The invention discloses a container contour positioning method based on angular point detection. Images at the two sides of a container below are acquired through a pick-up head, by use of a container lockhole coarse positioning and tracking method, coarse positioning areas of upper and lower lockholes of the images are obtained and images I1 and I2 in the areas are obtained; mask matrixes m1 and m2 in the same size as the images I1 and I2 are newly established, according to the upper and lower lockhole course positioning images I1 and I2 and the corresponding mask matrixes m1 and m2, segmentation images are obtained by use of a Grabcut algorithm, then according to the segmentation images, minimum external connection rectangles of foregrounds of the images are obtained by use of an algorithm of obtaining minimum external rectangles, and by taking one summit of each rectangle as an angular point of a container contour, based on a binocular stereo visual technology, pixel coordinates of inflection points are converted into world coordinates and are sequenced to form a quadrangle, i.e., the container contour. The method can effectively solve the disadvantages of light interference, non-obvious lockhole foreground and background discrimination and the like, prevents the problem of low recognition rate under the condition of insufficient light and realizes accurate positioning of the container contour.