The role of QR code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR codes and the convenience of producing and attaching a lot of information within QR codes have been raised, and many of these reasons have made QR codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR codes with the same horizontal and vertical sides, and the error is to create a QR code robot with accuracy to reach within 3mm. This paper focuses on the moving control model during the development of QR code-aware indoor mobility robots.

본 연구에서는 건물 실내 공간 정보 획득을 위해 Microsoft사의 Kinect® v2를 활용한 point cloud 기법을 도입하였다. 카메라로 취득한 2차원의 투영 공간 이미지 픽셀 좌표를 각 카메라의 보정을 거쳐 3차원 이미지 변환하며 이를 토대로 공간 정보를 구현하였다. 기준점을 중심으로 360° 회전하여 취득한 3차원 이미지를 통해 거리 측정이 불가한 기존의 2차원 이미지의 한계를 개선하였으며, 이 과정을 통해 얻은 point cloud를 통해 3차원 map을 형성하였다. 형성된 3차원 map은 기존의 공간정보 융·복합을 위한 센서와 비슷한 수준의 측정 효율을 가지면서 동시에 렌즈 왜곡 현상에 대한 후처리 과정을 통해 공간 정보를 정확하게 측정할 수 있도록 하였다. 측정한 결과를 2D 도면과 실제 공간 및 구조부재의 길이 및 위치 등과 비교하여 검증하였다.

Interior space in most buildings is divided into several zones. The most important factors relating to the indoor air environment are temperature, airflow, humidity, and contaminant concentration. An integrated multizone model to predict these environmental factors simultaneously was developed. Also, a computer program for this model was written by the language of VISUAL BASIC. The proposed model was applied to a apartment with five rooms that had been tested by Chung11). Comparison of predicted results by this study with measured results by Chung showed that their variations were within 14% for airflow rates, 1% for temperatures, 12% for humidities, and 5% for concentrations. It was seen that the opening operation schedule of building has a significant effect on the air moisture and contaminant removal. Thus, this model may be available for predicting the indoor air environment and may be contributed to design the ventilation plan for controling of indoor air quality.

The well-mixed room model has been traditionally used to predict the concentrations of contaminants in indoor environments. However, this is inappropriate because the flow fields in many indoor environments distribute contaminants non-uniformly, due to imperfect air mixing. Thus, some means used to describe an imperfectly mixed room are needed. The simplest model that accounts for imperfect air mixing is a two-zone model. Therefore, this study on development of computer program for the two-zone model is carried out to propose techniques of estimating the concentration of contaminants in the room. To do this, an important consideration is to divide a room into two-zone, i.e. the lower and upper zone assuming that the air and contaminants are well mixed within each zone. And between the zones the air recirculation is characterized through the air exchange parameter. By this basic assumption, the equations for the conservation of mass are derived for each zone. These equations are solved by using the computational technique. The language used to develope the program is a VISUAL BASIC. The value of air exchange coefficient(f_12) is the most difficult to forecast when the concentrations of contaminants in an imperfectly mixed room are estimated by the two-zone model. But, as the value of f_12 increases, the air exchange between each zone increases. When the value of f_l2, is approximately 15, the concentrations in both zone approach each other, and the entire room may be approximately treated as a single well-mixed room. Therefore, this study is available for designing of the ventilation to improve the air quality of indoor environments. Also, the two-zone model produces the theoretical base which may be extended to the theory for the multi-zone model, that will be contributed to estimate the air pollution in large enclosures, such as shopping malls, atria buildings, airport terminals, and covered sports stadia.