Rebar binding robot

Abstract

A reinforcement binding robot according to the present disclosure includes: a reinforcement binding unit configured to bind a crossing portion of a first reinforcement and a second reinforcement of a reinforcement group, the reinforcing steel bar group comprises a plurality of first reinforcing steel bars extending in a first direction and a plurality of second reinforcing steel bars extending in a second direction intersecting with the first direction and arranged so as to intersect with the first reinforcing steel bars; a traveling unit configured to be capable of traveling on the first reinforcing steel bar and / or the second reinforcing steel bar; a first sensor and a second sensor configured so as to be able to detect at least one first reinforcement and / or at least one second reinforcement, the first sensor and the second sensor being disposed apart from each other in a third direction; and a third sensor and a fourth sensor configured so as to be able to detect the at least one first reinforcement and / or the at least one second reinforcement, the third sensor and the fourth sensor being disposed apart from each other in a fourth direction intersecting the third direction.

Description

Technical Field

[0001] This embodiment relates to a steel bar tying robot. Background Art

[0002] In the past, for example, research has been conducted on technologies for automating the rebar bundling process, which involves bundling longitudinally extending rebar at intersections with transversely extending rebar using threads or the like. For example, Patent Document 1 discloses a self-propelled working robot that can be used in rebar construction. The working robot disclosed in Patent Document 1 is equipped with a rebar end detection sensor for detecting longitudinal rebar and a cross-rebar detection sensor for detecting transverse rebar. When the cross-rebar detection sensor detects transverse rebar, the robot determines the presence of an intersection of longitudinal and transverse rebars based on the detection results from the rebar end detection sensor and the cross-rebar detection sensor, and then performs the rebar bundling.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-039174 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] The technology disclosed in Patent Document 1 enables determination of the bundling position based on the detection results of various sensors. However, since the sensors detecting longitudinal rebars are located close to the bundling machine, which moves vertically during the bundling operation, the sensor detection results may be affected by the movement of the bundling machine. Therefore, if, for example, a sensor misdetection occurs, the productivity gains achieved by mechanizing operations previously performed by human operators, as anticipated by the work robot disclosed in Patent Document 1, cannot be achieved, leaving room for improvement in bundling efficiency.

[0008] The present disclosure has been made in view of the above-mentioned problems, and an object of the present disclosure is to provide a reinforcing bar tying robot capable of improving the efficiency of tying intersecting reinforcing bars.

[0009] Means for solving problems

[0010] A technical solution disclosed herein provides a rebar tying robot comprising: a rebar tying unit configured to tie an intersection of a first rebar and a second rebar of a rebar group, wherein the intersection of the first rebar and the second rebar of the rebar group includes a plurality of first rebars extending in a first direction and a plurality of second rebars extending in a second direction intersecting the first direction and arranged to intersect with the first rebar; a traveling unit configured to be able to travel on the first rebar and / or the second rebar; a first sensor and a second sensor configured to be able to detect at least one first rebar and / or at least one second rebar, the first sensor and the second sensor being arranged away from each other along a third direction; and a third sensor and a fourth sensor configured to be able to detect at least one first rebar and / or at least one second rebar, the third sensor and the fourth sensor being arranged away from each other along a fourth direction intersecting the third direction.

[0011] Another technical solution disclosed herein provides a rebar tying robot comprising: a rebar tying unit configured to tie an intersection of a first rebar and a second rebar of a rebar group, the rebar group including a plurality of first rebars extending in a first direction and a plurality of second rebars extending in a second direction intersecting the first direction; a traveling unit configured to be able to travel on the first rebar and / or the second rebar; a sensor configured to be able to detect the first rebar and / or the second rebar; and a movement amount calculation unit configured to calculate the movement amount of the traveling unit based on position information of the first rebar or the second rebar detected by the sensor when the traveling unit moves from the traveling first rebar or the second rebar to other first rebars or other second rebars.

[0012] Effects of the Invention

[0013] According to the present disclosure, a reinforcing bar tying robot capable of improving the efficiency of the work of tying intersecting reinforcing bars is provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 1 is an overall perspective view of the rebar tying robot 100 according to an embodiment of the present disclosure as viewed from obliquely above.

[0015] Figure 2 This is an overall perspective view of a rebar tying robot according to an embodiment of the present invention as viewed from an oblique downward direction.

[0016] Figure 3 This is a plan view of the rebar tying robot 100 as viewed from above (upper side in the Z direction).

[0017] Figure 4 This is a plan view of the rebar tying robot 100 as viewed from below (from below in the Z direction).

[0018] Figure 5This is a perspective view of the rebar tying robot 100 , with the rebar tying unit 110 detached, as seen from obliquely above.

[0019] Figure 6 This is a perspective view of the rebar tying robot 100 , with the rebar tying unit 110 detached, as viewed from obliquely below.

[0020] Figure 7 1 is a diagram illustrating a functional block configuration of the rebar tying robot 100 .

[0021] Figure 8 This is a diagram of the rebar tying robot 100 as viewed from the Y direction while traveling along the first rebar R10.

[0022] Figure 9 This is a diagram of the rebar tying robot 100 as it moves along the first rebar R10 as viewed from the X direction.

[0023] Figure 10 This is a diagram of the rebar tying robot 100 , which stops traveling and performs tying work, as viewed from the Y direction.

[0024] Figure 11 This is a diagram of the rebar tying robot 100 performing tying work as viewed from the X direction.

[0025] Figure 12 This is a diagram of the rebar tying robot 100 performing tying work as viewed from the lower side in the Z direction.

[0026] exist Figure 13 middle, Figure 13 (a) shows an image of the vicinity of the intersection of the first reinforcement R10 and the second reinforcement R20 captured by the 3D range camera. Figure 13 (b) schematically shows an image near the intersection of the first reinforcement R10 and the second reinforcement R20.

[0027] exist Figure 14 middle, Figure 14 (a) is a schematic side view of the rebar tying robot 100 as viewed from the horizontal direction (X direction). Figure 14 (b) is a schematic plan view of the rebar tying robot 100 as viewed from above (upper side in the Z direction).

[0028] Figure 15 Schematically shows an image captured by the first sensor 130 a .

[0029] Figure 16 is a schematic diagram for explaining template matching.

[0030] Figure 17 1 is a diagram schematically showing a reinforcing bar tying robot 100 for explaining a method of estimating an intersection portion.

[0031] Figure 18 This is a flowchart of a method for estimating the intersection position c12 in the embodiment of the present disclosure.

[0032] Figure 19 This is a flowchart related to the lateral movement of the rebar tying robot 100 .

[0033] exist Figure 20 middle, Figure 20 (a) is a diagram showing the rebar tying robot 100 in lateral movement as viewed from the back. Figure 20 (b) is a diagram of the rebar tying robot 100 during the lateral movement, as viewed from obliquely above.

[0034] exist Figure 21 middle, Figure 21 (a) is a diagram showing the rebar tying robot 100 in lateral movement as viewed from the back. Figure 21 (b) is a diagram of the rebar tying robot 100 during the lateral movement, as viewed from obliquely above.

[0035] exist Figure 22 middle, Figure 22 (a) is a diagram showing the rebar tying robot 100 in lateral movement as viewed from the back. Figure 22 (b) is a diagram of the rebar tying robot 100 during the lateral movement, as viewed from obliquely above.

[0036] exist Figure 23 middle, Figure 23 (a) is a diagram showing the rebar tying robot 100 in lateral movement as viewed from the back. Figure 23 (b) is a diagram of the rebar tying robot 100 during the lateral movement, as viewed from obliquely above.

[0037] exist Figure 24 middle, Figure 24 (a) is a diagram showing the rebar tying robot 100 in lateral movement as viewed from the back. Figure 24 (b) is a diagram of the rebar tying robot 100 during the lateral movement, as viewed from obliquely above.

[0038] exist Figure 25 middle, Figure 25 (a) is a diagram showing the rebar tying robot 100 in lateral movement as viewed from the back. Figure 25 (b) is a diagram of the rebar tying robot 100 during the lateral movement, as viewed from obliquely above.

[0039] Figure 26 This is a schematic diagram of a rebar tying robot 200 according to another embodiment of the present disclosure as viewed from below in the Z direction. DETAILED DESCRIPTION

[0040] Hereinafter, the present embodiment will be described with reference to the accompanying drawings. To facilitate understanding of the description, identical components are denoted by identical reference numerals as much as possible in the drawings, and redundant descriptions are omitted.

[0041] Hereinafter, the structure of the rebar tying robot 100 involved in the embodiment of the present disclosure will be described. In addition, in each of the drawings, the X-axis, Y-axis and Z-axis are sometimes shown. The X-axis, Y-axis and Z-axis form a three-dimensional orthogonal coordinate system of a right-handed system. Hereinafter, the arrow direction of the X-axis is sometimes referred to as the front of the X-axis, the right side of the X-direction or the right side of the X-axis, and the direction opposite to the arrow is sometimes referred to as the rear of the X-axis, the left side of the X-direction or the left side of the X-axis. The same applies to other axes. In addition, the front of the Z-axis and the rear of the Z-axis are sometimes referred to as "upper side" to "above" and "lower side" to "below", respectively. In addition, the planes orthogonal to the X-axis, Y-axis or Z-axis are sometimes referred to as YZ planes, ZX planes or XY planes. However, these directions, etc. are used for the convenience of explaining relative positional relationships. Therefore, these directions, etc. do not specify absolute positional relationships.

[0042] Figure 1 1 is an overall perspective view of the rebar tying robot 100 according to an embodiment of the present disclosure, viewed obliquely from above. Figure 2 This is a perspective view of the entire steel bar tying robot as an embodiment of the present disclosure as viewed from below. Figure 1 and Figure 2 As shown, the rebar tying robot 100 according to an embodiment of the present invention includes a rebar tying unit 110, a traveling unit 120, and a sensor unit 130. The rebar tying robot 100 may further include other structures such as a main unit 140, a support rod 150, a control device 160 (not shown), a moving unit 180, and a storage device 190.

[0043] exist Figure 1 and Figure 2 The figure also shows a steel bar group R including a plurality of steel bars R10 (also referred to as "first steel bars" or "longitudinal steel bars" in this embodiment) extending in the Y direction. Figure 1 and Figure 2 As shown, the rebar tying robot 100 is arranged on the rebar group R so as to travel along the first rebar R10. As described later, the rebar group R may include, in addition to the plurality of rebars R10, a plurality of rebars extending in the X direction (also referred to as "second rebars R20" or "transverse rebars" in this embodiment).

[0044] In the embodiment of the present disclosure, the first rebar R10 is arranged so that its first direction of extension is parallel to the Y direction. Furthermore, the second rebar R20, described later, is arranged so that its second direction of extension is parallel to the X direction. Therefore, in the illustrated embodiment of the present disclosure, the first rebar R10 and the second rebar R20 are arranged orthogonally to each other. Furthermore, the first rebar R10 and the second rebar R20 are arranged so that the plane formed by the first rebar R10 and the second rebar R20 (also referred to as the "rebar plane" in this embodiment) is parallel to the XY plane. Therefore, in this embodiment, the plane formed by the first rebar R10 and the second rebar R20 is a horizontal plane. The arrangement of the first rebar R10 and the second rebar R20 is not limited to this. For example, as described later, the first rebar R10 and the second rebar R20 may be arranged non-orthogonally to each other. For example, the first rebar R10 and the second rebar R20 may be arranged so that the angle between the first rebar R10 and the second rebar R20 is, for example, 30°, 45°, 60°, or another angle. In the embodiment of the present disclosure, the first reinforcement R10 and the second reinforcement R20 are arranged to be orthogonal to each other. However, depending on the intersection, they do not necessarily need to be orthogonal to each other, and may be arranged to form an angle of 85° to 90°, for example.

