Vision system, reach stacker and automatic container grabbing control method of reach stacker

The invention discloses a vision system, a reach stacker and an automatic container grabbing control method of the reach stacker. The reach stacker comprises the vision system and a control system. The vision system is used for identifying target container lockhole positions, acquiring a current sling position of the reach stacker and a target sling position, constructing a spatial geometric relationship diagram of a current state and a target state according to the acquired current sling position of the reach stacker and the acquired target sling position, and determining a displacement valueof a target sling. The control system is connected with the vision system and used for receiving the displacement value, controlling the reach stacker to act according to the displacement value, andadjusting the reach stacker from the current sling position to the target sling position to make sling twistlocks correspondingly inserted into container lockholes. According to the vision system, thereach stacker and the auto