1. An apparatus for acquiring a digital X-ray image that inserts an imaging plate (IP) into the entrance of a case body, scans a laser beam onto the IP, and acquires an image signal from latent images accumulated by scanning radiation onto the IP, the apparatus comprising:
a laser beam scanning unit guiding the laser beam generated from laser;
a reflection mirror installed in the entrance of the case body and having the laser beam scanned by the laser beam scanning unit reflected onto the IP without emitting the laser beam to the outside;
a dichroic filter transmitting through the laser beam reflected by the reflection mirror to be scanned on the IP and reflecting a blue wavelength light having photostimulated luminescence on the IP by the scanning of the laser beam;
an optical fiber transferring the blue wavelength light having photostimulated luminescence on the IP to a band-pass filter;
a band-pass filter transmitting the blue wavelength light therethrough and preventing a red wavelength light from transmitting therethrough in order to acquire the blue wavelength light transferred through the optical fiber;
a photo-multiplication tube acquiring and collecting blue wavelength image signals transmitting through the band-pass filter and amplifying images;
two position detection sensors installed at both ends of the entrance of the case body and detecting positions where the laser beam is scanned;
a transfer member installed inside the case body, having the IP hooked thereto, and transferring the IP forward and backward;
a power transmission unit transmitting power to allow the transfer member to operate; and
a controller controlling the operations of the laser, the laser beam scanning unit, the position detection sensors, and the power transmission unit.
2. An apparatus for acquiring a digital X-ray image that scans a laser beam onto an IP included in the case body and acquires an image signal from latent images accumulated by scanning radiation onto the IP, the apparatus comprising:
a laser beam scanning unit guiding the laser beam generated from laser;
a reflection mirror installed in one side of the interior of the case body and having the laser beam scanned by the laser beam scanning unit reflected onto the IP without emitting the laser beam to the outside;
a dichroic filter transmitting through the laser beam reflected by the reflection mirror to be scanned on the IP and reflecting a blue wavelength light having photostimulated luminescence on the IP by the scanning of the laser beam;
an optical fiber transferring the blue wavelength light having photostimulated luminescence on the IP to a band-pass filter;
a band-pass filter transmitting the blue wavelength light therethrough and preventing a red wavelength light from transmitting therethrough in order to acquire the blue wavelength light transferred through the optical fiber;
a photo-multiplication tube acquiring and collecting blue wavelength image signals transmitting through the band-pass filter and amplifying images;
two position detection sensors installed at both ends of one side of the interior of the case body and detecting positions where the laser beam is scanned;
a plurality of transfer members installed inside the case body and reciprocally transferring the IP forward and backward;
a power transmission unit transmitting power to allow the transfer members to operate; and
a controller controlling the operations of the laser, the laser beam scanning unit, the position detection sensors, and the power transmission unit.
3. The apparatus of claim 1, wherein the laser beam scanning unit comprises:
a swing mirror swing left and right according to power applied from the outside and scanning the laser beam generated from the laser;
a F-theta lens adjusting a focal distance of the laser beam deflected in the swing mirror; and
an auxiliary mirror reflecting the laser beam which has passed through the F-theta lens to a scanning region.
4. The apparatus of claim 3, wherein the swing mirror comprises:
a flow plate having a mirror fixed to the front surface of the flow plate;
two magnets installed at both sides of the rear surface of the flow plate;
a fixing plate installed to face the flow plate by a predetermined space and having two coils installed in the positions corresponding to the magnets; and
two springs each connected to two connection rods that protrude from both sides of the flow plate and the fixing plate.
5. The apparatus of claim 1, wherein the dichroic filter is installed to have an inclination angle of 45 degrees with respect to light that is input into the optical fiber.
6. The apparatus of claim 1, wherein the transfer member comprises:
a rail installed on the bottom of the inner portion of the case body in a horizontal direction;
a transfer rod movably installed in the rail and having both ends fixed to a belt of the power transmission unit; and
two hooks installed in one side of the transfer rod to have the IP hooked thereto.
7. The apparatus of claim 2, wherein the transfer members are fixed in a length direction of a chain of the power transmission unit and are rectangular-shaped and are bent in the shape of \u201c\u201d from both ends thereof in order to guide transfer of the IP.