[0045] Alternatively, the first and second reinforcing bars R10 and R20 may have finite lengths, with multiple first and second reinforcing bars R10 and R20 connected via joints in the first and second directions, respectively. Furthermore, the first and second reinforcing bars R10 and R20 may have ends as described below. For example, the first and second reinforcing bars R10 and R20 may have ends R10e and R20e, described below, at one and the other ends in the first and second directions, respectively.

[0046] The reinforcing bar tying unit 110 is configured to tie the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20. The tying operation of the reinforcing bar tying unit 110 at the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 will be described in detail later.

[0047] like Figure 1 as well as Figure 2As shown, the travel unit 120 may include four travel units 120a, 120b, 120c, and 120d (also referred to as the "first travel unit," the "second travel unit," the "third travel unit," and the "fourth travel unit," respectively, in this embodiment). In the embodiment of the present disclosure, the travel units 120 are arranged on the rebar group R so that the rebar tying robot 100 travels in the Y direction. The first travel unit 120a, the second travel unit 120b, the third travel unit 120c, and the fourth travel unit 120d respectively include a first roller portion 122a, a second roller portion 122b, a third roller portion 122c, and a fourth roller portion 122d. The first roller portion 122a, the second roller portion 122b, the third roller portion 122c, and the fourth roller portion 122d are configured to travel on any of the plurality of first rebars R10 along the Y direction (the first direction), which is the direction in which the first rebars R10 extend.

[0048] Although the embodiment of the present disclosure describes an example in which the first travel unit 120a, the second travel unit 120b, the third travel unit 120c, and the fourth travel unit 120d are configured to travel in the Y direction, the first travel unit 120a, the second travel unit 120b, the third travel unit 120c, and the fourth travel unit 120d may be configured to travel in directions other than the Y direction. For example, they may travel in directions at an angle of several to several tens of degrees from the Y direction. For example, even if the rebar tying robot 100 is tilted due to the presence of foreign matter on the first rebar R10 being traveled, the rebar tying unit 110 of the rebar tying robot 100 can tie the intersection c12 of the first rebar R10 and the second rebar R20 by traveling in a manner that substantially follows the first rebar R10. In addition, for example, in a construction site where the first steel bar R10 is arranged in a curved manner, the first traveling unit 120a, the second traveling unit 120b, the third traveling unit 120c, and the fourth traveling unit 120d can also be configured to travel in a curved manner in a manner following the curved first steel bar R10. In this case, the extension direction of the first steel bar R10, that is, the first direction, can also be different in various aspects of the curve.

[0049] like Figure 1 and Figure 2 and the following Figure 3 As shown, the sensor unit 130 includes sensors 130a, 130b, 130c, and 130d (also referred to as "first sensor," "second sensor," "third sensor," and "fourth sensor," respectively, in this embodiment). The first sensor 130a and the second sensor 130b are Figure 1 as well as Figure 2The fourth sensor 130d is disposed at a side surface of the rebar tying robot 100 opposite to the side surface on which the third sensor 130c is disposed (at a position on the side surface opposite to the side surface on which the third sensor 130c is disposed). Figure 1 and Figure 2 The third sensor 130c and the fourth sensor 130d are arranged along the side of the paper. Figure 1 and Figure 2 The direction that intersects the Y direction (in Figure 1 and Figure 2 In the example shown, the X direction (the extending direction of the straight line connecting the third sensor 130c and the fourth sensor 130d in this embodiment is also referred to as the "fourth direction") is separated.

[0050] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are configured to detect the first rebar R10 and / or the second rebar R20. For example, the first sensor 130a and the second sensor 130b may be configured to detect the first rebar R10, and the third sensor 130c and the fourth sensor 130d may be configured to detect the second rebar R20. Alternatively, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may all be configured to detect the first rebar R10 and the second rebar R20.

[0051] Figure 3 : shows a top view of the rebar tying robot 100 as viewed from above (above in the Z direction). Figure 4 : is a top view of the rebar tying robot 100 as viewed from below (from below in the Z direction). Figure 3 as well as Figure 4 It can be seen that the first traveling unit 120a and the second traveling unit 120b may also be arranged at one side and the other side (in the fourth direction (X direction)) relative to the first sensor 130a. Figure 3 In addition, the third traveling unit 120c and the fourth traveling unit 120d may be arranged on one side and the other side of the fourth direction (X direction) relative to the second sensor 130b. In other words, the first sensor 130a may be arranged between the first traveling unit 120a and the second traveling unit 120b in the fourth direction. Similarly, the second sensor 130b may be arranged between the third traveling unit 120c and the fourth traveling unit 120d in the fourth direction. Moreover, as Figure 3 as well as Figure 4As shown, the third sensor 130c can also be in the third direction (in Figure 3 as well as Figure 4 In the third direction (Y direction), the fourth sensor 130d is arranged between the first traveling unit 120a and the third traveling unit 120c. Similarly, the fourth sensor 130d can also be arranged between the second traveling unit 120b and the fourth traveling unit 120d in the third direction (Y direction). Figure 4 As shown, the camera constituting the first sensor 130a is arranged in a plan view at a position forward (at the position of the right) of a straight line passing through the rotation axis 128a of the first roller portion 122a constituting the first traveling unit 120a and the rotation axis 128b of the second roller portion 122b constituting the second traveling unit 120b. Figure 4 Similarly, the camera constituting the second sensor 130b is arranged behind (at the position of the right) a straight line passing through the rotation axis 128c of the third roller portion 122c constituting the third travel unit 120c and the rotation axis 128d of the fourth roller portion 122d constituting the fourth travel unit 120d when viewed from above. Figure 4 In the Y direction, the rear direction is shown). In addition, Figure 3 、 Figure 4 As shown in FIG. 1 , the first sensor 130a is arranged in front of the main unit 140 in the Y-axis direction. Similarly, the second sensor 130b is arranged in the rear of the main unit 140 in the Y-axis direction. The third sensor 130c and the fourth sensor 130d are respectively arranged in the Y-axis direction of the main unit 140. Figure 3 When viewed from above, they are arranged on the left and right sides in the X direction. Figure 4 As can be seen, in this embodiment, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are arranged on the outer edges or outside of a virtual rectangle formed by connecting the approximately centers of the first traveling unit 120a, the second traveling unit 120b, the third traveling unit 120c, and the fourth traveling unit 120d when viewed from above. Alternatively, the virtual rectangle formed by the first to fourth traveling units 120a to 120d may be a square, for example, if the intervals between the traveling units in the X and Y directions are approximately equal. In this case, the first to fourth sensors 130a to 130d may also be arranged on the outer edges or outside of the virtual square. In addition, according to the configuration structure of the first traveling unit 120a to the fourth traveling unit 120d, the first traveling unit 120a to the fourth traveling unit 120d can also be used to imaginarily form a quadrilateral other than a rectangle and a square. In this case, the first sensor 130a to the fourth sensor 130d can also be configured on the outer edge or outside of the imaginary quadrilateral.

[0052] like Figure 1 and Figure 3 As shown, the main body unit 140 may also include a main body upper surface 142. The main body upper surface 142 may have a circular hole 144 formed near the center thereof, for example, and the reinforcing bar binding unit 110 may be arranged so as to pass through the hole 144.

[0053] In this embodiment, the steel bar tying robot 100 may also include two support rods 150 (a first support rod 150a and a second support rod 150b). The first support rod 150a and the second support rod 150b are rods extending in one direction, for example, in the fourth direction (in the Figures 1 to 4 Therefore, in the embodiment of the present disclosure, the first support rod 150a and the second support rod 150b are arranged in parallel with the horizontal direction, for example. Figures 1 to 4 As shown, the first support rod 150a and the second support rod 150b can also be set to be separated from each other in the Y direction (third direction). As described in detail later, the first support rod 150a and the second support rod 150b can also be configured to be separated from each other in the horizontal direction (in the third direction) when the steel bar tying robot 100 is in the horizontal direction (in the third direction). Figures 1 to 4 When the rebar tying robot 100 moves (the X direction in the middle, the fourth direction in the rebar tying robot 100), the main body unit 140 and the like of the rebar tying robot 100 are supported.

[0054] Figure 5 This is a perspective view of the reinforcing bar tying robot 100 from obliquely above, with the reinforcing bar tying unit 110 removed. Figure 6 This is a perspective view of the steel bar tying robot 100 with the steel bar tying unit 110 removed, as viewed from an oblique downward direction. Figure 5 and Figure 6 As shown, the steel bar bundling unit 110 can also be provided so as to be able to move in the up and down directions (in the state of the through hole portion 144) Figure 1 Thus, for example, when the reinforcing bar tying robot 100 reaches the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the reinforcing bar tying unit 110 is lowered to tie the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20. Figure 5 and Figure 6 As shown, the steel bar bundling unit 110 has a nail magazine 112. The box 112 contains a wire for bundling steel bars. When the steel bar bundling unit 110 bundles the intersection c12 of the first steel bar R10 and the second steel bar R20, the wire stored in the box 112 is pulled out to bundle the intersection c12. Although detailed description is omitted, the steel bar bundling unit 110 has a nail magazine 112 at one end (at Figure 5The reinforcing bar tying mechanism 114 is provided with a wire guide and the like and is configured to perform reinforcing bar tying operations. The reinforcing bar tying operations of the reinforcing bar tying mechanism 114 can also be achieved by, for example, the same functions as a known reinforcing bar tying machine.

[0055] Figure 7 1 is a diagram illustrating the functional block structure of the steel bar tying robot 100. Figure 7 As shown, the rebar tying robot 100 may include a control device 160 , a moving unit 180 , and a storage device 190 in addition to the aforementioned rebar tying unit 110 , the traveling unit 120 , and the sensor unit 130 .

[0056] The control device 160 is configured to control the movement and bundling operations performed by the rebar bundling robot 100. The control device 160 may also include a sensor detection result acquisition unit 162, a determination unit 164, an intersection calculation unit 166 (also referred to as an "intersection estimation unit" or "intersection estimation means" in this embodiment), a rebar bundling unit control unit 168, a rebar following control unit 170, a stop control unit 172, a movement amount calculation unit 174, a posture control unit 176, a motor control unit 178, and a foreign object bypass control unit 179.

[0057] The moving unit 180 is used to control the movement of the main unit 140 of the rebar tying robot 100. In the rebar tying robot 100 according to the embodiment of the present disclosure, as described later, the moving unit 180 can also be used to move the rebar tying robot 100 horizontally. The moving unit 180 can also include a first moving motor 182 and a second moving motor 184. For example, during the lateral movement of the rebar tying robot 100 described later, the two motors 182 and 184 can be used to move the main unit 140 horizontally.

