• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.164-171
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• 2010

We have studied the port-automation system which is requested by the steep increment of cost and complexity for processing the freight. This paper will introduce a new algorithm for navigating and controlling the autonomous Guided Vehicle (AGV). The camera has the optical distortion in nature and is sensitive to the external ray, the weather, and the shadow, but it is very cheap and flexible to make and construct the automation system for the port. So we tried to apply to the AGV for detecting and tracking the lane using the CCD camera. In order to make the error stable and exact, this paper proposes new concept and algorithm for obtaining the error is generated by the Virtual Photo-Sensor Array (VPSA). VPSAs are implemented by programming and very easy to use for the various autonomous systems. Because the load of the computation is light, the AGV utilizes the maximal performance of the CCD camera and enables the CPU to take multi-tasks. We experimented on the proposed algorithm using the mobile robot and confirmed the stable and exact performance for tracking the lane.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.2 no.1
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• pp.141-146
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• 1998

Recently, the computer vision such as part measurement, and product inspection is very popular to achieve the factory automation since the labor cost is dramatically increasing. In this paper, the diameter and the length of rope are measured by CCD camera which is orthogonally mounted on the ceiling. Two parameters which are the diameter and the length of rope are used to measure the weight of rope. If the weight of rope is reached to predetermined weight, the information is transmitted to PLC(programmable logic control) to cut the rope on the wheel. The cutting machine cuts the rope according to the information obtained from the CCD camera. To measure the diameter and length of rope on real time, the searching space for image segmentation is restricted the predetermined area according to the camera calibration position. Finally, to estimate the weight of rope, the knowledge base system which depends on the diameter, the length of rope, and weight relation between these information are constructed according to diameters of rope. This method contributes to achieve the factory automation, and reduce the production cost since the operators are unnecessary to measure the weight of rope by try-and-error method.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.8
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• pp.641-646
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• 2016

The best method of measuring wood diameter is a contact-type device: however, obtaining an accurate result can be problematic under certain circumstances. In this study, we used a laser beam and a CCD camera that did not require contact with wood. The wood is illuminated by the laser beam, and the CCD camera captures this illumination. The measurement results were determined by processing of the captured image sequences. This paper explains the use of image processing and laser systems for measurement of wood under circumstances in which physical contact is impossible.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.123-124
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• 2008

The appearance inspection of various electronic products and parts has been executed by the eyesight of human. But inspection by eyesight can't bring about uniform inspection result. Because the appearance inspection result by eyesight of human is changed by condition of physical and spirit of the checker. So machine vision inspection system is currently used to many appearance inspection fields instead of the checker. Therefore we proposes a inspection system in this paper. it will be able to secure the objectivity of the prosecuting attorney using inspection system. Also this system has been developed only using PC, CCD Camera and Visual C++ for universal workplace.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.127-129
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• 2005

본 연구에서는 백라이트 유닛의 검사를 위한 머신비전 시스템을 구축한다. 시스템은 크게 하드웨어와 소프트웨어로 나눌 수 있고 하드웨어는 조명부, 영상획득부, 로봇 암 제어부로 분류된다. 조명부는 36W FPL램프로 구성되었고 조명부의 상판에 아크릴판을 거치대로 이용하여 백라이트 유닛을 거치한다. 로봇 암 제어부는 2축 로봇 암을 제어하여 로봇 암의 센서부착 지지대에 부착된 CCD 센서를 이동시킨다. 이와 동시에 영상획득부에서는 이미지를 획득하여 PC로 전송한다. 소프트웨어의 화상처리 검사 알고리즘은 일정 패턴이 있는 도광판에 대한 검사 알고리즘과 일정패턴이 없근 백라이트 유닛에 대한 검사 알고리즘으로 분리된다. 일정 패턴이 인쇄되어 있는 패널에 대한 검사 알고리즘은 모폴로지 연산을 이용하는 템플릿 체크방법과 블록 매칭 방법이 사용되었고 일정패턴이 없는 유닛에 대한 검사는 개선된 Otsu 방법을 이용하여 얼룩이나 흐릿한 결함에 대한 결함을 검출하였다. 실험결과 불균일한 결함과 밝기가 일정하지 않은 결함일지라고 90% 이상의 검출율로 뛰어난 성능을 입증하였다.

