• International Journal of Fluid Machinery and Systems
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• 제7권3호
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• pp.125-129
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• 2014

The paint removal and recoating are the very important process in airplane maintenance. The traditional technology is to use the chemical way corroding the paint with paint remover. For changing the defects, corrosion & pollution & manual working, of the traditional technology, the physical process which removes the paint of airplane with 250MPa/250kW ultra-high pressure rotary water jetting though the surface cleaner installed on the six axes robot is studied. The paint layer of airplane is very thin and close. The contradiction of water jetting paint removal is to remove the paint layer wholly and not damage the surface of airplane. In order to solve the contradiction, the best working condition must be reached through tests. The paint removal efficiency with ultra-high pressure and move speed of not damaged to the surface. The move speed of this test is about 2m/min, and the paint removal efficiency is about $30{\sim}40m^2/h$, and the paint removal active area is 85-90%. No-repeat and no-omit are the base requests of the robot program. The physical paint removal technology will be applied in airplane maintenance, and will face the safety detection of application permission.

• 한국CDE학회논문집
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• 제13권4호
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• pp.296-304
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• 2008

Recently, various attempts are being done to apply off-line programming system to field of paint robot. But most commercial simulation softwares have problems that are slow simulation speed and not support various painting paramenters on simulation. This paper proposes enhanced paint simulation method for off-line programming system. For these, this method used the mathematical model of flux field from a previous research. The flux field has the flux distribution function, which reflects on the feature of paint spray. A previous research derived this flux distribution function for an integral function and calculated paint thickness function for an integral function. But if flux distribution function is defined as an integral function, it is inadequate to use for real-time simulation because a number of calculation is needed for estimation of paint thickness distribution. Therefore, we defined the flux distribution function by numerical method for reducing a mount of calculation for estimation of paint thickness. We derived the equation of paint thickness function analytically for reducing a mount of calculation from the paint distribution function defined by numerical method. In order to prove proposed paint simulation method this paper compares the simulated and measured thickness. From this comparison this paper show that paint thickness distribution is predicted precisely by proposed spray paint simulation process.

• 한국산학기술학회논문지
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• 제14권2호
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• pp.585-591
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• 2013

페키지형 발전시스템용 라디에이터를 균일한 두께로 코팅할 수 있는 로봇자동화 시스템을 개발하였다. 이 시스템은 스프레이 건을 부착한 6축 로봇, 로봇을 주행방향으로 이송하는 주행대차, 공압과 함께 도료와 신너를 공급하는 장치, 제어장치 및 로봇경로 오프라인프로그램으로 구성되어 있다. 최적운전 조건으로 코팅로봇 자동화 시스템을 사용하여 라디에이터를 코팅한 결과, 평균 코팅두께가 $43{\mu}m$로서 규정치인 $25-100{\mu}m$을 만족하였다. OLP를 활용한 코팅로봇 자동화 시스템의 생산성은 기존 수작업의 12.6 배로 향상되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1511-1515
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• 2004

Machine vision system plays an important role in factory automation. Its many applications are found in automobile manufacturing industries, as an eye for robotic automation system. In this paper, an automobile position measuring vision system(APMVS) applicable to manufacturing line for under body painting of a car is introduced. The APMVS measures position and orientation of the car body to be sealed or painted by the robots. The configuration of the overall robotic sealing/painting system, design and application procedure, and application examples are described.

