具体实施方式

为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述。

如图1和图2所示，为本发明实施例中，提供的一种非接触式在线转角测量系统，包括标记1、补光灯2、CMOS相机3和图像处理器6；其中，

标记1为设置于待测部件8(如汽车转向部件，包括方向盘、车轮等)上的三个反光标记点A、B、C，三个反光标记点A、B、C的中心在同一直线上且相邻两点的距离不相等(例如AB

补光灯2通过支架5安装固定于三个反光标记点A、B、C的上方；其中，补光灯2为环形分布的红外光灯珠，其中间预留有圆孔用于安装CMOS相机3；

CMOS相机3与三个反光标记点A、B、C对准，且其通过数据线4与图像处理器6连接；其中，CMOS相机3安装在补光灯2预留的圆孔中，使得补光灯2的红外光灯珠环CMOS相机3的外围圆周均匀分布，并让CMOS相机3与补光灯2通过支架5安装固定于三个反光标记点A、B、C的上方，并与三个反光标记点A、B、C对准；此时，CMOS相机3接收补光灯2同波长的红外光进行图像拍摄，且其光轴与补光灯2的中心线重合；

图像处理器6安装在工作台7上，其包括：

图像采集模块61，用于采集CMOS相机3拍摄的补光灯2照射在三个反光标记点A、B、C上的光斑图像；

具体为，利用补光灯2照射在三个反光标记点A、B、C上形成的反射光线被CMOS相机3捕捉并拍摄成光斑图像，且CMOS相机3每拍摄一帧图像都会通过数据线4传送至图像处理器6中图像采集模块61存储。

标记点区域识别模块62，用于对采集的光斑图像进行二值化处理，并在二值化处理后的光斑图像中，识别出具有三个反光标记点A、B、C光斑轮廊的三个连通区域；

具体为，标记点区域识别模块62对采集的光斑图像进行二值化处理，使得二值化处理后的光斑图像中像素点的值为0或1；

对二值化处理后的光斑图像进行八连通区域查找，得到中二值化处理后的光斑图像中所有像素点的八连通区域，且进一步根据预设的连通域面积范围，识别出具有三个反光标记点A、B、C光斑轮廊的三个连通区域。

应当说明的是，标记点区域识别模块62中光斑图像的二值化处理及八连通区域查找等都属于本领域的常用技术手段，在此不再详述。

标记点位置判定模块63，用于对三个连通区域Y1、Y2和Y3的重心分别进行计算，并根据每一个连通区域计算的重心，得到两两连通区域重心之间的距离，且进一步根据所计算出的两两连通区域重心之间的距离，确定出三个反光标记点A、B、C与三个连通区域Y1、Y2和Y3之间的对应关系；

具体为，标记点位置判定模块63设定三个连通区域的标识分别为Y1、Y2和Y3，并对三个连通区域Y1、Y2和Y3的重心分别进行计算，即求解三个反光标记点A、B、C在图像中的坐标；然后，计算出连通区域Y1重心和连通区域Y2重心之间的距离为d12、连通区域Y2重心和连通区域Y3重心之间的距离为d23以及连通区域Y1重心和连通区域Y3重心之间的距离为d13；

若d12＞d23＞d13，则确定连通区域Y3对应的反光标记点为三个反光标记点的中间点B，连通区域Y1对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点A，连通区域Y2对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点C；即Y1->A、Y2->C、Y3->B；

若d12＞d13＞d23，则确定连通区域Y3对应的反光标记点为三个反光标记点的中间点B，连通区域Y1对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点C，连通区域Y2对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点A；即Y1->C、Y2->A、Y3->B；

若d13＞d23＞d12，则确定连通区域Y2对应的反光标记点为三个反光标记点的中间点B，连通区域Y1对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点A，连通区域Y3对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点C；即Y1->A、Y2->B、Y3->C；

若d13＞d12＞d23，则确定连通区域Y2对应的反光标记点为三个反光标记点的中间点B，连通区域Y1对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点C，连通区域Y3对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点A；即Y1->C、Y2->B、Y3->A；