• Journal of Welding and Joining
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• v.19 no.2
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• pp.208-214
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• 2001

In this study, we constructed a visual sensor system for weld seam tracking in real time in GMA welding. A sensor part consists of a CCD camera, a band-pass filter, a diode laser system with a cylindrical lens, and a vision board for inter frame process. We used a commercialized robot system which includes a GMA welding machine. To extract the weld seam we used a inter frame process in vision board from that we could remove the noise due to the spatters and fume in the image. Since the image was very reasonable by using the inter frame p개cess, we could use the simplest way to extract the weld seam from the image, such as first differential and central difference method. Also we used a moving average method to the successive position data or weld seam for reducing the data fluctuation. In experiment the developed robot system with visual sensor could be able to track a most popular weld seam. such as a fillet-joint, a V-groove, and a lap-joint of which weld seam include planar and height directional variation.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.152-155
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• 2005

본 논문에서는 CCD 카메라의 시각정보 이미지를 이용한 Machine Vision System을 개발하여 산업용 로봇에 적용하고 이를 통해 이동물체에 대한각종 조작 및 자동화 작업을 수행하는 지능형 산업용 로봇을 위한 실시간 비전 트래킹 시스템을 연구하였다. 비전 트래킹 시스템에서 물체의 위치 계산에 대한 정밀도와 함께 빠른 처리속도를 요구하므로 로봇제어기와는 별개의 Embadded 시스템으로 비전 제어기를 구성하고 로봇제어기와의 Serial 통신을 통하여 트래킹 시스템을 구현하였다.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.12
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• pp.3115-3123
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• 1993

This paper presents a real-time correction method of the movemont errors of a translatory precision machine axis. This method is a null-balances technique in which two plane mirrors are used to generate an interferometric fringe pattern utilizing the optical principles of TwymanGreen interferometry. One mirror is fixed on a reference frame, while the other is placed on the machine axis being supported by three piezoelectric actuators. From the fringe pattern, one translatory and two rotational error components of the machine axis are simultaneously detected by using CCD camera vision and image processing techniques. These errors are then independently suppressed by activating the peizoelectric actuators by real-time feedback control while the machine axis is moving. Experimental results demonstrate that a machine axis can be controlled with movement errors less than 10 nm in vertical straightness, 0.1 arcsec in pitch, and 0.06 arcsec in roll for 50mm travel by adopting the real-time correction method.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.1
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• pp.150-155
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• 2013

This work present a new method of sealing inspection system for vehicle in which foam rubber materials are used for sealing the vehicle parts. This system is composed from a devices comprising non-contact and real-time scanning on visual inspection in machine parts. We have been investigated qualitative factors that influenced on sealing system of vehicle structure which flexibly attenuated vibration and plenty of foam rubber materials having elastic property. However, there are different factors which still depended on outdated technique (personnel subjective judgment) in the performance inspection of rubber parts, specially for cross section inspection. Through a newly developed inspection system which recently applied for the production line, we successfully achieved more effective results of matching rate by about 80 % in the sealing performance inspection with 0.7% to 1.4% in the repeated errors. These are resulted from non-contacted response by CCD camera and vision program using geometry matching method. We expect that this system may be widely applied in the strict inspection parts of more diverse cross-section in future.

• Agricultural and Biosystems Engineering
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• v.5 no.1
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• pp.5-9
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• 2004

This study was carried out to develop methods of reducing the effect of solar illumination on pixel gray-levels of machine vision for agricultural field use. Two kinds of monochrome CCD cameras with manual and auto-iris lenses were used to take pictures within a range of 15 to 120 klux of solar illumination. A camera having more precise automatic control functions gave much better result. Four kinds of indices using pixel gray-level of the $99\%$ white DRS (diffuse reflectance standard) as a reference were tried to compensate pixel gray-levels of an image for variable illumination. Coefficients of variation of the indices within a range of illumination were used as a criterion for comparison. The study concluded that an index of (A+B)/A, where A is gray-level of the $99\%$ DRS and B is gray-level of the tested material, gave the best consistency in the range of solar illumination.