TWI706121B - Fiber three-dimensional measuring device and method thereof - Google Patents

Fiber three-dimensional measuring device and method thereof Download PDF

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TWI706121B
TWI706121B TW107142615A TW107142615A TWI706121B TW I706121 B TWI706121 B TW I706121B TW 107142615 A TW107142615 A TW 107142615A TW 107142615 A TW107142615 A TW 107142615A TW I706121 B TWI706121 B TW I706121B
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fiber
dimensional
image capturing
dimensional image
unit
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TW202020398A (en
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鄭雅芸
楊實文
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財團法人工業技術研究院
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Priority to CN201811551481.XA priority patent/CN111238401A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
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  • Geometry (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A fiber three-dimensional measuring device comprises a fiber loading platform, at least two sets of image capturing devices, a processor and a storing element. The fiber loading platform hangs on at least one fiber to be measured. The image capturing devices capture two-dimensional images of the at least one fiber. The processor receives the two-dimensional images captured by the image capturing device and constructs a fiber three-dimensional model according to the two-dimensional images. The storing element stores the three-dimensional model. The image capturing device further comprises a two-dimensional image capturing element and a light projecting element. The two-dimensional image capturing element captures the two-dimensional images. The light projecting element and the two-dimensional image capturing element are disposed corresponding to the fiber loading platform.

Description

纖維三維量測裝置及其方法Fiber three-dimensional measuring device and method

本發明是有關於一種纖維三維量測的裝置及方法，且特別是有關於一種纖維所含的卷曲數（Crimp Number）及其相關數值的量測裝置及方法。The present invention relates to a device and method for three-dimensional fiber measurement, and more particularly to a device and method for measuring the crimp number (Crimp Number) contained in the fiber and its related values.

在紡織產業中有許多指標可以反應纖維的品質，其中以纖維所含之卷曲數及其相關數值，例如纖維的彎折長度、彎折角度等，為影響纖維之摩擦力、抱合力及成紗品質的關鍵。There are many indicators in the textile industry that can reflect the quality of fibers. Among them, the number of crimps contained in the fiber and its related values, such as the bending length and bending angle of the fiber, are used to affect the friction, cohesion, and yarn formation of the fiber. The key to quality.

一般，依據纖維的用途而會採用不同丹尼（Denier）數的規格，在高機能布料需求的提升下，極細丹尼纖維的產能逐漸提升，而目前紡織產業多以人工方式取樣纖維，並以人眼逐根計算纖維於單位距離內之卷曲數。然而以人眼進行纖維檢測會有以下幾個問題：（1）人眼疲累或人為因素易使量測結果產生誤差；（2）檢查速度緩慢導致量測率差；（3）需定期確認人員之間所採用的鑑定計算標準是否一致，以降低因人為誤差而使不同批次的纖維卷曲數不一致；（4）需人工手動記錄數據，耗時也增加記錄錯誤的機率；（5）纖維經破壞性量測後，例如纖維經掛載荷重等，難以再次檢視纖維的量測結果是否正確。Generally, different denier specifications are used according to the purpose of the fiber. With the increasing demand for high-performance fabrics, the production capacity of ultra-fine Denier fibers is gradually increasing. At present, the textile industry mostly uses manual methods to sample fibers and use The human eye counts the number of crimps of the fiber within a unit distance one by one. However, fiber testing with human eyes has the following problems: (1) Eye fatigue or human factors can easily cause errors in the measurement results; (2) Slow inspection speed leads to poor measurement rates; (3) Regular confirmation of personnel is required Whether the identification and calculation standards adopted between the two are consistent to reduce the inconsistency of the fiber crimps of different batches due to human error; (4) Manual data recording is required, which takes time and increases the probability of recording errors; (5) Fiber warp After destructive measurement, for example, the fiber is loaded with heavy load, it is difficult to check whether the measurement result of the fiber is correct.

因此，如何能快速進行纖維量測、提升纖維的品檢效率及節省人力，是本領域技術人員共同致力於研究的。Therefore, how to quickly perform fiber measurement, improve the efficiency of fiber quality inspection, and save manpower is the joint research of those skilled in the art.

本發明提供一種纖維三維量測的裝置及方法。此三維量測的裝置及方法可提供出纖維的三維模型，且可提供纖維所含之卷曲數及其相關數值。The invention provides a device and method for three-dimensional fiber measurement. This three-dimensional measuring device and method can provide a three-dimensional model of the fiber, and can provide the number of crimps contained in the fiber and its related values.

本發明提出一種纖維三維量測裝置，適於提供纖維的三維模型。纖維三維量測裝置包括一纖維承載平台、至少兩組影像擷取裝置、一處理器以及一儲存單元。纖維承載平台用以掛載至少一待測纖維。至少兩組影像擷取裝置用以擷取該至少一待測纖維的二維影像。處理器接收影像擷取裝置擷取的二維影像並依據該二維影像建立一纖維三維模型。儲存單元用以儲存該纖維三維模型。其中影像擷取裝置還包括一二維影像取像單元及一投光單元。二維影像取像單元用以取得該二維影像。投光單元與二維影像取像單元以纖維承載平台為中心相對應進行配置。The present invention provides a fiber three-dimensional measuring device, which is suitable for providing a three-dimensional fiber model. The fiber three-dimensional measurement device includes a fiber bearing platform, at least two sets of image capturing devices, a processor and a storage unit. The fiber bearing platform is used to mount at least one fiber to be tested. At least two sets of image capturing devices are used to capture the two-dimensional images of the at least one fiber to be tested. The processor receives the two-dimensional image captured by the image capturing device and establishes a fiber three-dimensional model based on the two-dimensional image. The storage unit is used for storing the fiber three-dimensional model. The image capturing device also includes a two-dimensional image capturing unit and a light projection unit. The two-dimensional image capturing unit is used to obtain the two-dimensional image. The light projection unit and the two-dimensional image capturing unit are arranged correspondingly with the fiber bearing platform as the center.

