Map-based charging pile pose recognition method, apparatus and system, and storage medium

Abstract

Disclosed is a map-based charging pile pose recognition method. The method comprises: acquiring a navigation map and a charging pile map; performing contour recognition and matching on the navigation map and the charging pile map to determine a pose of a map charging pile; performing coordinate system conversion on the charging pile on the basis of the map origin, and determining the actual pose of the charging pile; and outputting a return point of the charging pile on the basis of the actual pose of the charging pile. Also disclosed are a map-based charging pile pose recognition apparatus and system, and a storage medium

Description

Map-based charging pile posture recognition method, device, system and storage medium

[0001] Related applications

[0002] This disclosure claims the benefit of priority to Chinese Patent Application No. 202311050816.0 filed on August 21, 2023 with the State Intellectual Property Office of China, the entire disclosure of which is incorporated herein by reference for all purposes. Technical Field

[0003] The present disclosure relates to the technical field of charging piles, and in particular, to a method, device, system, and storage medium for map-based charging pile posture recognition. Background Art

[0004] With the increasing popularity of autonomous vehicles, sweeping robots, unmanned forklifts, and other types of robots, the identification and placement of charging piles has become a key research and development focus for related companies. For example, during the charging process, determining the location, posture, and other relevant information of the charging pile is crucial for accurate charging. Map-based charging pile posture recognition is a technology that uses navigation maps and other related information to determine the location and posture of charging piles. The basic principle of this technology is to first mark the location and orientation of the charging pile on a map. Then, during actual driving, the vehicle uses its own sensors to obtain its own position information. This information is then combined with pre-loaded map data for calculation and analysis to ultimately determine the charging pile's position, angle, height, and other relevant posture information. The advantage of this technology is that it can improve the positioning accuracy of the charging pile and the vehicle's autonomous navigation capabilities, thereby improving charging efficiency and convenience. Furthermore, this technology can be integrated with other information technologies, such as the internet and cloud computing, to build a complete intelligent charging pile system.

[0005] Traditional robots require manual input of a return point or the use of auxiliary sensors to achieve autonomous return. Once the robot reaches the return point, it then performs a return and calibration with the charging station. This requires not only the use of auxiliary sensors such as infrared sensors, but also high precision in manually setting the return point. To improve the usability of this method, further optimization of the charging station image generated by image processing is required.

[0006] Summary of the Invention

[0007] A first aspect of the present disclosure provides a map-based charging pile posture recognition method, which includes: obtaining a navigation map and a charging pile map; performing contour recognition and matching on the navigation map and the charging pile map to determine the posture of the charging pile on the map; performing a coordinate system conversion on the charging pile based on the map origin to determine the actual posture of the charging pile; and outputting the return point of the charging pile based on the actual posture of the charging pile.

[0008] In the above first aspect, the posture of the charging pile includes the coordinates of the charging pile and the angle of the charging pile.

[0009] In the above-mentioned first aspect, the contour recognition and matching of the navigation map and the charging pile map to determine the position and posture of the charging pile on the map includes: contour recognition and matching of the navigation map and the charging pile map, identifying the coordinates of the charging pile and the angle of the charging pile, and determining the position and posture of the charging pile on the map based on the identified coordinates of the charging pile and the angle of the charging pile.

[0010] In the above-mentioned first aspect, identifying the coordinates of the charging pile includes: binarizing the navigation map and the charging pile map, performing contour recognition and matching on the binarized map, finding the contour on the navigation map that is most similar to the charging pile map, and determining the center coordinates of the contour as the coordinates of the charging pile.

[0011] In the first aspect above, identifying the charging pile angle includes: binarizing the charging pile map, performing canny edge detection on the binarized map, and then obtaining the charging pile angle through Hough transform and Cartesian coordinate system.

[0012] In the above-mentioned first aspect, the angle of the charging pile is obtained through the Hough transform and the Cartesian coordinate system, including: determining the longest side of the charging pile through the Hough straight line function; obtaining the slope and / or angle of the longest side of the charging pile in the Cartesian coordinate system through the Hough transform, and determining the slope and / or angle of the longest side of the charging pile as the angle of the charging pile.

