CN105564313A - Parking guide adjustment method - Google Patents
Parking guide adjustment method Download PDFInfo
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- CN105564313A CN105564313A CN201510718855.2A CN201510718855A CN105564313A CN 105564313 A CN105564313 A CN 105564313A CN 201510718855 A CN201510718855 A CN 201510718855A CN 105564313 A CN105564313 A CN 105564313A
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- parking guidance
- coordinate
- compensation value
- filmed image
- control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/92—Driver displays
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Processing (AREA)
Abstract
The invention relates to a parking guide adjustment method, and the method comprises the steps that a communication part receives an image taken from the rear side of the vehicle from fear camera module; an image processing part extracts the parking guide coordinates in the image; a control part compares the parking guide coordinates with the preset reference coordinates; and the control part calculates the correction value of the parking guide coordinates based on the comparison result.
Description
Technical field
The present invention relates to parking guidance control method, particularly relating to a kind of when opening parking guidance mistake and export, automatically can regulate the parking guidance control method of parking guidance or the wish manual regulation parking guidance according to user based on reference coordinate.
Background technology
When the driver of vehicle makes the direct of travel of vehicle turn to left side or right side in the process of moving, rear and rear, right side on the left of being confirmed by left side back mirror (SideMirror) and right rear.
But during the left and right sides blind area that driver wants confirmation cannot be reflected by left side and right rear, need the blind area of confirmation outside window of head being stretched out vehicle, such situation frequently occurs in vehicle backing process.
In order in this case for driver offers help, recently, the camera being attached to the rear of vehicle, by take and the image showing rear view of vehicle is offered help, can easily be moveed backward to make driver.
That is, driver confirms the situation of rear view of vehicle by ground, such picture image non-blind area, thus can move backward safely.
In addition, develop image processing technique recently, parking guidance line is synthesized in the image photographed by vehicle rear camera, and outputs to picture, thus contribute to the technology that driver parks safely.
Prior art related to the present invention has No. 10-2009-0066013, Korean Patent Laid (publication date: on June 23rd, 2009, denomination of invention: the vehicle parking guiding device corrected for parking guidance line and method thereof).
Summary of the invention
(technical matters that will solve)
, rear camera installation can be there is bad or to make a mistake etc. and cause the situation of the outgoing position mistake of parking guidance line in the image of rear view of vehicle photographed by rear camera according to synthesis and the prior art of parking guidance line.
If parking guidance line mistake exports, then for relying on the driver of its reversing, has the danger had an accident.
The present invention proposes to improve the problems referred to above point, the object of the present invention is to provide a kind of when mispriming of parking exports, automatically can regulate the parking guidance control method of parking guidance or the wish manual regulation parking guidance according to user based on reference coordinate.
(means of technical solution problem)
The parking guidance control method of one aspect of the present invention comprises: Department of Communication Force receives the step of the filmed image of shooting rear view of vehicle from rear CCD camera assembly; Image processing portion extracts the step of the coordinate of the parking guidance be contained in described filmed image; The coordinate of the more described parking guidance of control part and the step of the reference coordinate preset; And described control part is based on the result of described comparison, computing is for the step of the compensation value of the coordinate of described parking guidance.
It is characterized in that, the present invention is in the step of described filmed image receiving shooting rear view of vehicle, and when signal is reversed gear in input, described Department of Communication Force receives described filmed image.
It is characterized in that, the present invention is in the coordinate of more described parking guidance and the step of described reference coordinate, described reference coordinate comprises the coordinate set for benchmark with the center-point of efferent, the coordinate in the corner, side of the more described parking guidance of described control part and described reference coordinate.
It is characterized in that, the present invention is in the step of computing for the compensation value of the coordinate of described parking guidance, when the coordinate in the corner, side of described parking guidance and the difference of described reference coordinate are more than the reference range preset, compensation value described in described control part computing.
It is characterized in that, the present invention is in the step of computing for the compensation value of the coordinate of described parking guidance, and described control part departs from compensation value described in the proportional mode computing of the distance of described reference coordinate with the coordinate in the corner, side with described parking guidance.
It is characterized in that, after the compensation value of computing of the present invention for the coordinate of described parking guidance, also comprise: described Department of Communication Force sends the step of described compensation value to described rear CCD camera assembly; And from described rear CCD camera assembly receiving package containing the step based on the filmed image of the parking guidance of described compensation value calibration coordinate.