本發明另提出一種纖維的三維模型量測方法，包括掛載至少一待測纖維至一纖維承載平台上的步驟、以至少兩組不同拍攝視角的二維影像取像單元擷取該至少一待測纖維的二維影像的步驟、依據該些不同拍攝視角的二維影像建立一三維模型的步驟、利用該三維模型的三維座標轉換為一座標序列並對該座標序列進行二階微分計算並產出一二階微分計算結果的步驟、以及利用該二階微分計算結果決定該至少一待測纖維的卷曲位置，並依據該些卷曲位置計算該至少一待測纖維的卷曲數、彎折長度及彎折角度的步驟。The present invention also provides a method for measuring a three-dimensional fiber model, which includes the steps of mounting at least one fiber to be tested on a fiber bearing platform, and capturing the at least one fiber to be measured with at least two sets of two-dimensional image capturing units with different shooting angles. The step of measuring the two-dimensional image of the fiber, the step of establishing a three-dimensional model based on the two-dimensional images of different shooting angles, the use of the three-dimensional coordinates of the three-dimensional model to convert into a coordinate sequence and the second-order differential calculation of the coordinate sequence and output The step of calculating a second-order differential calculation result, and using the second-order differential calculation result to determine the crimping position of the at least one fiber to be tested, and calculating the crimp number, bending length, and bending of the at least one fiber to be tested based on the crimping positions Angle steps.

基於上述，在本發明的纖維三維量測的裝置及方法中，藉由建立纖維的三維模型可快速獲得低錯誤率且標準一致的纖維卷曲數及其相關數值，並可直接儲存三維模型以避免人為記錄錯誤及無法再次檢視纖維之量測結果的問題。Based on the above, in the device and method for fiber three-dimensional measurement of the present invention, by creating a three-dimensional model of the fiber, the fiber crimp number and related values with low error rate and consistent standards can be quickly obtained, and the three-dimensional model can be directly stored to avoid The problem of man-made recording errors and the inability to check the fiber measurement results again.

為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

第1圖為本發明一實施例的纖維三維量測裝置的示意圖。請參考第1圖，在本實施例中，纖維三維量測裝置包括兩組影像擷取裝置1100、一纖維承載平台1200、一處理器1300以及一儲存單元1400。纖維承載平台1200用以掛載待測纖維1202，於本實施例中為便於說明僅掛載一待測纖維1202，但本發明並不限於此，本發明亦可同時掛載多根待測纖維，以便進行批次量測。影像擷取裝置1100用以擷取待測纖維1202的二維影像，處理器1300接收影像擷取裝置1100擷取的二維影像後，再依據該二維影像建立纖維三維模型並對此纖維三維模型進行分析，而儲存單元1400將纖維三維模型及相關分析結果進行儲存。其中儲存單元1400可為直接與處理器電性連接的儲存器、串聯至後端的外部資料庫、或是利用無線傳輸的雲端資料庫，本發明並不限於此。Figure 1 is a schematic diagram of a three-dimensional fiber measuring device according to an embodiment of the present invention. Please refer to Figure 1. In this embodiment, the fiber 3D measurement device includes two sets of image capturing devices 1100, a fiber carrying platform 1200, a processor 1300, and a storage unit 1400. The fiber loading platform 1200 is used to mount the fiber to be tested 1202. In this embodiment, for the convenience of description, only one fiber to be tested 1202 is mounted, but the present invention is not limited to this, and the present invention can also mount multiple fibers to be tested at the same time. For batch measurement. The image capturing device 1100 is used to capture a two-dimensional image of the fiber 1202 to be tested. After receiving the two-dimensional image captured by the image capturing device 1100, the processor 1300 creates a fiber three-dimensional model based on the two-dimensional image and the fiber three-dimensional The model is analyzed, and the storage unit 1400 stores the fiber three-dimensional model and related analysis results. The storage unit 1400 may be a storage directly electrically connected to the processor, an external database connected in series to the back end, or a cloud database using wireless transmission. The present invention is not limited to this.

