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2.发明公开컬러 정보를 이용한 팔레트 검출 방법, 및 무인 운송 로봇의 팔레트 적재 상태 인식용 비전 모듈 审中-实审一种使用颜色信息的调色板检测方法以及一种用于识别无人运输机器人的托盘装载状态的视觉模块
公开(公告)号：KR1020170092734A
公开(公告)日：2017-08-14
申请号：KR1020160013333
申请日：2016-02-03
Applicant: 한국기술교육대학교 산학협력단
Abstract: 팔레트의컬러정보와물리적인형상에대해서오프라인에서처리한팔레트의기준영상과, 물류센터내에서이동하는무인운송로봇에장착된카메라로부터의입수된팔레트의비교영상으로부터, 기준영상및 비교영상에대해서, HSV 원뿔(conic) 컬러모델을사용하여, 기준영상및 비교영상의공간좌표에대해서, 컬러디스턴스를계산하고, 이컬러디스턴스에기초하여비교영상을그레이영상으로변환하고, 변환된그레이영상을이진화하여팔레트의외곽선을검출하여, 비교영상중의팔레트를검출하는방법이제공된다. 또한, 물류센터내에서이동하는무인운송로봇에장착된비전카메라로부터입수되는영상으로부터, 팔레트또는상기팔레트에적재된화물의최상단을이루는좌표집합으로부터, 소정의편평도를계산하고, 계산된편평도가소정의범위내이면, 팔레트상에이중적재가가능하다고결정하는, 무인운송로봇의팔레트상태인식용비전모듈도제공한다.
Abstract translation: 在离线处理相对于颜色信息和调色板参考图像的物理形状，并且从安装在无人搬运机器人在分配中心以移动所获得的托板的照相机robuteoui比较图像托盘，相对于所述基准图像和比较图像， 使用HSV锥（锥）颜色模型，相对于所述基准图像和比较图像的空间坐标，并计算基于所述色彩距离的色彩距离和比较图像转换为灰度图像，转换后的灰度图像的二值化 提供了一种检测调色板轮廓并在比较图像中检测调色板的方法。 此外，从图像从安装在无人搬运机器人视觉照相机在配送中心移动，从该组构成装载在托盘或托盘，并计算规定的平坦度的货物的顶部坐标来获得，所计算的平坦度预定 也可以提供处于无人搬运机器人的货盘状态的食用视觉模块，其确定托盘可以双重制造。
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公开(公告)号：KR101392823B1
公开(公告)日：2014-05-12
申请号：KR1020130009273
申请日：2013-01-28
Applicant: 한국기술교육대학교 산학협력단
CPC classification number: G06T7/0008 , G06T7/337 , G06T2207/20081 , G06T2207/30248
Abstract: Disclosed is a method for detecting the existence of a part by analyzing an image obtained by photographing a part of a chassis. The method comprises a step of extracting a first image sample in which a part exists, a second image sample in which the part does not exist, and a third image sample which is irrelevant to the existence of the part; a step of learning how to detect the part from the image using the extracted first, second, and third samples; and a step of determining the existence of the part learned in a predefined interest section of the image, obtained by photographing a part of the chassis, based on the learning results.
Abstract translation: 公开了一种通过分析通过拍摄底盘的一部分而获得的图像来检测零件的存在的方法。 该方法包括提取部分存在的第一图像样本，不存在该部分的第二图像样本和与该部分的存在无关的第三图像样本的步骤; 使用提取的第一，第二和第三样本学习如何从图像检测部分的步骤; 以及基于学习结果确定通过拍摄一部分机架获得的图像的预定兴趣部分中学习的部分的存在的步骤。
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公开(公告)号：KR101609819B1
公开(公告)日：2016-04-06
申请号：KR1020140193105
申请日：2014-12-30
Applicant: 한국기술교육대학교 산학협력단
Abstract: 차간거리추정장치는카메라, 정보처리장치, 차선규격데이터베이스, 및출력장치를포함한다. 상기카메라는앞차및 차선의영상을이미지데이터로변환시킨다. 상기정보처리장치는상기카메라로부터복수의프레임동안이미지데이터를인가받아차선데이터를검출하는차선검출부와, 상기앞차의 y축화소위치를검출하여상기차선데이터및 기저장된차선규격데이터와비교하여상기앞차와운행차량사이의거리를추정하는거리추정부와, 상기거리정보생성부에의해추정된거리를상기복수개의프레임동안수집하여상기추정된거리를보정하는보정부를포함한다. 상기차선규격데이터베이스는상기차선규격데이터가저장된다. 상기출력장치는상기정보처리장치에의해생성된상기추정된거리를출력한다.