• 한국컴퓨터정보학회논문지
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• 제28권2호
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• pp.209-216
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• 2023

본 논문에서는 조선소 페인트 분사작업에서 분사 거리와 속도의 변화에 따라 페인트 두께를 추정할 수 있는 모델을 개발하고자 한다. 이를 위해 도장로봇을 이용하여 다섯가지 서로 다른 분사 거리와 속도값에 대한 실험 데이터를 취득하였다. 또한 노즐의 훼손 등으로 인해 노이즈가 발생하는데 이를 처리하기 위해 적절한 전처리과정을 적용하였다. 제안하는 방법은 주어진 데이터로부터 분사 거리와 속도에 대한 페인트 두께 추정 함수를 새로운 분사 거리와 속도에 대한 페인트 두께 추정 함수로 변형하는 계산을 한다. 인공신경망기반 예측 모델과 비교한 결과 제안하는 방법이 더욱 안정적이고 정확하게 예측할 수 있음을 확인할 수 있었다.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2008년도 International Meeting on Information Display
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• pp.943-946
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• 2008

Many works have been done to enable computer, as brain of robot, to learn color categorization, most of them rely on modeling of human color perception and mathematical complexities. This paper aims at developing the innate ability of the computer to learn the human-like color categorization.

• Journal of Mechanical Science and Technology
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• 제19권6호
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• pp.1268-1279
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• 2005

The current method for pavement sign marking operations is labor-intensive and very dangerous due to the exposure of workers to passing traffic. It also requires blocking traffic for a long period of time resulting serious traffic jam. This paper deals with the development of a robotic system for automating the pavement sign painting operations. The robotic system consists of gantry frame equipped with transverse drive rail and automatic paint spray system. The workspace of the gantry robot is extended to one-lane width with the transverse rail system. This research also includes the development of font data structures that contain the shape information of pavement signs, such as Korean letters, English letters and symbols. The robot path is generated with this font data through the procedures of scaling up/down and partitioning the signs to be painted depending on the workspace size.

• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.15-22
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• 2020

With the need for efficient maintenance technology to reduce maintenance costs for steel bridges, repainting robots are being developed to automate the work in narrow and poor bridge spaces. The repainting robot is equipped with a blasting module to remove paint layers and contaminants. This study developed a prototype monitoring module to be mounted on the repainting robot. The monitoring module analyzes the condition of the painting surface through a camera installed in the front, guides the direction of movement of the robot, and provides the operator with a video to check the working status after blasting through a camera installed in the back. Various image visibility enhancement technologies were applied to the monitoring module to overcome worksite challenges where incomplete lighting and dust occurs.

• 한국산학기술학회논문지
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• 제13권3호
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• pp.1270-1274
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• 2012

국내의 배관시설은 약 30년이 지난 지금 배관의 노후화에 따른 부식 및 결함 등이 나타나기 시작하고 있다. 저비용 고효율의 노후관 갱생을 위한 배관 로봇시스템 개발에 대한 많은 연구가 진행되어 왔다. 배관의 탐사, 표면처리와 도장기술 및 열악한 작업환경에서의 고장에 강인한 로봇시스템 구성은 배관 로봇의 중요한 요인으로 알려져 있다. 지하매설 배관의 관리는 경제적 부담과 고도의 기술이 요구되는 실정에 업체에서 쉽게 대응하기 어려운 실정이다. 이러한 이유로 인하여 본 논문에서는 로봇의 노후관 탐사, 표면처리 및 도장이 가능한 로봇 시스템을 개발하였다. 개발된 로봇은 벽면 압착방식을 이용하여 구동력 및 작업을 위한 견인력을 확보하였다.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.353-364
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• 2009

In this paper, a SLAM (Simultaneous Localization and Mapping) method using a single camera and planar fiducial markers is proposed. Fiducial markers are planar patterns that are mounted on the ceiling or wall. Each fiducial marker has a unique hi-tonal identification pattern with square outlines. It can be printed on paper to reduce cost or it can be painted using retro-reflective paint in order to make invisible and prevent undesirable visual effects. Existing localization methods using artificial landmarks have the disadvantage that landmark locations must be known a priori. In contrast, the proposed method can build a map and estimate robot location even if landmark locations are not known a priori. Hence, it reduces installation time and setup cost. The proposed method works good even when only one fiducial marker is seen at a scene. We perform computer simulation to evaluate proposed method.