各組影像擷取裝置1100包括一二維影像取像單元1102及一投光單元1104，其中同一組影像擷取裝置1100的投光單元1104與二維影像取像單元1102係以纖維承載平台1200為中心相對應進行配置，意即投光單元1104向纖維承載平台1200進行投光，而二維影像取像單元1102以面對投光方向來進行二維影像的取像，如圖1所示，相同的虛線樣式圈選的投光單元1104與二維影像取像單元1102代表同一組的影像擷取裝置1100。二維影像取像單元1102例如為彩色相機或單色相機，投光單元1104投射的光束可為平行光束，以突顯纖維影像輪廓，而纖維承載平台1200可為一透明平板，以使投光單元1104投射的光束通過，但本發明並不限於此。纖維三維量測裝置更可包括一顯示裝置1500，用以將纖維三維模型及相關分析結果同步顯示於顯示裝置1500上，以供量測人員檢視量測結果。此外，影像擷取裝置1100還可包括一控制單元（圖未繪示），用以控制二維影像取像單元1102進行取像及控制投光單元1104進行投光。於一實施例中，控制單元控制投光單元1104於二維影像取像單元1102進行取像期間持續投光，於另一實施例中，控制單元控制投光單元1104於同一組的二維影像取像單元1102進行取像時同步投光，或是其他近似的取像投光控制方式，但本發明並不以此為限。或者，此控制單元的功能亦可直接由處理器1300執行，由處理器1300控制投光單元1104及二維影像取像單元1102的投光與取像，但本發明不限於此。投光單元1104朝向纖維承載平台1200進行投光，例如投射一平行光束;而二維影像取像單元1102以面對投光方向對該至少一待測纖維來進行二維影像的取像。Each group of image capturing devices 1100 includes a two-dimensional image capturing unit 1102 and a projection unit 1104, wherein the projection unit 1104 and the two-dimensional image capturing unit 1102 of the same group of image capturing device 1100 are based on a fiber carrying platform 1200 The center is arranged correspondingly, which means that the light projection unit 1104 projects light to the fiber bearing platform 1200, and the two-dimensional image capturing unit 1102 faces the projection direction to capture two-dimensional images, as shown in Figure 1. , The projecting unit 1104 and the two-dimensional image capturing unit 1102 circled in the same dashed pattern represent the same group of image capturing devices 1100. The two-dimensional image capturing unit 1102 is, for example, a color camera or a monochrome camera. The light beam projected by the light projection unit 1104 can be a parallel light beam to highlight the contour of the fiber image, and the fiber bearing platform 1200 can be a transparent flat plate to make the light projection unit The light beam projected by 1104 passes, but the present invention is not limited to this. The fiber 3D measurement device may further include a display device 1500 for simultaneously displaying the fiber 3D model and related analysis results on the display device 1500 for the measurement personnel to view the measurement results. In addition, the image capturing device 1100 may further include a control unit (not shown in the figure) for controlling the two-dimensional image capturing unit 1102 to capture images and the light projection unit 1104 to project light. In one embodiment, the control unit controls the light projection unit 1104 to continuously project light during the capturing of the 2D image capturing unit 1102. In another embodiment, the control unit controls the light projection unit 1104 in the same group of 2D images. The image capturing unit 1102 performs simultaneous light projection during image capturing, or other similar image capturing and light projection control methods, but the present invention is not limited thereto. Alternatively, the function of the control unit can also be directly executed by the processor 1300, and the processor 1300 controls the light projection and image capturing of the light projection unit 1104 and the two-dimensional image capturing unit 1102, but the present invention is not limited to this. The light projecting unit 1104 projects light toward the fiber carrying platform 1200, for example, projecting a parallel beam; and the two-dimensional image capturing unit 1102 captures a two-dimensional image of the at least one fiber to be tested facing the projecting direction.

在本實施例中，兩組影像擷取裝置1100中的二維影像取像單元1102的視角差為90度，但於另一實施例中，兩組影像擷取裝置1100中的二維影像取像單元1102的視角差不為90度，本發明並不以此為限。In this embodiment, the viewing angle difference of the two-dimensional image capturing units 1102 in the two sets of image capturing devices 1100 is 90 degrees, but in another embodiment, the two-dimensional image capturing units in the two sets of image capturing devices 1100 The viewing angle difference of the image unit 1102 is not 90 degrees, and the present invention is not limited thereto.

第2圖為本發明另一實施例的纖維三維量測裝置示意圖，第2圖的纖維三維量測裝置與第1圖的纖維三維量測裝置相近，差別在於第2圖的實施例中，纖維三維量測裝置包括三組影像擷取裝置1100，各組影像擷取裝置1100 包含一二維影像取像單元1102及一投光單元1104，同一組影像擷取裝置1100的投光單元1104與二維影像取像單元1102係以纖維承載平台1200 為中心相對應進行配置，相同的虛線樣式所圈選的投光單元1104與二維影像取像單元1102為同一組的的影像擷取裝置1100，然而本發明並不限於此。本發明的影像擷取裝置可依需求進行更多組數的配置，值得一提的是，本發明只需要至少有兩組影像擷取裝置且其拍攝視角不同即可。Figure 2 is a schematic diagram of a three-dimensional fiber measurement device according to another embodiment of the present invention. The three-dimensional fiber measurement device in Figure 2 is similar to the three-dimensional fiber measurement device in Figure 1. The difference is that in the embodiment in Figure 2, the fiber The three-dimensional measurement device includes three sets of image capturing devices 1100. Each set of image capturing devices 1100 includes a two-dimensional image capturing unit 1102 and a light projection unit 1104. The projection units 1104 and two of the same set of image capturing device 1100 The two-dimensional image capturing unit 1102 is configured correspondingly with the fiber bearing platform 1200 as the center. The projecting unit 1104 and the two-dimensional image capturing unit 1102 circled in the same dotted pattern are the same group of image capturing devices 1100. However, the present invention is not limited to this. The image capturing device of the present invention can be configured with more groups as required. It is worth mentioning that the present invention only needs to have at least two sets of image capturing devices with different shooting angles.