[0058] The storage device 190 may also store, for example, one or more programs executed by the control device 160, data used to control the rebar tying robot 100, and the like. The storage device 190 may also include, for example, a template database 192. As described later, the template database 192 may store, based on the detection results of the sensor unit 130, images of templates used when detecting the first rebar R10 and / or the second rebar R20, or the ends R10e of the first rebar R10 and / or the ends R20e of the second rebar R20 using template matching, and data obtained by performing image processing such as frequency analysis on the template images. Furthermore, the control device 160 may further include a template data creation unit. For example, the control device 160 may be configured to create template data based on images captured by the sensor unit 130 at a site where rebar tying work is to be performed, and store the template data in the template database 192. Template data stored in the template database 192 may be accumulated when new template data is created, and may be deleted when tying work at each construction site is completed. Alternatively, the created template data may be stored in the template database 192 of the storage device 190 for a certain period of time and then deleted, for example, periodically.

[0059] The sensor detection result acquisition unit 162 acquires the detection results of the sensor unit 130. For example, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d of the sensor unit 130 may also be used by the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 of the determination unit 164 to determine the first rebar R10 and / or the second rebar R20. Furthermore, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may also be used by the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 of the determination unit 164 to determine the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20.

[0060] The determination unit 164 may also include a first rebar determination unit 164a1, a second rebar determination unit 164a2, a first rebar end determination unit 164b1, a second rebar end determination unit 164b2, a posture determination unit 164c, an obstacle determination unit 164d, and a robot height calculation unit 164e. The first rebar determination unit 164a1 and the second rebar determination unit 164a2 use, for example, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d acquired by the sensor detection result acquisition unit 162 to determine the position of the first rebar R10 and / or the second rebar R20. As described later, the first rebar determination unit 164a1 and the second rebar determination unit 164a2 may also determine the position of the first rebar R10 and / or the second rebar R20 by performing template matching based on captured images representing the detection results of the first sensor 130a to the fourth sensor 130d. The first and second rebar end determination units 164b1 and 164b2, for example, use the detection results of the first, second, third, and / or fourth sensors 130a, 130b, 130c, and / or 130d obtained by the sensor detection result acquisition unit 162 to determine the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20. Similar to the first and second rebar determination units 164a1 and 164a2, the first and second rebar end determination units 164b1 and 164b2 may also determine the end R10e of the first and / or the end R20e of the second rebar R10 based on template matching. The robot height calculation unit 164e may also calculate the height of the rebar tying robot 100 from the rebar group R based on the detection results of the first, second, third, and / or fourth sensors 130d. For example, when the first sensor 130a, the second sensor 130b, the third sensor 130c and / or the fourth sensor 130d are used to photograph the first steel bar R10 and / or the second steel bar R20 (for example, when photographing a range including the first steel bar R10 and / or the second steel bar R20), the robot height calculation unit 164e can also calculate the distance between the steel bar tying robot 100 and the steel bar group R based on the relative size of the first steel bar R10 and / or the second steel bar R20 in the photographed image of the first steel bar R10 and / or the second steel bar R20, thereby calculating the height of the steel bar tying robot 100 from the steel bar group R.

[0061] The height of the steel bar tying robot 100 from the steel bar group R can also be calculated based on the angle of the traveling unit 120. Figure 2As shown, the travel unit 120a may also include a first main body-side link portion 121a connected to the main body portion 140 and a first roller-side link portion 123a connected to the first roller portion 122a, with the first main body-side link portion 121a and the first roller-side link portion 123a forming a link mechanism. In this case, the first link angle detection sensor 134a of the sensor unit 130 may detect the angle formed by the first main body-side link portion 121a and the first roller-side link portion 123a, i.e., the link angle, and the height of the first travel unit 120a may be calculated based on the link angle. Similarly, the second travel unit 120b, the third travel unit 120c and the fourth travel unit 120d may have a second main body side link portion 121b and a second roller side link portion 123b, a third main body side link portion 121c and a third roller side link portion 123c, and a fourth main body side link portion 121d and a fourth roller side link portion 123d, and the heights of the second travel unit 120b, the third travel unit 120c and the fourth travel unit 120d may be calculated by respectively detecting the link angles formed by the second main body side link portion 121b and the second roller side link portion 123b, the third main body side link portion 121c and the third roller side link portion 123c, and the fourth main body side link portion 121d and the fourth roller side link portion 123d using the second link angle detection sensor 134b, the third link angle detection sensor 134c and the fourth link angle detection sensor 134d. The robot height calculation unit 164e may also calculate the height of the rebar tying robot 100 from the rebar group R based on the calculated heights (heights from the rebar group R) of the first, second, third, and fourth traveling units 120a, 120b, 120c, and 120d. For example, the height of the rebar tying robot 100 may be calculated based on the average of some or all of the calculated heights of the first, second, third, and fourth traveling units 120a, 120b, 120c, and 120d. Furthermore, if the rebar tying robot 100 is located parallel or substantially parallel to a virtual plane formed by the rebar group R, the height of the rebar tying robot 100 may be determined by using any one of the heights of the first, second, third, and fourth traveling units 120a, 120b, 120c, and 120d.

[0062] like Figure 7As shown, the sensor unit 130 may include an inclination detection sensor 132 in addition to the first to fourth sensors 130a to 130d described above. The inclination detection sensor 132 may be, for example, a known inclination sensor, a level sensor, or any other sensor capable of detecting the inclination angle of the rebar tying robot 100. The sensor detection result acquisition unit 162 may also acquire the detection result of the inclination detection sensor 132. Alternatively, the posture of the rebar tying robot 100 may be determined based on the detection result of the inclination detection sensor 132, for example, by the posture determination unit 164c of the determination unit 164. Based on the determination result of the posture determination unit 164c, the posture control unit 176 drives the height change motors 126 of the travel units 120 (the first height change motor 126a of the first travel unit 120a, the second height change motor 126b of the second travel unit 120b, the third height change motor 126c of the third travel unit 120c, and / or the height change motor 126d of the fourth travel unit 120d) to adjust the posture of the rebar tying robot 100. For example, the rebar tying robot 100 may drive the height change motor 126 based on the detection result of the inclination detection sensor 132 so that the main unit 140 is parallel to the surface formed by the first rebar R10 and / or the second rebar R20 (also referred to as the "rebar surface" in this embodiment). For example, when the first and second rebars R10 and R20 are arranged so that the rebar surface extends in the horizontal direction, when the rebar tying robot 100 is tilted in the X direction, the heights of the first and third travel units 120a and 120c, or the second and fourth travel units 120b and 120d, among the first to fourth travel units 120a to 120d can be changed to adjust the posture of the rebar tying robot 100.

[0063] The intersection calculation unit 166 estimates the intersection c12 between the first and second reinforcing bars R10 and R20 by calculating the intersection c12. As described below, the intersection calculation unit 166 may also calculate the position of the intersection c12 based on the positions of the first and second reinforcing bars R10 and R20 determined by the first and second reinforcing bar determination units 164a1 and 164a2. Based on the calculated position of the intersection c12, the rebar tying robot 100 may also perform the tying operation of the rebar tying unit 110. Based on the estimated position of the intersection c12, the motor control unit 178 may adjust the position of the rebar tying robot 100 via the first, second, third, and / or fourth travel units 120a, 120b, 120c, and / or 120d so that the rebar tying unit 110 is located at the intersection c12. After the rebar tying unit 110 moves to above the intersection c12 , the rebar tying unit control unit 168 may lower the rebar tying unit 110 to the intersection c12 to perform tying at the intersection c12 .

[0064] The rebar following control unit 170 may, for example, control the travel unit 120 via the motor control unit 178 based on information about the first rebar R10 determined by the first rebar determination unit 164a1, so that the rebar tying robot 100 follows the moving first rebar R10. For example, as described later, when the rebar tying robot 100 is traveling over the first rebar R12 and the first rebar R14, the drive motors of the travel unit 120 (the first wheel drive motor 124a that drives the first roller portion 122a, the second wheel drive motor 124b that drives the second roller portion 122b, the third wheel drive motor 124c that drives the third roller portion 122c, and / or the fourth wheel drive motor 124d that drives the fourth roller portion 122d) may be driven so that the rebar tying robot 100 does not deviate from the first rebar R12 and the first rebar R14. For example, the position of the rebar tying robot 100 may be adjusted so that the rebar tying robot 100 follows the first rebar R10 by accelerating or decelerating the drive motors of the first travel unit 120a and the third travel unit 120c, which are arranged at the same or substantially the same position in the X direction, relative to the drive motors of the second travel unit 120b and the fourth travel unit 120d, which are arranged on the other side in the X direction, respectively. Alternatively, the rebar following control unit 170 may adjust the rotation speed of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d, so that the rebar tying robot 100 follows the first rebar R10. For example, by setting the rotational speed of one or more of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to a rotational speed different from the rotational speeds of the other wheel drive motors, or by setting the rotational speeds of all the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to rotational speeds different from each other, the rebar tying robot 100 can flexibly follow the first rebar R10.

[0065] The stop control unit 172 is configured to control the stopping operation of the rebar tying robot 100. For example, as described later, when the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 determine, based on the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d, that the rebar tying robot 100 traveling over the first rebar R12 and the first rebar R14 is near or approaching the end R13e of the first rebar R13, the stop control unit 172 may control the motor control unit 178 to drive and stop the first to fourth wheel drive motors 124a to 124d, thereby stopping the rebar tying robot 100. In addition, the rebar tying robot 100 is not limited to the end R13e of the first rebar R13, and may be stopped instead of or in addition to the end R13e when it is determined that the rebar tying robot 100 is near the end R12e of the first rebar R12 and / or the end R14e of the first rebar R14, or when the rebar tying robot 100 is approaching the end R12e and / or the end R14e.

[0066] Furthermore, when the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 is calculated by the intersection calculation unit 166 , the stop control unit 172 may stop the reinforcing bar tying robot 100 so that the reinforcing bar tying unit 110 can tie the intersection c12 .

[0067] As described later, the movement amount calculation unit 174 may also be configured to calculate the movement amount when the rebar tying robot 100 is moving laterally (moving in the X direction). For example, as described above, when the rebar tying robot 100 is determined by the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 to be near or approaching the end R12e of the first rebar R12 and the end R14e of the first rebar R14, the rebar tying robot 100 completes the rebar tying operation at the intersection c12 of the first rebar R13 positioned between the first rebar R12 and the first rebar R14, moves to the other first rebar R10, and begins tying the rebar at the intersection c12. For example, when the rebar tying robot 100 completes the rebar tying operation at the intersection c12 of the first rebar R13 and then proceeds to tying the rebar at the intersection c12 of the first rebar R14, the rebar tying robot 100 moves in the X direction by one interval of the first rebar R10 in the X direction. In this case, the movement amount calculation unit 174 may also calculate the movement amount based on the X-direction spacing between adjacent first rebars R10, based on the information about the positions of the first rebars R10 determined by the first rebar determination unit 164a1. Similarly, when the rebar tying robot 100 performs rebar tying operations in which two or more intersections c12 of the first rebars R10 are separated in the X-direction, the movement amount may also be calculated based on the spacing between the first rebars R10. Furthermore, the calculated movement amount may be used to perform lateral movement (e.g., horizontal movement) of the main unit 140 of the moving unit 180 during lateral movement. Furthermore, the movement amount calculation unit 174 may also calculate movement amounts in directions other than lateral movement. For example, the movement amount calculation unit 174 may calculate the longitudinal movement (first direction, Y direction) of the rebar tying robot 100 based on the detection results of the sensors 130, the determination results of the rebar end determination unit 164b1 and / or the rebar end determination unit 164b2, and so on.

