Ship-engine-shore cooperative positioning method and device for bulk cargo ship cabin cleaning operation and electronic equipment

The invention relates to a ship-ship-shore cooperative positioning method and device for bulk cargo ship cabin cleaning operation and electronic equipment, and the method comprises the steps: obtaining the three-dimensional data of a hatch of a bulk cargo ship and the first pose data of a loader relative to the hatch of the bulk cargo ship through a sensor of a ship unloader, and obtaining a loader coordinate system and a hatch coordinate system; cabin space data of a bulk cargo ship are obtained through a sensor of a loading machine, cabin point cloud data are obtained through laser radar point cloud processing, a local map and local positioning information in a cabin are obtained based on the cabin point cloud data and sent to a ship unloader control end, and second pose data of the sensor of the ship unloader relative to a hatch are obtained; the method comprises the following steps: acquiring a ship unloader coordinate system, unifying the ship unloader coordinate system and a loader coordinate system thr