第3圖為本發明一實施例的纖維三維量測方法的步驟流程圖。請同時參考第1圖、第2圖及第3圖，第3圖的纖維三維量測方法至少可應用於上述任一實施例的纖維三維量測裝置，以下說明將以應用於第1圖的纖維三維量測裝置為例。在第3圖的實施例中，於步驟S3100中，掛載一待測纖維1202至一纖維承載平台1200上，掛載待測纖維1202可以人工方式掛載或是搭配自動機構進行掛載纖維，本實施例中掛載一根纖維，但亦可依此掛載複數根纖維進行量測。接著，在步驟S3100完成之後，執行步驟S3200，以兩組不同拍攝視角的二維影像取像單元1102擷取待測纖維1202的二維影像。於步驟S3200中，可控制投光單元1104 於二維影像取像單元1102的取像期間持續投光，或是控制投光單元1104在其對應的二維影像取像單元1102取像時才進行同步投光，以避免不同組的影像擷取裝置1100互相干擾。Figure 3 is a flowchart of the steps of a method for measuring a three-dimensional fiber of an embodiment of the present invention. Please refer to Figure 1, Figure 2 and Figure 3 at the same time. The three-dimensional fiber measurement method of Figure 3 can be applied to at least any of the above-mentioned embodiments of the three-dimensional fiber measurement device. The following description will be applied to that of Figure 1. Take 3D fiber measuring device as an example. In the embodiment of Figure 3, in step S3100, a fiber to be tested 1202 is mounted on a fiber carrying platform 1200. The fiber to be tested 1202 can be mounted manually or with an automatic mechanism to mount the fiber. In this embodiment, one fiber is mounted, but it is also possible to mount a plurality of fibers for measurement. Next, after step S3100 is completed, step S3200 is executed to capture two-dimensional images of the fiber 1202 to be tested with two sets of two-dimensional image capturing units 1102 with different shooting angles. In step S3200, the light-emitting unit 1104 can be controlled to continuously emit light during the capturing period of the two-dimensional image capturing unit 1102, or the light-emitting unit 1104 can be controlled to perform only when the corresponding two-dimensional image capturing unit 1102 captures images. The light is projected synchronously to prevent the image capturing devices 1100 of different groups from interfering with each other.

在步驟S3200完成之後，執行步驟S3300，依據不同視角的二維影像建立一纖維三維模型。於本步驟中，可先對二維影像進行如雜訊濾除、纖維輪廓偵測等的影像處理，再擷取各視角二維影像中纖維的二維座標資訊，再利用將各視角的二維影像視為三維空間中不同的投影平面，而將纖維的二維座標資訊組合成一纖維三維模型。第4圖為本發明一實施例的依據不同視角的二維影像建立纖維三維模型的示意圖，於第4圖的實施例中，兩組二維影像取像單元1102的視角差為90度，將左側的二維影像取像單元1102取像的平面視為三維空間中的一投影平面(例如Y-Z平面P2)，而右側的二維影像取像單元1102取像的平面視為三維空間中的另一投影平面(例如X-Z平面P1)。因此，左側的二維影像取像單元1102取像的二維影像中，纖維的二維座標為(xl ,yl )，而右側的二維影像取像單元1102取像的二維影像中，纖維的二維座標為(xr ,yr )。利用空間投影概念，將纖維的上述二維座標之xr 值作為纖維三維模型的x值，將纖維的上述二維座標xl 值作為纖維三維模型的y值，而纖維的上述二維座標yl 或yr 作為纖維三維模型的z值，即可建立出含有三維資訊(x,y,z)的纖維三維模型。After step S3200 is completed, step S3300 is executed to establish a fiber 3D model based on the 2D images of different viewing angles. In this step, image processing such as noise filtering, fiber contour detection, etc. can be performed on the two-dimensional image first, and then the two-dimensional coordinate information of the fiber in the two-dimensional image of each viewing angle can be captured, and then the two The three-dimensional image is regarded as different projection planes in the three-dimensional space, and the two-dimensional coordinate information of the fiber is combined into a three-dimensional fiber model. Figure 4 is a schematic diagram of establishing a fiber three-dimensional model based on two-dimensional images of different viewing angles according to an embodiment of the present invention. In the embodiment of Figure 4, the viewing angle difference between the two sets of two-dimensional image capturing units 1102 is 90 degrees. The plane captured by the two-dimensional image capturing unit 1102 on the left is regarded as a projection plane in the three-dimensional space (for example, YZ plane P2), and the plane captured by the two-dimensional image capturing unit 1102 on the right is regarded as another plane in the three-dimensional space. A projection plane (for example, XZ plane P1). Therefore, in the two-dimensional image captured by the two-dimensional image capturing unit 1102 on the left, the two-dimensional coordinates of the fiber are (x l , y l ), and in the two-dimensional image captured by the two-dimensional image capturing unit 1102 on the right , The two-dimensional coordinates of the fiber are (x r , y r ). Using the concept of space projection, the x r value of the above-mentioned two-dimensional coordinate of the fiber is taken as the x value of the three-dimensional fiber model, the above-mentioned two-dimensional coordinate x l value of the fiber is taken as the y value of the three-dimensional fiber model, and the above-mentioned two-dimensional coordinate y of the fiber If l or y r is used as the z value of the fiber 3D model, a 3D fiber model with 3D information (x, y, z) can be established.