[0013] In the above-mentioned first aspect, the angle of the charging pile is obtained through the Hough transform and the Cartesian coordinate system, including: obtaining the rho and theta of all straight lines in the charging pile map through the Hough straight line function to determine the longest side of the charging pile; in the Hough transform, rho is the distance from the straight line to the origin, theta is the angle of the straight line, and (x0, y0) is the vertical intersection of a vertical line through the origin to the longest side of the charging pile; by calculating the intersection of the longest side of the charging pile and the x-axis (x1, y1) and the intersection of the longest side of the charging pile and the y-axis (x2, y2) in the Cartesian coordinate system, the slope and angle of the longest side of the charging pile are calculated, and the slope and angle of the longest side of the charging pile are determined as the angle of the charging pile.

[0014] In the first aspect, the step of performing a coordinate system conversion on the charging pile based on the map origin to determine the actual position of the charging pile includes: performing a coordinate system conversion on the charging pile based on the map origin to obtain the actual coordinates and angles of the charging pile, and determining the actual position of the charging pile;

[0015] A second aspect of the present disclosure provides a map-based charging pile posture recognition device, which includes: an acquisition module for acquiring a navigation map and a charging pile map; a determination module for performing contour recognition and matching on the navigation map and the charging pile map to determine the posture of the charging pile on the map; a conversion module for performing coordinate system conversion on the charging pile according to the map origin to determine the actual posture of the charging pile; and an output module for outputting the return point of the charging pile according to the actual posture of the charging pile.

[0016] A third aspect of the present disclosure provides a map-based charging pile posture recognition system, which includes a processor, a memory communicatively connected to the processor, and a button for receiving a user's trigger signal, wherein, in response to the button receiving the user's trigger signal, the processor executes instructions stored in the memory to implement the steps of the map-based charging pile posture recognition method according to the first aspect above.

[0017] The present disclosure provides the following technical solution: a computer-readable storage medium storing a computer program executable by a processor. When the computer program is executed by the processor, it prompts the processor to implement the steps of the map-based charging pile posture recognition method according to the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other objects, features, and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the accompanying drawings. The drawings described below are merely some embodiments of the present disclosure, and it is apparent to those skilled in the art that other drawings can be derived from these drawings without inventive effort.

[0019] FIG1 is a flow chart exemplarily illustrating a method for recognizing a charging pile posture based on a map according to an embodiment of the present disclosure.

[0020] FIG2 is a flow chart exemplarily illustrating a method for recognizing a charging pile posture based on a map according to an embodiment of the present disclosure.

[0021] FIG3 is a map diagram exemplarily showing a navigation map according to an embodiment of the present disclosure.

[0022] FIG4 is a map diagram exemplarily showing a charging pile map according to an embodiment of the present disclosure.

[0023] FIG5 is a map diagram exemplarily showing a map origin according to an embodiment of the present disclosure.

[0024] FIG6 is a structural block diagram exemplarily showing a device for recognizing a charging pile posture based on a map according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the specific embodiments of the present disclosure and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Referring to Figures 1 to 5 , a first aspect of the present disclosure provides a method for recognizing a charging pile posture based on a map, the method comprising the following steps:

[0028] Get navigation maps and charging station maps;

[0029] Perform contour recognition and matching on the navigation map and charging pile map to determine the position of the charging pile on the map;

[0030] Based on the map origin, the coordinate system of the charging pile is transformed to determine the actual position of the charging pile;

[0031] Based on the actual position of the charging pile, the return point of the charging pile is output.

[0032] The position and posture of the charging pile includes the coordinates of the charging pile and the angle of the charging pile.

[0033] The contour recognition and matching of the navigation map and the charging pile map to determine the position and posture of the charging pile on the map includes: contour recognition and matching of the navigation map and the charging pile map, charging pile coordinate recognition and charging pile angle recognition, and determining the position and posture of the charging pile on the map.

[0034] The method of performing a coordinate system conversion on the charging pile based on the map origin to determine the actual position of the charging pile includes: performing a coordinate system conversion on the charging pile based on the map origin to obtain the actual coordinates and angle of the charging pile, and determining the actual position of the charging pile;

[0035] The charging pile coordinate identification includes: binarizing the navigation map and the charging pile map, performing contour identification and matching on the binarized maps, finding the contour on the navigation map that is most similar to the charging pile map, and determining the center coordinates of the contour as the coordinates of the charging pile.

