Charging pile positioning method and device, equipment and medium

The invention relates to a charging pile positioning method and device, equipment and a medium. The method comprises the following steps: respectively acquiring a reference image and a target image of the charging pile; determining a target matching point corresponding to the reference image and the target image; and calculating a coordinate position of the charging pile relative to the robot based on the target matching point so as to guide the robot to arrive at the charging pile based on the coordinate position. According to the algorithm, a basic RGB image is input, the RGB image learns basic features of the image through feature point matching, feature point matching and detection frame calculation are carried out on a final image feature map, and therefore the detection frame and the center point position of the robot charging pile are obtained. And the matching precision is optimized by adjusting the size of the feature map. The algorithm is applied to automatic charging of the robot, a unique feature