Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Drug Bottle Delivery Robot Capable of Smartphone-Based Control and Image Process and Combining Wheel and Quadruped

스마트폰 제어 및 영상처리를 수행하는 바퀴와 4족을 결합한 약병 전송 로봇

  • Lee, Sang Young (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Hyun Su (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Young Long (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Hong, Seok Ho (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Dong Hwan (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
  • 이상영 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김현수 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김영롱 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 홍석호 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김동환 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2012.07.10
  • Accepted : 2013.01.07
  • Published : 2013.04.01
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Abstract

Robot control and image processing using a smartphone and Wi-Fi communication is introduced. The robot has a wheel and quadruped mechanism that is transformed according to the environment and is mainly used for drug bottle delivery. The captured image on the camera is transmitted to the smartphone in the form of stream data, and the image data is processed in the smartphone to enable the robot to identify an object and to control the robot itself. A network was constructed so that only image data from the stream data was used, and an image processing scheme to identify the drug bottle and deliver it to a person using a robot arm is also presented. In this study, image processing techniques and algorithms were purely implemented on a smartphone with considerable computational power and multiple functions rather than a computer, which contributes to the intelligence and miniaturization of the robot system.

이 연구에서는 스마트폰과 Wi-Fi통신을 이용한 로봇의 조종과 장착된 카메라를 통한 영상처리 기술에 대하여 서술하였다. 제안된 로봇은 바퀴와 4족을 환경에 따라서 선택적으로 사용할 수 있도록 메커니즘을 구성하였다. 카메라의 스트림 데이터 중 이미지 데이터만을 이용하도록 네트워크를 형성하였으며 영상처리 기법을 응용하여 약병을 구분하고, 로봇 팔을 이용하여 약병을 사용자에게 전달해주는 로봇 메커니즘에 대해서도 서술한다. 본 논문에서 개발된 영상처리 알고리즘과 처리는 별도의 컴퓨터 없이 스마트폰만을 이용하여 구현이 가능하도록 설계하였으며 스마트폰의 강력한 기능과 연산능력을 최대로 활용하여 약병 로봇의 지능화 및 소형화 방안을 제시하였다.

Keywords

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