The invention discloses an oil filler target recognition and positioning method based on 
machine vision. The method comprises the steps that 
license plate information of a to-be-refueled vehicle is acquired through a refueling level camera, and then stored vehicle refueling port height and 
fuel tank cap template information are obtained; then the 
tail end of the 
robot moves to the height of an oilfiller, and a 
tail-end camera collects images; graying, gray-scale 
equalization and 
histogram equalization stipulation preprocessing are carried out on the image; secondly, 
edge extraction is performed on the preprocessed image, false 
noise contours are screened by setting a connected domain area threshold value, vehicle 
body contour interference is screened by setting a circumscribed circle 
radius threshold value, and accurate extraction of real edge features of the side face of the vehicle under ambient light interference is achieved; and finally, the shape 
template matching method based onthe 
pyramid hierarchical search strategy is adopted to quickly and accurately identify the edge features of the 
fuel tank cap. According to the method, the vehicle oil filling port target can be quickly and accurately identified under the influence of various light rays and shadows, and the working requirement of an oil filling 
robot is met.