於另一實施例中，兩組二維影像取像單元的視角差不為90度，可先將兩個二維影像的影像空間轉置至視角差為90度，例如可依據二維影像取像單元的空間座標計算出視角差，再將其中一個二維影像依據視角差進行空間轉置而使得兩個二維影像的視角差為90度，再依據前述建立纖維三維模型的流程產出含有三維資訊(x,y,z)的纖維三維模型。In another embodiment, the viewing angle difference between the two two-dimensional image capturing units is not 90 degrees, and the image space of the two two-dimensional images can be transposed to a viewing angle difference of 90 degrees. The spatial coordinates of the image unit calculate the viewing angle difference, and then one of the two-dimensional images is spatially transposed according to the viewing angle difference so that the viewing angle difference between the two two-dimensional images is 90 degrees, and then the output according to the aforementioned process of establishing the fiber three-dimensional model contains Three-dimensional fiber model of three-dimensional information (x, y, z).

於再一實施例中，纖維量測裝置係以多組任意視角差的二維影像取像單元進行取像，在二維影像取像單元取得不同視角的二維影像後，進行二維影像的特徵點擷取，並將各視角的二維影像的特徵點進行匹配運算。接著，依據匹配的特徵點獲得二維影像的平面轉換矩陣，並進而獲得相機矩陣(Camera Matrix)，最後依據相機矩陣及多個二維影像建立一纖維三維模型f 。處理器1300可依據纖維三維模型f 進行待測纖維的卷曲數、彎折長度及彎折角度的計算，如以下步驟S3400、步驟S3500及相關章節所載。In still another embodiment, the fiber measuring device uses multiple sets of two-dimensional image capturing units with arbitrary viewing angles to capture images. After the two-dimensional image capturing unit obtains two-dimensional images with different viewing angles, the two-dimensional image is captured The feature points are captured, and the feature points of the two-dimensional images of each view angle are matched. Then, the plane conversion matrix of the two-dimensional image is obtained according to the matched feature points, and then the camera matrix (Camera Matrix) is obtained. Finally, a fiber three-dimensional model f is established according to the camera matrix and multiple two-dimensional images. The processor 1300 can calculate the crimp number, the bending length, and the bending angle of the fiber to be tested according to the fiber three-dimensional model f , as described in the following steps S3400, S3500 and related sections.

在步驟S3300完成之後，執行步驟S3400。在步驟S3400中，處理器1300可利用纖維三維模型f 的三維座標轉換為一座標序列並對此座標序列進行二階微分計算並產出一二階微分計算結果。首先，將纖維三維模型f 的三維座標轉換成一座標序列，再對此座標序列進行二階微分計算如式(1)，以針對x及y座標變化進行分析，並產出二階微分結果以進行後續纖維之卷曲數的計算。

Figure 02_image001
…… 式(1)After step S3300 is completed, step S3400 is executed. In step S3400, the processor 1300 may convert the three-dimensional coordinates of the fiber three-dimensional model f into a coordinate sequence and perform a second-order differential calculation on the coordinate sequence and generate a first- and second-order differential calculation result. First, convert the three-dimensional coordinates of the fiber three-dimensional model f into a standard sequence, and then perform the second-order differential calculation on this coordinate sequence as in equation (1) to analyze the changes in x and y coordinates, and produce the second-order differential results for subsequent fiber Calculation of the number of curls.
Figure 02_image001
…… Formula 1)

在步驟S3400完成之後，執行步驟S3500，利用二階微分計算結果決定待測纖維的卷曲位置，並依據卷曲位置計算待測纖維的卷曲數、彎折長度及彎折角度。纖維三維模型f 的座標在x及y方向上變化的局部極值，例如極大值或極小值即為纖維卷曲的候選位置500，如第5圖所示，第5圖為本發明一實施例定義纖維的卷曲位置及彎折角度的示意圖。當候選位置500的二階微分數值超過一預定閥值即可定義該候選位置為纖維的卷曲位置，利用是否超過一預定閥值的方式可彈性地篩選出使用者認定的有效卷曲。接著，便可依據纖維的卷曲位置計算單位高度內的卷曲數量，並將單位高度內的卷曲數量定義為纖維的卷曲數。而每一卷曲位置的兩側纖維的切線之夾角為該有效卷曲對應的彎折角度θ，此外，相鄰兩個卷曲位置之間之纖維長度定義為彎折長度，每一卷曲位置最多可對應至兩個彎折長度。彎折長度的計算例如兩卷曲位置A、B於纖維三維模型的座標序列之索引為IA 、IB ，計算上述座標序列其間所有相鄰座標的倆倆距離總和視為彎折長度