若d23＞d12＞d13，则确定连通区域Y1对应的反光标记点为三个反光标记点的中间点B，连通区域Y3对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点A，连通区域Y2对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点C；即Y1->B、Y2->A、Y3->C；

若d23＞d13＞d12，则确定连通区域Y1对应的反光标记点为三个反光标记点的中间点B，连通区域Y3对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点C，连通区域Y2对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点A；即Y1->B、Y2->A、Y3->C。

转角计算模块64，用于根据三个反光标记点A、B、C与三个连通区域Y1、Y2和Y3之间的对应关系，计算出待测部件的转角大小。

具体为，转角计算模块64确定三个反光标记点A、B、C中离中间点B距离最远和最近的两个反光标记点C、A各自对应连通区域重心的坐标；

根据所确定的两个反光标记点各自对应连通区域重心的坐标，求解出所确定的两个反光标记点在直角坐标系中的斜率，且进一步根据所求解出的斜率，利用三角公式(如反正切函数公式)获得角度值并记为待测部件8的转角大小，即利用AC两点的坐标求得AC连线与图片横轴(即直角坐标系中X轴)的夹角，记为θ。

可以理解的是，由于CMOS相机3每拍摄一帧图像都会通过数据线4传送至图像处理器6中，若图像处理器6得到CMOS相机3所拍摄的连续帧图像，则可以在连续帧图像中根据三个反光标记点A、B、C的位置变化关系，确定出待测部件8单向转动的圈数，因此若待测部件8单向转动角度超过360°，也能准确计算多圈转角。

如图3所示，为本发明实施例中，提供的一种非接触式在线转角测量方法，其在前述的非接触式在线转角测量系统中实现，所述方法包括以下步骤：

步骤S1、图像处理器采集CMOS相机拍摄的补光灯照射在三个反光标记点上的光斑图像；

具体过程为，图像处理器采集CMOS相机所拍摄的利用补光灯照射在三个反光标记点A、B、C上形成的光斑图像，且CMOS相机每拍摄一帧图像都会通过数据线传送至图像处理器存储。

步骤S2、所述图像处理器对采集的光斑图像进行二值化处理，并在二值化处理后的光斑图像中，识别出具有三个反光标记点光斑轮廊的三个连通区域；

具体过程为，首先，对采集的光斑图像进行二值化处理，使得二值化处理后的光斑图像中像素点的值为0或1；

其次，对值化处理后的光斑图像进行八连通区域查找，得到值化处理后的光斑图像中所有像素点的八连通区域，且进一步根据预设的连通域面积范围，识别出具有三个反光标记点光斑轮廊的三个连通区域。

步骤S3、所述图像处理器对三个连通区域的重心分别进行计算，并根据每一个连通区域计算的重心，得到两两连通区域重心之间的距离，且进一步根据所计算出的两两连通区域重心之间的距离，确定出三个反光标记点与三个连通区域之间的对应关系；

具体过程为，设定三个连通区域的标识分别为Y1、Y2和Y3，并设定连通区域Y1重心和连通区域Y2重心之间的距离为d12、连通区域Y2重心和连通区域Y3重心之间的距离为d23以及连通区域Y1重心和连通区域Y3重心之间的距离为d13；

若d12＞d23＞d13，则确定连通区域Y3对应的反光标记点为三个反光标记点的中间点，连通区域Y1对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点，连通区域Y2对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点；

若d12＞d13＞d23，则确定连通区域Y3对应的反光标记点为三个反光标记点的中间点，连通区域Y1对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点，连通区域Y2对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点；

若d13＞d23＞d12，则确定连通区域Y2对应的反光标记点为三个反光标记点的中间点，连通区域Y1对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点，连通区域Y3对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点；

若d13＞d12＞d23，则确定连通区域Y2对应的反光标记点为三个反光标记点的中间点，连通区域Y1对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点，连通区域Y3对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点；