Abstract translation: 用于估计车辆间距离的装置包括照相机，信息处理装置，车道标准数据库和输出装置。 相机将前一个车辆和车道的图像转换为图像数据。 信息处理装置具有车道检测单元，距离估计单元和校正单元。 车道检测单元通过从相机对多个帧应用的图像数据来检测车道数据。 距离估计单元通过检测前一个轿厢的y轴像素位置并将y轴像素位置与车道数据和预先存储的车道标准数据进行比较来估计前一个轿厢和行驶车辆之间的距离。 校正单元通过收集由多个帧的距离信息生成单元估计的距离来校正估计距离。 车道标准数据存储在车道标准数据库中。 输出装置输出由信息处理装置产生的估计距离。
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公开(公告)号：KR1020140098316A
公开(公告)日：2014-08-08
申请号：KR1020130010648
申请日：2013-01-30
Applicant: 한국기술교육대학교 산학협력단
CPC classification number: H04N7/185 , H04M1/04 , H04N5/23219
Abstract: The specification discloses a monitoring apparatus using a portable terminal. According to the present invention, peripheral environment information provided from a portable terminal, which collects and sends non-static peripheral environment information, is received via a network and displayed on screens of a plurality of customer terminals by using user interface (UI); and a spacing distance between a monitoring server and the portable terminal is maintained at a sufficient level. Also, a control signal for driving a motor on a pan and tilt mount is generated and transmitted in order to track a moving image by extracting stable motion information from the collected non-static peripheral environment information, such that the portable terminal is easily controlled.
Abstract translation: 本说明书公开了使用便携式终端的监视装置。 根据本发明，通过网络接收从收集和发送非静态外围环境信息的便携式终端提供的外围环境信息，并通过使用用户界面（UI）在多个客户终端的屏幕上显示; 并且监视服务器和便携式终端之间的间隔距离保持在足够的水平。 而且，通过从所收集的非静态外围环境信息提取稳定的运动信息，生成并发送用于驱动摇摄和倾斜安装件上的电动机的控制信号，以便跟踪运动图像，使得便携式终端容易控制。
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Patent Agency Ranking
公开(公告)号：KR1020130114899A
公开(公告)日：2013-10-21
申请号：KR1020120037315
申请日：2012-04-10
Applicant: 한국기술교육대학교 산학협력단
IPC: H04N7/18
CPC classification number: H04N7/181 , G06T7/73 , H04N5/23296
Abstract: PURPOSE: An image detection method and a device thereof using a dual camera are provided to continuously trace a moving object by converting a coordinate value of a moving object detected in a fixed type camera into a coordinate value of a movable camera. CONSTITUTION: A monitoring region matching unit (110) extracts respective feature points from a photographed image of a fixed camera and a movable camera while controlling an angle of the movable camera. The monitoring region matching unit designates a reference location of the movable camera with respect to the fixed camera through a matching process between the extracted feature points. A coordinate conversion unit (120) converts an image coordinate of a moving object detected by the fixed camera into an image coordinate of the movable camera. A camera control unit (130) controls at least one of a pan angle, a tilt angle and a zoom magnification ratio to trace the moving object using the converted coordinate value. [Reference numerals] (10) Fixed camera; (110) Monitoring region matching unit; (120) Coordinate conversion unit; (130) Camera control unit; (20) Mobile camera
Abstract translation: 目的：提供一种使用双相机的图像检测方法及其装置，用于通过将在固定型照相机中检测的移动物体的坐标值转换为可移动照相机的坐标值来连续地追踪移动物体。 构成：监视区域匹配单元（110）在控制可移动摄像机的角度的同时从固定摄像机和可移动摄像机的拍摄图像中提取各个特征点。 监视区域匹配单元通过所提取的特征点之间的匹配处理来指定可移动摄像机相对于固定摄像机的参考位置。 坐标转换单元（120）将由固定摄像机检测的移动物体的图像坐标转换成可移动摄像机的图像坐标。 相机控制单元（130）使用转换的坐标值来控制摇摄角度，倾斜角度和变焦倍率中的至少一个来跟踪移动物体。 （附图标记）（10）固定摄像机; （110）监控区域匹配单元; （120）坐标转换单元; （130）相机控制单元; （20）手机
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公开(公告)号：KR101304137B1
公开(公告)日：2013-09-05
申请号：KR1020120063774
申请日：2012-06-14
Applicant: 한국기술교육대학교 산학협력단
CPC classification number: G06T7/64 , G06T7/0004 , G06T7/149
