• 한국정밀공학회지
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• 제18권8호
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• pp.40-47
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• 2001

Optical measurement methods make it possible to detect object displacements with high resolution and noncontact measurements. Also, they are very robust against EMI noises and have long operation range. An optical triangulation sensor is one of widely used displacement measurement sensors for its sub-micron resolution, fast response, simple structure, and low cost. However. there are several errors caused by inclinations of a surface. speckle effects, power fluctuations of light sources, and noises of detectors. In this paper, in order to minimize error effects, we performed error analysis and proposed a new structure. Then, we setup a new modeling method and verify it through simulations and experiments. Based on the new model. we propose a new sensor structure and establish design criteria. Finally, we design a signal processing system to overcome a resolution-limited problem of light detectors. The resolution of the proposed system is 0.2${\mu}{\textrm}{m}$ in 5mm operating range.

• 제어로봇시스템학회논문지
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• 제9권5호
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• pp.368-373
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• 2003

This paper presents a cost-effective 3D foot scanner system that provides the 3-dimensional point cloud foot data to design the custom footwear. To measure the 3-dimensional point cloud data of the foot, a CCD camera, a Non-Gaussian laser line projector and optical triangulation method are employed. Furthermore, the integrated system employs a measurement base, a frame grabber, a CCD moving cart, a stepping motor and a computer. The measurement result is saved as 3D dxf format and it could be converted to 2D essential data fer a shoe design. The experimental results demonstrate that the proposed system have the decent resolution of 1mm which is enough for last and shoe design.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.690-695
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• 2004

A new dimension measuring method for the measurement of diameter of an object has been developed using laser triangulation. The 3-D data of an object was calculated from the 2dimensional image information obtained by the laser stripe using the laser triangulation. The system can measure the diameter of hole not only in a normal plane but also in an incline plane. We can experiment with magnification that is optimized according to size of object using zoom lens. In this paper, the theoretical formula and calibration of the system were described. The measuring precision of the system was investigated by experiment.

• 한국정밀공학회지
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• 제13권9호
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• pp.38-45
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• 1996

The optical triangulation method has been used as a non-contact measuring method of three dimensional object whape. But this measuring method has narrow measuring range, non-linearity on steep slope surface and shadow effect. In this study, we discussed a new optical measurement method to overcome these kinds of demerits. The advantage of this new method is that it is possible to measure precisely the object shape having the steep slope surface without shadow effect. As exper- imental results, maximum displacement error was 200 .mu. m over the whole measuring when the incident angle on the object surface was within 60 degree.

• 대한기계학회논문집
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• 제17권5호
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• pp.1202-1207
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• 1993

본 논문에서는 삼차원형상 측정의 슬릿광 주사방법(slit beam scanning topography)의 형상측정에 응용에 대해 기술한다. 이는 광학적인 방법으로 레이저 평면광을 물체에 주사하여 얻어지는 변형된 광궤적으로부터 광삼각법(optical triangulation)과 컴퓨터비젼 기술을 응용하여 삼차원형상을 측정한다. 기존의 방법 들과 비교하여 슬릿광 주사방법은 고속의 삼차원측정이 가능하여 검사자동화에 용이 하게 적용될 수 있는 장점을 갖는다. 본 논문에서는 슬릿광 주사방법에 대한 기본원 리를 유도하며, 이를 구현할 수 있는 측정시스템의 설계와 실제 측정예를 통해 본 방법이 갖는 장단점에 관하여 검토한다.