若d23＞d12＞d13，则确定连通区域Y1对应的反光标记点为三个反光标记点的中间点，连通区域Y3对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点，连通区域Y2对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点；

若d23＞d13＞d12，则确定连通区域Y1对应的反光标记点为三个反光标记点的中间点，连通区域Y3对应的反光标记点为三个反光标记点中离中间点距离最远的反光标记点，连通区域Y2对应的反光标记点为三个反光标记点中离中间点距离最近的反光标记点。

步骤S4、所述图像处理器根据所述三个反光标记点与三个连通区域之间的对应关系，计算出待测部件的转角大小。

具体过程为，首先，确定三个反光标记点中离中间点距离最远和最近的两个反光标记点各自对应连通区域重心的坐标；

其次，根据所确定的两个反光标记点各自对应连通区域重心的坐标，求解出所确定的两个反光标记点在直角坐标系中的斜率，且进一步根据所求解出的斜率，利用三角公式获得角度值并记为待测部件的转角大小。

实施本发明实施例，具有如下有益效果：

1、本发明利用CMOS相机拍摄粘贴在待测部件上的反光标记点，使用特定的处理算法对将反光标记点处于图片中的坐标，并利用坐标求出对应角度大小，从而达到不接触被测物即可测量其转角的效果，可方便应用于各种不便将传感器与被测物相连的场景中，不会对被测物体的转动惯量造成影响；

2、本发明采用三个在同一直线上且两两间距不相等的圆形反光标记点，由于同一直线上的线段在仿射变换中仍在同一直线上且比例不变，其两两间距的大小关系不会发生改变，因此即使CMOS相机的安装位置不能正对标记贴纸，也不会影响对反光标记点顺序的判断，从而降低对CMOS相机安装位置的要求，提升测量系统的鲁棒性。

本领域普通技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，所述的程序可以存储于一计算机可读取存储介质中，所述的存储介质，如ROM/RAM、磁盘、光盘等。

以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Mode of execution

For the purpose of the present invention. Further details of the present invention will become apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.

As shown 1 and 2, in the embodiment of the present invention, there is provided a non-contact on-line corner measuring system, comprising a mark 1, a light supplementing lamp 2, CMOS a camera 3, and an image processor 6. Wherein.

The markers 1 are three reflective marking points 8, A, B, positioned on the component to be measured C, such as an automobile steering component, including a steering wheel, a wheel, and the like, A, B centered on the same straight line and adjacent two adjacent dots unequal (e.g. C AB _AOMARKENCODTX0AO_INDELTA). BC). In one embodiment, three reflecting marking points A, B, C are arranged on the sticker, and the three reflecting marking points A, B and C are all round dots with the same shape. The sticker is fixed on the component to be tested 8 in a sticking manner.

The light supplementing lamp 2 is installed and fixed above the three reflecting mark points 5, A and B through the bracket C. The light supplementing lamp 2 is an infrared lamp bead which is annularly distributed, and a circular hole is reserved between the infrared light beads for mounting CMOS the camera 3.

CMOS Camera 3 is aligned with three reflective marking points A, B, C and is connected to image processor 4 via data line 6. The CMOS camera 3 is installed in a circular hole reserved in the light supplementing lamp 2, so that the peripheral circumference of the infrared light lamp bead ring 2 camera CMOS of the light supplementing lamp 3 is uniformly distributed, and CMOS cameras 3 and the light supplementing lamp 2 are arranged above the three reflecting mark points 5, A and B through the bracket C A. B The C utility model is suitable for a light filling lamp. At this time, CMOS camera 3 receives light filling lamp 2 and carries out image shooting with the infrared light of wavelength, and its optical axis coincides with light filling lamp 2's center line.

The image processor 6 is mounted on the table 7, which includes the following.

Image capture module 61 is used for gathering CMOS camera 3 shot's light filling lamp 2 and shines the facula image on three reflection mark points A, B, C.