Figure 02_image003
，如式(2)。
Figure 02_image005
…..式(2)After step S3400 is completed, step S3500 is executed to determine the crimp position of the fiber to be tested using the second-order differential calculation result, and calculate the crimp number, bending length, and bending angle of the fiber to be tested according to the crimp position. The local extremum of the coordinate change of the three-dimensional fiber model f in the x and y directions. For example, the maximum value or the minimum value is the candidate position 500 for fiber crimping, as shown in Figure 5, which is a definition of an embodiment of the present invention Schematic diagram of fiber crimp position and bending angle. When the second-order differential value of the candidate position 500 exceeds a predetermined threshold, the candidate position can be defined as the crimp position of the fiber, and the effective crimp identified by the user can be flexibly screened by whether it exceeds a predetermined threshold. Then, the number of crimps per unit height can be calculated according to the crimp position of the fiber, and the number of crimps per unit height is defined as the number of crimps of the fiber. The angle between the tangents of the fibers on both sides of each crimping position is the bending angle θ corresponding to the effective crimping position. In addition, the fiber length between two adjacent crimping positions is defined as the bending length, and each crimping position can correspond at most Up to two bending lengths. Calculation of bending length. For example, the index of two crimping positions A and B in the coordinate sequence of the fiber 3D model is I A and I B. The sum of the two distances of all adjacent coordinates in the above coordinate sequence is regarded as the bending length
Figure 02_image003
, As in formula (2).
Figure 02_image005
….. Formula (2)

綜上所述，在本發明的纖維三維量測裝置及其方法中，以至少兩組不同拍攝視角的二維影像取像單元擷取至少一待測纖維的二維影像，並依據不同視角的二維影像建立一纖維三維模型，處理器可依據該纖維三維模型決定待測纖維的卷曲位置，並可進一步計算出待測纖維的卷曲數、彎折長度及彎折角度，且儲存單元可將量測的結果儲存下來。To sum up, in the fiber three-dimensional measurement device and method of the present invention, at least two two-dimensional image capturing units with different shooting angles are used to capture at least one two-dimensional image of the fiber to be tested, and The two-dimensional image creates a three-dimensional fiber model. The processor can determine the crimp position of the fiber to be tested based on the fiber three-dimensional model, and can further calculate the crimp number, bending length and bending angle of the fiber to be tested, and the storage unit can The measurement results are stored.

雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be determined by the scope of the attached patent application.

1100:影像擷取裝置1102:二維影像取像單元1104:投光單元1200:纖維承載平台1202:待測纖維1300:處理器1400:儲存單元1500:顯示裝置S3100~S3500:步驟P1:X-Z平面P2:Y-Z平面500:候選位置θ:彎折角度A、B:卷曲位置f :纖維三維模型1100: Image capture device 1102: Two-dimensional image capture unit 1104: Projection unit 1200: Fiber carrying platform 1202: Fiber to be tested 1300: Processor 1400: Storage unit 1500: Display device S3100~S3500: Step P1: XZ plane P2: YZ plane 500: candidate position θ: bending angle A, B: crimping position f : fiber three-dimensional model

第1圖為本發明一實施例的纖維三維量測裝置的示意圖。 第2圖為本發明另一實施例的纖維三維量測裝置的示意圖。 第3圖為本發明一實施例的纖維三維量測的步驟流程圖。 第4圖為本發明一實施例的依據不同拍攝視角的二維影像，建立纖維三維模型的示意圖。 第5圖為本發明一實施例定義纖維的捲曲位置及彎折角度的示意圖。Figure 1 is a schematic diagram of a three-dimensional fiber measuring device according to an embodiment of the present invention. Figure 2 is a schematic diagram of a fiber three-dimensional measuring device according to another embodiment of the present invention. Figure 3 is a flow chart of the steps of fiber three-dimensional measurement according to an embodiment of the present invention. FIG. 4 is a schematic diagram of establishing a three-dimensional fiber model based on two-dimensional images of different shooting angles according to an embodiment of the present invention. Figure 5 is a schematic diagram of defining the crimp position and bending angle of the fiber according to an embodiment of the present invention.

S3100-S3500:步驟 S3100-S3500: steps

Claims (16)