The parking guidance control method of another embodiment of the present invention comprises: Department of Communication Force receives the step of the filmed image of shooting rear view of vehicle from rear CCD camera assembly; Image processing portion extracts the step of the coordinate of the parking guidance be contained in described filmed image; Efferent exports the step of described filmed image; Input part receives the step of the input of the adjustment signal of the coordinate for adjusting described parking guidance from user; And control part is based on described adjustment signal, computing is for the step of the compensation value of the coordinate of parking guidance.
It is characterized in that, the present invention is in the step of described filmed image receiving shooting rear view of vehicle, and when signal is reversed gear in input, described Department of Communication Force receives described filmed image.
It is characterized in that, in the present invention, described adjustment signal is adjust the signal of described parking guidance for direction vertically and horizontally.
It is characterized in that, the present invention, after the compensation value of computing for the coordinate of described parking guidance, also comprises: described Department of Communication Force sends the step of described compensation value to described rear CCD camera assembly; And the step of the filmed image corrected based on the coordinate of described compensation value to parking guidance is received from described rear CCD camera assembly.
(invention effect)
According to the present invention, when mispriming of parking exports, regulated the coordinate of parking guidance by automatic or manual, the user security reversing relying on parking guidance line can be contributed to.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of the parking guidance control apparatus of parking guidance control method for realizing one embodiment of the invention.
Fig. 2 compares the coordinate in corner, side of parking guidance and the figure of the coordinate of center-point in the parking guidance control method of one embodiment of the invention.
Fig. 3 is the figure of the picture receiving the input of the adjustment signal of the coordinate for adjusting parking guidance in the parking guidance control method that one embodiment of the invention is shown from user.
Fig. 4 is the flow chart of steps of the implementation procedure of the parking guidance control method that one embodiment of the invention is described.
Fig. 5 is the flow chart of steps of the implementation procedure of the parking guidance control method that another embodiment of the present invention is described.
Description of reference numerals
100: rear CCD camera assembly 200: parking guidance control apparatus
210: Department of Communication Force 230: image processing portion
250: control part 270: efferent
290: input part
Detailed description of the invention
Below, the parking guidance control method of an embodiment that present invention will be described in detail with reference to the accompanying.In the process, in order to clear, illustrate easily, show the thickness of the line shown in accompanying drawing, the size etc. of inscape sometimes turgidly.In addition, following term is the term considering that function in the present invention defines, and it may be different according to the intention of user, fortune user or convention.Therefore, such term should be defined based on the overall content of this specification sheets.
Fig. 1 is the functional block diagram of the parking guidance control apparatus of parking guidance control method for realizing one embodiment of the invention.
With reference to Fig. 1, the parking guidance control apparatus for the parking guidance control method realizing one embodiment of the invention comprises Department of Communication Force 210, image processing portion 230, control part 250, efferent 270 and input part 290.
Department of Communication Force 210 performs the communication with rear CCD camera assembly 100, receives the filmed image taken rear view of vehicle from rear CCD camera assembly 100.
Specifically, when signal is reversed gear in input, Department of Communication Force 210 receives filmed image from rear CCD camera assembly 100.
That is, needing is the situation of vehicle backing when the rear image photographed by rear CCD camera assembly 100, that is, user inputs the situation of reversing gear, therefore, from TCU (TransmissionControlUnit; Gear box control unit) (not shown) input reverse gear signal time, Department of Communication Force 210 receives the filmed image taken rear view of vehicle.
Specifically, reverse gear if user inputs to move backward, then according to the input of the signal that reverses gear, rear CCD camera assembly 100 takes rear view of vehicle, and is synthesized to by parking guidance in the filmed image photographed, and sends to parking guidance control apparatus 200.
Further, have input reverse gear signal time, parking guidance control apparatus 200 receives the filmed image taken rear view of vehicle from rear CCD camera assembly 100, and outputs to efferent 270.
Now, the parking guidance control apparatus 200 of the present embodiment is by the AVN (AudioVideoNavigation of vehicle; Audio-visual navigation) (not shown) realization, the filmed image of shooting rear view of vehicle outputs to AVN picture, and therefore user can move backward safely while looking around front.
Image processing portion 230 extracts the coordinate of the parking guidance be contained in the filmed image received by Department of Communication Force 210.
That is, as mentioned above, in order to guide user to park when moveing backward, parking guidance to be synthesized in the filmed image of shooting rear view of vehicle and to transmit by rear CCD camera assembly 100, thus image processing portion 230 extracts the coordinate being contained in parking guidance in filmed image.
