CN114723752A - High-precision alignment method and system integrating target detection and template matching - Google Patents
High-precision alignment method and system integrating target detection and template matching Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
The invention discloses a high-precision alignment method and a high-precision alignment system integrating target detection and template matching, which save a pre-alignment link in an alignment process, directly transit from a feeding step to a fine alignment link, effectively reduce the machine cost of a machine station of the process, and improve the operation efficiency of the process, so that the estimated cost of alignment suite hardware can be saved by 20-50%, and the image processing time of the alignment link can be saved by 30-50%; and the change range of the placing position of the workpiece is more tolerant, and the cost for accurately placing the workpiece is reduced.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a high-precision alignment method and system integrating target detection and template matching.
Background
Alignment is a professional name of the precision assembly of devices in modern industrial production, and is typically applied to mounting of various flexible or rigid devices typified by mobile phone production. The specific implementation process is that the object 1 at the position A and the object 2 at the position B are installed together, and in the installation process, the horizontal, vertical or rotating direction of the object 1 or the object 2 needs to be adjusted. A key link for achieving the alignment function is whether the accurate positions of the object 1 and the object 2 can be obtained. In order to realize accurate position adjustment, the object is shot by the visual alignment system during work, and the whole alignment process is guided to be realized.
In a common alignment process, two process steps of pre-alignment and fine-alignment are generally adopted to complete the whole alignment process, the pre-alignment is mainly responsible for primarily adjusting the workpieces with scattered placement positions, and the fine-alignment completes the final high-precision alignment work on the basis of the primary adjustment of the pre-alignment. The two process steps are mainly characterized as follows: (1) the positions of the workpieces before pre-alignment are distributed relatively dispersedly, the distribution area is relatively wide, and after the area is large, the requirements on the illumination range and the illumination stability of the matched illumination light source are high; (2) in the pre-alignment process, the placement positions of workpieces on a motion control platform are relatively dispersed, the distribution of the rotation angles is relatively large, a template image is searched in a large range through a template matching module of alignment software (generally, the whole image range is searched), the general image matching working process is about 200 plus 400ms for a 200 ten thousand resolution image, then certain adjustment is performed on the placement positions, the general purpose is to enable the adjusted workpieces to be closer to the central position of the platform, so that the size of the position range required to be adjusted by the workpieces in the fine alignment process can be reduced, and sometimes, if the adjustment range is too large, the workpieces need to be sucked and placed on another motion control platform by a manipulator before entering the fine alignment process, so as to facilitate the work of the fine alignment process; (3) in the fine alignment process, the template matching module is called again, and the template image is searched within a fraction of the whole image (generally within the square range of 1/2-1/3 of the width or height of the whole image), and the image matching process is about 100-200 ms.
As can be seen from the above description of the two processes, the main problems of the existing alignment process are: (1) the acquisition time of 200 ten thousand images is about 200 plus 300ms, the working time of 200 plus 400ms plus of pre-alignment template matching is longer compared with the image acquisition time, the image processing time comprises image acquisition, pre-alignment template matching and precise alignment template matching, and the image processing time of the pre-alignment link accounts for 30-50% of the total image processing time according to estimation; (2) in the pre-alignment process, the mechanical platform needs to be adjusted within seconds, the position of the workpiece needs to be adjusted by a manipulator within 30-60 seconds sometimes, and the pre-alignment platform needs to be moved to the precise alignment platform within 10-30 seconds; (3) according to the vision alignment kit, a set of illumination light source, a set of camera lens and a set of mechanical platform are taken as a set of vision alignment kit, 2-4 sets of vision kits are needed for pre-alignment, if the cost of a mechanical arm is not considered, the pre-alignment vision kit accounts for 20% -33% of the total cost of the vision kit, if the condition that the mechanical arm is arranged for pre-alignment is considered, the pre-alignment process accounts for 40% -50% of the total process cost, and the comprehensive estimation shows that the pre-alignment process accounts for about 20% -50% of the total cost of the vision alignment process.
Disclosure of Invention
In order to overcome at least the above disadvantages in the prior art, the present application aims to provide a high-precision alignment method and system integrating target detection and template matching.
In a first aspect, an embodiment of the present application provides a high-precision alignment method for fusing target detection and template matching, including:
acquiring an image of a first target object on a first platform as a first target image;
calculating offset data of the first target object relative to a reference position as first offset data according to the first target image;
and aligning a second target object with the first target object according to the first offset data.