[0036] The charging pile angle recognition includes: binarizing the charging pile map, performing canny edge detection on the binarized map, and then obtaining the charging pile angle through Hough transformation and Cartesian coordinate system.

[0037] In some embodiments, obtaining the charging pile angle through Hough transform and Cartesian coordinate system includes: determining the longest side of the charging pile through Hough straight line function; obtaining the slope and / or angle of the longest side of the charging pile in the Cartesian coordinate system through Hough transform, and determining the slope and / or angle of the longest side of the charging pile as the angle of the charging pile.

[0038] In some embodiments, the method of obtaining the charging pile angle through Hough transform and Cartesian coordinate system includes: obtaining rho and theta of all straight lines in the charging pile map through Hough straight line function to determine the longest side of the charging pile; in Hough transform, rho is the distance from the straight line to the origin, theta is the angle of the straight line, and (x0, y0) is the vertical intersection of a vertical line through the origin to the longest side of the charging pile; by calculating the intersection of the longest side of the charging pile and the x-axis (x1, y1) and the intersection of the longest side of the charging pile and the y-axis (x2, y2) in the Cartesian coordinate system, the slope and angle of the longest side of the charging pile are calculated, which is the charging pile angle.

[0039] Hough transform principle and code implementation:

[0040] Lines=cv2.HoughLines(edges,1,np.pi / 180,0)

[0041] for rho,theta in lines[0]:

[0042] a = np.cos(theta)

[0043] b = np.sin(theta)

[0044] x0=a*rho

[0045] y0=b*rho

[0046] x1=int(x0+1000*(-b))

[0047] y1=int(y0+1000*(a))

[0048] x2=int(x0-1000*(-b))

[0049] y2=int(y0-1000*(a))

[0050] cv2.ine(edges, (x1, v1), (x2, y2), (2550, 0), 2)

[0051] Mark ifx1==x2or y1==y2 on the image detected by canny edge:

[0052] continue

[0053] cv2.show("edges"edges)

[0054] t=float(y2-y1) / (x2-x1)

[0055] Since the charging pile posture obtained after image processing and the charging pile coordinates based on the map origin are not in the same coordinate system, coordinate transformation is required. After the transformation, the charging pile coordinates can calculate the required return point based on the orientation.

[0056] The method proposed in this disclosure uses only LiDAR to autonomously identify the coordinates and orientation of the charging pile on the navigation map, eliminating the need for manual home point settings or the use of other sensors. The robot's navigation map and the charging pile map are used to perform contour recognition and matching, obtaining the image position of the charging pile. This is then transformed based on the map's origin to determine the charging pile's actual position.

[0057] The map-based charging pile position recognition method proposed in this disclosure enables autonomous laser return without the need for infrared or other hardware. This method uses coordinate system transformation to address the issue of charging pile coordinates not being based on the map origin in image recognition, outputting the return point in front of the charging pile. By employing an encapsulated algorithm, leveraging human-computer interaction and a keystroke approach to achieve charging pile coordinate recognition, the return point can be output and modified with a single click, improving the algorithm's generalization and ease of use.

[0058] Compared with traditional autonomous charging methods, the method proposed in the present disclosure has the following advantages: the robot can return to the home point autonomously without the assistance of other sensors such as infrared; after the user completes the map creation, the map automatically generates the coordinates of the charging pile without manual setting; the method is encapsulated as a button, and the coordinate recognition of the ground charging pile is realized through human-computer interaction, solving the problems of low portability and difficulty in use of traditional methods.

[0059] In some embodiments of the present disclosure, a map-based charging pile posture recognition method includes the following steps: obtaining a navigation map and a charging pile map; performing contour recognition and matching on the navigation map and the charging pile map to determine the posture of the charging pile on the map; performing a coordinate system conversion on the charging pile based on the map origin to determine the actual posture of the charging pile; and outputting the return point of the charging pile based on the actual posture of the charging pile.