But the present embodiment is not limited to this, also can synthesize parking guidance parking in guide adjustment device 200 self, in this case, the effect in the filmed image being synthesized to by parking guidance and receiving from rear CCD camera assembly 100 is played in image processing portion 230.
Control part 250 compares the coordinate of the parking guidance extracted by image processing portion 230 and the reference coordinate that presets, and based on the comparison result computing to the compensation value of the coordinate of parking guidance.
That is, in the present embodiment, in order to when being synthesized to the parking guidance positional fault that filmed image also receives by rear CCD camera assembly 100, adjusted, compare coordinate and the reference coordinate of the parking guidance be contained in filmed image.
Now, reference coordinate to refer to when parking guidance correctly exports error-free relative to the coordinate of locality of parking guidance at a distance of preset distance, can comprise certain critical value setting in the mode of the changes in coordinates ignoring the imperceptible degree of user.
Especially, in the present embodiment, reference coordinate refers to the coordinate set for benchmark with the center-point of efferent 270, is that the situation of the center-point of efferent 270 is described for example below with reference coordinate.
Specifically, control part 250 is by carrying out image processing to when being contained in vehicle outbound from the parking guidance the filmed image that rear CCD camera assembly 100 receives, with the coordinate of the overall picture of efferent 270 for benchmark extraction parking guidance, and prestore and be equivalent to the interval of center point coordinate of efferent 270 of reference coordinate with two-dimensional coordinate (x, y) form.
And, control part 250 compares the coordinate of parking guidance and the center-point of efferent 270 that are extracted by image processing portion 230, if the difference that comparative result is each coordinate departs from reference range from above-mentioned two-dimensional coordinate (x, y), then computing is to the compensation value of the coordinate of parking guidance.
Especially, in the present embodiment, control part 250 is when the coordinate of relatively parking guidance and reference coordinate, if coordinate and the reference coordinate in the corner, side of parking guidance have the difference being greater than more than reference range, then be judged as that parking guidance mistake exports, computing is for the compensation value of the coordinate of parking guidance.
Fig. 2 compares the coordinate in corner, side of parking guidance and the schematic diagram of the coordinate of center-point in the parking guidance control method of one embodiment of the invention.
As shown in Figure 2, in the present embodiment, be not all coordinates and the reference coordinate that compare parking guidance, but only compare coordinate and the reference coordinate in corner, side, thus the time needed for correction of parking guidance can be minimized.
Meanwhile, control part 250 carries out timing needing the coordinate to parking guidance, to depart from the compensation value of the proportional mode computing of the distance of reference coordinate for the coordinate of parking guidance with the coordinate of above-mentioned parking guidance.
Then, control part 250 is after the compensation value of computing for the coordinate of parking guidance, by Department of Communication Force 210 rearward CCD camera assembly 100 send the compensation value calculated, receive also output packet by rear CCD camera assembly 100 and contain the filmed image based on the parking guidance of above-mentioned compensation value calibration coordinate, thus parking guidance is correctly exported all the time.
Efferent 270 based on the control of control part 250, when inputting reverse range signal output from the rear filmed image of vehicle that rear CCD camera assembly 100 receives.
Above, automatically regulated by parking guidance control apparatus 200 situation of the position of parking guidance as an example, but the present embodiment is not limited to this.
That is, the present embodiment also comprises input part 290, by receiving the adjustment signal of coordinate for adjusting parking guidance from user, can computing for the compensation value of the coordinate of parking guidance.
For this reason, in the present embodiment, filmed image that received output from rear CCD camera assembly 100 by efferent 270, that comprise parking guidance.
Further, by input part 290, in comfortable filmed image, confirm that the user of parking guidance also for adjusting it receives the input of adjustment signal.
Fig. 3 is the figure of the picture receiving the input of the adjustment signal of the coordinate for adjusting parking guidance in the parking guidance control method that one embodiment of the invention is shown from user.
As shown in Figure 3, the picture being received the input of the adjustment signal for adjusting parking guidance by input part 290 from user can comprise arrow, initialization button and store button etc. up and down.
Further, input part 290 receives the order touching arrow to desired direction from user, control part 250 can based on the compensation value of the adjustment signal operation of user for the coordinate of parking guidance.
In addition, user recalls former parking guidance setting value by initialization button, or stores the complete parking guidance coordinate figure of adjustment by store button.
