• Title/Summary/Keyword: 로봇비젼

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Path Planing for a Moving Robot using Ultra Sonic Sensors (초음파 센서를 이용한 이동로봇의 경로 계획)

  • Cha, Kyung-Hwan;Shin, Hyun-Shil;Hwang, Gi-Hyun
    • Journal of the Institute of Convergence Signal Processing
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    • v.8 no.1
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    • pp.78-83
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    • 2007
  • Robot collects surrounding information to recognize tile unknown environment by using various sensors such as visual, infrared ray and ultra sonic sensors. Although visual sensor is the most popular one, it has some difficulties in collecting data in dark or too bright environment due to sensitivity of the light. It also requests significant amount of calculation on collecting data from certain images with marked, straight and curved ones. As an alternative, ultra sonic sensor can simply overcome this visual sensing system's flaw and easily be used. It is easier than visual system, especially in case of collecting data on object and distance in dark environment. Ultra sonic sensor can replace the expensive visual sensing system not only in avoiding obstacles but also in reaching to the target area smoothly. The purpose of this paper is to develop the algorithm to optimize the environmental recognition, path planning and free-ranging by minimizing errors caused by inaccurate information and by considering characteristics of the ultra sonic rays such as refraction and diffusion. This paper also realizes the system that can recognize the environment and make the appropriate path planning by applying the algorithm on this moving robot.

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Development of Robot Vision Control Schemes based on Batch Method for Tracking of Moving Rigid Body Target (강체 이동타겟 추적을 위한 일괄처리방법을 이용한 로봇비젼 제어기법 개발)

  • Kim, Jae-Myung;Choi, Cheol-Woong;Jang, Wan-Shik
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.17 no.5
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    • pp.161-172
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    • 2018
  • This paper proposed the robot vision control method to track a moving rigid body target using the vision system model that can actively control camera parameters even if the relative position between the camera and the robot and the focal length and posture of the camera change. The proposed robotic vision control scheme uses a batch method that uses all the vision data acquired from each moving point of the robot. To process all acquired data, this robot vision control scheme is divided into two cases. One is to give an equal weight for all acquired data, the other is to give weighting for the recent data acquired near the target. Finally, using the two proposed robot vision control schemes, experiments were performed to estimate the positions of a moving rigid body target whose spatial positions are unknown but only the vision data values are known. The efficiency of each control scheme is evaluated by comparing the accuracy through the experimental results of each control scheme.

A Study on the Vision System Application for Welding Robot (용접 로봇을 위한 비젼 시스템 응용 연구)

  • Park, P. H.;Cheong, S. H.;Ro, S. H.;Choi, S. D.;Choi, H.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2000.11a
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    • pp.678-682
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    • 2000
  • The purpose of this study is to develop a powerful 6-axes general welding robot utilizing a low cost vision system. The developed vision system is composed of a CCD camera, a PC with windows 98 OS, and a PC-Robot communication program using Visual C++. A test was carried out to investigate whether the welding torch can precisely follow up the welding path. It shows that the result of this study can readily be applied to practical welding operations.

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Study on the Target Tracking of a Mobile Robot Using Active Stereo-Vision System (능동 스테레오 비젼을 시스템을 이용한 자율이동로봇의 목표물 추적에 관한 연구)

  • 이희명;이수희;이병룡;양순용;안경관
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2003.06a
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    • pp.915-919
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    • 2003
  • This paper presents a fuzzy-motion-control based tracking algorithm of mobile robots, which uses the geometrical information derived from the active stereo-vision system mounted on the mobile robot. The active stereo-vision system consists of two color cameras that rotates in two angular dimensions. With the stereo-vision system, the center position and depth information of the target object can be calculated. The proposed fuzzy motion controller is used to calculate the tracking velocity and angular position of the mobile robot, which makes the mobile robot keep following the object with a constant distance and orientation.

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A Hierarchical Motion Controller for Soccer Robots with Stand-alone Vision System (독립 비젼 시스템 기반의 축구로봇을 위한 계층적 행동 제어기)

  • Lee, Dong-Il;Kim, Hyung-Jong;Kim, Sang-Jun;Jang, Jae-Wan;Choi, Jung-Won;Lee, Suk-Gyu
    • Journal of the Korean Society for Precision Engineering
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    • v.19 no.9
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    • pp.133-141
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    • 2002
  • In this paper, we propose a hierarchical motion controller with stand-alone vision system to enhance the flexibility of the robot soccer system. In addition, we simplified the model of dynamic environments of the robot using petri-net and simple state diagram. Based on the proposed model, we designed the robot soccer system with velocity and position controller that includes 4-level hierarchically structured controller. Some experimental results using the stand-alone vision system from host system show improvement of the controller performance by reducing processing time of vision algorithm.