一種纖維三維量測裝置，包括：一纖維承載平台，用以掛載至少一待測纖維；至少兩組影像擷取裝置，用以擷取該至少一待測纖維的二維影像；一處理器，接收該些影像擷取裝置擷取的該些二維影像並依據該些二維影像建立一纖維三維模型；以及一儲存單元，用以儲存該纖維三維模型；其中該些影像擷取裝置之各組影像擷取裝置包括：一二維影像取像單元，用以取得該二維影像；及一投光單元，該投光單元與該二維影像取像單元係以該纖維承載平台為中心相對應進行配置，其中該投光單元投射出一平行光束，且該投光單元的投光方向係與該二維影像取像單元的取像方向相反。 A fiber three-dimensional measurement device, including: a fiber bearing platform for mounting at least one fiber to be tested; at least two image capturing devices for capturing a two-dimensional image of the at least one fiber to be tested; a processor , Receiving the two-dimensional images captured by the image capturing devices and creating a fiber three-dimensional model based on the two-dimensional images; and a storage unit for storing the fiber three-dimensional model; wherein the image capturing devices are Each group of image capturing devices includes: a two-dimensional image capturing unit for obtaining the two-dimensional image; and a light projection unit, the light projection unit and the two-dimensional image capturing unit are centered on the fiber bearing platform Corresponding configuration, wherein the light projection unit projects a parallel beam, and the light projection direction of the light projection unit is opposite to the imaging direction of the two-dimensional image capturing unit. 如申請專利範圍第1項所述的纖維三維量測裝置，其中該影像擷取裝置更包括一控制單元，用以控制該投光單元於該對應的二維影像取像單元進行取像期間持續投光或是控制該投光單元於該對應的二維影像取像單元進行取像時進行同步投光。 The fiber 3D measurement device described in the first item of the scope of patent application, wherein the image capturing device further includes a control unit for controlling the projection unit to continue during the capturing period of the corresponding two-dimensional image capturing unit Projecting light or controlling the projecting unit to perform synchronous projecting when the corresponding two-dimensional image capturing unit is capturing images. 如申請專利範圍第1項所述的纖維三維量測裝置，其中該處理器依據該纖維三維模型進行該至少一待測纖維的卷曲數、彎折長度及彎折角度的計算。 According to the fiber three-dimensional measuring device described in claim 1, wherein the processor calculates the number of crimps, the bending length and the bending angle of the at least one fiber to be tested based on the three-dimensional fiber model. 如申請專利範圍第3項所述的纖維三維量測裝置，其中 該纖維三維量測裝置更包括一顯示裝置，用以顯示該纖維三維模型以及該至少一待測纖維的卷曲數、彎折長度及彎折角度的計算結果。 The fiber three-dimensional measuring device as described in item 3 of the scope of patent application, wherein The fiber three-dimensional measuring device further includes a display device for displaying the fiber three-dimensional model and the calculation results of the number of crimps, the bending length and the bending angle of the at least one fiber to be tested. 如申請專利範圍第1項所述的纖維三維量測裝置，其中該儲存單元為直接與該處理器電性連接的一儲存器、一外部資料庫或是一雲端資料庫。 In the fiber three-dimensional measurement device described in the first item of the patent application, the storage unit is a memory, an external database or a cloud database directly electrically connected to the processor. 一種纖維的三維模型量測方法，包括：掛載至少一待測纖維至一纖維承載平台上；以至少兩組不同拍攝視角的二維影像取像單元擷取該至少一待測纖維的二維影像；依據該些不同視角的二維影像建立一纖維三維模型；利用該纖維三維模型的三維座標轉換為一座標序列並對該座標序列進行二階微分計算並產出一二階微分計算結果；以及利用該二階微分計算結果決定該至少一待測纖維的卷曲位置，並依據該些卷曲位置計算該至少一待測纖維的卷曲數、彎折長度及彎折角度。 A method for measuring a three-dimensional model of a fiber includes: mounting at least one fiber to be tested on a fiber bearing platform; capturing the two-dimensional image of the at least one fiber to be tested with at least two sets of two-dimensional image capturing units with different shooting angles Images; create a fiber 3D model based on these 2D images from different perspectives; convert the 3D coordinates of the fiber 3D model into a coordinate sequence and perform a second-order differential calculation on the coordinate sequence and produce a second-order differential calculation result; and The second-order differential calculation result is used to determine the crimp position of the at least one fiber to be tested, and the crimp number, the bending length and the bending angle of the at least one fiber to be tested are calculated according to the crimp positions. 如申請專利範圍第6項所述的量測方法，其中利用該二階微分計算結果決定該至少一待測纖維的卷曲位置之步驟更包括依據二階微分的局部極值是否超過一預定閥值來決定該至少一待測纖維的卷曲位置。 The measurement method described in item 6 of the scope of patent application, wherein the step of using the second-order differential calculation result to determine the crimp position of the at least one fiber to be measured further includes determining whether the local extreme value of the second-order differential exceeds a predetermined threshold The crimping position of the at least one fiber to be tested. 如申請專利範圍第6項所述的量測方法，其中依據該些卷曲位置計算該至少一待測纖維的卷曲數之步驟更包括依據該些卷曲 位置計算單位高度內的卷曲數量，並將該單位高度內的卷曲數量定義為該至少一待測纖維的卷曲數。 For the measurement method described in claim 6, wherein the step of calculating the number of crimps of the at least one fiber to be tested according to the crimp positions further includes the step of calculating crimps based on the crimps The position calculates the number of crimps per unit height, and defines the number of crimps per unit height as the number of crimps of the at least one fiber to be tested. 如申請專利範圍第6項所述的量測方法，其中依據該些卷曲位置計算該至少一待測纖維的彎折角度之步驟更包括依據該些卷曲位置的每一卷曲位置的兩側纖維的切線之夾角定義為彎折角度。 For the measurement method described in item 6 of the scope of patent application, the step of calculating the bending angle of the at least one fiber to be measured based on the crimp positions further includes the step of calculating the fiber on both sides of each crimp position of the crimp positions The angle of the tangent is defined as the bending angle. 