Further, control part 250 by Department of Communication Force 210 rearward CCD camera assembly 100 send the compensation value of the coordinate for parking guidance, from rear CCD camera assembly 100 receive and output packet containing based on the filmed image of the parking guidance of compensation value calibration coordinate.
In above-mentioned example, rear CCD camera assembly 100 is taken rear view of vehicle, and situation about being synthesized in corresponding filmed image is illustrated as an example by parking guidance, but the present embodiment is not limited to this.
That is, also only can receive the image of shooting rear view of vehicle from rear CCD camera assembly 100, synthesize parking guidance by the parking guidance control apparatus 200 of the present embodiment.
In this case, can be, image processing portion 230 is with the center of the filmed image of the shooting rear view of vehicle received by Department of Communication Force 210 for benchmark, and synthesis has the parking guidance of the form prestored, and synthesis has the filmed image of parking guidance to output to efferent 270 by control part 250.
Fig. 4 is the flow chart of steps of the implementation procedure of the parking guidance control method that one embodiment of the invention is described.
With reference to Fig. 4, in the implementation procedure of the parking guidance control method of one embodiment of the invention, first, Department of Communication Force 210, when from TCU input reverse range signal (S10), receives the filmed image (S20) of shooting rear view of vehicle from rear CCD camera assembly 100.
Further, image processing portion 230 extracts parking guidance coordinate (S30) from the filmed image received by Department of Communication Force 210.
That is, in order to guide user to park when vehicle backing, parking guidance to be synthesized in the filmed image of shooting rear view of vehicle and to transmit by rear CCD camera assembly 100, thus image processing portion 230 extracts the coordinate being contained in parking guidance in filmed image.
Then, the coordinate that control part 250 compares the parking guidance extracted by image processing portion 230 and the reference coordinate preset, specifically, judge whether the difference of parking guidance coordinate and reference coordinate is more than reference range (S40).
That is, in the present embodiment, when being synthesized to the parking guidance positional fault that filmed image also receives by rear CCD camera assembly 100, in order to adjusted, coordinate and the reference coordinate of the parking guidance be contained in filmed image is compared.
Above-mentioned judgement (S40) result, if the difference of parking guidance coordinate and reference coordinate is more than reference range, the then coordinate of control part 250 based on parking guidance and the comparative result of reference coordinate, computing is for the compensation value (S50) of the coordinate of parking guidance.
Further, control part 250 by Department of Communication Force 210 rearward CCD camera assembly 100 send the compensation value calculated, from rear CCD camera assembly 100 receiving package containing based on the filmed image (S60) of the parking guidance of compensation value calibration coordinate.
Then, corresponding filmed image is outputted to efferent 270 (S70) by control part 250, thus moves backward with can contributing to user security.
Fig. 5 is the flow chart of steps of the implementation procedure of the parking guidance control method that another embodiment of the present invention is described.
With reference to Fig. 5, in the implementation procedure of the parking guidance control method of another embodiment of the present invention, first, Department of Communication Force 210, when from TCU input reverse range signal (S110), receives the filmed image (S120) of shooting rear view of vehicle from rear CCD camera assembly 100.
Further, image processing portion 230 extracts parking guidance coordinate (S130) from the filmed image received by Department of Communication Force 210.
That is, in order to guide user to park when vehicle backing, parking guidance to be synthesized in the filmed image of shooting rear view of vehicle and to transmit by rear CCD camera assembly 100, thus image processing portion 230 extracts the coordinate being contained in parking guidance in filmed image.
Then, control part 250 exports the filmed image (S140) of shooting rear view of vehicle, judges whether the adjustment signal (S150) being inputted the coordinate for adjusting parking guidance by input part 290 from user.
That is, the parking guidance control apparatus 200 of the present embodiment not only can the coordinate of automatic calibration parking guidance, can also correct the coordinate of parking guidance based on the wish of user.
Therefore, when inputting the adjustment signal of user, control part 250 is based on the adjustment signal of user, and computing is for the compensation value (S160) of the coordinate of parking guidance.
Further, control part 250 by Department of Communication Force 210 rearward CCD camera assembly 100 send the compensation value calculated, from rear CCD camera assembly 100 receiving package containing based on the filmed image (S170) of the parking guidance of compensation value calibration coordinate.
Then, corresponding filmed image is outputted to efferent 270 (S180) by control part 250, thus can contribute to driver and move backward safely.