[0068] As described later, a camera, for example, can be used as the sensor unit 130, or the location of a foreign object can be determined based on the detection results of the sensor unit 130, for example, by the obstacle determination unit 164d of the determination unit 164. At a construction site where rebar is being assembled, for example, tools may be placed on the surface of the rebar, or workers may be working. Alternatively, the foreign object bypass control unit may detect the foreign object as a foreign object based on the detection results of the sensor unit 130. Based on the foreign object detection results, the foreign object bypass control unit may drive the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d via the motor control unit 178 to bypass the foreign object. Alternatively, the foreign object may be bypassed by the rebar tying robot 100 performing lateral movement, as described later.

[0069] The control device 160 is, for example, a processor such as a CPU (Central Processing Unit), which corresponds to a computing unit. It performs control related to the execution of programs stored in the storage device 190, as well as data calculations and processing. The processor is a computing unit that executes programs that use various detection data to perform the operations of the rebar tying robot 100 (such as rebar tracking and movement, lateral movement (e.g., horizontal movement), and rebar tying operations).

[0070] Storage device 190 may include, for example, random access memory (RAM) and read-only memory (ROM). RAM is capable of rewriting data stored in the storage unit and may be composed of, for example, semiconductor memory elements. RAM may also store programs executed by the processor and data required for program execution (for example, template data used to determine the position of rebar based on detection results from sensor unit 130, as described later). These are merely examples; RAM may store data other than these, or may not store some of these data.

[0071] The ROM can read data from the storage unit and can be formed of, for example, a semiconductor memory element. The ROM can also store, for example, a program executed by the control device 160 or data that is not to be rewritten.

[0072] The program executed by the control device 160 may be stored in a computer-readable storage medium such as the storage device 190 (eg, RAM or ROM) and provided, or may be provided via a communication network connected via a communication unit (not shown).

[0073] The physical structure described above is merely illustrative. In the rebar tying robot 100 according to the embodiments of the present disclosure, the control device 160 and the storage device 190 do not necessarily need to be separate structures. For example, the rebar tying robot 100 may include an LSI (Large-Scale Integration) that integrates a processor and memory. Furthermore, the rebar tying robot 100 may include a GPU (Graphical Processing Unit) as the control device 160, and the various operations described above may be implemented by executing programs on the GPU.

[0074] Next, refer to Figure 8 as well as Figure 9 , the moving action of the steel bar tying robot 100 on the steel bars is described. Figure 8 This is a diagram of the rebar tying robot 100 as viewed from the Y direction while traveling along the first rebar R10. Figure 9 This is a diagram of the rebar tying robot 100 as it moves along the first rebar R10, as viewed from the X direction. Figure 8as well as Figure 9 In FIG. 1 , the steel bar tying robot 100 moves along the first direction (Y direction). Figure 8 and Figure 9 As shown, the rebar tying robot 100 moves in a manner such that the first roller portion 122a of the first traveling unit 120a is located on the first rebar R12 and the second roller portion 122b of the second traveling unit 120b is located on the first rebar R14. Figure 9 As shown, the third roller portion 122c of the third traveling unit 120c also travels on the first reinforcing bar R12 in the same manner as the first roller portion 122a of the first traveling unit 120a. Figure 8 and Figure 9 Although not shown, the fourth roller portion 122d of the fourth travel unit 120d also travels on the first rebar R14, similarly to the second roller portion 122b of the second travel unit 120b. Thus, the rebar tying robot 100 of the disclosed embodiment, while traveling along the first rebar R10, travels over, for example, a first rebar R10 (first rebar R12) and two first rebars R10 (first rebar R14) located adjacent to the first rebar R12, and ties the intersection c12 between the first rebar R10 and the second rebar R20, located on the first rebar R13, which is the first rebar R10 located between the traveling first rebar R12 and the first rebar R14.

[0075] Next, refer to Figure 10 、 Figure 11 as well as Figure 12 , the rebar tying robot 100 during the rebar tying operation will be described. Figure 10 This is a diagram of the rebar tying robot 100 , which stops traveling and performs tying work, as viewed from the Y direction. Figure 11 This is a diagram of the rebar tying robot 100 performing tying work as viewed from the X direction. Figure 12 This is a diagram showing the reinforcing bar tying robot 100 performing tying work as viewed from the lower side in the Z direction. Figure 10 、 Figure 11 as well as Figure 12 In the embodiment, the steel bar tying robot 100 ties the intersection c12 of the first steel bar R13 and the second steel bar R20 as an example. Figures 10 to 12 As shown, during the bundling operation, the steel bar bundling robot 100 stops referring to Figure 8 and Figure 9 The above movement causes the steel bar bundling unit 110 to descend.

[0076] Next, the structure for calculating the position of a rebar group R (first rebar R10 and second rebar R20) of the rebar tying robot 100 according to an embodiment of the present disclosure will be described. The rebar tying robot 100 according to an embodiment of the present disclosure includes: a travel unit 120 configured to travel over the rebar group R, which includes a plurality of first rebars R1 extending in the Y direction (a first direction) and a plurality of second rebars R2 extending in the X direction (a second direction) intersecting the Y direction (the first direction) and arranged to intersect the first rebars R1; a sensor unit 130 configured to detect at least one first rebar R1 and / or at least one second rebar R2; and a first rebar determination unit 164a1 and / or a second rebar determination unit 164a2 (also referred to as "rebar position calculation unit" in this embodiment) configured to calculate the position of the at least one first rebar R1 and / or at least one second rebar R2 detected by the sensor unit 130 based on the pixel values of a plurality of pixels constituting a two-dimensional image generated by the sensor unit 130 as a result of the detection. The rebar tying robot 100 according to the embodiment of the present disclosure calculates the position of the first rebar R10 and / or the second rebar R20 based on a two-dimensional image generated based on the detection results of the sensor unit 130. This can improve the efficiency of the process of calculating the position of the first rebar R10 and / or the second rebar R20. For example, compared to calculating the position of the rebar using three-dimensional data as the detection results of the sensor unit, performing calculations based on the two-dimensional image can reduce the computational load.

[0077] In the rebar tying robot according to the embodiments of the present disclosure, the two-dimensional image used to calculate the position of the first rebar R10 and / or the second rebar R20 may be a shading image. In this case, the rebar tying robot 100 may include a storage device 190 storing information on at least one template image including a partial image of the first rebar R10 and / or the second rebar R20, wherein the two-dimensional image includes the shading image. The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculates the position of the at least one first rebar R10 and / or the at least one second rebar R20 by comparing the shading image with the template image.

[0078] Furthermore, in the rebar tying robot according to the embodiment of the present disclosure, when the density value of a pixel in the shading image is greater than a predetermined threshold, the robot may determine that the pixel corresponds to the first rebar R10 and / or the second rebar R20. In this case, the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) may determine that at least a portion of the first rebar R1 and / or at least a portion of the second rebar R2 is present at a position corresponding to a pixel having a density value greater than the predetermined threshold when the density value of the pixel constituting the shading image is greater than a predetermined threshold (first threshold). Alternatively, when the shading image is used as a two-dimensional image, the shading image may be generated by lowering the image density in areas where an object is present and increasing the image density in areas where the object is not present. In this case, the pixel may be determined to correspond to the first rebar R10 and / or the second rebar R20 when the density value of the pixel is less than the predetermined threshold.

[0079] In the rebar tying robot 100 according to the embodiments of the present disclosure, a grayscale image can also be generated based on detection results from a three-dimensional sensor. In this case, the sensor unit 130 can include a three-dimensional sensor capable of detecting the x-, y-, and z-coordinates of multiple points on the surface of a detection target. The z-coordinate value detected by the three-dimensional sensor can be converted into different image densities depending on the magnitude of the z-coordinate value. A grayscale image can be generated by forming a two-dimensional image based on the x-, y-, and image densities.

[0080] Alternatively, the rebar tying robot 100 according to the embodiment of the present disclosure may also be configured so that the sensor unit 130 captures a grayscale image. In this case, the sensor unit 130 may include an imaging device and may generate a grayscale image based on an image captured by the imaging device.

[0081] Furthermore, the rebar tying robot 100 according to the embodiments of the present disclosure may also calculate the position of the first rebar R10 and / or the second rebar R20 based on the degree of matching. In this case, the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) may also be configured to calculate the position of at least one first rebar R10 and / or at least one second rebar R20 based on the degree of matching between the shading image and the template image.

[0082] In embodiments of the present disclosure, the degree of matching can also be calculated by, for example, comparing the detection results of sensor unit 130, a two-dimensional image generated based on the detection results of sensor unit 130, or a template image. For example, the pixel values of all pixels in the partial image of the comparison target, a two-dimensional image generated based on the detection results of sensor unit 130, can be compared with the pixel values of all pixels in the template image. The degree of matching can be calculated based on whether the pixel values of corresponding pixels in the two compared images match, or by expressing the proportion of matching pixels as a percentage. For example, if a template image containing 50,000 pixels is compared with 50,000 pixels in a dark and dark image being compared, and the density of 40,000 pixels matches or is approximately the same (e.g., the difference between the two is within 10%), the degree of matching can be calculated as 80%.

[0083] At this time, the position of the first reinforcing bar R10 and / or the second reinforcing bar R20 may also be calculated using the reference value of the matching degree. At this time, the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (rebar position calculation unit) may also determine whether the matching degree is greater than a predetermined reference value. If the matching degree is greater than the predetermined reference value, it is determined that the first reinforcing bar R10 and / or the second reinforcing bar R20 are within the detection range of the sensor unit 130.

[0084] In the rebar tying robot 100 according to the embodiment of the present disclosure, different values may be set for each height as the reference value of the matching degree. In this case, the rebar tying robot 100 according to the embodiment of the present disclosure includes a robot height calculation unit 164e (also referred to as "robot height calculation means" in this embodiment) that calculates the height of the rebar tying robot 100 from the rebar group R. The predetermined reference value includes a plurality of reference values corresponding to different heights of the rebar tying robot 100. The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation means) determines whether or not a reference value corresponding to the height of the rebar tying robot 100 from the rebar group R calculated by the robot height calculation unit 164e (robot height calculation means) exists among the plurality of reference values. If it is determined that a reference value corresponding to the height of the rebar tying robot 100 exists among the plurality of reference values, the positions of the first rebar R10 and / or the second rebar R20 are calculated based on the reference value. If it is determined that a reference value corresponding to the height of the rebar tying robot 100 does not exist among the plurality of reference values, a new reference value corresponding to the measured height of the rebar tying robot 100 may be calculated based on at least two of the plurality of reference values.