, The three reflecting mark points 2 are illuminated by the light supplementing lamp A. B, C Of reflected light is captured by CMOS camera 3 and captured as a spot image, and CMOS camera 3 transmits each frame image through data line 4 to image acquisition module 6 in image processor 61.

The marker point area identification module 62 is used for binarizing the collected light spot image, and in the light spot image after binarization processing, three communication areas with three reflecting marking points A, B and C facula caving are identified.

, The marker-point area recognition module 62 performs binarization processing on the acquired light spot image, so that the value of the pixel point in the binarized spot image is 0 or 1.

The binarized processed light spot image is subjected to eight communication area search, the eight communication areas of all pixel points in the light spot image after the binarization processing are obtained, and three reflection mark points A are identified according to the preset connected area area range. B, C Facula racetrack's three communication areas.

It should be noted that binarization processing of a light spot image in the mark point area identification module 62, an eight communication area search, and the like belong to common technical means in the art, and detailed description thereof will not be repeated here.

The mark point position determination module 63 is configured to calculate a distance between the centers of gravity of the three communication areas Y1, Y2 and Y3, and determine a correspondence relationship between the center of gravity of the two communication areas according to the calculated distance between the centers of gravity of the two communication areas, A and B C and the three communication areas Y1, Y2 and Y3.

, The marker point position determination module 63 sets the identifiers of the three communication areas as Y1, Y2 and Y3 and calculates the center of gravity of the three communication areas Y1, Y2 and Y3 respectively, namely, the coordinates of the three reflection mark points A, B and C in the image. The distance between the center of gravity of the communication area Y1 and the center of gravity of the communication area Y2 is calculated as d12, and the distance between the center of gravity of the communication area Y2 Y1 and the center of gravity of the communication area Y3 Y3 d13 is d23 and.

If d12 ＞ d23 ＞ d13, the reflection mark point corresponding to the communication area Y3 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point A closest to the middle point distance among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point C farthest from the middle point. That is Y1 - _AOMARKENCODEGTX0AOA A, Y2 - _AOMARKENCODEGTX0AOA C, Y3 - _AOMARKENCODEGTX0AOA B.

If d12 ＞ d13 ＞ d23, the reflection mark point corresponding to the communication area Y3 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point C farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point A nearest to the middle point in the three reflection mark points. That is Y1 - _AOMARKENCODEGTX0AOA C, Y2 - _AOMARKENCODEGTX0AOA A, Y3 - _AOMARKENCODEGTX0AOA B.

If d13 ＞ d23 ＞ d12, the reflection mark point corresponding to the communication area Y2 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point A closest to the middle point distance among the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point C farthest from the middle point. That is Y1 - _AOMARKENCODEGTX0AOA A, Y2 - _AOMARKENCODEGTX0AOA B, Y3 - _AOMARKENCODEGTX0AOA C.

If d13 ＞ d12 ＞ d23, the reflection mark point corresponding to the communication area Y2 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point C farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point A nearest to the middle point in the three reflection mark points. That is Y1 - _AOMARKENCODEGTX0AOA C, Y2 - _AOMARKENCODEGTX0AOA B, Y3 - _AOMARKENCODEGTX0AOA A.

If d23 ＞ d12 ＞ d13, the reflection mark point corresponding to the communication area Y1 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y3 is the reflection mark point A closest to the middle point distance among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point C farthest from the middle point. That is Y1 - _AOMARKENCODEGTX0AOA B, Y2 - _AOMARKENCODEGTX0AOA A, Y3 - _AOMARKENCODEGTX0AOA C.

If d23 ＞ d13 ＞ d12, the reflection mark point corresponding to the communication area Y1 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y3 is the reflection mark point C farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point A nearest to the middle point in the three reflection mark points. That is Y1 - _AOMARKENCODEGTX0AOA B, Y2 - _AOMARKENCODEGTX0AOA A, Y3 - _AOMARKENCODEGTX0AOA C.

The rotation angle calculation module 64 is used for calculating the rotation angle size of the component to be measured according to the correspondence relationship between the three reflection mark points A, B, C and the three communication areas Y1, Y2 and Y3.