Abstract: PURPOSE: A vision based part curvature estimating method and an apparatus thereof are provided to extract an outline from a photographed image about a part having a curved surface and to estimate central point coordinates about a virtual circle having the curved surface as an arc using arbitrary coordinates of the outline corresponding to the curved surface, thereby accurately estimating an actual curvature value about the curved surface. CONSTITUTION: A part curvature estimating apparatus obtains a photographed image about a part having a curved surface (S410). The part curvature estimating apparatus extracts an outline of the part from the photographed image (S420). The part curvature estimating apparatus estimates central point coordinates about a virtual circle having the curved surface as an arc using arbitrary coordinates of the outline corresponding to the curved surface (S430). The part curvature estimating apparatus estimates curvature of the curved surface using the arbitrary coordinates and the central point coordinates (S440). [Reference numerals] (AA) Start; (BB) End; (S410) Obtain a photographed image about a part having a curved surface; (S420) Extract an outline of the part from the photographed image; (S430) Estimate central point coordinates about a virtual circle having the curved surface as an arc using arbitrary coordinates of the outline corresponding to the curved surface; (S440) Estimate curvature of the curved surface using selected arbitrary coordinates forming the outline and the central point coordinates; (S450) Compare the estimate curvature information to the basic curvature information; (S460) Correction control of the curvature
Abstract translation: 目的：提供一种基于视觉的部分曲率估计方法及其装置，用于从拍摄的图像中提取关于具有曲面的部分的轮廓，并且使用任意坐标估计围绕具有曲面的虚拟圆的中心点坐标 对应于曲面的轮廓，从而精确地估计关于曲面的实际曲率值。 构成：部分曲率估计装置获得关于具有曲面的部分的拍摄图像（S410）。 部分曲率估计装置从拍摄图像中提取该部分的轮廓（S420）。 部分曲率估计装置使用对应于曲面的轮廓的任意坐标来估计关于具有曲面的虚拟圆的中心点坐标（S430）。 部分曲率估计装置使用任意坐标和中心点坐标来估计曲面的曲率（S440）。 （附图标记）（AA）开始; （BB）结束; （S410）获取关于具有曲面的部分的拍摄图像; （S420）从拍摄图像中提取部分的轮廓; （S430）使用对应于曲面的轮廓的任意坐标来估计关于具有曲面的虚拟圆的中心点坐标为弧; （S440）使用形成轮廓和中心点坐标的选择的任意坐标来估计曲面的曲率; （S450）将估计曲率信息与基本曲率信息进行比较; （S460）曲率的校正控制
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公开(公告)号：KR101880489B1
公开(公告)日：2018-08-20
申请号：KR1020160155521
申请日：2016-11-22
Applicant: 한국기술교육대학교 산학협력단
Abstract: 본발명은신발밑창선별시스템및 선별방법에관한것으로, 안착된다수개의신발밑창을이동시키는컨베이어밸트와, 컨베이어밸트에안착된신발밑창을촬영하는광학장치와, 광학장치로부터촬영이미지를전송받고, 신발밑창의불량을판단하는판단로직부를포함하며, 컨베이어밸트를통해이동중인신발밑창의촬영이미지로부터신발밑창의치수를산출하고, 불량여부를판단하게되므로, 신발밑창의생산성이증대되는, 신발밑창선별시스템및 선별방법을제공한다.
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公开(公告)号：KR101858446B1
公开(公告)日：2018-05-17
申请号：KR1020160155522
申请日：2016-11-22
Applicant: 한국기술교육대학교 산학협력단
IPC: B07C5/342
CPC classification number: B07C5/3422
Abstract: 본발명은신발밑창선별정확도향상방법에관한것으로, 신발밑창을촬영하는단계와, 생성된촬영이미지에서신발밑창의테두리선을추출하는단계와, 테두리선을이루는점들중 어느두 점을잇는선들로부터, 최장선과최장선과수직한다수개의계측선을선정하는단계와, 최장선과다수개의계측선의길이를산출해산출값을획득하는단계와, 산출값을근거로신발밑창의품질을판단하는단계를포함하며, 신발밑창의촬영이미지로부터최장선및 계측선을선정하고, 최장선및 계측선의길이를산출해신발밑창의품질을판단하게되므로, 촬영이미지로부터표식검출이불필요하며이로인해, 종래사용되던금형또는제작중인금형을가공하지않더라도적용이가능한, 신발밑창선별정확도향상방법을제공한다.
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公开(公告)号：KR101431115B1
公开(公告)日：2014-08-19
申请号：KR1020130010648
申请日：2013-01-30
Applicant: 한국기술교육대학교 산학협력단
Abstract: 본 발명은 휴대 단말기를 이용한 감시 장치가 개시되어 있다. 이러한 본 발명에 따르면, 비정적인 주변 환경 정보를 수집하여 제공하는 전송하는 휴대 단말기로부터 공급되는 주변 환경 정보를 네트워크를 통해 제공받아 사용자 인터페이스(UI: User Interface)를 이용하여 다수의 고객 단말기의 화면에 표시할 수 있고 모니터링 서버와 휴대 단말기 간의 이격 거리를 충분히 확보할 수 있으며, 수집된 비정적인 주변 환경 정보로부터 안정적인 움직임 정보를 도출하여 움직이는 영상을 추적하기 위해 팬 및 틸트 거치대의 모터를 구동하는 제어 신호를 생성하여 전송함에 따라, 휴대 단말기의 제어가 용이하다.
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