According to the present embodiment, when mispriming of parking exports, regulated the coordinate of parking guidance by automatic or manual, the user security reversing relying on parking guidance line can be contributed to.
The present invention is illustrated with reference to embodiment shown in the drawings, but this is only example, and being interpreted as those of ordinary skill in the art can carry out various deformation and other equivalent embodiments to it.Therefore, the technical protection scope that the present invention is real should define according to claims.
Claims (10)
1. a parking guidance control method, is characterized in that, comprising:
Department of Communication Force receives the step of the filmed image of shooting rear view of vehicle from rear CCD camera assembly;
Image processing portion extracts the step of the coordinate of the parking guidance be contained in described filmed image;
The coordinate of the more described parking guidance of control part and the step of the reference coordinate preset; And
Described control part is based on the result of described comparison, and computing is for the step of the compensation value of the coordinate of described parking guidance.
2. parking guidance control method according to claim 1, is characterized in that,
In the step of described filmed image receiving shooting rear view of vehicle, when signal is reversed gear in input, described Department of Communication Force receives described filmed image.
3. parking guidance control method according to claim 1, is characterized in that,
In the coordinate of more described parking guidance and the step of described reference coordinate, described reference coordinate comprises the coordinate set for benchmark with the center-point of efferent, the coordinate in the corner, side of the more described parking guidance of described control part and described reference coordinate.
4. parking guidance control method according to claim 3, is characterized in that,
In the step of computing for the compensation value of the coordinate of described parking guidance, when the coordinate in the corner, side of described parking guidance and the difference of described reference coordinate are more than the reference range preset, compensation value described in described control part computing.
5. parking guidance control method according to claim 3, is characterized in that,
In the step of computing for the compensation value of the coordinate of described parking guidance, described control part departs from compensation value described in the proportional mode computing of the distance of described reference coordinate with the coordinate in the corner, side with described parking guidance.
6. parking guidance control method according to claim 1, is characterized in that,
After the compensation value of computing for the coordinate of described parking guidance, also comprise:
Described Department of Communication Force sends the step of described compensation value to described rear CCD camera assembly; And
From described rear CCD camera assembly receiving package containing the step based on the filmed image of the parking guidance of described compensation value calibration coordinate.
7. a parking guidance control method, is characterized in that, comprising:
Department of Communication Force receives the step of the filmed image of shooting rear view of vehicle from rear CCD camera assembly;
Image processing portion extracts the step of the coordinate of the parking guidance be contained in described filmed image;
Efferent exports the step of described filmed image;
Input part receives the step of the input of the adjustment signal of the coordinate for adjusting described parking guidance from user; And
Control part is based on described adjustment signal, and computing is for the step of the compensation value of the coordinate of parking guidance.
8. parking guidance control method according to claim 7, is characterized in that,
In the step of described filmed image receiving shooting rear view of vehicle, when signal is reversed gear in input, described Department of Communication Force receives described filmed image.
9. parking guidance control method according to claim 7, is characterized in that,
Described adjustment signal is adjust the signal of described parking guidance for direction vertically and horizontally.
10. parking guidance control method according to claim 7, is characterized in that,
After the compensation value of computing for the coordinate of described parking guidance, also comprise:
Described Department of Communication Force sends the step of described compensation value to described rear CCD camera assembly; And
The step of the filmed image corrected based on the coordinate of described compensation value to parking guidance is received from described rear CCD camera assembly.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2014-0151107 | 2014-11-03 | ||
| KR1020140151107A KR102258628B1 (en) | 2014-11-03 | 2014-11-03 | Method for adjusting parking guide |
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| Publication Number | Publication Date |
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| CN105564313A true CN105564313A (en) | 2016-05-11 |
| CN105564313B CN105564313B (en) | 2018-10-09 |
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| CN201510718855.2A Active CN105564313B (en) | 2014-11-03 | 2015-10-29 | Parking guidance adjusting method |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101856069B1 (en) * | 2016-11-21 | 2018-06-20 | 현대오트론 주식회사 | Apparatus and method for revising parking guideline |
| CN108944674A (en) * | 2018-07-26 | 2018-12-07 | 深圳市路畅科技股份有限公司 | Static backing track line calibration method, device, equipment and readable storage medium storing program for executing |
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| KR20160051314A (en) | 2016-05-11 |
| CN105564313B (en) | 2018-10-09 |
| KR102258628B1 (en) | 2021-06-02 |
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