In the embodiment of the application, the first target image can be acquired through a camera of machine vision, and compared with the mode of pre-alignment → fine alignment in the prior art, in the embodiment of the application, after once shooting, the image can be directly identified and processed through the subsequent processes of the embodiment of the application without performing the processing of image rotation and the like, so that the identification efficiency is effectively improved, and the image processing time is saved; and the time of secondary photographing processing during accurate alignment is effectively saved.
In the embodiment of the application, a reference position is calibrated, a specific calibration mode can be realized by selecting a specific identifier, and due to the arrangement of the reference position, the tolerance on the variation range of the placing position of the workpiece is higher, the problem of image search during accurate alignment does not need to be considered, and subsequent data processing can be performed to complete alignment only by determining the first offset data between the first target object and the reference position. The first offset data may be multidimensional offsets of pixels and distances based on a rectangular coordinate system, or multidimensional offsets of angles and the like based on a polar coordinate system, which is not limited herein. In the embodiment of the present application, when the first offset data is known, the second target object may perform alignment on the first target object by means of standardized placement or secondary calibration. According to the technical scheme, the pre-alignment link in the alignment process is saved, the transition from feeding to fine alignment is directly carried out, the machine cost of the machine station in the process is effectively reduced, the operation efficiency of the process is improved, the estimated cost of alignment suite hardware can be saved by 20% -50%, and the image processing time of the alignment link can be saved by 30% -50%; and the change range of the placing position of the workpiece is more tolerant, and the cost for accurately placing the workpiece is reduced.
In one possible implementation, calculating first offset data of the first target object with respect to a reference position from the first target image includes:
acquiring a first preset positioning position of the first target object on a first platform from the first target image;
determining an initial value of a first search area according to the first preset positioning position, and determining the first search area;
a first feature image is searched in the first search area, and first offset data of the first feature image is calculated according to a first reference template image.
In one possible implementation, calculating first offset data of the first feature image from a first reference template image includes:
calculating horizontal offset data from horizontal differences between the first reference template image and the first feature image; calculating vertical offset data according to a vertical difference between the first reference template image and the first feature image; calculating angle offset data from the angle difference between the first reference template image and the first feature image;
taking the horizontal offset data, the vertical offset data, and the angular offset data as the first offset data.
In one possible implementation, aligning a second target object with the first target object according to the first offset data includes:
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position;
and controlling the manipulator to place the second target object on the first target object according to the preset position corresponding to the reference position to complete alignment.
In one possible implementation, the second target object is placed on a second platform;
aligning a second target object with the first target object according to the first offset data comprises:
acquiring an image of a second target object on a second platform as a second target image;
calculating, as second offset data, offset data of the second target object with respect to a reference position from the second target image;
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position, and adjusting the position of the second platform according to the second offset data until the second target object matches the reference position;
and adjusting the relative positions of the first platform and the second platform according to the preset position corresponding to the reference position to complete the alignment of the first target object and the second target object.
In a second aspect, an embodiment of the present application provides a high-precision alignment system integrating target detection and template matching, including:
the photographing module is configured to acquire an image of a first target object on a first platform as a first target image;
an alignment calculation module configured to calculate, as first offset data, offset data of the first target object with respect to a reference position from the first target image;
an adjustment module configured to align a second target object with the first target object according to the first offset data.
In one possible implementation, the alignment calculation module is further configured to:
acquiring a first preset positioning position of the first target object on a first platform from the first target image;
determining an initial value of a first search area according to the first preset positioning position, and determining the first search area;
a first feature image is searched in the first search area, and first offset data of the first feature image is calculated from a first reference template image.
In one possible implementation, the alignment calculation module is further configured to:
calculating horizontal offset data from horizontal differences between the first reference template image and the first feature image; calculating vertical offset data according to a vertical difference between the first reference template image and the first feature image; calculating angle offset data from the angle difference between the first reference template image and the first feature image;
taking the horizontal offset data, the vertical offset data, and the angular offset data as the first offset data.
In one possible implementation, the adjustment module is further configured to:
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position;
and controlling the manipulator to place the second target object on the first target object according to the preset position corresponding to the reference position to complete alignment.
