US Pat. No. 10,556,337

METHOD OF AND APPARATUS FOR MANAGING BEHAVIOR OF ROBOT

HANWHA PRECISION MACHINER...

1. A method of controlling a robot, the method comprising:generating a plurality of behavior objects corresponding to a plurality of behaviors to be performed by the robot, respectively;
adding the behavior objects to a behavior flow list;
displaying the behavior flow list on a display device; and
based on a progress degree of the robot performing the plurality of behaviors on the behavior flow list, updating the displaying of the behavior flow list on the display device.

US Pat. No. 10,373,015

SYSTEM AND METHOD OF DETECTING MOVING OBJECTS

HANWHA TECHWIN CO., LTD.,...

1. A system for detecting a moving object in a video, the system comprising:at least one memory configured to store pixel information regarding each of pixels included in frames of the video; and
at least one processor configured to implement:
a background model setting unit which sets a background model comprising at least one background model element, the at least one background model element indicating a reference visual property and a usage time;
a background pixel determining unit which determines whether the pixels are background pixels or foreground pixels by comparing pixel information of a first frame with the at least one background model element, and detects a moving object in the first frame based on pixels which are determined to be the foreground pixels according to the comparing; and
a background model updating unit which periodically updates the background model based on a result of the comparing,
wherein the background model updating unit
expands a range of the reference visual property to include a peripheral video property range when the compared pixel information corresponds to the peripheral video property range, the peripheral video property range representing a visual property range that does not belong to and is adjacent to the range of the reference visual property before the range of the reference visual property is expanded;
generates at least one background model element candidate comprising pixel information and usage time information of one of the foreground pixels which has a predetermined visual property; and
when a number of frames in which one of the at least one background model element candidate is used is greater than a predetermined number, updates the one of the at least one background model element candidate to one of the at least one background model element and deletes a background model element that has not been used for a longest time in the background model, and
wherein the background pixel determining unit detects a moving object in a second frame by comparing pixel information of the second frame with the expanded range of the reference visual property.

US Pat. No. 10,423,669

MANUFACTURING PROCESS VISUALIZATION APPARATUS AND METHOD

HANWHA PRECISION MACHINER...

1. A manufacturing process visualization apparatus comprising:at least one processor configured to implement:
a data receiving unit which receives apparatus data from at least one production apparatus of a manufacturing process line processing a plurality of products; and
a matching unit which extracts, from the received apparatus data, an introduction time of a product introduced in a production apparatus among the at least one production apparatus, and a discharge time of the product discharged from the production apparatus, and generates a graph having a start point indicating the introduction time, an end point indicating the discharge time, and a slope indicating a processing speed of the production apparatus; and
a screen display which displays the generated graphic on a screen,
wherein the matching unit determines, based on the received apparatus data, at least one of an inter-production apparatus flow time, an inter-production apparatus time difference information, whether the inter-production apparatus time difference information has a negative number, whether the inter-production apparatus time difference information falls within an error range which is preset with respect to an average of the inter-production apparatus time difference information, a result of comparing a number of product flow lines and a number of total production apparatuses, and whether a product model type applied to the manufacturing process line is changed, and
wherein the screen display displays a flow line chart in which flow information about the products is shown in the graph, and a process production information box comprising data reliability, the reliability indicating, as a result of collection of product flow information about a plurality of production apparatuses including the at least one production apparatus, a ratio between a maximum number of products to be processed and a number of products for which the product flow information are matched from introduction into the manufacturing process line to discharge from the manufacturing process line.

US Pat. No. 10,348,961

CAMERA MODELING SYSTEM

HANWHA PRECISION MACHINER...