, The turning angle calculating module 64 determines the coordinates of the center of gravity of each of the three reflecting markers A, B, C from the middle point B furthest and the nearest two reflecting marking points C, A respectively.

The slope of the determined two reflection mark points in the rectangular coordinate system is determined according to the determined slope of the communication area, and the angle value is obtained by using a triangle formula (such as an arctangent function formula) and the included angle of 8 connecting lines and a picture horizontal axis (AC axis in a rectangular coordinate system) is obtained by using the coordinates AC and the coordinates of the two points of the angle value of the detected part X to be measured. θ.

It is to be understood that since CMOS cameras 3 each photograph one frame image through data line 4 to image processor 6, if image processor 6 obtains a continuous frame image captured CMOS camera 3, three reflective marker points A may be generated in a continuous frame image. B, C'S position change relation, determine to await measuring part 8 one-way rotation's number of turns, consequently if part 8 that awaits measuring more than 360°, also can accurately calculate the multiturn angle.

As shown 3, in an embodiment of the present invention, a non-contact on-line rotation angle measurement method is provided, which is implemented in the aforementioned non-contact on-line rotation angle measurement system.

Step S1, the image processor acquires CMOS camera shooting's light filling lamp shines the facula image on the three reflection mark points.

The specific process is that the image processor acquires CMOS a light spot image formed on the three reflection mark points A, B and C photographed by the image processor, and CMOS camera transmits a frame image to the image processor storage through the data line.

Step S2, the image processor performs binarization processing on the acquired light spot image, and identifies three communication areas with three reflective marking point facula raceways in the binarized spot image.

, Firstly, the acquired light spot image is binarized, so that the value of the pixel point in the light spot image after binarization is 0 or 1.

Next, an eight communication area search is performed on the binarized light spot image to obtain the eight communication areas of all pixel points in the binarized light spot image, and three communication areas with three reflection mark dot light spots are identified according to the preset communication area area range.

Step S3. The image processor calculates the center of gravity of the three communication areas and obtains the distance between the centers of gravity of the two communication areas according to the calculated center of gravity of each communication area, and determines the correspondence between the three reflection mark points and the three communication areas according to the calculated distance between the center of gravity of the two communication areas.

, A distance between the center of gravity of the communication area Y1 and the center of gravity of the communication area Y2 is Y3, the distance between the center of gravity of the communication area Y1 and the center of gravity of the communication area Y2 is d12 d23 and, and the distance between the centers of gravity of Y1 Y2 communication d13 Y3 area Y3 and the center of gravity of the communication area.

d12 ＞ d23 ＞ d13, the reflection mark point corresponding to the communication area Y3 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point closest to the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point farthest from the middle point in the three reflection mark points.

d12 ＞ d13 ＞ d23, the reflection mark point corresponding to the communication area Y3 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point closest to the middle point in the three reflection mark points.

d13 ＞ d23 ＞ d12, the reflection mark point corresponding to the communication area Y2 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point closest to the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point farthest from the middle point in the three reflection mark points.

d13 ＞ d12 ＞ d23, the reflection mark point corresponding to the communication area Y2 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point closest to the middle point in the three reflection mark points.

d23 ＞ d12 ＞ d13, the reflection mark point corresponding to the communication area Y1 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y3 is the reflection mark point closest to the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point farthest from the middle point in the three reflection mark points.

d23 ＞ d13 ＞ d12, the reflection mark point corresponding to the communication area Y1 is the middle point of the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point closest to the middle point in the three reflection mark points.

Step S4. The image processor calculates the corner size of the component to be measured according to the correspondence relationship between the three reflection mark points and the three communication areas.

, Firstly, the coordinates of the center of gravity of the communication area corresponding to the shortest distance from the middle point and the nearest two reflection mark points in the three reflection mark points are determined.

Next, the slope of the determined two reflection mark points in the rectangular coordinate system is determined according to the determined coordinates of the center of gravity of the communication area, and further according to the determined slope, the angle value is obtained by using the trigonometric equation and is recorded as the corner size of the component to be detected.

