vision camera, mounted on the column, to photograph the hoisting area at a certain angle; The laser sensor is a matrix laser sensor, arranged horizontally on the column and the lifting area, used to acquire distance measurement data of the end face and side of the container; The vector coordinate calculation algorithm analysis includes: After the truck enters the hoisting area, the laser sensor measures the distance to the container on the truck and obtains the coordinates of multiple measuring points in the world coordinate system. Two perpendicular vectors of the container edge are obtained by measuring the coordinates of multiple points, and a vector coordinate matrix A is established. The starting point O of the two perpendicular vectors is located at the top corner of the container. At the same time, a container coordinate system is established with point O as the origin and the container edge as the X-axis and Y-axis. By finding the inverse matrix A -1 This yields the inverse transformation between the container coordinate system and the world coordinate system; Determine the coordinates of the center of each container corner fitting hole in the container coordinate system according to the container type, and establish coordinate matrix B; Transform coordinate matrix B through its inverse matrix A -1 Multiplying these coordinates yields the coordinates of the center of each container corner fitting hole in the container coordinate system, with the X and Y axes of the world coordinate system as the basis. The coordinates of point O in the world coordinate system are calculated. The coordinates of point O in the world coordinate system are added to the coordinates of the center of each container corner fitting hole in the container coordinate system, based on the X and Y axes of the world coordinate system, to obtain the coordinates of each container corner fitting hole center in the world coordinate system.

2. The lock hole positioning system for a split-type container spreader according to claim 1, characterized in that, Also includes: A display screen that shows the real-time image captured by the camera is located within the driver's field of vision and is used to instruct the driver to adjust the vehicle's position so that the truck remains within the lifting area.

3. The lock hole positioning system for a split-type container spreader according to claim 1, characterized in that, The visual computing algorithm parsing includes: Visual computing algorithms parse images to obtain the coordinates of key points; Based on the coordinates of key points and the principle of parallax, the size of the container's outer contour is obtained, thereby determining the container type.

4. A method for positioning the lock holes of a split-type container spreader, characterized in that, A lock hole positioning system for a split-type container spreader according to any one of claims 1-3 includes: Step S1: Acquire images and ranging data of the container using a camera and laser sensor; Step S2: Analyze the image using a visual computing algorithm to determine the container type; Step S3: Using a vector coordinate calculation algorithm and in conjunction with the container type, analyze the distance measurement data to determine the coordinates of the center of each container corner fitting hole in the world coordinate system; Step S4: The lifting control computer controls the automated lifting equipment to lift the containers according to the coordinates of the center of each corner fitting hole in the world coordinate system.

5. The lock hole positioning method for a split-type container spreader according to claim 4, characterized in that, Step S2 includes: Step S21: The visual computing algorithm analyzes the image to obtain the coordinates of key points; Step S22: Based on the coordinates of key points and the principle of parallax, the size of the outer contour of the container is obtained, thereby determining the type of container.

6. The lock hole positioning method for a split-type container spreader according to claim 5, characterized in that, Step S3 includes: Step S31: The laser sensor measures the distance to the container and obtains the coordinates of multiple measurement points in the world coordinate system; Step S32: Obtain two perpendicular vectors of the container edge through the coordinates of multiple measuring points, and establish a vector coordinate matrix A; the starting point O of the two perpendicular vectors is located at the top corner of the container, and at the same time, establish a container coordinate system with point O as the origin and the container edge as the X-axis and Y-axis; Step S33: Find the inverse matrix A -1 This yields the inverse transformation between the container coordinate system and the world coordinate system; Step S34: Determine the coordinates of the center of each container corner fitting hole in the container coordinate system according to the container type, and establish coordinate matrix B; Step S35: Convert coordinate matrix B through its inverse matrix A -1 Multiplying these coordinates yields the coordinates of the center of each container corner fitting hole in the container coordinate system, with the X and Y axes of the world coordinate system as the basis. Step S36: Calculate the coordinates of point O in the world coordinate system; Step S37: Add the coordinates of point O in the world coordinate system to the coordinates of the center of each container corner fitting hole in the container coordinate system, based on the X and Y axes of the world coordinate system, to obtain the coordinates of each container corner fitting hole center in the world coordinate system.

7. The lock hole positioning method for a split-type container spreader according to claim 6, characterized in that, Step S31 involves obtaining the coordinates of multiple measurement points in the world coordinate system, including: The coordinates of multiple laser sensors in the world coordinate system are added together with the corresponding ranging values.

Images