1. A camera calibration system comprising at least one processor which implements:a vanishing point detecting module configured to detect, from at least one reference detection object existing in a detection region, a first vanishing point and a second vanishing point;
a view mode determining module configured to determine a camera view mode on the basis of a result of comparing a distance from a position in the detection region to the first vanishing point with a distance from the position to the second vanishing point, by determining the camera view mode, among a plurality of predetermined camera view modes corresponding to a plurality of predetermined camera calibration methods, that corresponds to the result of the comparing; and
a camera calibration module configured to select a camera calibration method corresponding to the determined camera view mode among the plurality of predetermined camera calibration methods, and perform camera calibration through the selected camera calibration method,
wherein the determined camera view mode corresponds to an angle between a photographing direction of a camera capturing the detection region and a horizontal plane, the angle being determined on the basis of the result of the comparing.

US Pat. No. 10,471,601

APPARATUS AND METHOD OF CONTROLLING ROBOT ARM

HANWHA PRECISION MACHINER...

1. An apparatus for controlling a robot arm, the apparatus comprising:a calibration board on which calibration marks for self-diagnosis are shown;
a distance sensor mounted on the robot arm;
an image sensor mounted on the robot arm; and
a processor configured to control the robot arm to move a position for the self-diagnosis, obtain a distance, measured by the distance sensor, from a predetermined part of the robot arm to the calibration board, obtain an image of the calibration board taken by the image sensor, and output a signal indicating a malfunction of the robot arm in response to the distance, measured by the distance sensor, being outside a distance error range, and an image measurement value of the obtained image being outside an image error range,
wherein the processor is further configured to output a signal indicating a malfunction of the distance sensor in response to the measured distance being outside the distance error range, and the image measurement value of the obtained image being within the image error range.

US Pat. No. 10,377,041

APPARATUS FOR AND METHOD OF SETTING BOUNDARY PLANE

HANWHA PRECISION MACHINER...

1. A method of setting a boundary plane beyond which a robot should not operate, the method comprising:obtaining pose data of the robot;
calculating, via a controller, a virtual plane according to a preset relationship between the virtual plane and a reference part of the robot based on the obtained pose data;
generating the boundary plane corresponding to the calculated virtual plane; and
displaying the generated boundary plane by controlling a display unit via the controller,
wherein the obtaining of the pose data comprises receiving the pose data from a position detecting unit,
wherein the pose data comprises position data, and
wherein receiving of the pose data comprises receiving the position data after physical manipulation of the robot by a user as teaching of the user.

US Pat. No. 10,667,450

CARRIER TAPE FEEDING DEVICE, CHIP MOUNTING SYSTEM, AND CHIP MOUNTING METHOD

Hanwha Precision Machiner...

1. A carrier tape feeding device comprising:a transfer unit for transferring a first carrier tape and a second carrier tape sequentially to a chip mounting apparatus;
a rotation unit selectively engaged to a part of the first carrier tape with which a part of the second carrier tape contacts, and for transferring the second carrier tape to the transfer unit;
a detecting sensor unit for detecting sequential existence of the first carrier tape or the second carrier tape supplied to the transfer unit, and existence of the second carrier tape supplied to the rotation unit; and
a controller for determining existence of the first carrier tape based on a signal detected by the detecting sensor unit, and controlling at least one of the transfer unit and the rotation unit to be driven based on the existence of the first carrier tape,
wherein the transfer unit comprises a first transfer unit for transferring the first carrier tape of the second carrier tape and a second transfer unit spaced apart from the first transfer unit in a predetermined interval to transfer the first carrier tape or the second carrier tape,
wherein the second transfer unit comprises a second sprocket for transferring the first carrier tape or the second carrier tape as a part of the second sprocket is inserted into a first transfer hole of the first carrier tape or a second transfer hole of the second carrier tape, and
wherein the chip mounting apparatus comprises a pick-up nozzle for picking up a first component of the first carrier tape or a second component of the second carrier tape, wherein the pick-up nozzle is disposed over a center of rotation of the second sprocket.

US Pat. No. 10,460,531

SYSTEM AND METHOD FOR GENERATING FACILITY ABNORMALITY PREDICTION MODEL, AND COMPUTER-READABLE RECORDING MEDIUM STORING PROGRAM FOR EXECUTING THE METHOD

Industry-University Coope...

