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차량 도장표면 검사용 로봇 관련 특허/검사규격에 대한 선행 연구
김태운(T. U. Kim),김용석(Y. S. Kim),오지우(J. W. Oh),우경행(K. H. Woo),양순용(S. Y. Yang) 유공압건설기계학회 2016 유공압건설기계학회 학술대회논문집 Vol.2016 No.6
The fundamental purpose of the vehicle painting is a primary object to prevent corrosion by coating a coating material on the surface. In general, the vehicle paint surface inspection is dependent on the hand of the operator with visual and tactile. Therefore, it is necessary to improve and protect the operator from the volatile matter generated from several kinds of organic solvent and a pigment, resin used in the painting process. In addition, the inspection process for painting the surface defects have to rely on hand of the operator there is a deviation detection. Because many companies are devoting a lot of effort to automate the inspection process as well as the painting process. In this paper, we investigated the related patents, released products, standard. before developing automotive painting surface inspection robot system using vision system.
김태운(T. U. Kim),오지우(J. W. Oh),웬치탄(C. T. Nguyen),김용석(Y. S. Kim),우경행(K, H, U),양순용(S. Y. Yang) 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.6
Nowadays, the important selection criteria of the car customers are design and performance. Painting is an important element to finish the design of a car. Manufactures have been built an automated painting system by robots. However, the checking process of the vehicle’s panting surface is only conducted by human so the vehicle production line is not completely automatic manufacturing. In this study, we design an automated checking system for vehicle’s surface painting. In this system, industrial robots which their end-effectors are attached cameras are placed along of the product line. When the robotics move the cameras across the vehicle’s body surface, the vision system will track the quality of the surface to detect the painting defects. Therefore, the system can obtain many benefits for the production line such as reducing the working time, decreasing defect rate, saving modified cost. Moreover, it can improve the accuracy of the inspection and the reliability of the company by reducing the claims from the consumer.
자율주행자동차의 주행환경을 고려한 라이다 틸팅 메커니즘 개발에 관한 연구
오지우(J. W. Oh),김태운(T. U. Kim),김인호(I. H. Kim),양순용(S. Y. Yang) 유공압건설기계학회 2016 유공압건설기계학회 학술대회논문집 Vol.2016 No.6
This research discusses about using LIDAR for recognizing the vehicles or the obstacles in the front. The LIDAR (Light Detection and Ranging) transmits a laser and receives its reflection from the objects as the vehicles or the obstacles. Basing on the Pitching of vehicle, the distance to obstacles is determined by measuring the response time of laser signal, frequently this measurement is effected by reflecting angles in measuring process, therefore the reliability of measured data is gotten lowered. Non-measurable area accordance with the pouting position occurs. In this paper, a basic study on the development of Tilting mechanism for minimizing the non-measurable area when parking or driving on narrow road or alleys.
2000cc 세단 트렁크용 휠체어 리프트 시스템 구축을 위한 기구학 및 제어 연구개발
김영재(Y. J. Kim),나선준(S. J. Na),김태운(T. U. Kim),김용석(Y. S. Kim),양순용(S. Y. Yang) 유공압건설기계학회 2018 유공압건설기계학회 학술대회논문집 Vol.2018 No.6
When wheelchair users use a car, a situation occurs in which the wheelchair must be loaded on the vehicle trunk. Wheelchair users are assisted by others for loading wheelchair on the car"s trunk. However, due to the weight of the wheelchair and the inconvenient structure of the wheelchair, the normal person also have difficulty in loading and unloading. Therefore, it is necessary to provide an auxiliary system to help the disabled to load the wheelchair in the trunk when boarding the vehicle. This system design studies the wheelchair lift system in the narrow trunk space of the 2000cc class sedan. Mechanisms are constructed to load and unload 15kg wheelchair within 80sec, and controlled by the Arduino-based control system. Future research will develop the system that automatically transports wheelchair from the driver"s seat to the wheelchair cage and will complete the automatic wheelchair transport-lift system by connecting with the lift system.
Design of Soil-Pile Scanning System Using the Laser Rangefinder
Quang Hoan Le(레광환),S.W.Chio(최성웅),T.U.Kim(김태운),C.T.Nguyen(웨치탄),J.W.Lee(이재우),S.Y.Yang(양순용) 유공압건설기계학회 2016 유공압건설기계학회 학술대회논문집 Vol.2016 No.6
Nowadays, autonomous excavators are studied to replace the human presence when the machine is working in the hazardous environment. Especially, the perception for defining the shape and the dimension of the soil-pile should be developed to generate the excavation path planning. In this paper, a scanning system for soil-pile will be presented to apply to the autonomous excavator. First, a laser range finder (2D Lidar) is mounted to a bracket which is forced to slide vertically by linear actuator. Then, a data processing program filters the scanning result from the measurement. Finally, the soil-pile shape is determined by meshing the point cloud by using the Delaunay triangulation method. An experiment for real soil-pile is also implemented to verify the performance of the system.