In one possible implementation, the second target object is placed on a second platform;
the adjustment module is further configured to:
acquiring an image of a second target object on a second platform as a second target image;
calculating, as second offset data, offset data of the second target object with respect to a reference position from the second target image;
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position, and adjusting the position of the second platform according to the second offset data until the second target object matches the reference position;
and adjusting the relative positions of the first platform and the second platform according to the preset position corresponding to the reference position to complete the alignment of the first target object and the second target object.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the high-precision alignment method and the system integrating target detection and template matching save a pre-alignment link in an alignment process, and directly transit from a material feeding step to a precise alignment link, so that the machine cost of a machine station of the process of the machine station is effectively reduced, the operation efficiency of the process is improved, the estimated cost of alignment suite hardware can be saved by 20-50%, and the image processing time of the alignment link can be saved by 30-50%; and the change range of the placing position of the workpiece is more tolerant, and the cost for accurately placing the workpiece is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a system architecture diagram according to an embodiment of the present application;
FIG. 2 is a schematic diagram of the steps of an embodiment of the method of the present application;
fig. 3 is a schematic diagram of a template image according to an embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some of the embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and steps without logical context may be performed in reverse order or simultaneously. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 2, a flow chart of a high-precision alignment method for merging target detection and template matching according to an embodiment of the present invention is shown, where the high-precision alignment method for merging target detection and template matching can be applied to the high-precision alignment system for merging target detection and template matching in fig. 1, and further, the high-precision alignment method for merging target detection and template matching specifically includes the contents described in the following steps S1-S3.
S1: acquiring an image of a first target object on a first platform as a first target image;
s2: calculating offset data of the first target object relative to a reference position as first offset data according to the first target image;
s3: and aligning a second target object with the first target object according to the first offset data.
In the embodiment of the application, the first target image can be acquired through a camera of machine vision, and compared with the mode of pre-alignment → fine alignment in the prior art, in the embodiment of the application, after once shooting, the image can be directly identified and processed through the subsequent processes of the embodiment of the application without performing the processing of image rotation and the like, so that the identification efficiency is effectively improved, and the image processing time is saved; and the time of secondary photographing processing during accurate alignment is effectively saved.
In the embodiment of the application, a reference position is calibrated, a specific calibration mode can be realized by selecting a specific identifier, and due to the arrangement of the reference position, the tolerance on the variation range of the placing position of the workpiece is higher, the problem of image search during accurate alignment does not need to be considered, and subsequent data processing can be performed to complete alignment only by determining the first offset data between the first target object and the reference position. The first offset data may be multidimensional offsets of pixels and distances based on a rectangular coordinate system, or multidimensional offsets of angles and the like based on a polar coordinate system, which is not limited herein. In the embodiment of the present application, when the first offset data is known, the second target object may perform alignment on the first target object by means of standardized placement or secondary calibration. According to the technical scheme, the pre-alignment link in the alignment process is saved, the transition from feeding to fine alignment is directly carried out, the machine cost of the machine station in the process is effectively reduced, the operation efficiency of the process is improved, the estimated cost of alignment suite hardware can be saved by 20% -50%, and the image processing time of the alignment link can be saved by 30% -50%; and the change range of the placing position of the workpiece is more tolerant, and the cost for accurately placing the workpiece is reduced.
In one possible implementation, calculating first offset data of the first target object with respect to a reference position from the first target image includes:
acquiring a first preset positioning position of the first target object on a first platform from the first target image;
determining an initial value of a first search area according to the first preset positioning position, and determining the first search area;
a first feature image is searched in the first search area, and first offset data of the first feature image is calculated from a first reference template image.
In an embodiment of the application, the first preset positioning position may be obtained by searching through a preset first reference template image, searching a position where a first feature image matching the first reference template image is located, and determining at least one first preset positioning position for constructing a first search area. In an example, an image containing a first feature image and the first target image and the first reference template image are searched for by the first reference template image, and a center point of the searched image is selected as a first preset positioning position. After the first preset positioning position is obtained, an initial value of the first search area, such as the width, the height, the angle and the like of the first search area, is determined, and then the first search area is determined according to the initial value of the first search area and the first preset positioning position. After the first search area is determined, accurate template matching is carried out in the first search area to search for the accurate position of the first characteristic image, and the offset between the first characteristic image and the first reference template image is calculated to be used as the basis of subsequent adjustment. By the calculation mode, the preposed steps similar to the pre-alignment and the fine alignment in the prior art can be completed in one image, and the calculation consumption and the photographing time consumption are effectively reduced.