1. A system for generating a facility abnormality prediction model, the system comprising:at least one memory configured to store at least one computer executable instruction; and
at least one processor configured to execute the at least one computer executable instruction to implement at least one module comprising:
a data receiver configured to receive complete data of sensors of a facility previously obtained during an operation of the facility;
an abnormality notification time predictor configured to predict a malfunction time of a malfunction of the facility based on the complete data of the sensors, and determine an abnormality notification time for pre-notification of the malfunction of the facility based on the detected malfunction time;
an optimal sensor combination calculator configured to generate a chromosome based on the complete data of the sensors, and perform a genetic algorithm using the generated chromosome to calculate an optimal sensor combination which is a combination of sensor data related to the determined abnormality notification time; and
a facility abnormality prediction model generator configured to generate the facility abnormality prediction model to be used for the pre-notification of the malfunction of the facility, based on the optimal sensor combination, and predict the pre-notification of the malfunction of the facility based on the generated facility abnormality prediction model,
wherein the abnormality notification time predictor is configured to predict the malfunction time of the malfunction of the facility based on a comparison of an accumulate loss rate change and a predetermined pattern,
wherein the accumulate loss rate is a rate at which accumulation of abnormal facility products are produced according to the operation of the facility measured at predetermined intervals, and
wherein the optimal sensor combination calculator comprises:
a first chromosome defining module configured to generate a first chromosome based on the complete data of the sensors;
a data dividing module configured to divide the complete data of the sensors into training data and testing data;
a temporary model generating module configured to generate a temporary model from the first chromosome; and
a model suitability calculator configured to train the temporary model with the training data, and apply the testing data to the trained temporary model to determine a model suitability.

US Pat. No. 10,638,650

APPARATUS AND METHOD OF LOADING COMPONENTS

Hanwha Precision Machiner...

1. A component loading apparatus comprising:a work table comprising a working plane, wherein the working plane is elastic such that a surface area thereof may be increased or decreased by extending or contracting the working plane;
a component recognizer configured to recognize components placed on the working plane of the work table; a rotary head configured to suck the components; and
a tray support for supporting a tray on which the components sucked by the rotary head are loaded.

US Pat. No. 10,319,598

METHOD AND APPARATUS FOR THINNING WAFER

HANWHA PRECISION MACHINER...

1. A method for thinning a wafer, comprising:irradiating a line beam focused at a specific depth of a wafer on a surface opposite to a surface on which a circuit is disposed;
scanning the wafer by using the line beam and forming an interface at the specific depth of the wafer; and
cleaving the wafer in which the interface is formed into a pattern wafer and a dummy wafer.

US Pat. No. 10,893,640

COMPONENT PICKUP APPARATUS

HANWHA PRECISION MACHINER...

1. A component pickup apparatus comprising:a component pickup unit comprising a plurality of nozzles arranged in a same row that extends linearly in a first direction, each of the plurality of nozzles configured to suck a component;
a light emitter configured to emit light toward side faces of the plurality of nozzles in a second direction that is perpendicular to the first direction;
an image splitter configured to receive images of the plurality of nozzles, generated by the light, simultaneously, and configured to split the images of the plurality of nozzles into different image groups; and
an image capturer configured to capture an image outputted from the image splitter,
wherein the image splitter is configured to guide an image of a first group of the image groups to a first row of the image capturer and guide an image of a second group of the image groups to a second row of the image capturer.

US Pat. No. 10,780,583

SYSTEM AND METHOD OF CONTROLLING ROBOT

HANWHA PRECISION MACHINER...

1. A robot control system comprising:an interface configured to receive a user input;
a controller configured to generate a motion command corresponding to the user input and a motion command group including the motion command, and generate hardware interpretable data by analyzing the motion command; and
a driver configured to drive a motion of at least one hardware module based on the hardware interpretable data to be interpreted by the at least one hardware module,
wherein a position of the at least one hardware module changes according to the motion command corresponding to the user input, and
wherein the controlled generates the motion command and the motion command group in non-real time and the hardware interpretable data in real time.