[0060] In some embodiments of the present disclosure, a method for recognizing a charging pile posture based on a map includes the following steps:

[0061] Get navigation maps and charging station maps;

[0062] Performing contour recognition and matching on the navigation map and the charging pile map, performing charging pile coordinate recognition and charging pile angle recognition, and determining the position of the charging pile on the map; identifying the charging pile coordinates includes: binarizing the navigation map and the charging pile map, performing contour recognition and matching on the binarized maps, finding the contour on the navigation map that is most similar to the charging pile map, and determining the center coordinates of the contour as the coordinates of the charging pile; identifying the charging pile angle includes: binarizing the charging pile map, performing canny edge detection on the binarized map, and then obtaining the charging pile angle through Hough transform and Cartesian coordinate system;

[0063] Based on the map origin, the coordinate system of the charging pile is converted to obtain the actual coordinates and angle of the charging pile, and the actual position of the charging pile is determined;

[0064] Based on the actual position of the charging pile, the return point of the charging pile is output.

[0065] In some embodiments of the present disclosure, a method for recognizing a charging pile posture based on a map includes the following steps:

[0066] Get navigation maps and charging station maps;

[0067] The navigation map and the charging pile map are subjected to contour recognition and matching, the charging pile coordinate recognition and the charging pile angle recognition are performed, and the position of the charging pile on the map is determined; the identification of the charging pile coordinates includes: binarizing the navigation map and the charging pile map, performing contour recognition and matching on the binarized map, finding the contour that is most similar to the charging pile map on the navigation map, and determining the center coordinates of the contour as the coordinates of the charging pile; the identification of the charging pile angle includes: binarizing the charging pile map, performing canny edge detection on the binarized map, and then obtaining the charging pile angle through Hough transform and Cartesian coordinate system; the identification of the charging pile angle through Hough transform and Cartesian coordinate system Obtaining the charging pile angle in a Cartesian coordinate system includes: obtaining the charging pile angle through the Hough transform and the Cartesian coordinate system, including: obtaining the rho and theta of all straight lines in the charging pile map through the Hough straight line function to determine the longest side of the charging pile; in the Hough transform, rho is the distance from the straight line to the origin, theta is the angle of the straight line, and (x0, y0) is the perpendicular intersection of a vertical line through the origin to the longest side of the charging pile; by calculating the intersection of the longest side of the charging pile and the x-axis (x1, y1) and the intersection of the longest side of the charging pile and the y-axis (x2, y2) in the Cartesian coordinate system, thereby calculating the slope and angle of the longest side of the charging pile, which is the charging pile angle;

[0068] Based on the map origin, the coordinate system of the charging pile is converted to obtain the actual coordinates and angle of the charging pile, and the actual position of the charging pile is determined;

[0069] Based on the actual position of the charging pile, the return point of the charging pile is output.

[0070] Each step of the above method can be performed by any suitable device that can perform the corresponding function. These devices may include various hardware and / or software components and / or modules, including but not limited to circuits, application specific integrated circuits (ASICs) or processors. It should be understood that although the various steps in the flowchart shown in the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order and can be performed in other orders. Moreover, at least a portion of the steps in the flowchart shown in the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0071] Please refer to Figure 6. The second aspect of the present disclosure provides a map-based charging pile posture recognition device, which includes an acquisition module, a determination module, a conversion module and an output module. The acquisition module is configured to acquire a navigation map and a charging pile map. The determination module is configured to perform contour recognition and matching on the navigation map and the charging pile map to determine the posture of the charging pile on the map. The conversion module is configured to perform a coordinate system conversion on the charging pile according to the map origin to determine the actual posture of the charging pile. The output module is configured to output the return point of the charging pile according to the actual posture of the charging pile.

[0072] A third aspect of the present disclosure provides a map-based charging pile posture recognition system, comprising a processor, a memory communicatively connected to the processor, and a button for receiving a user trigger signal. The memory stores instructions executable by the processor. In response to the button receiving the user trigger signal, the processor executes the instructions stored in the memory to implement the steps of the aforementioned map-based charging pile posture recognition method.

[0073] A fourth aspect of the present disclosure provides a computer-readable storage medium having stored thereon a computer program executable by a processor. When the computer program is executed by the processor, it prompts the processor to execute the steps of the above-mentioned map-based charging pile posture recognition method.

[0074] The aforementioned computer-readable storage medium may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0075] Application Cases:

[0076] 1. After entering the corresponding map file path, charging pile file path and map origin coordinates in the execution file, the relative charging pile position will be automatically output.

