• Agribusiness and Information Management
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• v.1 no.2
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• pp.119-130
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• 2009

심각한 기후 변화와 증가하는 인구에 따른 전 세계적인 식량 부족 현상으로 농업 분야에서의 자동화는 점점 중요성이 커지고 있다. 특히 우리나라와 같이 농업 인구의 고령화, 해외 수입 농산품과의 가격 경쟁력 향상과 고 생산성 요구가 거센 환경에서는 농업의 자동화는 다가오는 미래가 아니라 반드시 적용하고 해결해야만 하는 필수 요소가 되었다. 농업은 제한된 공간에서 저 노동력으로 최대의 생산성을 얻기 위해서 다양한 최신 학문 영역과의 융합을 시도하고 있다. 이 문서에서는 이에 관련하여 농업과 로봇(자동화) 산업의 결합에 중점을 두고 농업용 로봇과 식물공장의 주요 기술을 소개하고 사례를 설명하는 것을 목적으로 한다.

• Proceedings of the Korea Multimedia Society Conference
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• 2002.05c
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• pp.474-478
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• 2002

본 논문에서는 광학식 모션 캡쳐를 이용하여 얻은 한국인의 발레 동작에 대한 모션 캡쳐 데이터를 사용하여 다른 모션으로 변형함으로써 새로운 형태의 동작을 생성하거나 원래 데이터의 에러가 생긴 경우에 보정이 쉽게 수정 가능하도록 하였다. 즉, 모션 캡쳐 데이터의 구조는 다양한 포맷들로 되어 있는 스켈레톤 구조로서 관절의 각도나 위치에 대해 변형을 가하기 힘들다. 그러므로 모션 수정에 관련된 기술을 이용하여 선택된 조인트(joint), 엔드이펙터(end effecter), 마커(marker)들을 보여주고, 오일러(Euler Angles), 쿼터니언(Quaternions), 지수 맵(Exponential Map) 보간이 가능하여 실시간에서도 재생 되도록 구현하였다.

• Journal of Bio-Environment Control
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• v.18 no.2
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• pp.95-100
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• 2009

This study was conducted to develop an imaging processing system of inoculation processing of a lily callus. The image processing system was composed of a camera, a image processing board, and etc. And the illuminance always decided by setting up 55W/3 wavelength lamp respectively on all aspects and the side was maintained by the lighting part. The image characteristic was examined according to each frame of RGB,therefore the culture vessel was able to be separated with B frame. The required time was 2.2 seconds in one cycle from the image acquisition to obtaining the result. The recognition rate of the container was 100%, and the result of image processing showed that the recognition success rate of lily callus was 93%.

• Journal of Bio-Environment Control
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• v.23 no.2
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• pp.123-130
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• 2014

Oriental melon (Cucumis melo var. makuwa) should be cultivated on the soil and be harvested. It is difficult to find because it is covered with leaves, and furthermore, it is very hard to grip it due to its climbing stems. This study developed and tested oriental melon harvesting robots such as an end-effector, manipulator and identification device. The end effector is divided into a gripper for harvest and a cutter for stems. In addition, it was designed to control the gripping and cutting forces so that the gripper could move four fingers at the same time and the cutter could move back and forth. The manipulator was designed to realize a 4-axis manipulator structure to combine orthogonal coordinate-type and shuttle-type manipulators with L-R type model to rotate based on the central axis. With regard to the identification device, oriental melon was identified using the primary identification global view camera device and secondary identification local view camera device and selected in the prediction of the sugar content or maturity. As a result of the performance test using this device, the average harvest time was 18.2 sec/ea, average pick-up rate was 91.4%, average damage rate was 8.2% and average sorting rate was 72.6%.

• Journal of Bio-Environment Control
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• v.22 no.3
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• pp.284-290
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• 2013

