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Bin-Picking Method using Stereo Vision
Joo, Kisee,Han, Min-Hong 한국경영과학회 1994 한국경영과학회 학술대회논문집 Vol.- No.1
This paper presents a Bin-Picking method in which robot recognizes the positions and orientations of unoccluded objects at the top of jumbled objects placed in a bin, and picks up the unoccluded objects one by from the jumble. A method using feasible region, painting, and hierarchical test is introduced for recognizing the unoccluded objects from the jumbled objects. The 3D information is obtained using the bipartite-matching method which finds the least difference of 3D by comparing vertexes of one camera with vertexes of the other camera, then hypothesis and test are done. The working order of unoccluded objects is made based on 3D, position, and orientation information. The robot picks up the unoccluded objects from the jumbled objects according to the working order. This all process continues to the empty bin.
The Rope Weight Measurement System Development
JOO, KISEE 목포해양대학교해사산업기술연구소 1997 심포지움강연논집 Vol.1997 No.11
Recently, the computer vision in field of product inspection is very popular to achieve the factory automation since the labor cost is dramatically increasing. In this paper, the diameter of a rope is 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 a rope. If the rope's weight 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 weight on real time, the searching space is restricted the predetermined area according to the camera calibration position. This method contributes to reduce the production cost since the operators are necessary to measure the weight of a rope by try-and-error method.