영상처리 기법을 적용한 볼 로봇의 주행제어

허남규(Nam-Gyu Heo),박성현(Seong-Hyun Park),김민지(Min-Ji Kim),박성구(Sung-Gu Park),정명진(Myung-Jin Chung) 대한기계학회 2020 대한기계학회 춘추학술대회 Vol.2020 No.12

This paper proposes a balancing and image processing driving control system for a Omni-wheel ball robot, which has a two axis actuating method by using the four motors. This robot can be moved without constraint in the narrow space, because this robot can be moved in all direction. Because of structurally unstable characteristics, attitude control is required. In this study, ball robot, having four Omni-wheels connected with four motors, control module consisted of microprocessor, motor driver, battery, AHRS sensor, and one roller generating the friction force between ball and omni-wheel, is proposed. The attitude of robot is measured by the AHRS sensor and is controlled in the range of ±6.0 degrees by applying the PID controller. For image processing, a webcam takes pictures of a ball robot at a height of 1.5 meters. The measuring area is 1.4m wide and 1m long. The area that can be driven through image processing is the same as the measuring area. It was confirmed that the driving error was controlled within the error range of ±4cm in the x-axis direction and ±8cm in the y-axis direction compared to the driving target.

영상처리를 이용하는 볼 로봇의 위치 인식 방법을 적용한 주행 제어 시스템

허남규(Nam-Gyu Heo),이광민(Kwang-Min Lee),박성현(Seong-Hyun Park),김민지(Min-Ji Kim),박성구(Sung-Gu Park),정명진(Myung-Jin Chung) 한국전기전자학회 2021 전기전자학회논문지 Vol.25 No.1

로봇 기술이 발전함에 따라 모바일 로봇의 주행 시스템에 대한 연구가 활발히 진행되고 있다. 2륜 및 4륜의 휠을 기반으로 구성되는 모바일 로봇의 주행 시스템은 직선과 같은 단반향 주행에 장점이 있으나 방향 전환 및 제자리 회전에 단점을 가지고 있다. 볼을 휠로 사용하는 볼 로봇은 전방향 이동에 장점이 있으나, 구조적인 불안정한 특성에 의해 균형을 유지하기 위한 자세 제어 및 이동을 위한 주행 제어가 요구된다. 기존의 볼 로봇은 모터에 부착된 엔코더를 이용하여 주행제어를 위한 위치를 추정함으로써 오차가 누적되는 한계를 가지고 있다. 본 연구에서는 영상처리를 통해 볼 로봇의 위치 좌표를 추정하고, 이를 주행 제어에 사용하는 주행 제어 시스템을 제안하였다. 볼 로봇의 위치를 추정하기 위한 영상처리부, 통신부, 표시부 및 제어부를 포함하는 볼 로봇의 주행 제어 시스템을 설계 및 제작하고, 주행 제어 시스템을 적용한 볼 로봇의 주행 실험을 통해 x축 방향 ±50.3mm 및 y축 방향 ±53.9mm의 오차범위 이내에서 오차의 누적 없이 제어됨을 확인하였다. As robot technology advances, research on the driving system of mobile robots is actively being conducted. The driving system of a mobile robot configured based on two-wheels and four-wheels has an advantage in unidirectional driving such as a straight line, but has disadvantages in turning direction and rotating in place. A ball robot using a ball as a wheel has an advantage in omnidirectional movement, but due to its structurally unstable characteristics, balancing control to maintain attitude and driving control for movement are required. By estimating the position from an encoder attached to the motor, conventional ball robots have a limitation, which causes the accumulation of errors during driving control. In this study, a driving control system was proposed that estimates the position coordinates of a ball robot through image processing and uses it for driving control. A driving control system including an image processing unit, a communication unit, a display unit, and a control unit for estimating the position of the ball robot was designed and manufactured. Through the driving control experiment applying the driving control system of the ball robot, it was confirmed that the ball robot was controlled within the error range of ±50.3mm in the x-axis direction and ±53.9mm in the y-axis direction without accumulating errors.

철도종합시험운행 결과검토 도입에 따른 철도노선 안전성 강화에 대한 연구

윤경철(Gyeong Cheol Yun),엄범규(Beom Gyu Eom),허남규(Nam Gyu Heo),이용상(Yong Sang Lee) 한국철도학회 2014 한국철도학회 학술발표대회논문집 Vol.2014 No.10