[0085] In an embodiment of the present disclosure, for example, multiple reference values may be set for the height of the rebar tying robot 100 from the rebar group R, each corresponding to a predetermined size. For example, five reference values may be set for the height of the rebar tying robot 100 from the rebar group R, starting from 10 cm and ending at 30 cm at 5 cm intervals. In this case, for example, if the robot height calculation unit 164e determines that the height of the rebar tying robot 100 from the rebar group R is 20 cm, and the reference value for the height of 20 cm is set to 60%, 60% may be used as the reference value. Furthermore, if the robot height calculation unit 164e determines that the height of the rebar tying robot 100 from the rebar group R is 23 cm, and a reference value for 23 cm is not set, a new reference value may be set based on the reference values of 20 cm and 25 cm, for example. For example, if the reference value at a height of 20 cm is 60% and the reference value at a height of 25 cm is 50%, the reference value at a height of 23 cm can be calculated by linear interpolation as 50% + ((60% - 50%) * ((25 cm - 23 cm) / (25 cm - 20 cm))) = 54%. The newly calculated reference value can be stored in storage device 190, for example, and used as needed in subsequent operations. The heights, reference values, and new reference value calculation methods described above are examples and are not intended to be limiting. For example, more reference values may be set, such as for heights less than 10 cm or greater than 30 cm.

[0086] Hereinafter, a calculation process of the position of reinforcing bars by the reinforcing bar tying robot according to the embodiment of the present disclosure will be described.

[0087] First, a specific example of the sensor unit 130 used in the rebar tying robot 100 will be described in detail. For example, a 3D range camera such as a ToF (Time of Flight) camera (e.g., the TOFcam-635 manufactured by ESPROS Photonics) can be used as the sensor unit 130. A 3D range camera outputs an image with varying shades depending on the distance from the camera, for each subject. The distance to the subject is obtained for each pixel, and closer objects can be represented as having a higher density (closer to black) and farther objects as having a lighter density (closer to white). In the embodiment of the present disclosure, the distance between the rebar tying robot 100 and the rebar group R remains substantially constant while the rebar tying robot 100 travels over the rebar group R. Therefore, the rebar can be detected by identifying relatively black objects as rebar (the first rebar R10 and / or the second rebar R20).

[0088] Figure 13 An image output by a 3D range camera is shown. Figure 13 (a) shows an image of the vicinity of the intersection of the first reinforcing bar R10 and the second reinforcing bar R20 captured by the 3D range camera. Figure 13 (b) schematically shows an image near the intersection of the first reinforcement R10 and the second reinforcement R20. Figure 13 As shown in (a), the image captured by the 3D range camera has dark and light areas. In the embodiment of the present disclosure, the high-density area can be identified as the first reinforcing bar R10 and / or the second reinforcing bar R20. Figure 13 As schematically shown in (b), an image having different shades of density is obtained for each pixel.

[0089] The sensor unit 130 is not limited to the imaging device such as a camera exemplified above; other sensors may be used. For example, a laser capable of acquiring information in the depth direction or the height direction may be used. For example, a two-dimensional image using the same image density as described above may be generated based on the depth direction information acquired by the laser.

[0090] Next, the process of detecting the steel bar based on the image (in this embodiment, the grayscale image) captured and acquired by the sensor unit 130 will be described. Figure 14 , the configuration of the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d of the sensor 130 will be described. Figure 14 130a is a diagram schematically showing the arrangement of the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d. Figure 14 (a) is a schematic side view of the rebar tying robot 100 as viewed from the horizontal direction (X direction). Figure 14 (b) is a schematic top view of the rebar tying robot 100 as viewed from above (upper side in the Z direction). Figure 14 In (a), together with the first sensor 130a, the second sensor 130b and the third sensor 130c, the shooting ranges of the first sensor 130a, the second sensor 130b and the third sensor 130c are also schematically shown. Figure 14 (a) and Figure 14As schematically shown in (b), the first sensor 130a and the second sensor 130b, which are arranged to be spaced apart from each other in the Y direction, are arranged to shoot obliquely downward. The third sensor 130c and the fourth sensor 130d (not shown) are also arranged to shoot obliquely downward. The first sensor 130a and the second sensor 130b are set to, for example, a field of view of a predetermined shooting range of, for example, 80° or more and 100° or less. In addition, the third sensor 130c and the fourth sensor 130d are set to, for example, a field of view of, for example, 50° or more and 70° or less. Any sensor 130 can be set to have other viewing angles. As described above, when determining a foreign object based on the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c and / or the fourth sensor 130d, the shooting range of each sensor can be changed, for example, by pointing the angle of each sensor upward.

[0091] Figure 15 The image captured by the first sensor 130a is schematically shown. Figure 15 As shown, in the embodiment of the present disclosure, the first sensor 130a is configured to capture images in an obliquely downward direction. Therefore, the spacing between adjacent first rebars R10 decreases as one moves from the front toward the back. In the embodiment of the present disclosure, the positions of the individual rebars (the plurality of first rebars R10 and the plurality of second rebars R20) constituting the rebar group R can be detected based on the images thus obtained, for example, by performing template matching. In the embodiment of the present disclosure, template matching is used to detect rebars (the first rebars R10 and / or the second rebars R20), for example, based on the similarity (also referred to as "matching" in this embodiment) between the captured image and a pre-prepared image. A shading image containing shading portions corresponding to the rebars is prepared as a template, and the images captured by each sensor unit 130 are scanned, with the similarity calculated in the scanning direction.

[0092] Reference Figure 16 , the template matching implemented in the embodiment of the present disclosure is described. Figure 16 is a schematic diagram for explaining template matching in this embodiment. Figure 16 , a captured image of the vicinity of the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, and template images TI10 and TI20 for scanning in the X direction and the Y direction are shown. Figure 16Also shown are graphs G10 and G20 illustrating template images TI10 and TI20 and the similarities calculated from their respective scans. Template images TI10 and TI20 are scanned in the Y and X directions, respectively, and similarities with them are calculated. In this way, locations in the captured image where the maximum value of the calculated similarity exceeds a threshold value are determined to correspond to locations where rebar is present. As shown in graphs G10 and G20, portions exceeding thresholds TH10 and TH20 are identified in the similarity distribution along the Y and X directions, corresponding to locations where rebar is present. Furthermore, similarity (matching) can be calculated by comparing the color density of each pixel in the captured image with the color density of each pixel constituting the template image. For example, the distance from each pixel in the captured image to the object is first extracted as the color density. Next, if the total or average value of the color density of the entire captured image is low (e.g., below a predetermined threshold), it is determined that no rebar is present in the captured image. On the other hand, when the color density is high (for example, higher than a predetermined threshold), the difference between the extracted color density and the color density of each pixel constituting the template image is compared for each pixel. Alternatively, the position in the captured image where the sum of the absolute values of the differences between the color density of the captured pixel and the color density of the pixels constituting the template image is the lowest can be extracted as the rebar position. In this way, the first rebar R10 and the second rebar R20 can be detected using template matching based on the similarity calculated by scanning the captured image with the template image.

[0093] Reference Figure 15 As described above, in the embodiment of the present disclosure, in the image captured by the first sensor 130a, the intervals between the first reinforcing bars R10 adjacent to each other in the X direction vary along the Y direction. Similarly, for the image captured by the second sensor 130b, the intervals between the first reinforcing bars R10 in the X direction also vary in the Y direction. In addition, for the images captured by the third sensor 130c and the fourth sensor 130d, the intervals between the second reinforcing bars R20 in the Y direction also vary along the X direction. Therefore, for example, it is also possible to perform ortho transformation on the captured image, correct the image so that the intervals between the reinforcing bars in the captured image are approximately equal, and then perform template matching. In addition, even if the image transformation such as ortho transformation is not performed, and the image is prepared Figure 15 Using such an image in which the intervals between reinforcing bars change as a template, it is also possible to detect reinforcing bars by template matching.

[0094] In the template matching according to the embodiment of the present disclosure, for example, frequency analysis may be performed on each image, and the correlation between the captured image and the template image may be evaluated by using a phase correlation method.

[0095] The positions of the first and second rebars R10 and R20 can also be estimated by, for example, acquiring and estimating XYZ three-dimensional data of an object within the detection range using a three-dimensional sensor. As described above, in the rebar tying robot 100 according to the embodiment of the present disclosure, by performing template matching that processes the third dimension data in the Z direction as pixel density information, the computational complexity of calculating the position of the intersection c12 can be reduced compared to, for example, the case of performing calculations based on three-dimensional XYZ data. When performing the tying operation at the intersection c12 while traveling, as in the rebar tying robot 100 according to the embodiment of the present disclosure, it is preferable to use a method for determining the position of the rebar based on template matching that can reduce the computational complexity.

[0096] Next, a method for determining the intersection of the first and second reinforcing bars R10 and R20 in an embodiment of the present disclosure will be described. In an embodiment of the present disclosure, it may be configured such that, when the rebar tying robot 100 determines the intersection c12 of the first and second reinforcing bars R10 and R20, the first sensor 130a and the second sensor 130b detect the first rebar R10 as described above. That is, as described above, the rebar tying robot 100 includes a rebar tying unit 110 configured to tie the intersection c12 of the first and second rebars R10 and R20 of the rebar group R, the sensor units 130 are arranged away from each other along a third direction, and include the first sensor 130a and the second sensor 130b configured to at least detect the first rebar R10, the at least one template image includes a template image TI10 (first template image) including a partial image of the first rebar R10, and the rebar tying robot 100 moves along the travel unit 120. The first and second sensors 130a and 130b are arranged in a direction (third direction) parallel to the Y direction (first direction) and the first and second sensors 130a and 130b are arranged. The first and second reinforcing bar determination units 164a1 and / or 164a2 (rebar position calculation units) calculate the position of the first reinforcing bar R10 by comparing the detection results of the first and / or second sensors 130a and 130b with the first template image. The rebar bundling unit 110 may also bundle the intersection c12 on the first reinforcing bar R10 at the calculated position.

[0097] In addition, at this time, the rebar tying robot 100 can also be configured so that the third sensor 130c and the fourth sensor 130d detect the second rebar R20 in addition to the first rebar R10 to estimate the intersection c12. That is, the rebar tying robot 100 further includes an intersection calculation unit 166 (also referred to as an "intersection estimation unit" in this embodiment) for estimating the intersection c12, and the sensor units 130 are arranged away from each other along a fourth direction intersecting the third direction, and include the third sensor 130c and the fourth sensor 130d configured to detect at least the second rebar R20, and at least one template image includes a template image TI20 (second template image) containing a partial image of the second rebar R20, and the rebar tying robot 100 is arranged in the fourth direction intersecting the third direction. The first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) calculates the position of the second reinforcing bar R20 by comparing the detection results of the third sensor 130c and / or the fourth sensor 130d with the second template image, and the intersection portion estimating unit (intersection portion estimating unit) estimates the intersection of the calculated first reinforcing bar R10 and the calculated second reinforcing bar R20 as the intersection portion c12. The reinforcing bar bundling unit 110 may also be configured to bundle the estimated intersection portion c12.