[0077] 2. The window displays the coordinates and angles of the charging pile output by the program, as well as the navigation map, the binary navigation and charging pile maps;

[0078] The image coordinates of the charging pile are: cx = 151.11 (pixel), cy = 47.54 (pixel);

[0079] Charging pile outline matching (the lower the outline, the more similar it is): matched distance value: 3.32;

[0080] The relative coordinates of the charging pile from the map origin are: charge_x = 2.56 (m), chagre_y = -1.62 (m).

[0081] 3. The robot returns to the home point.

[0082] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code. Other examples and implementations are within the scope and spirit of the present disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0083] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0084] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0085] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0086] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure, and they should all be included in the scope of the claims and description of the present disclosure.

Claims

1. A method for recognizing charging pile posture based on a map, characterized in that: include: Get navigation maps and charging station maps; Performing contour recognition and matching on the navigation map and the charging pile map to determine the position and posture of the charging pile on the map; Based on the map origin, the coordinate system of the charging pile is transformed to determine the actual position of the charging pile; Based on the actual position of the charging pile, the return point of the charging pile is output.

2. The method according to claim 1, characterized in that The position and posture of the charging pile includes the coordinates of the charging pile and the angle of the charging pile; The contour recognition and matching of the navigation map and the charging pile map to determine the position and posture of the charging pile on the map includes: contour recognition and matching of the navigation map and the charging pile map, identifying the coordinates of the charging pile and the angle of the charging pile, and determining the position and posture of the charging pile on the map based on the identified coordinates of the charging pile and the angle of the charging pile.

3. The method according to claim 2, characterized in that: Identifying the coordinates of the charging pile includes: The navigation map and the charging pile map are binarized, contour recognition and matching are performed on the binarized navigation map and the charging pile map, a contour that is most similar to the charging pile map is found on the navigation map, and the center coordinates of the contour are determined as the coordinates of the charging pile.

4. The method according to claim 3, characterized in that: Identifying the charging pile angle includes: The charging pile map is binarized, canny edge detection is performed on the binarized charging pile map, and then the angle of the charging pile is obtained through Hough transformation and Cartesian coordinate system.

5. The method according to claim 4, characterized in that: The method of obtaining the angle of the charging pile through Hough transform and Cartesian coordinate system includes: determining the longest side of the charging pile through Hough straight line function; obtaining the slope and / or angle of the longest side of the charging pile in Cartesian coordinate system through Hough transform, and determining the slope and / or angle of the longest side of the charging pile as the angle of the charging pile.

6. The method according to claim 4, characterized in that: The method of obtaining the angle of the charging pile through Hough transform and Cartesian coordinate system includes: obtaining rho and theta of all straight lines in the charging pile map through Hough straight line function to determine the longest side of the charging pile; in Hough transform, rho is the distance from the straight line to the origin, theta is the angle of the straight line, and (x0, y0) is the vertical intersection point of a vertical line through the origin to the longest side of the charging pile; by calculating the intersection point (x1, y1) of the longest side of the charging pile and the x-axis, and the intersection point (x2, y2) of the longest side of the charging pile and the y-axis in the Cartesian coordinate system, thereby calculating the slope and angle of the longest side of the charging pile, and determining the slope and angle of the longest side of the charging pile as the angle of the charging pile.

7. The method according to claim 1, characterized in that: The coordinate system of the charging pile is converted based on the map origin to determine the actual position of the charging pile, including: Based on the map origin, the coordinate system of the charging pile is transformed to obtain the actual coordinates and angle of the charging pile, and the actual position of the charging pile is determined.

8. A charging pile posture recognition device based on a map, characterized in that: include: An acquisition module configured to acquire a navigation map and a charging pile map; A determination module, configured to perform contour recognition and matching on the navigation map and the charging pile map to determine the position and posture of the charging pile on the map; A conversion module, configured to perform a coordinate system conversion on the charging pile based on a map origin to determine an actual position of the charging pile; The output module is configured to output the return point of the charging pile based on the actual position of the charging pile.

9. A charging pile posture recognition system based on a map, characterized in that: It includes a processor, a memory communicatively connected to the processor, and a button for receiving a trigger signal from a user, wherein, in response to the button receiving the trigger signal from the user, the processor executes instructions stored in the memory to implement the steps of the map-based charging pile posture recognition method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program executable by a processor stored thereon, characterized in that: When the computer program is executed by the processor, the processor is prompted to implement the steps of the map-based charging pile posture recognition method according to any one of claims 1 to 7.

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