如申請專利範圍第6項所述的量測方法，其中依據該些卷曲位置計算該至少一待測纖維的彎折長度之步驟更包括依據該些卷曲位置的座標，將該座標序列中相鄰兩個卷曲位置之間所有相鄰座標的倆倆距離總和定義為彎折長度。 For the measurement method described in item 6 of the scope of patent application, the step of calculating the bending length of the at least one fiber to be measured based on the crimping positions further includes determining the adjacent in the coordinate sequence according to the coordinates of the crimping positions The sum of the two distances of all adjacent coordinates between two curling positions is defined as the bending length. 如申請專利範圍第6項所述的量測方法，其中依據該些不同視角的二維影像建立一纖維三維模型之步驟還包括：當該至少兩組二維影像取像單元中兩組二維影像取像單元的拍攝視角相差90度時，將第一組二維影像取像單元取像的第一二維影像中該至少一待測纖維的第一方向座標值作為該纖維三維模型的第一方向座標值；將第二組二維影像取像單元取像的第二二維影像中該待測纖維的第一方向座標值作為該纖維三維模型的第二方向座標值；以及將該第一二維影像或該第二二維影像中該至少一待測纖維的第二方向座標值作為該三維模型的第三方向座標值。 For the measurement method described in item 6 of the scope of patent application, the step of establishing a fiber 3D model based on the 2D images of different viewing angles further includes: when the at least two groups of 2D image capturing units have two groups of 2D When the shooting angle of view of the image capturing unit differs by 90 degrees, the first direction coordinate value of the at least one fiber to be measured in the first two-dimensional image captured by the first set of two-dimensional image capturing unit is used as the first three-dimensional fiber model A direction coordinate value; taking the first direction coordinate value of the fiber to be measured in the second two-dimensional image captured by the second set of two-dimensional image capturing unit as the second direction coordinate value of the fiber three-dimensional model; and The second-direction coordinate value of the at least one fiber to be measured in a two-dimensional image or the second two-dimensional image is used as the third-direction coordinate value of the three-dimensional model. 如申請專利範圍第6項所述的量測方法，其中依據該些不同視角的二維影像建立一纖維三維模型之步驟還包括： 當該至少兩組二維影像取像單元中兩組二維影像取像單元的拍攝視角相差不為90度時，將該些二維影像經過空間轉換轉置至拍攝視角差為90度；將第一組二維影像取像單元取像的第一二維影像中該至少一待測纖維的第一方向座標值作為該纖維三維模型的第一方向座標值；將第二組二維影像取像單元取像的第二二維影像中該至少一待測纖維的第一方向座標值作為該纖維三維模型的第二方向座標值；以及將該第一二維影像或第二二維影像中該至少一待測纖維的第二方向座標值作為該纖維三維模型的第三方向座標值。 For the measurement method described in item 6 of the scope of patent application, the step of establishing a fiber 3D model based on the 2D images of different viewing angles further includes: When the two sets of two-dimensional image capturing units in the at least two sets of two-dimensional image capturing units have a shooting angle of view difference of not 90 degrees, the two-dimensional images are spatially transformed and transposed until the shooting angle of view difference is 90 degrees; The first directional coordinate value of the at least one fiber to be measured in the first two-dimensional image captured by the first set of two-dimensional image capturing unit is used as the first directional coordinate value of the fiber three-dimensional model; and the second set of two-dimensional images are captured The first direction coordinate value of the at least one fiber to be measured in the second two-dimensional image captured by the image unit is used as the second direction coordinate value of the fiber three-dimensional model; and the first two-dimensional image or the second two-dimensional image is The second direction coordinate value of the at least one fiber to be measured is used as the third direction coordinate value of the fiber three-dimensional model. 如申請專利範圍第6項所述的量測方法，其中依據該些不同視角的二維影像建立一纖維三維模型之步驟還包括：擷取該些不同視角之該些二維影像的特徵點，並將該些特徵點進行匹配運算；依據匹配的的特徵點取得該些二維影像之平面轉換矩陣，進而取得該些二維影像取像單元之相機矩陣；以及依據該些二維影像取像單元之相機矩陣及該些二維影像，建立該纖維三維模型。 For the measurement method described in item 6 of the scope of patent application, the step of establishing a fiber 3D model based on the 2D images of different viewing angles further includes: capturing the characteristic points of the 2D images of the different viewing angles, And perform matching operations on the feature points; obtain the plane conversion matrix of the two-dimensional images according to the matched feature points, and then obtain the camera matrix of the two-dimensional image capturing units; and capture images according to the two-dimensional images The camera matrix of the unit and the two-dimensional images establish a three-dimensional model of the fiber. 如申請專利範圍第6項所述的量測方法，其中擷取該至少一待測纖維的二維影像之步驟更包括自該二維影像取像單元朝向該纖維承載平台投射一平行光束，使該二維影像取像單元以面對投光方向對該至少一待測纖維進行取像。 The measurement method according to claim 6, wherein the step of capturing the two-dimensional image of the at least one fiber to be tested further includes projecting a parallel light beam from the two-dimensional image capturing unit toward the fiber carrying platform, so that The two-dimensional image capturing unit captures images of the at least one fiber to be tested facing the projection direction. 如申請專利範圍第14項所述的量測方法，其中投射該平行光束係持續投射。 The measurement method described in item 14 of the scope of patent application, wherein the parallel beam is projected continuously. 如申請專利範圍第14項所述的量測方法，其中投射該平行光束係於該二維影像取像單元取像時進行同步投光。According to the measurement method described in item 14 of the scope of patent application, the projecting of the parallel light beam is performed during the simultaneous projection of the two-dimensional image capturing unit when capturing images.
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