[0098] In addition, the rebar tying robot 100 may also cause the third sensor 130c and / or the fourth sensor 130d to detect the first rebar R10 when the end R10e of the first rebar R10 is detected, and the first rebar R10 detected by the third sensor 130c and / or the fourth sensor 130d may be used to calculate the lateral movement amount of the rebar tying robot 100 described later. That is, the rebar tying robot 100 includes a movement amount calculation unit 174 (movement amount calculation unit) for calculating the movement amount of the traveling unit 120 based on the position information of the first rebar R10 calculated by the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) when the traveling unit 120 moves from the traveling first rebar R10 to another first rebar R10. The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculate the position of the first rebar R10 traveling by the traveling unit 120 based on the detection results of the first sensor 130a and / or the second sensor 130b. If the matching degree of the detection result of the first sensor 130a is less than a predetermined reference value, the robot 100 determines whether the matching degree is greater than or equal to a predetermined end reference value. If the matching degree is determined to be greater than the predetermined end reference value, the robot 100 determines that the end R10e of the first rebar R10 is present within the detection range of the first sensor 130a and that the end R10e of the first rebar R10 is within the detection range of the first sensor 130a. When the end R10e of the first rebar R10 is present within the detection range of the third sensor 130c and / or the fourth sensor 130d, the third sensor 130c and / or the fourth sensor 130d detects that the first rebar R10 is being detected. The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculates the positions of other first rebars R10 that have moved away from the first rebar R10 traveling the traveling unit 120 in the X direction (second direction) based on the detection results of the third sensor 130c and / or the fourth sensor 130d. The movement amount calculation unit 174 (movement amount calculation unit) calculates the movement amount of the traveling unit 120 in the X direction (second direction) based on the positions of the other first rebars R10 calculated by the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) and the position of the first rebar R10 traveling the traveling unit 120. The traveling unit 120 may be configured to move in the X direction (second direction) based on the calculated movement amount in the X direction (second direction).

[0099] Reference Figure 17 , a method for estimating the intersection of the first reinforcement R10 and the second reinforcement R20 will be described. Figure 17 1 is a diagram schematically showing the reinforcing bar tying robot 100 viewed from the lower side in the Z direction for explaining a method of estimating an intersection. Figure 17As shown, for example, in the embodiment of the present disclosure, the rebar tying robot 100 is configured as described above to move two first rebars R12 and R14, and the first sensor 130a and the second sensor 130b detect the first rebar R13, and the third sensor 130c and the fourth sensor 130d detect the second rebar R20. Figure 17 In the example shown, the third sensor 130c and the fourth sensor 130d detect, for example, the second rebar R23. In this case, based on the detection results of the first and second sensors 130a, 130b, the first rebar R13 extending between the first and second sensors 130a, 130b is estimated. Furthermore, based on the detection results of the third and fourth sensors 130c, 130d, the second rebar R23 extending between the third and fourth sensors 130c, 130d is estimated. The intersection c12 is the site where the estimated first rebar R13 extending between the first and second sensors 130a, 130b and the estimated second rebar R23 extending between the third and fourth sensors 130c, 130d intersect.

[0100] use Figure 18 , a method for estimating the intersection position c12 in an embodiment of the present disclosure is described. Figure 18 Flowchart of the method for estimating the part c12 in the embodiment of the present disclosure.

[0101] First, detection results of the first sensor 130 a and the second sensor 130 b are acquired ( S1802 ).

[0102] Next, based on the detection results of the first sensor 130 a and the second sensor 130 b , template matching is performed to confirm the first reinforcing bar R10 and / or the second reinforcing bar R20 detected by the first sensor 130 a and the second sensor 130 b ( S1804 ).

[0103] The position of the first reinforcing bar R13 is estimated based on the detection results of the first sensor 130 a and the second sensor 130 b ( S1806 ).

[0104] Next, the detection results of the third sensor 130 c and the fourth sensor 130 d are acquired ( S1808 ).

[0105] Next, the position of the second reinforcing bar R20 is estimated based on the detection results of the third sensor 130 c and the fourth sensor 130 d ( S1810 ).

[0106] Next, an intersection is estimated based on the estimated positions of the first reinforcement R13 and the estimated positions of the second reinforcement R20 ( S1812 ).

[0107] Thus, the rebar tying robot 100 according to the embodiment of the present disclosure is arranged on the rebar group R in such a manner that the third direction (Y direction) in which the first sensor 130a and the second sensor 130b are arranged is parallel to the first direction which is the extending direction of the first rebar R10, and the fourth direction in which the third sensor 130c and the fourth sensor 130d are arranged is parallel to the second direction which is the extending direction of the second rebar R20. The robot 100 includes an intersection location calculation unit 166 which is an intersection location estimation unit for estimating the intersection location c12. The first sensor 130a and the second sensor 130b are configured to detect the first rebar R10, and the third sensor 130c and the fourth sensor 130d are configured to detect the second rebar R20. The intersection location calculation unit 166 of the location estimation unit may be configured to estimate the position of the first reinforcing bar R10 (first reinforcing bar R13) detected by both the first sensor 130a and the second sensor 130b based on the detection results of the first sensor 130a and the second sensor 130b, estimate the position of the second reinforcing bar R20 (second reinforcing bar R23) detected by both the third sensor 130c and the fourth sensor 130d based on the detection results of the third sensor 130c and the fourth sensor 130d, and estimate the intersection of the first reinforcing bar R13 detected by the first sensor 130a and the second sensor 130b and the second reinforcing bar R23 detected by the third sensor 130c and the fourth sensor 130d as the intersection location c12.

[0108] When the rebar tying robot 100 calculates the position of the intersection c12 between the first rebar R10 and the second rebar R20 on the first rebar R13, for example, the first sensor 130a may be passing through the intersection point (intersection cp12). In this case, for example, the calculated position of the intersection c12 may be adjusted based on information about the intersection cp12 captured by the first sensor 130a. Specifically, the rebar tying robot 100 may be configured to move in a first direction (Y direction) while detecting the first rebar R10 using the first sensor 130a and the second sensor 130b. During the movement of the rebar tying robot 100, if the first sensor 130a detects the intersection cp12 where the first rebar R10 and the second rebar R20 intersect, the robot 100 determines whether the intersection cp12 matches the estimated intersection c12. If the intersection cp12 does not match the estimated intersection c12, the robot 100 adjusts the estimated position of the intersection c12. In a case where the position of the detected intersection cp12 is inconsistent with the position of the estimated intersection c12, for example, the position of the rebar tying robot 100 can be adjusted by accelerating or decelerating the first travel unit 120a, the second travel unit 120b, the third travel unit 120c and / or the fourth travel unit 120d of the travel unit 120, respectively, or controlling the rotational speeds of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c and the fourth wheel drive motor 124d, in the same manner as described above regarding the method of making the rebar tying robot 100 follow the first rebar R10.

[0109] It should be noted that, referring to Figure 18 The above-mentioned method for estimating the intersection is merely an example and is not limited to the above-mentioned example. For example, the acquisition of the detection results of each sensor may not be performed in the above-mentioned order, and the estimation of the position of the steel bar based on the detection results may not be performed in the above-mentioned order.

[0110] Next, a method for calculating the movement amount of the rebar tying robot 100 in the embodiment of the present disclosure will be described. Figure 17 The following description will be made by taking as an example the case where the steel bar tying robot 100 reaches the vicinity of the end R10e in the Y direction of the first steel bar R10 and moves laterally (moves in the X direction). Figure 17As shown, the rebar tying robot 100 advances the first rebar R12 and the first rebar R14, tying the intersection of the first rebar R13 and the second rebar R20 (e.g., second rebars R21, R22, R23, R24, and R25) between the first rebar R12 and the first rebar R14, until it reaches the vicinity of the end R12e, the end R13e, and the end R14e. At this point, the rebar tying robot 100 then ties the first rebar R14 adjacent in the X direction to the already tied first rebar R13, thus moving in the X direction (from the first rebar R13 toward the first rebar R14).

[0111] Reference Figure 19 , a method of lateral movement of the rebar tying robot 100 in this case will be described. Figure 19 This is a flowchart related to the lateral movement of the rebar tying robot 100 .

[0112] First, the detection result of the first sensor 130 a is acquired ( S1902 ).

[0113] Next, template matching is performed on the detection result of the first sensor 130 a ( S1904 ).

[0114] Next, based on the result of template matching, it is determined whether the end R13 e of the first reinforcing bar R13 detected by the first sensor 130 a is detected ( S1906 ).

[0115] Next, it is determined whether the end of the second reinforcing bar R20 is detected (S1908). As the end R20e of the second reinforcing bar R20, for example, Figure 17 As shown, it can also be determined whether any of the ends R21e, R22e, R23e, R24e, and R25e of the second reinforcing bars R21, R22, R23, R24, and R25 are detected.

[0116] For example, the detection results of the third sensor 130c and / or the fourth sensor 130d may be used to determine whether the end R20e of the second rebar R20 has been detected. In the embodiment of the present disclosure, as viewed from above in the Z direction, the rebar tying robot 100 performs the tying operation at the intersection of the first and second rebars R10 and R20, starting from the first rebar R10 on the left side of the X-axis toward the first rebar R10 on the right side of the X-axis. Therefore, the detection results of the fourth sensor 130d, located on the right side in the X-axis when viewed from above in the Z direction, may be used to determine whether the end R20e of the second rebar R20 on the right side in the X-axis has been detected. For example, if the fourth sensor 130d detects the end R20e of the second rebar R20 on the right side in the X-axis, the tying operation of the last first rebar R10 may be completed, and thus the tying operation of the target rebar group R may be terminated. The detection of the end R20e is not limited to this. For example, the detection results of other sensors may be used to determine whether the end R20e of the second rebar R20 is on the left side in the X direction when the bundling operation is performed from the first rebar R10 on the right side in the X direction to the first rebar R10 on the left side in the X direction. Furthermore, the bundling operation may be terminated based on conditions other than the detection of the end R20e. For example, the rebar bundling robot 100 may be moved based on conditions set so that the bundling operation of other rebars can be started at a location other than the end R20e. Alternatively, the rebar bundling robot 100 may be moved based on factors such as the detection of foreign matter to change the bundling position and the rebar to be bundled. In addition, the first sensor 130a and / or the second sensor 130b can also be used to detect the second steel bar R20 by, for example, adjusting the configuration position, inclination, field of view, etc. Therefore, the detection results of the first sensor 130a and / or the second sensor 130b can also be used to perform detection of the end R20e of the second steel bar R20.

[0117] Next, the detection result of the fourth sensor 130 d is obtained ( S1910 ).

[0118] Next, template matching is performed based on the detection result of the fourth sensor 130 d ( S1912 ).

[0119] Next, based on the position of the first reinforcing bar R10 detected by the fourth sensor 130d, the first reinforcing bar R10 of the movement destination of the reinforcing bar tying robot 100 is estimated (S1914). In the embodiment of the present disclosure, the fourth sensor 130d detects a plurality of first reinforcing bars R10. For example, Figure 17In the example shown, the fourth sensor 130d can also detect the first rebar R14 located on the right side of the rebar tying robot 100 in the X direction. Furthermore, since the tying operation has been performed along the intersection c12 of the first rebar R10 and the second rebar R20, the rebar tying robot 100 then moves laterally, for example, by traveling over the first rebar R13 and the first rebar R15, while performing the tying operation along the intersection of the first rebar R14. For example, the rebar tying robot 100 can also move laterally in the X direction, with the first and third travel units 120a and 120c traveling over the first rebar R13 and the second and fourth travel units 120b and 120d traveling over the first rebar R15.