8. The apparatus of claim 1, wherein the power transmission unit comprises:
a driving pulley fixed to the driving axis of a motor;
a following pulley connected to the driving pulley via a first belt and rotating and connected to two roller shafts;
the roller shafts installed in both sides of the inner portion of the case body and connected to the following pulley and first and second pulleys; and
two second belts wound around the first and second pulleys of the roller shaft and transferring a rotational force.
9. The apparatus of claim 2, wherein the power transmission unit comprises:
a driving pulley fixed to the driving axis of a motor;
a following pulley connected to the driving pulley via a belt and rotating and connected to a plurality of chain shafts installed inside the case body;
first and second sprockets installed in both ends of the chain shafts 67, respectively; and
the chain fastened to the first and second sprockets.
10. The apparatus of claim 2, wherein the laser beam scanning unit comprises:
a swing mirror swing left and right according to power applied from the outside and scanning the laser beam generated from the laser;
a F-theta lens adjusting a focal distance of the laser beam deflected in the swing mirror; and
an auxiliary mirror reflecting the laser beam which has passed through the F-theta lens to a scanning region.
11. The apparatus of claim 2, wherein the dichroic filter is installed to have an inclination angle of 45 degrees with respect to light that is input into the optical fiber.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A system for controlling a biped robot comprising a body and two legs each connected to the body, the system comprising:
a plurality of cameras mounted on the robot and capturing a stereoscopic image around the robot;
captured image analyzer inputting and analyzing the image captured by the cameras;
moving object detector detecting presence of a moving object around the robot based on the analyzed image and if detected, calculating a position and an angle of the moving object relative to the robot;
stop motion determinator determining whether a motion of the robot needs to be stopped based on the detected position and angle of the moving object relative to the robot; and
robot motion controller controlling the robot to stop the motion when the motion of the robot is determined to be stopped, such that a distance of travel of the robot from the capture of image to the stopping of motion of the robot falls within a predetermined distances,
wherein the stop motion determinator is further configured to set a processing period based upon an amount of time from the capture of the image to the stopping of motion of the robot, the processing period set so that the distance of travel of the robot during the processing period does not exceed a difference of the predetermined distance and a distance traveled by two walking steps of the legs of the robot.
2. The system according to claim 1, wherein the robot motion controller controls the robot to stop the motion if the motion of the robot is determined to be stopped when the robot moves at its maximum speed, such that the distance of travel of the robot from the capture of image to the stopping of motion of the robot falls within the predetermined distance.
3. The system according to claim 1, wherein the moving object detector calculates a speed of the moving object relative to the robot, and the robot motion controller controls the robot to stop the motion such that the distance of travel of the robot falls within the predetermined distance, when the detected speed of the moving object relative to the robot is a predetermined value.
4. The system according to claim 3, wherein the predetermined speed is a speed determined when the robot moves at its maximum speed.
5. The system according to claim 1, wherein the moving object is a human being.
6. A method of controlling a biped robot comprising a body and two legs each connected to the body, the method comprising the steps of:
capturing a stereoscopic image around the robot;
inputting and analyzing the captured image;
detecting presence of a moving object around the robot based on the analyzed image and if detected, calculating a position and an angle of the moving object relative to the robot;
determining whether a motion of the robot needs to be stopped based on the detected position and angle of the moving object relative to the robot;
controlling the robot to stop the motion when the motion of the robot is determined to be stopped, such that a distance of travel of the robot from the capture of image to the stopping of motion of the robot falls within a predetermined distance; and
setting a processing period based upon an amount of time from the capturing of the image to the controlling the robot to stop the motion, the processing period set so that the distance of travel of the robot during the processing period does not exceed a difference of the predetermined distance and a distance traveled by two walking steps of the legs of the robot.
7. The method according to claim 6, wherein the step of robot motion controlling controls the robot to stop the motion if the motion of the robot is determined to be stopped when the robot moves at its maximum speed, such that the distance of travel of the robot from the capture of image to the stopping of motion of the robot falls within the predetermined distance.
8. The method according to claim 6, wherein the step of moving object detection calculates a speed of the moving object relative to the robot; and the step of controlling controls the robot to stop the motion such that the distance of travel of the robot falls within the predetermined distance, when the detected speed of the moving object relative to the robot is a predetermined value.
9. The method according to claim 8, wherein the predetermined speed is a speed determined when the robot moves at its maximum speed.
10. The method according to claim 6, wherein the moving object is a human being.