• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.2
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• pp.165-171
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• 2004

Robots will be able to coexist with humans and support humans effectively in near future. One of the most important aspects in the development of human-friendly robots is to cooperation between humans and robots. In this paper, we proposed a method for multi-object identification in order to achieve such human-centered system and robot localization in intelligent space. The intelligent space is the space where many intelligent devices, such as computers and sensors, are distributed. The Intelligent Space achieves the human centered services by accelerating the physical and psychological interaction between humans and intelligent devices. As an intelligent device of the Intelligent Space, a color CCD camera module, which includes processing and networking part, has been chosen. The Intelligent Space requires functions of identifying and tracking the multiple objects to realize appropriate services to users under the multi-camera environments. In order to achieve seamless tracking and location estimation many camera modules are distributed. They causes some errors about object identification among different camera modules. This paper describes appearance based object representation for the distributed vision system in Intelligent Space to achieve consistent labeling of all objects. Then, we discuss how to learn the object color appearance model and how to achieve the multi-object tracking under occlusions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.6
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• pp.2624-2630
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• 2013

In LED chip packaging, die bonding is a very important process which fixes the LED chip on the lead flame to provide enough strength for the next process. During the process, inspection processes are very important to detect exact locations of dispensed epoxy dots and to determine bonding status of dies whether they are lies at exact positions with sufficient bonding strength. In this study, a useful machine vision based inspection system is proposed for the LED die bonder. In the proposed system, 2 cameras are used for epoxy dot position detection and 2 cameras are sued for die attaching status determination. New vision processing algorithm is proposed, and its efficiency is verified through required field experiments. Measured position error is less than $X:-29{\mu}m$, $Y:-32{\mu}m$ and rotation error:$3^{\circ}$ using proposed vision algorithm. It is concluded that the proposed machine vision based inspection system can be successfully implemented on the developed die bonding system.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.314-319
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• 2002

The Automation and Control Group at the University of Brasilia is developing an automatic welding station based on an industrial robot and a controllable welding machine. Several techniques were applied in order to improve the quality of the welding joints. This paper deals with the implementation of a laser-based computer vision system to guide the robotic manipulator during the welding process. Currently the robot is taught to follow a prescribed trajectory which is recorded a repeated over and over relying on the repeatability specification from the robot manufacturer. The objective of the computer vision system is monitoring the actual trajectory followed by the welding torch and to evaluate deviations from the desired trajectory. The position errors then being transfer to a control algorithm in order to actuate the robotic manipulator and cancel the trajectory errors. The computer vision systems consists of a CCD camera attached to the welding torch, a laser emitting diode circuit, a PC computer-based frame grabber card, and a computer vision algorithm. The laser circuit establishes a sharp luminous reference line which images are captured through the video camera. The raw image data is then digitized and stored in the frame grabber card for further processing using specifically written algorithms. These image-processing algorithms give the actual welding path, the relative position between the pieces and the required corrections. Two case studies are considered: the first is the joining of two flat metal pieces; and the second is concerned with joining a cylindrical-shape piece to a flat surface. An implementation of this computer vision system using parallel computer processing is being studied.

• Proceedings of the Korean Society of Dyers and Finishers Conference
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• 2010.03a
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• pp.195-196
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• 2010

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.235-241
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• 2007

This paper proposes a self-calibration method of robots those are used in industrial assembly lines. The proposed method is a position compensation using laser sensor and vision camera. Because the laser sensor is cross type laser sensor which can scan a horizontal and vertical line, it is efficient way to detect a feature of vehicle and winding shape of vehicle's body. For position compensation of 3-Dimensional axis, we applied block interpolation method. For selecting feature point, pattern matching method is used and 3-D position is selected by Euclidean distance mapping between 462 feature values and evaluated feature point. In order to evaluate the proposed algorithm, experiments are performed in real industrial vehicle assembly line. In results, robot's working point can be displayed 3-D points. These points are used to diagnosis error of position and reselecting working point.

• International Journal of Quality Innovation
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• v.4 no.2
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• pp.50-64
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• 2003

During IC inspection, which includes the two parts of Mark and Lead, the deviation of IC on the tape occurring in high speed movements usually generates light reflection effect, which in turn causes errors in IC recognition as measured by machine vision system. This research filters the light reflection effect by developing standard components, identifies the correct position of IC Lead, hence fixes the measurement errors or non-measurability caused by light reflection, avoids the resulting discontinued operation of measuring system, and improves the productivity.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.453-458
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• 2016

One of the most common applications of machine vision is quality inspections in automated production. In this study, a welding inspection system that is controlled by a PC and a PLC equipped with a multi-camera setup was developed. The system was designed to measure the primary dimensions, such as the length and width of the welding areas. The TCP/IP protocols and multi-threading techniques were used for parallel control of the optical components and physical distribution. A coaxial light was used to maintain uniform lighting conditions and enhance the image quality of the weld areas. The core image processing system was established through a combination of various algorithms from the OpenCV library. The proposed vision inspection system was fully validated for an actual weld production line and was shown to satisfy the functional and performance requirements.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.903-909
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• 2018

In this paper, performance analysis of machine vision techniques is presented to improve the convenience and speed of automatic inspection in the industrial field when machine vision is applied to the image not taken in the stationary state, but in the moving state on a conveyer. When the length of cylindrical rods used for automobiles was measured using the edge detection method, the conveying speed increased, and the uncertainty of the boundary between the background and the part image increased, which resulted in a shorter image of the object taken. This paper proposes a linear compensation method to predict the biased errors of the length measurements after examining the pattern of biased and random errors, respectively, with 6 different types of specimens and 7 velocity stages. The length measurement corrected by the linear compensation method had the same accuracy as the stationary state within the speed range of 30 cm/s and could enhance the application capability in automatic inspections.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.1
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• pp.65-69
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• 2015

A vision-based blank alignment unit for a press automation line is introduced in this paper. A press is a machine tool that changes the shape of a blank by applying pressure and is widely used in industries requiring mass production. In traditional press automation lines, a mechanical centering unit, which consists of guides and ball bearings, is employed to align a blank before a robot inserts it into the press. However it can only align limited sized and shaped of blanks. Moreover it cannot be applied to a process where more than two blanks are simultaneously inserted. To overcome these problems, we developed a press centering unit by means of vision sensors for press automation lines. The specification of the vision system is determined by considering information of the blank and the required accuracy. A vision application S/W with pattern recognition, camera calibration and monitoring functions is designed to successfully detect multiple blanks. Through real experiments with an industrial robot, we validated that the proposed system was able to align various sizes and shapes of blanks, and successfully detect more than two blanks which were simultaneously inserted.

• International Journal of Korean Welding Society
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• v.4 no.1
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• pp.30-37
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• 2004

There have been continuous efforts on automating welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, a vision system is constructed and using this, the 3 dimensional geometry of the bead is measured on-line. For the application as in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.