[0120] Next, the lateral movement amount is calculated (S1918). The lateral movement amount of the rebar tying robot 100 can also be calculated using the following method. For example, as described above, when the rebar tying robot 100 moves to the right in the X direction when viewed from the upper side in the Z direction, that is, when moving in the direction where the fourth sensor 130d is located, the lateral movement amount can be calculated based on two pieces of information: how far the fourth sensor 130d is from the X-direction center of the rebar tying robot 100 in the X direction, and how far the first rebar R14 detected by the fourth sensor 130d is from the fourth sensor 130d. When calculating how far the fourth sensor 130d is from the X-direction center of the rebar tying robot 100 in the X direction, the X-direction center of the rebar tying robot 100 can be, for example, the location where the rebar tying unit 110 is located. Alternatively, the tying position of the rebar tying unit 110 can be considered the X-direction center of the rebar tying robot 100. In this case, for example, the X-direction position of the first rebar R13, the target of the rebar tying operation by the rebar tying robot 100, may be determined as the X-direction center position of the rebar tying robot 100. It should be noted that the X-direction center position of the rebar tying robot 100 and the distance (X-direction distance) between the fourth sensor 130d and the X-direction center position of the rebar tying robot 100 may be precalculated and stored in the storage device 190. Furthermore, in a configuration where the position of the sensor unit 130 can be changed, for example, when the position of the fourth sensor 130d is changed depending on the construction site, the direction and amount of movement of the fourth sensor 130d may be calculated, and the X-direction distance between the fourth sensor 130d and the X-direction center of the rebar tying robot 100 may be calculated taking into account the movement of the fourth sensor 130d. Furthermore, the distance between the fourth sensor 130d and the first rebar R14 detected by the fourth sensor 130d may be calculated, for example, based on an image captured by the fourth sensor 130d. For example, when the fourth sensor 130d is installed at a position 100 away from the center of the X direction of the rebar tying robot 100 (for example, the position of the first rebar R13) in the X direction, and the first rebar R14 is located at a position 20 away from the fourth sensor 130d in a direction away from the center of the X direction of the rebar tying robot 100, the interval between the first rebar R10 (the interval between the first rebar R13 and the first rebar R14) is calculated to be 120, and control is performed to set the lateral movement amount to 120.For example, if the fourth sensor 130d is mounted 20 cm away from the X-direction center of the rebar tying robot 100 (e.g., the position of the first rebar R13) and the first rebar R14 is located 4 cm away from the fourth sensor 130d in the direction away from the X-direction center of the rebar tying robot 100, the interval between the first rebars R10 (the interval between the first rebar R13 and the first rebar R14) may be calculated to be 24 cm, and control may be performed to set the lateral movement amount to 24 cm. Alternatively, if the fourth sensor 130d is mounted 20 cm away from the X-direction center of the rebar tying robot 100 (e.g., the position of the first rebar R13) and the first rebar R14 is located approximately 4 cm from the fourth sensor 130d toward the X-direction center of the rebar tying robot 100, the interval between the first rebars R10 (the interval between the first rebar R13 and the first rebar R14) may be calculated to be 16 cm, and control may be performed to set the lateral movement amount to 16 cm.

[0121] Regarding the lateral movement of the rebar tying robot 100, for example, as described above, when the rebar tying robot 100 is moving laterally to tie the intersection of the first rebar R14, the lateral movement can be calculated by assuming the robot 100 is moving laterally by an amount corresponding to the distance between adjacent first rebars R10. In the above example, the first and third travel units 120a, 120c move from the first rebar R12 to the first rebar R13, while the second and fourth travel units 120b, 120d move from the first rebar R14 to the first rebar R15. In the embodiment of the present disclosure, the first rebars R10 are arranged approximately equally spaced and substantially parallel to each other. Therefore, the first through fourth travel units 120a, 120d move the same amount in the X direction. Therefore, the lateral movement can also be calculated as the distance in the X direction between the first rebar R14 and the first rebar R15 detected by the fourth sensor 130d. Alternatively, since the intervals between the first reinforcing bars R10 are approximately equal, the amount of lateral movement can be calculated based on the intervals between adjacent first reinforcing bars R10 calculated based on detection results from other sensors. Alternatively, the amount of lateral movement can be calculated based on the average of the intervals between the first reinforcing bars R10 by calculating the X-direction distances between multiple (e.g., three or more) first reinforcing bars R10. This average calculation can reduce the effect of errors on the calculated amount of lateral movement, for example, even if there are errors in the intervals between the first reinforcing bars R10.

[0122] Next, the rebar tying robot 100 is moved laterally based on the calculated amount of lateral movement ( S1918 ).

[0123] Alternatively, the rebar tying robot 100 , which has completed the lateral movement, may move along the moved first rebars R13 and R15 ( S1920 ) and start tying the intersection c12 of the first rebar R14 .

[0124] The detection of the end R10e of the first steel bar R10 can also be performed by preparing a template corresponding to the image of the end R10e and judging based on the degree of matching with the template of the end R10e. Figure 16 When a template image extending in one direction is prepared as exemplified, a template image may be prepared in which the length of the portion corresponding to the reinforcing bar in the Y direction is shorter than that of the portion other than the end R10e, with respect to the end R10e.

[0125] Alternatively, it is possible to determine that the bar is reaching the end R10e when the degree of matching is within a certain range of values. For example, it is possible to determine that the bar is reaching the end R10e of the first bar R10 if the degree of matching is relatively close to 100% and is 75% or higher in the portion other than the end R10e of the first bar R10. If the degree of matching is relatively low, for example, between 50% and 75%, it is determined that the bar is reaching the portion of the first bar R10 near the end R10e. The degree of matching described here for the portion other than the end R10e and near the end R10e is merely illustrative; other values may be set, and the degree of matching may be changed depending on the arrangement of the bars and other circumstances.

[0126] Thus, when the rebar tying robot 100 moves laterally, the detection results of the first rebar R10 by the third sensor 130c and / or the fourth sensor 130d are particularly used. Regarding the third sensor 130c and the fourth sensor 130d, as described above, for example, when calculating the position of the intersection c12 between the first rebar R10 and the second rebar R20, the detection results of the second rebar R20 by the third sensor 130c and the fourth sensor 130d are used. However, when calculating the position of the intersection c12 between the first rebar R10 and the second rebar R20, the detection results of the first rebar R10 by the third sensor 130c and the fourth sensor 130d do not need to be used. Therefore, in this case, the detection of the first rebar R10 by the third sensor 130c and the fourth sensor 130d does not need to be used. When the rebar tying robot 100 advances the rebar tying operation and reaches the end R10e of the first rebar R10, for example, the rebar tying robot 100 moves laterally. Therefore, in order to be able to calculate the amount of movement, the camera range of the third sensor 130c and / or the fourth sensor 130d can also be changed by, for example, changing the orientation of the third sensor 130c and / or the fourth sensor 130d, so that the first rebar R10 can be detected by the third sensor 130c and / or the fourth sensor 130d.

[0127] Refer to the above Figure 19 While the description uses the detection results of the first sensor 130a and the fourth sensor 130d as an example, the sensors used for reference are not limited thereto. For example, the sensor used may be changed depending on the direction of travel of the rebar tying robot 100. As described above, when the end R10e of the first rebar R10 is detected by the first sensor 130a, the rebar tying robot 100 is not limited to moving laterally toward the fourth sensor 130c. For example, when the end R10e of the first rebar R10 is detected by the first sensor 130a, the rebar tying robot 100 may also move laterally toward the third sensor 130c. Furthermore, for example, when the end R10e of the first rebar R10 is detected by the second sensor 130b, the rebar tying robot 100 may move laterally toward the third sensor 130c, or when the end R10e of the first rebar R10 is detected by the second sensor 130b, the rebar tying robot 100 may move laterally toward the fourth sensor 130d.

[0128] Below, refer to Figures 20 to 25 An example of the lateral movement of the rebar tying robot 100 will be described. Figures 20 to 25The figure includes a figure showing the rebar tying robot 100 in lateral movement as viewed from the back side (the rear side in the Y direction) and a figure showing the rebar tying robot 100 as viewed from an oblique upper side. Figure 20 (a)~ Figure 25 (a) is a diagram showing the steel bar tying robot 100 as viewed from the back. Figure 20 (b)~ Figure 25 (b) is a diagram of the rebar tying robot 100 as seen from an oblique upper direction.

[0129] Figure 20 (a) and (b) show the steel bar tying robot 100 before starting the lateral movement. Figure 20 As shown in (a) and (b), the rebar tying robot 100 travels on the first rebars R12 and R14.

[0130] In the embodiment of the present disclosure, as described above, for example, when the detection result of the first sensor 130a determines that the robot 100 has reached or is reaching the vicinity of the end R10e of the first reinforcing bar R10, the robot 100 determines that the robot 100 has started lateral movement. Figure 21 (a) and (b) show the state when the steel bar tying robot 100 starts to move horizontally. Figure 21 As shown in (a) and (b) of FIG. 1 , the rebar tying robot 100 does not move the traveling unit 120 but moves in the direction (X direction) in which the main unit 140 moves. Figure 21 As shown in (a) and (b), at this time, the first traveling unit 120a and the second traveling unit 120b are respectively located on the first reinforcement R12 and the first reinforcement R14 without moving. At this time, the support rods 150a and 150b are not in contact with any reinforcement. The lateral movement of the main unit 140 (here, for example, horizontal movement (movement in the X direction)) can also be achieved by, for example, Figure 21 (a) and (b) are performed by the first moving motor 182 and the second moving motor 184 of the moving unit 180 which are not shown.

[0131] Next, the steel bar tying robot 100 moves the traveling unit 120 upward. Figure 22 (a) and Figure 22 As shown in (b), the traveling unit 120 is Figure 22 (a) and Figure 22 (b) rises upward in the Z direction. When the traveling unit 120 rises, the support rods 150a and 150b fall relatively. When the moving unit 120 leaves the first reinforcing bar R10, the support rods 150a and 150b come into contact with the first reinforcing bar R10. For example, the traveling unit 120 may be configured such that the length in the Z direction can be adjusted by using a motor or the like (e.g., Figure 7The first wheel height changing motor 126a, the second wheel height changing motor 126b, the third wheel height changing motor 126c, and the fourth wheel height changing motor 126d shown in the figure bend the arm portions of the support rollers (the first roller portion 122a, the second roller portion 122b, the third roller portion 122c, and the fourth roller portion 122d) to change the height. It is also possible to configure the roller portion 122 to rise by bending the arm portions, so that the roller portion 122 is separated from the first reinforcing bar R10.

[0132] like Figure 22 (a) and Figure 22 As shown in (b), the support rods 150a and 150b are in contact with, for example, the first reinforcing bars R11 to R14. In this way, the entire reinforcing bar tying robot 100 is supported by the support rods 150a and 150b.

[0133] Then, the traveling unit 120 of the steel bar tying robot 100 moves along the X direction. Figure 23 (a) and Figure 23 As shown in (b), the first and third traveling units 120a, 120c, and the second and fourth traveling units 120b, 120d, which are in contact with first rebar R12 and first rebar R14, respectively, move above first rebar R13 and first rebar R15. At this point, none of the first to fourth traveling units 120a, 120d are in contact with first rebar R10. Support rods 150a and 150b are in contact with first rebar R10, supporting the rebar tying robot 100.