최근 철도안전 문제에 대한 사회적 우려를 해소하기 위하여 철도운영자 및 철도시설관리자에 대한 안전관리제도를 사후적ㆍ제한적 관리체제에서 사전적ㆍ상시적 관리체제로 전면 개편하고 형식, 제작자 승인제도, 철도노선의 종합시험운행제도 개선 등 다양한 제도 도입을 통하여 철도안전법을 개정하였다. 본 연구에서는 도입된 제도 중 종합시험운행 결과검토를 대상으로 하여 신규/개량노선에 대한 안전성 강화 방법을 제시하고자 하였다. 먼저, 국내외 철도종합시험운행 체계 자료를 조사하여 시행 중인 종합시험운행의 단계별 절차, 방법 등을 비교․분석하였다. 결과검토 제도에서의 검토분야와 단계별로 시행되는 검토항목 및 검토기준 등을 제시하였고 결과검토의 첫 번째 적용사례인 청라역에 대한 해당 성과를 확인하였다. Recently, To solve the social concerns about railway safety issues, the safety management system about railway operators, infrastructure manage and etc. was completely reorganized from ex post, restrictive management system to ex ante, continuous management system. And the Korean railway safety law was revised by instituting the various institution, including the type approval, manufacturer approval, result Review of comprehensive running test and etc. As this study, to the target result review of comprehensive running test, the safety enhancement methods about the new/reconstruction of railway were suggested. Firstly, the data of domestic and foreign railway comprehensive running test system was investigated. And the step-by-Step procedure, method and etc. of comprehensive running test were compared and analyzed in effect in Korea. Also, the field, item, standard and etc. of review were suggested. Lastly, the performances of Cheongna station that is first case were confirmed.

철도사고 위험도 산정 시스템 적용 효과에 대한 고찰

신형진(Shin Hyoung Jin),한상복 (Han Sang Bok),윤경철(Yun Gyeong Cheol),허남규(Heo Nam Gyu),김찬수(Kim Chan Soo) 한국철도학회 2011 한국철도학회 학술발표대회논문집 Vol.2011 No.10

Rialway passengers and public workers typically have high potential on death and injury accidents because they are to be frequently adjacent to train or train operation. In order to effectively reduce the risks associated with the passengers the public and the workers a systematic risk assessment should be performed to evaluate the hazards that contribute to the accidents. This paper describes the effect of risk assessment web base system and the extension need of the classification of "The regulation of railway accident report and information in Korea" application for national or railway safety operator sharing railway safety information.

철도사고 사고비용 산정에 관한 연구

신형진(Shin Hyoung-Jin),한상복(Han Sang Bok),허남규(Heo Nam Gyu),김만웅(Kim Mhan Woong) 한국철도학회 2010 한국철도학회 학술발표대회논문집 Vol.2010 No.10

우리나라 철도안전문화 측정기준 및 프로세스 개발 연구

이종석(Lee Jong Seock),한기율(Han Kee Youl),허남규(Heo Nam Gyu),김찬수(Kim Chan Soo) 한국철도학회 2011 한국철도학회 학술발표대회논문집 Vol.2011 No.10

The safety culture of an organization is the product of individual and group values attitudes perceptions competencies and patterns of behaviour that determine the commitment to and the style and proficiency of an organization's health and safety management. A good safety culture includes effective appropriate safety management systems; strong safety leadership & commitment from management; participation and involvement of the workforce; and organizational learning and continuous improvement. This paper will introduce the safety culture inspection standards and process in Korea Railway. The main purpose is to get a better understanding of safety culture and to develop measuring tool. First of all we developed the composition factor of safety culture and the question set. And we prepared the base of computerization of safety culture measurement by developing of evaluation standards and weighted value.

철도인접공사 안전관리 강화 방안에 대한 연구 : 해외적용사례를 중심으로

박홍규(Hong Kyu, Park),박대혁(Dae Hyuk Park),안연현(Yoon Hyonn Ahn),박성환(Sung Hwan Park),한상원(Sang Won Han),허남규(Nam Gyu Heo) 한국철도학회 2014 한국철도학회 학술발표대회논문집 Vol.2014 No.10

철도 운행선 인접부근에 시행하는 각종 공사는 일반적인 공사와는 달리 매우 위험한 작업일 뿐만 아니라 요구되는 안전 수칙이 준수되지 않을 경우 상당한 인적/물적 피해가 예상된다. 또한, 철도 인접 안전관리 활동을 주기적으로 시행함에도 불구하고 사고위험요소가 잔존하고 있으므로 인접공사 제도 개선 및 안전기술 개발에 대한 필요성이 요구되고 있다. 본 연구에서는 국내 현실에 맞는 철도인접공사 안전관리 강화 방안 제시를 위하여 국내철도인접공사 관리, 절차 등을 조사하였고 철도인접공사 관련기관 등이 협업하여 추진하고 있는 철도인접공사 안전관리 강화 협업과제의 성과 등을 분석하였다. 또한 해외 벤치마킹을 통한 영국, 프랑스 철도건설, 운영 및 시설관리 전문기관의 자료를 바탕으로 현지에서 적용되고 있는 안전관리 등을 분석하고 국내 체계와의 비교 및 시사점을 도출하였다. The adjacent line open working is very dangerous work unlike the general construction. When the safety regulations are respected, It is expected that significant loss of life and property. Although the safety management activity is periodically performed in now, the risk element of accident is remaining. So the system improvement and safety technical development of adjacent line open working are required. As this study, to suggest the enhancement plans of safety management in adjacent line open working that is suitable for domestic environment, the management, procedure and etc. of domestic adjacent line open working were investigated. The performances of cooperative project that is enhancement of ALO safety management were analyzed. Also, the safety management of foreign country (United Kingdom, France) were analyzed through benchmarking, the comparison with domestic and managerial implication were deducted on the basis of analysis data.