• Journal of Welding and Joining
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• 제21권2호
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• pp.102-110
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• 2003

A visual sensor consisted of polygonal mirror, laser, and CCD camera was proposed to measure the distance to the weld joint for recognizing the joint shape. To scan the laser beam of the sensor onto an object, 8-facet polygonal mirror was used as the rotating mirror. By locating the laser and the camera at axi-symmetrical positions around the mirror, the synchronized-scan condition could be satisfied even when the mirror was set to rotate through one direction continuously, which could remove the inertia effect of the conventional oscillating-mirror methods. The mathematical modelling of the proposed sensor with the optical triangulation method made it possible to derive the relation between the position of an image on the camera and the one of a laser light on the object. Through the geometrical simulation of the proposed sensor with the principal of reflection and virtual image, the optical path of a laser light could be predicted. The position and direction of the CCD camera were determined based on the Scheimpflug's condition to fit the focus of any image reflected from an object within the field of view. The results of modelling and simulation revealed that the proposed visual sensor could be used to recognize the weld joint and its vicinity located within the range of the field of view and the resolution. (Received February 19, 2003)

• 전기학회논문지
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• 제60권10호
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• pp.1959-1965
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• 2011

Measuring the movement of joint angle of human body is very important clinically. Human joint angle displacement can be used to evaluate the degree of disease and disability. Also, we can determine the rehabilitation process with angular information. Conventional methods for measuring angular displacement are many weakness. The purpose of this study is to overcome the limitations of existing equipments by using optical method. For this reason, optical sensor system was used to correlate detected light signal with joint angle. Experimental results of the applied joint model in this study showed that joint angular displacement can be measured by optical signals. The suggested method is simple, durable, small, lightweight, convenient, and cost effective.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.34-40
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• 2005

In this paper, we describe the modeling for the 3D robot laser scanning system consisting of a laser stripe projector, camera, and 5-DOF robot and propose its calibration method. Nonlinear radial distortion in the camera model is considered for improving the calibration accuracy. The 3D range data is calculated using the optical triangulation principle which uses the geometrical relationship between the camera and the laser stripe plane. For optimal estimation of the system model parameters, real-coded genetic algorithm is applied in the calibration process. Experimental results show that the constructed system is able to measure the 3D position within about 1mm error. The proposed scheme could be applied to the kinematically dissimilar robot system without losing the generality and has a potential for recognition for the unknown environment.

• 전자공학회논문지SC
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• 제43권3호
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• pp.8-15
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• 2006

이동 로봇의 많은 응용분야에서 장애물을 검출하는 것은 중요한 요소이다. 스테레오 비전과 광류를 이용하여 장애물을 검출하는 방법은 복잡한 연산을 요구하므로 본 논문에서는 단지 두 장면의 영상만을 이용하여 비전 기반 장애물 검출 방법을 제시하고 단일 카메라와 주행거리계를 사용하여 실시간 처리가 가능하도록 하였다. 제안한 방법은 두 장면으로부터 3차원 복원을 수행함으로서 장애물을 검출하는 방법으로 먼저 두 장면의 입력영상 각각에 대하여 Lowe의 SIFT를 사용하여 특징점을 추출하고 이들 간의 대응점을 구한다. 그리고 주행거리계로부터 주어지는 회전과 병진행렬 값들과 삼각법을 이용하여 대응점들에 대한 3차원 위치를 구한다. 이렇게 삼각법에 의해 얻어진 결과는 장애물들에 대한 부분적인 3차원 복원을 의미한다. 제안한 방법은 실내에서 주행하는 이동 로봇에 적용하였을 때 좋은 결과를 얻을 수 있었으며, 75msec의 속도로 장애물을 검출할 수 있었다.

• 한국광학회지
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• 제7권2호
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• pp.101-111
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• 1996

최근들어 반도체 산업의 자동검사장비에 고배율 광학현미경이 많이 사용되고 있다. 이러한 고배율 광학현미경에 있어서 선결과제가 물체를 광학현미경에 사용된 대물렌즈의 초점심도 내에 위치시키는 초점맞춤작업이다. 본 논문에서는 광삼각법을 기본구성으로하고 수광부에 2개의 2분할소자를 사용함으로써 물체의 표면상태에 둔감하면서 물체의 초점오차량에는 매우 민감한 초점오차신호를 만들어줄 수 있는 새로운 자동초점방법을 소개하였다. 얻어진 실험결과에 의하면 이 방법의 신호분해능은 5nm이며, 반복능은 0.5.mu.m이다.