The embodiment of the invention has the following beneficial effects:

1, The CMOS camera is used for shooting the reflection mark points pasted on the part to be measured, and the specific processing algorithm is used for determining the corresponding angle size by using the specific processing algorithm.

2, Due to the fact that line segments on the same straight line are still on the same straight line in affine transformation and are not changed in proportion, even CMOS camera mounting positions cannot be directly facing to the mark paster, the requirement on CMOS camera installation positions is reduced, and the robustness of the measurement system is improved.

Those of ordinary skill in the art will appreciate that implementing all or part of the steps in the above-described embodiment methods may be accomplished by program instructions that may be stored in a computer-readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, or the like.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.

Mode of execution

For the purpose of the present invention. Further details of the present invention will become apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.

As shown 1 and 2, in the embodiment of the present invention, there is provided a non-contact on-line corner measuring system, comprising a mark 1, a light supplementing lamp 2, CMOS a camera 3, and an image processor 6. Wherein.

The markers 1 are three reflective marking points 8, A, B, positioned on the component to be measured C, such as an automobile steering component, including a steering wheel, a wheel, and the like, A, B centered on the same straight line and adjacent two adjacent dots unequal (e.g. C AB _AOMARKENCODTX0AO_INDELTA). BC). In one embodiment, three reflecting marking points A, B, C are arranged on the sticker, and the three reflecting marking points A, B and C are all round dots with the same shape. The sticker is fixed on the component to be tested 8 in a sticking manner.

The light supplementing lamp 2 is installed and fixed above the three reflecting mark points 5, A and B through the bracket C. The light supplementing lamp 2 is an infrared lamp bead which is annularly distributed, and a circular hole is reserved between the infrared light beads for mounting CMOS the camera 3.

CMOS Camera 3 is aligned with three reflective marking points A, B, C and is connected to image processor 4 via data line 6. The CMOS camera 3 is installed in a circular hole reserved in the light supplementing lamp 2, so that the peripheral circumference of the infrared light lamp bead ring 2 camera CMOS of the light supplementing lamp 3 is uniformly distributed, and CMOS cameras 3 and the light supplementing lamp 2 are arranged above the three reflecting mark points 5, A and B through the bracket C A. B The C utility model is suitable for a light filling lamp. At this time, CMOS camera 3 receives light filling lamp 2 and carries out image shooting with the infrared light of wavelength, and its optical axis coincides with light filling lamp 2's center line.

The image processor 6 is mounted on the table 7, which includes the following.

Image capture module 61 is used for gathering CMOS camera 3 shot's light filling lamp 2 and shines the facula image on three reflection mark points A, B, C.

, The three reflecting mark points 2 are illuminated by the light supplementing lamp A. B, C Of reflected light is captured by CMOS camera 3 and captured as a spot image, and CMOS camera 3 transmits each frame image through data line 4 to image acquisition module 6 in image processor 61.

The marker point area identification module 62 is used for binarizing the collected light spot image, and in the light spot image after binarization processing, three communication areas with three reflecting marking points A, B and C facula caving are identified.

, The marker-point area recognition module 62 performs binarization processing on the acquired light spot image, so that the value of the pixel point in the binarized spot image is 0 or 1.

The binarized processed light spot image is subjected to eight communication area search, the eight communication areas of all pixel points in the light spot image after the binarization processing are obtained, and three reflection mark points A are identified according to the preset connected area area range. B, C Facula racetrack's three communication areas.

It should be noted that binarization processing of a light spot image in the mark point area identification module 62, an eight communication area search, and the like belong to common technical means in the art, and detailed description thereof will not be repeated here.

The mark point position determination module 63 is configured to calculate a distance between the centers of gravity of the three communication areas Y1, Y2 and Y3, and determine a correspondence relationship between the center of gravity of the two communication areas according to the calculated distance between the centers of gravity of the two communication areas, A and B C and the three communication areas Y1, Y2 and Y3.

