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잡초제거로봇을 위한 영상처리모듈 개발 및 잡초제거기 설계
이용범(Yougbum Lee),한건희(Keonhee Han),신상진(Sangjin Shin),조준희(Junhee Jo),김성수(Sung-Soo Kim) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
Labor intensive weed removal by human being can be replaced by weeding robot. In this paper, we have developed image processing module which detect weeds and weed removal module using multibody analysis tool RecurDyn. To describe its weeding feature, dynamic analysis is explained in detail with thrusting motion composed of both translational and revolute motion. The required motor specification is also obtained from inverse dynamic analysis using RecurDyn. As for software algorithm, weed tracking is achieved for image processing with python and OpenCV library. The algorithm is validated by experiments. In consequence, we can finally build software algorithm and kinematic model of weeding tool with integrated mechatronics system.