In one possible implementation, calculating first offset data of the first feature image from a first reference template image includes:
calculating horizontal offset data from a horizontal difference between the first reference template image and the first feature image; calculating vertical offset data according to a vertical difference between the first reference template image and the first feature image; calculating angle offset data from the angle difference between the first reference template image and the first feature image;
taking the horizontal offset data, the vertical offset data, and the angular offset data as the first offset data.
In an embodiment of the present application, please refer to fig. 3, which illustrates a form of a reference template image. For example, the center O of the template image is determined by the template image obtained by the object detection program in the embodiment of the present application. The object detection program draws a box for each detection result, the upper left corner and the lower right corner of the box are points a and B, respectively, so that the coordinates of the center O of the template image, xo = (xa + xb)/2 and yo = (ya + yb)/2, can be calculated. Meanwhile, the width w and the height h of the template image can be calculated, the O point is used as the center, and the width and the height which are twice of the template image are used for determining the search area. For example, according to the adjustment requirement, first offset data Δ P2(dx, dy, d θ) can be calculated, where dx is the horizontal adjustment distance, dy is the vertical adjustment distance, and d θ is the adjustment angle, and the first platform can be adjusted by the first offset data Δ P2(dx, dy, d θ). In the embodiment of the application, three kinds of data, namely horizontal offset data, vertical offset data and angle offset data, are adopted for adjustment, and two kinds of data are generally adopted for adjustment, so that the two kinds of data can be selected from the horizontal offset data, the vertical offset data and the angle offset data for adjustment, and then the data which are not selected are checked, and the accuracy is improved.
In one possible implementation, aligning a second target object with the first target object according to the first offset data includes:
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position;
and controlling the manipulator to place the second target object on the first target object according to the preset position corresponding to the reference position to complete alignment.
When the embodiment of the application is implemented, a counterpoint scheme is provided, and the scheme is suitable for operations such as subsequent installation and the like which are required to be completed by placing a second target object on a first target object. Wherein the adjustment of the position of the first land by the first offset data may be adjusted by the first offset data ap 2(dx, dy, d θ) in the above-described embodiment.
In one possible implementation, the second target object is placed on a second platform;
aligning a second target object with the first target object according to the first offset data comprises:
acquiring an image of a second target object on a second platform as a second target image;
calculating, as second offset data, offset data of the second target object with respect to a reference position from the second target image;
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position, and adjusting the position of the second platform according to the second offset data until the second target object matches the reference position;
and adjusting the relative positions of the first platform and the second platform according to the preset position corresponding to the reference position to complete the alignment of the first target object and the second target object.
In the embodiment of the present application, a solution for performing alignment is provided, where the second target object and the first target object are adjusted synchronously to complete alignment of the second target object and the first target object. Because the calculation amount of the photographing and alignment processes is reduced, more alignment calculation can be realized through the same calculation resource, and therefore the alignment efficiency is improved by simultaneously carrying out motion control on at least two platforms. The same applies when more stages are aligned. In this embodiment of the application, the calculation of the second offset data by the second target image may be performed by using the calculation method of the first offset data in the above embodiment, and similarly, the adjustment of the position of the second stage according to the second offset data may also be performed by using the adjustment method of the first stage. In the embodiment of the application, the synchronous adjustment mode can be used for synchronously aligning a plurality of objects, so that the alignment efficiency is greatly improved.
Referring to fig. 1, based on the same inventive concept, there is also provided a high-precision alignment system integrating target detection and template matching, including:
the photographing module is configured to acquire an image of a first target object on a first platform as a first target image;
an alignment calculation module configured to calculate, as first offset data, offset data of the first target object with respect to a reference position from the first target image;
an adjustment module configured to align a second target object with the first target object according to the first offset data.
In one possible implementation, the alignment calculation module is further configured to:
acquiring a first preset positioning position of the first target object on a first platform from the first target image;
determining an initial value of a first search area according to the first preset positioning position, and determining the first search area;
a first feature image is searched in the first search area, and first offset data of the first feature image is calculated from a first reference template image.
In one possible implementation, the alignment calculation module is further configured to:
calculating horizontal offset data from horizontal differences between the first reference template image and the first feature image; calculating vertical offset data according to a vertical difference between the first reference template image and the first feature image; calculating angle offset data from an angle difference between the first reference template image and the first feature image;
taking the horizontal offset data, the vertical offset data, and the angular offset data as the first offset data.
In one possible implementation, the adjustment module is further configured to:
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position;
and controlling the manipulator to place the second target object on the first target object according to the preset position corresponding to the reference position to complete alignment.