, The marker point position determination module 63 sets the identifiers of the three communication areas as Y1, Y2 and Y3 and calculates the center of gravity of the three communication areas Y1, Y2 and Y3 respectively, namely, the coordinates of the three reflection mark points A, B and C in the image. The distance between the center of gravity of the communication area Y1 and the center of gravity of the communication area Y2 is calculated as d12, and the distance between the center of gravity of the communication area Y2 Y1 and the center of gravity of the communication area Y3 Y3 d13 is d23 and.

If d12 ＞ d23 ＞ d13, the reflection mark point corresponding to the communication area Y3 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point A closest to the middle point distance among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point C farthest from the middle point. That is Y1 - _AOMARKENCODEGTX0AOA A, Y2 - _AOMARKENCODEGTX0AOA C, Y3 - _AOMARKENCODEGTX0AOA B.

If d12 ＞ d13 ＞ d23, the reflection mark point corresponding to the communication area Y3 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point C farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point A nearest to the middle point in the three reflection mark points. That is Y1 - _AOMARKENCODEGTX0AOA C, Y2 - _AOMARKENCODEGTX0AOA A, Y3 - _AOMARKENCODEGTX0AOA B.

If d13 ＞ d23 ＞ d12, the reflection mark point corresponding to the communication area Y2 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point A closest to the middle point distance among the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point C farthest from the middle point. That is Y1 - _AOMARKENCODEGTX0AOA A, Y2 - _AOMARKENCODEGTX0AOA B, Y3 - _AOMARKENCODEGTX0AOA C.

If d13 ＞ d12 ＞ d23, the reflection mark point corresponding to the communication area Y2 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point C farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point A nearest to the middle point in the three reflection mark points. That is Y1 - _AOMARKENCODEGTX0AOA C, Y2 - _AOMARKENCODEGTX0AOA B, Y3 - _AOMARKENCODEGTX0AOA A.

If d23 ＞ d12 ＞ d13, the reflection mark point corresponding to the communication area Y1 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y3 is the reflection mark point A closest to the middle point distance among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point C farthest from the middle point. That is Y1 - _AOMARKENCODEGTX0AOA B, Y2 - _AOMARKENCODEGTX0AOA A, Y3 - _AOMARKENCODEGTX0AOA C.

If d23 ＞ d13 ＞ d12, the reflection mark point corresponding to the communication area Y1 is the middle point B of the three reflection mark points, the reflection mark point corresponding to the communication area Y3 is the reflection mark point C farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point A nearest to the middle point in the three reflection mark points. That is Y1 - _AOMARKENCODEGTX0AOA B, Y2 - _AOMARKENCODEGTX0AOA A, Y3 - _AOMARKENCODEGTX0AOA C.

The rotation angle calculation module 64 is used for calculating the rotation angle size of the component to be measured according to the correspondence relationship between the three reflection mark points A, B, C and the three communication areas Y1, Y2 and Y3.

, The turning angle calculating module 64 determines the coordinates of the center of gravity of each of the three reflecting markers A, B, C from the middle point B furthest and the nearest two reflecting marking points C, A respectively.

The slope of the determined two reflection mark points in the rectangular coordinate system is determined according to the determined slope of the communication area, and the angle value is obtained by using a triangle formula (such as an arctangent function formula) and the included angle of 8 connecting lines and a picture horizontal axis (AC axis in a rectangular coordinate system) is obtained by using the coordinates AC and the coordinates of the two points of the angle value of the detected part X to be measured. θ.

It is to be understood that since CMOS cameras 3 each photograph one frame image through data line 4 to image processor 6, if image processor 6 obtains a continuous frame image captured CMOS camera 3, three reflective marker points A may be generated in a continuous frame image. B, C'S position change relation, determine to await measuring part 8 one-way rotation's number of turns, consequently if part 8 that awaits measuring more than 360°, also can accurately calculate the multiturn angle.