This study analyzed the geometric, compressive, cutting and friction properties of oriental melons in order to design a gripper capable of soft handling and a cutter for cutting oriental melon vine among the end effector of oriental melon as a preliminary step for developing the end effector of the robot capable of harvesting oriental melons in protected cultivation. As a result, the average length, diameter at the midpoint, weight, volume and roundness of the oriental melons were 108 mm, 70 mm, 188 g, 333 mL and 3.8 mm. Nonlinear regression analysis was performed on the equation $W=L^a{\times}D_2^b$ with variation of the length (L) and diameter (D2) of the weight (W) of the oriental melons. As a result, it was shown that there was a correlation between a of 2.0279 and b of -0.9998 as a constant value. The average diameter of the oriental melon vine was 3.8 mm, and most vines were distributed within a radius of 5 mm from the center. The average yield value, compressive strength and hardness of the oriental melons were $36.5N/cm^2$, $185.7N/cm^2$ and $636.7N/cm^2$, respectively. The average cutting force and shear strength of the oriental melon vines were $2.87{\times}10^{-2}\;N$ and $5.60N/cm^2$, respectively. The maximum friction coefficient of the oriental melons was rubber of 0.609, followed by aluminium of 0.393, stainless steel of 0.177 and teflon of 0.079. It was considered possible to apply it to the size of the gripper and cutter, turning radius, dynamics of drive motor and selection of materials and their quality in light of the position error and safety factor according to the movement when designing end effector based on the analyzed data.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.91-99
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• 2020

Fruit and vegetable harvesting robots have been widely studied and developed in recent years to reduce the cost of harvesting tasks such as labor and time. However, harvesting robots have many challenges due to the difficulty and uncertainty of task. In this paper, we characterize the crop environment related to the harvesting robot and analyzes state-of-the-art of the harvesting robot especially, in the viewpoint of robotic end-effector. The end-effector, an one of most important element of the harvesting robot, was classified into gripper and harvesting module, which were reviewed in more detail. Performance measures for the evaluation of harvesting robot such as test, detachment success, harvest success, and cycle time were also introduced. Furthermore, we discuss the current limitations of the harvesting robot and challenges and directions for future research.

• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 2000.10b
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• pp.31-35
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• 2000

현재 대부분의 작물수확에 있어, 노지 재배를 탈피하여 시설재배면적이 증가하고 있다. 현재 원예산업에서 전체 농가 생산액 대비를 보면 95년 기준으로 38.9%를 점하고 있다. 이는 80년대 이후 해마다 증가하였고, WTO시대에 도래하여 세계 속에서 우리 농산물은 경쟁을 해야 할 때다. 원예산업 비중에서, 채소가 25.2%, 과수가 11.2%, 화훼가 2%를 차지하고 있다. 이중 시설채소 재배도 8.5%의 비중을 차지하고 있고, 통계청 자료에 의하면 오이의 재배면적이 97년에 268ha에서 98년에 420ha로 증가하였다. (중략)

• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 2000.10b
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• pp.98-103
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• 2000

포도 생과의 수입 개방으로 1996년에 2,400톤, 1997년에 3,500톤을 수입한 바 있다. 현재까지는 칠레산 포도가 3월부터 5월 사이에 수입되어 그 동안 안정적으로 발전해 오던 시설포도의 수익성이 크게 떨어진 바 있으나 수입종 과실의 품질, 기호성, 신선도, 잔류 농약의 문제 등으로 소비자들이 국산 포도를 선호하고 있어 크게 문제되지 않고 있다. 그러나 앞으로의 포도의 지속적인 수입 개방으로 인하여 좋은 품질의 포도가 수입될 것으로 예상된다. (중략)

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.6
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• pp.104-110
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• 2014

This paper presents a non-contact inspection system for automatically measuring the thickness of an aircraft wing rip product. In order to conduct the inspection of the wing rib thickness automatically, a non-contact laser displacement sensor, end-effector, and a robot were selected for use. The non-contact type inspection system was evaluated by measuring the measurement deviation of the rotation direction of a C-type yoke end-effector and the transfer direction of a V-slim end-effector. In addition, the non-contact inspection system for wing rib thickness measurements was validated through thickness measurements of a web, flange, and stiffener.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.207-215
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• 2021

There is a risk of serious injury to workers who work at height in pier construction process. By using auto climbing formwork system that does not need to dismantle and reinstall formworks, it is possible to improve work efficiency and safety of workers. However, auto climbing formwork system still requires workers to work on a pier for rebar connection works and so on. In order to eliminate works by workers on the pier, robot manipulators with special end effectors are proposed. Through analysis of works on the pier, three specialized end effectors which are a gripper, a rebar coupler press, and a concrete vibrator, are suggested. Also, new pier construction scenario by the suggested system is confirmed using 3d modeling. It is expected that the proposed system and method enables pier construction without workers on piers. It will increase safety and efficiency of pier construction.