• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.137-142
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• 2001

Since recent production system becomes that of the small quantity, large volume with high quality production, accurate and high speed inspection system is required. In such situation, noncontact 3D measurement system which utilized CCD cameras is useful technique in terms of system cost, speed of data acquisition, measuring accuracy and application. However, it has low accuracy compared with contact 3D measurement system because of the camera distortion, non uniformity of laser distribution and so on. For those reasons, in this paper precision enhancement method is studied considering radial camera distortion, and laser distribution. A distortion correction method is applied even to the standard lens. The laser slit beam trajectory is determined by 3 method: based of the Gaussian function signal approximation, the median method, the center of gravity method and the peak point of the Gaussian function method.

• 대한기계학회논문집A
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• 제21권11호
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• pp.1862-1870
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• 1997

A fast and precise technique to measure 3-dimensional coordinates of an object is proposed. It is essential to take the 3-dimensional measurements of the object in design and inspection. Using this developed system a surface model of a complex shape can be constructed. 3-dimensional world coordinates are projected onto a camera plane by the perspective transformation, which plays an important role in this measurement system. According to the shape of the object two measuring methods are proposed. One is rotation of an object and the other is translation of measuring unit. Measuring speed depending on image processing time is obtained as 200 points per second. Measurement resolution i sexperimented by two parameters among others; the angle between the laser beam plane and the camera, and the distance between the camera and the object. As a result of these experiments, it was found that measurement resolution ranges from 0.3mm to 1.0mm. This constructed surface model could be used in manufacturing tools such as rapid prototyping machine.

• 한국정보통신학회논문지
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• 제3권4호
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• pp.859-865
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• 1999

3차원 정보를 얻기 위해서는 레이저나 카메라와 같은 많은 센서들이 이용된다. 그러나 대부분의 레이저 캘리브레이션 방법은 많은 량의 메모리와 실험 데이터가 필요하기 때문에 비효율적인 방법이다. 본 논문에서 제시하는 방법은 레이저 캘리브레이션 데이터를 단순히 삼각법을 이용하여 구하기 때문에 컴퓨터의 메모리와 실험 데이터의 량을 줄일 수 있는 장점이 있다. 실 세계상에 놓여있는 물체의 3차원 정보를 얻기 위해서는 레이저 캘리브레이션이 필요한데 본 논문에서는 삼각법을 이용한 슬릿 빔 레이저 캘리브레이션 방법을 소개하고자 한다. xy테이블에 수직으로 설치된 레이저빔이 아랫 방향으로 사영되고 CCD 카메라는 물체와 사영면이 교차하는 교차면 데이터를 저장한 후 저장된 관측 데이터와 캘리브레이션 데이터를 이용하여 3차원 정보를 얻게된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.40-43
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• 1997

This paper presents a 3D object recognition method for generation of 3D environmental map or obstacle recognition of mobile robots. An active light source projects a stripe pattern of light onto the object surface, while the camera observes the projected pattern from its offset point. The system consists of a laser unit and a camera on a pan/tilt device. The line segment in 2D camera image implies an object surface plane. The scaling, filtering, edge extraction, object extraction and line thinning are used for the enhancement of the light stripe image. We can get faithful depth informations of the object surface from the line segment interpretation. The performance of the proposed method has demonstrated in detail through the experiments for varies type objects. Experimental results show that the method has a good position accuracy, effectively eliminates optical noises in the image, greatly reduces memory requirement, and also greatly cut down the image processing time for the 3D object recognition compared to the conventional object recognition.

• 한국정밀공학회지
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• 제9권1호
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• pp.82-95
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• 1992

There is the high interest for sensing of tool wear with the aim of controlling machine tools productivity from the point of view of qualitity. Difficulties in this measurement are also known. This study is on the development of measurement setup for crater wear by CCD image inturning. In this study, the crater wear measurement system consists of the He-Ne gas laser, diffraction grating. CCD camera, noise filter, slit, microcomputer, diverging lens, converging lens and so on. He-Ne laser beam passes through a diverging lens and a diffraction grating is positioned properly. A converging lens focuses so that the interference fringes can be obtained on the crater wear. Performance test revealed that the developed image technique provides precise, absolute tool-wear quantification and reduces human measurement errors. The results obtained are as follows 1. The digitizing of one image requires less than 2ses. 2. It can give detailed information on crater wear with limited times and errors 3. All parameters required by specification are easily obtained for several points of the cutting edge.

• 대한인간공학회지
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• 제20권3호
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• pp.77-88
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• 2001

A three dimensional body scanner for anthropomentric measurement has been developed. In this study, the slit laser beam projection method followed by digital image processing was used to provide accurate spatial data with the typical optical triangulation method to overcome the many difficulties in traditional in accurate and time-consuming tactic measurement method using rulers and gauges. Compared with other commercialized scanners. this system can obtain a relatively wide range of data at a much lower cost by the specially designed scanning process such as the simultaneous acquisition of vertical and horizontal body cross-section profiles.