As shown 3, in an embodiment of the present invention, a non-contact on-line rotation angle measurement method is provided, which is implemented in the aforementioned non-contact on-line rotation angle measurement system.

Step S1, the image processor acquires CMOS camera shooting's light filling lamp shines the facula image on the three reflection mark points.

The specific process is that the image processor acquires CMOS a light spot image formed on the three reflection mark points A, B and C photographed by the image processor, and CMOS camera transmits a frame image to the image processor storage through the data line.

Step S2, the image processor performs binarization processing on the acquired light spot image, and identifies three communication areas with three reflective marking point facula raceways in the binarized spot image.

, Firstly, the acquired light spot image is binarized, so that the value of the pixel point in the light spot image after binarization is 0 or 1.

Next, an eight communication area search is performed on the binarized light spot image to obtain the eight communication areas of all pixel points in the binarized light spot image, and three communication areas with three reflection mark dot light spots are identified according to the preset communication area area range.

Step S3. The image processor calculates the center of gravity of the three communication areas and obtains the distance between the centers of gravity of the two communication areas according to the calculated center of gravity of each communication area, and determines the correspondence between the three reflection mark points and the three communication areas according to the calculated distance between the center of gravity of the two communication areas.

, A distance between the center of gravity of the communication area Y1 and the center of gravity of the communication area Y2 is Y3, the distance between the center of gravity of the communication area Y1 and the center of gravity of the communication area Y2 is d12 d23 and, and the distance between the centers of gravity of Y1 Y2 communication d13 Y3 area Y3 and the center of gravity of the communication area.

d12 ＞ d23 ＞ d13, the reflection mark point corresponding to the communication area Y3 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point closest to the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point farthest from the middle point in the three reflection mark points.

d12 ＞ d13 ＞ d23, the reflection mark point corresponding to the communication area Y3 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point closest to the middle point in the three reflection mark points.

d13 ＞ d23 ＞ d12, the reflection mark point corresponding to the communication area Y2 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point closest to the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point farthest from the middle point in the three reflection mark points.

d13 ＞ d12 ＞ d23, the reflection mark point corresponding to the communication area Y2 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y1 is the reflection mark point farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point closest to the middle point in the three reflection mark points.

d23 ＞ d12 ＞ d13, the reflection mark point corresponding to the communication area Y1 is the middle point of the three reflection mark points, the reflection mark point corresponding to the communication area Y3 is the reflection mark point closest to the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point farthest from the middle point in the three reflection mark points.

d23 ＞ d13 ＞ d12, the reflection mark point corresponding to the communication area Y1 is the middle point of the three reflection mark points, and the reflection mark point corresponding to the communication area Y3 is the reflection mark point farthest from the middle point among the three reflection mark points, and the reflection mark point corresponding to the communication area Y2 is the reflection mark point closest to the middle point in the three reflection mark points.

Step S4. The image processor calculates the corner size of the component to be measured according to the correspondence relationship between the three reflection mark points and the three communication areas.

, Firstly, the coordinates of the center of gravity of the communication area corresponding to the shortest distance from the middle point and the nearest two reflection mark points in the three reflection mark points are determined.

Next, the slope of the determined two reflection mark points in the rectangular coordinate system is determined according to the determined coordinates of the center of gravity of the communication area, and further according to the determined slope, the angle value is obtained by using the trigonometric equation and is recorded as the corner size of the component to be detected.

The embodiment of the invention has the following beneficial effects:

1, The CMOS camera is used for shooting the reflection mark points pasted on the part to be measured, and the specific processing algorithm is used for determining the corresponding angle size by using the specific processing algorithm.

2, Due to the fact that line segments on the same straight line are still on the same straight line in affine transformation and are not changed in proportion, even CMOS camera mounting positions cannot be directly facing to the mark paster, the requirement on CMOS camera installation positions is reduced, and the robustness of the measurement system is improved.

Those of ordinary skill in the art will appreciate that implementing all or part of the steps in the above-described embodiment methods may be accomplished by program instructions that may be stored in a computer-readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, or the like.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.