In one possible implementation, the second target object is placed on a second platform;
the adjustment module is further configured to:
acquiring an image of a second target object on a second platform as a second target image;
calculating offset data of the second target object relative to a reference position as second offset data according to the second target image;
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position, and adjusting the position of the second platform according to the second offset data until the second target object matches the reference position;
and adjusting the relative positions of the first platform and the second platform according to the preset position corresponding to the reference position to complete the alignment of the first target object and the second target object.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The elements described as separate parts may or may not be physically separate, and it will be apparent to those of ordinary skill in the art that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general sense in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a grid device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A high-precision alignment method for fusing target detection and template matching is characterized by comprising the following steps:
acquiring an image of a first target object on a first platform as a first target image;
calculating offset data of the first target object relative to a reference position as first offset data according to the first target image;
and aligning a second target object with the first target object according to the first offset data.
2. The method for high-precision alignment of fusion target detection and template matching according to claim 1, wherein calculating the first offset data of the first target object relative to the reference position according to the first target image comprises:
acquiring a first preset positioning position of the first target object on a first platform from the first target image;
determining an initial value of a first search area according to the first preset positioning position, and determining the first search area;
a first feature image is searched in the first search area, and first offset data of the first feature image is calculated from a first reference template image.
3. The method of claim 2, wherein calculating the first offset data of the first feature image according to the first reference template image comprises:
calculating horizontal offset data from a horizontal difference between the first reference template image and the first feature image; calculating vertical offset data according to a vertical difference between the first reference template image and the first feature image; calculating angle offset data from the angle difference between the first reference template image and the first feature image;
taking the horizontal offset data, the vertical offset data, and the angular offset data as the first offset data.
4. The method of claim 1, wherein aligning a second target object with the first target object according to the first offset data comprises:
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position;
and controlling the manipulator to place the second target object on the first target object according to the preset position corresponding to the reference position to complete alignment.
5. The method for high-precision alignment of fusion target detection and template matching according to claim 1, wherein the second target object is placed on a second platform;
aligning a second target object with the first target object according to the first offset data comprises:
acquiring an image of a second target object on a second platform as a second target image;
calculating offset data of the second target object relative to a reference position as second offset data according to the second target image;
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position, and adjusting the position of the second platform according to the second offset data until the second target object matches the reference position;
and adjusting the relative positions of the first platform and the second platform according to the preset position corresponding to the reference position to complete the alignment of the first target object and the second target object.
6. A high-precision alignment system integrating target detection and template matching is characterized by comprising:
the photographing module is configured to acquire an image of a first target object on a first platform as a first target image;
an alignment calculation module configured to calculate, as first offset data, offset data of the first target object with respect to a reference position from the first target image;
an adjustment module configured to align a second target object with the first target object according to the first offset data.
7. A high-precision alignment system for merging target detection and template matching according to claim 6, wherein said alignment calculation module is further configured to:
acquiring a first preset positioning position of the first target object on a first platform from the first target image;
determining an initial value of a first search area according to the first preset positioning position, and determining the first search area;
a first feature image is searched in the first search area, and first offset data of the first feature image is calculated from a first reference template image.
8. A system for high precision alignment incorporating object detection and template matching as claimed in claim 7, wherein said alignment calculation module is further configured to:
calculating horizontal offset data from horizontal differences between the first reference template image and the first feature image; calculating vertical offset data according to a vertical difference between the first reference template image and the first feature image; calculating angle offset data from the angle difference between the first reference template image and the first feature image;
taking the horizontal offset data, the vertical offset data, and the angular offset data as the first offset data.
9. A fused target detection and template matching high precision alignment system as claimed in claim 6, wherein said adjustment module is further configured to:
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position;
and controlling the manipulator to place the second target object on the first target object according to the preset position corresponding to the reference position to complete alignment.
10. The system of claim 6, wherein the second target object is placed on a second platform;
the adjustment module is further configured to:
acquiring an image of a second target object on a second platform as a second target image;
calculating, as second offset data, offset data of the second target object with respect to a reference position from the second target image;
adjusting the position of the first platform according to the first offset data until the first target object matches the reference position, and adjusting the position of the second platform according to the second offset data until the second target object matches the reference position;
and adjusting the relative positions of the first platform and the second platform according to the preset position corresponding to the reference position to complete the alignment of the first target object and the second target object.
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