• 융합신호처리학회논문지
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• 제10권1호
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• pp.13-22
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• 2009

본 연구에서는 레이저 슬릿 빔을 이용한 능동 스테레오 정합 기법과 모자이크 기법을 결합한 3차원 형상 복원 기법을 제안한다. 능동 스테레오 정합 기법은 레이저 슬릿 빔이 조사된 좌, 우 영상에서 색상과 밝기 변화를 분석하여 레이저 라인의 위치정보를 검출하고, 등극선(epipolar line)에서 이를 비교하여 깊이 정보를 획득하는 방법이다. 모자이크 기법은 해리스 코너 검출 방법(harris corner detection)을 이용하여 영상의 특징점을 검출하고, 특징점 기술자(keypoint descriptor) 색인 분류 방법으로 연속 영상 간 특징점의 대응쌍을 찾고 상호 변환 관계를 추정하는 방법이다. 능동 스테레오 정합기법과 모자이크 기법을 이용하여 전체 연속 영상의 깊이 정보를 계산하였다. 이와 같은 방법으로 획득한 연속 영상의 깊이 정보를 영상의 색상, 질감 정보와 융합(blending)과정을 거쳐 최종 3차원 형상 정보로 복원하였다. 제안한 복원기법은 레이저 슬릿 빔과 스테레오 카메라를 사용함으로써 장소와 거리 제약 조건을 극복하여 용이하면서도 강인한 3차원 거리 정보를 획득할 수 있었다.

• 한국정밀공학회지
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• 제18권6호
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• pp.159-165
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• 2001

Recently Moire and PMP(Phase Measuring Profilometry) are adopted as a practical methodology for non-contact 3-D measurement of free surface. These methods extract the 3-D informations from the images of the object projected with stripe-pattern light. This paper presents a simple projector generating stripe-pattern light using expensive polygon mirror. In this projector, slit-beam is generated with a Laser diode and a rod lens and the laser diode is switched on/off synchronizing with the rotation of the polygon mirror. So its structure is very simple and light-weighted compared to the existent projection methods using several lenses and it is also easy to change the pitch and the phase of the stripe pattern. Experimental results show that the intensity profile of the stripe pattern can be approximated with sinusoidal curve by reducing the pitch of the stripe pattern.

• 한국정밀공학회지
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• 제12권9호
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• pp.156-166
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• 1995

This paper presents a bin picking method using a slit beam laser in which a robot recognizes all of the unoccluded objects from the top of jumbled objects, and picks them up one by one. Once those unoccluded objects are removed, newly developed unoccluded objects underneath are recognized and the same process is continued until the bin gets empty. To recognize unoccluded objects, a new algotithm to link edges on slices which are generated by the orthogonally mounted laser on the xy table is proposed. The edges on slices are partitioned and classified using convex and concave function with a distance parameter. The edge types on the neighborhood slices are compared, then the hamming distances among identical kinds of edges are extracted as the features of fuzzy membership function. The sugeno fuzzy integration about features is used to determine linked edges. Finally, the pick-up sequence based on MaxMin theory is determined to cause minimal disturbance to the pile. This proposed method may provide a solution to the automation of part handling in manufacturing environments such as in punch press operation or part assembly.

• 한국산학기술학회논문지
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• 제14권5호
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• pp.2113-2120
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• 2013

본 연구는, LED 칩 패키지에 있는 토출된 형광체 수지의 모양을 인라인 측정을 통해 개발된 검사 시스템을 기초로 한 효율적인 머신 비전에 관한 연구이다. 형광체의 반투명 특성 때문에 조사된 빛이 칩의 표면뿐만 아니라 하단 부에서도 반사된다. 이러한 현상이 LED 칩 검사의 신뢰성을 저하시키기 때문에 적절한 조명 광학계를 결정하기 위해 백색광 LED 와 635nm의 레이저 슬릿 빛을 이용하여 검사하였다. 또한, 광 삼각측정법을 이용해 정반사와 분산반사법으로 검사를 수행하였다. 실험 결과 백색 슬릿 광과 정반사 반사법의 조합이 가장 좋은 검사 결과를 낸다는 것을 확인할 수 있었다. Catmull-Rom 스플라인 보간법을 이용하여 측정된 데이터를 부드러운 표면 형상으로 나타내었다. 측정 결과를 통해 개발된 시스템이 LED 칩 패키징 공정에 인라인 검사에 성공적으로 적용될 수 있다는 결론을 내릴 수 있다.