[0134] Next, the traveling unit 120 is lowered. Figure 24 (a) and Figure 24 As shown in (b), the traveling unit 120 is Figure 24 (a) and Figure 24 (b) of the figure descends downward in the Z direction. Figure 24 (a) and Figure 24 As shown in (b), the first and third traveling units 120a and 120c are in contact with the first rebar R13, while the second and fourth traveling units 120b and 120d are in contact with the first rebar R15. Consequently, the support rods 150a and 150b are relatively elevated. Thus, the rebar tying robot 100 is supported by the traveling unit 120 in this state.

[0135] Next, if Figure 25 (a) and Figure 25 As shown in (b), the main unit 140 moves in the X direction. Figure 21 (a) and Figure 21 Similarly, in the case of (b), Figure 25 (a) and Figure 25The lateral movement of the main unit 140 shown in (b) (here, for example, the movement in the horizontal direction (the movement in the X direction)) can also be performed by, for example Figure 25 The first and second movement motors 182 and 184 of the movement unit 180 (not shown) in (a) and (b) above are used to perform the lateral movement. This completes the lateral movement of the rebar tying robot 100. For example, the rebar tying robot 100 begins traversing the first and second rebars R13 and R15, and then proceeds to tie the intersection c12 of the first and second rebars R10 and R20 on the first rebar R14.

[0136] The above description uses the example of the rebar tying robot 100 moving from first rebars R12 and R14 to first rebars R13 and R15. However, the robot can also move forward across multiple first rebars R10. In this case, the robot can also move forward using the same method described above, or by repeating the above movement method, it can move over a longer distance. Furthermore, even when moving forward across multiple first rebars R10, the robot can calculate the amount of movement based on the detection results of the sensor unit 130 using the same method.

[0137] In addition, the rebar tying robot 100 is not limited to the method described above, and can also be moved laterally by other methods. In this case, the movement amount of the rebar tying robot 100 can also be calculated based on the detection results of the sensor unit 130 according to the movement amount calculation method in the embodiment of the present invention. By using the movement amount calculation method in the embodiment of the present invention, the movement of the rebar tying robot 100 can be smoothly promoted.

[0138] As described above, the rebar tying robot 100 according to an embodiment of the present disclosure includes: a travel unit 120 configured to be able to travel on a rebar group R, the rebar group R including a plurality of first rebars R1 extending in a first direction (Y direction) and a plurality of second rebars R2 extending in a second direction (X direction) intersecting the first direction (Y direction) and arranged to intersect the first rebars R1; a sensor unit 130 configured to be able to detect at least one first rebar R1 and / or at least one second rebar R2; and a first rebar determination unit 164a1 and / or a second rebar determination unit 164a2 (also referred to as a "rebar position calculation unit" in this embodiment) configured to calculate the position of the at least one first rebar R1 and / or the at least one second rebar R2 detected by the sensor unit 130 based on the pixel values of a plurality of pixels constituting a two-dimensional image generated by the detection result of the sensor unit 130. The rebar tying robot 100 according to the disclosed embodiments calculates the positions of the first and / or second rebars R10 and R20 based on a two-dimensional image generated from the detection results of the sensor unit 130. This makes the process of calculating the positions of the first and / or second rebars R10 and R20 more efficient. Consequently, the rebar detection process during the rebar blood phase operation of the rebar tying robot 100 can be made more efficient. For example, compared to calculating the positions of the rebars using three-dimensional data as the detection results of the sensor unit, performing calculations based on two-dimensional images can reduce the computational load.

[0139] Improvements in the technology of the various units comprising the rebar tying robot 100 enable faster and more efficient rebar tying operations. To achieve faster rebar tying operations, it is desirable to accelerate the process of detecting rebar and the locations of rebar tying. The rebar tying robot 100 according to the embodiments of the present disclosure improves the efficiency of the rebar detection process, thereby contributing to faster rebar tying operations.

[0140] The rebar tying robot 100 according to an embodiment of the present disclosure includes, for example, a rebar tying unit 110 configured to tie an intersection c12 of first and second rebars R10 and R20 of a rebar group, wherein the first rebar R10 of the rebar group includes a plurality of first rebars R10 extending in a first direction (Y direction) and a plurality of second rebars R20 extending in a second direction (X direction) intersecting the first direction (Y direction) and arranged to intersect the first rebars R10; a traveling unit 120 configured to travel on the first and / or second rebars R10; a first and second sensors 130 a and 130 b configured to detect at least one first rebar R10 and / or at least one second rebar R20, and disposed spaced apart from each other along a third direction (Y direction); and a third and fourth sensors 130 c and 130 d configured to detect at least one first rebar R10 and / or at least one second rebar R20, and disposed spaced apart from each other along a fourth direction (X direction) intersecting the third direction (Y direction). As described above, the rebar tying robot 100 includes four sensors 130 (a first sensor 130a, a second sensor 130b, a third sensor 130c, and a fourth sensor 130d). Therefore, for example, as described above, the intersection c12 between the first rebar R10 and the second rebar R20 can be efficiently detected. The location of the intersection c12 can also be determined by, for example, installing sensors near the rebar tying unit 110. However, since the rebar tying unit 110 moves vertically, installing sensors nearby is sometimes difficult. In the embodiment of the present disclosure, even without installing sensors near the rebar tying unit 110, the location of the intersection c12 can be estimated based on the detection results of the four sensors 130.

[0141] The rebar tying robot 100 according to the embodiment of the present disclosure includes, for example, a rebar tying unit 110 configured to tie an intersection c12 of a first rebar R10 and a second rebar R20 of a rebar group, wherein the first rebar R10 of the rebar group includes a plurality of first rebars R10 extending in a first direction (Y direction) and a plurality of second rebars R20 extending in a second direction (X direction) intersecting the first direction (Y direction); a traveling unit 120 configured to be able to travel on the first rebar R10 and / or the second rebar R20; a sensor unit 130 configured to be able to detect the first rebar R10 and / or the second rebar R20; and a movement amount calculation unit 174 that calculates a movement amount of the traveling unit 120 based on position information of the first rebar R10 or the second rebar R20 detected by the sensor unit 130 when the traveling unit 120 moves from the traveling first rebar R10 or the second rebar R20 to another first rebar R10 or another second rebar R20. As described above, the rebar tying robot 100 according to the embodiment of the present disclosure can determine the position of the rebar at the rebar tying robot 100's destination based on the detection results of the sensor unit 130, and calculate the movement amount of the rebar tying robot 100 based on the position of the rebar being moved by the travel unit 120 of the rebar tying robot 100 and the position of the rebar at the destination. For example, if the rebar tying robot 100 reaches the end of a rebar that has already been tied, the movement amount can be calculated based on the detection results of the sensor unit 130 when the robot moves to the next rebar to be tied.

[0142] In the above-mentioned embodiment of the present disclosure, the case where the rebar tying robot 100 performs the rebar tying operation at the intersection c12 of the first rebar R10 and the second rebar R20 in a rebar group in which the first rebar R10 and the second rebar R20 are arranged in a mutually orthogonal manner is described as an example, but the rebar tying robot 100 of the embodiment of the present disclosure can also be used when the first rebar R10 and the second rebar R20 are in a non-orthogonal relationship.

[0143] Figure 26 FIG. 2 is a schematic diagram of a steel bar tying robot 200 according to another embodiment of the present disclosure, viewed from below in the Z direction. Figure 26As shown, in this embodiment, the second rebar R20 is positioned at an angle of approximately 30° relative to the first rebar R10. The rebar tying robot 200 of this embodiment differs from the rebar tying robot 100 in the positions of the third sensor 130c and the fourth sensor 130d. The third sensor 130c and the fourth sensor 130d of the rebar tying robot 200 are positioned on a straight line inclined 30° relative to the X-direction. In the rebar tying robot 200, by arranging the third sensor 130c and the fourth sensor 130d in a direction inclined from the X-direction in accordance with the second rebar R20, the second rebar R20 can be detected using the same method as the rebar tying robot 100.

[0144] In this manner, the placement of the first to fourth sensors 130a to 130d can be modified based on the arrangement of the first and second reinforcing bars R10 and R20. The placement of the first, second, third, and / or fourth sensors 130a, 130b, 130c, and / or 130d can be adjusted manually or automatically before the rebar tying operation begins, for example, based on the construction site where the rebar group R to be tied is located. Alternatively, even after the rebar tying robot 100 begins moving, the relationship between the first and second rebars R10 and R20 can be determined based on the detection results of the sensor unit 130, and the placement of the first, second, third, and / or fourth sensors 130a, 130b, 130c, and / or 130d can be dynamically modified based on the determination results. In this case, for example, a motor capable of driving the first to fourth sensors 130a to 130d can be provided, and the positions of the first to fourth sensors 130a to 130d can be modified by driving the motor.

[0145] Above, the present embodiment has been described with reference to specific examples. However, the present disclosure is not limited to these specific examples. As long as the features of the present disclosure are possessed, the contents obtained by appropriately applying design changes to these specific examples by those skilled in the art are also included in the scope of the present disclosure. The various elements and their configurations, conditions, shapes, etc. possessed by the above-mentioned specific examples are not limited to the exemplified contents and can be appropriately changed. As long as the various elements possessed by the above-mentioned specific examples do not produce technical contradictions, the combination can be appropriately changed.

[0146] (Supplementary Note 1) A rebar tying robot comprises: a rebar tying unit configured to tie an intersection of first and second rebars of a rebar group, wherein the rebar group includes a plurality of first rebars extending in a first direction and a plurality of second rebars extending in a second direction intersecting the first direction and arranged to intersect the first rebars; a traveling unit configured to be able to travel on the first rebars and / or the second rebars; a first sensor and a second sensor configured to be able to detect at least one of the first rebars and / or at least one of the second rebars, and arranged to be spaced apart from each other along a third direction; and a third sensor and a fourth sensor configured to be able to detect at least one of the first rebars and / or at least one of the second rebars, and arranged to be spaced apart from each other along a fourth direction intersecting the third direction.

[0147] (Supplementary Note 2) The steel bar tying robot according to Supplementary Note 1, wherein the traveling unit includes a first traveling unit, a second traveling unit, a third traveling unit, and a fourth traveling unit, the first traveling unit and the second traveling unit are respectively arranged on one side and the other side of the fourth direction relative to the first sensor, and the third traveling unit and the fourth traveling unit are respectively arranged on one side and the other side of the fourth direction relative to the second sensor.

[0148] (Supplementary Note 3) The rebar tying robot according to Supplementary Note 1 or 2, wherein the rebar tying robot is arranged on the rebar group in such a manner that the third direction is parallel to the first direction and the fourth direction is parallel to the second direction, and further includes an intersection estimating unit for estimating the intersection, the first sensor and the second sensor being configured to detect the first rebar, the third sensor and the fourth sensor being configured to detect the second rebar, the intersection estimating unit estimating the position of the first rebar detected by both the first sensor and the second sensor based on the detection values of the first sensor and the second sensor, estimating the position of the second rebar detected by both the third sensor and the fourth sensor based on the detection values of the third sensor and the fourth sensor, and estimating the intersection of the first rebar detected by the first sensor and the second sensor and the second rebar detected by the third sensor and the fourth sensor as the intersection.

[0149] (Supplementary Note 4) The rebar tying robot according to any one of Supplementary Notes 1 to 3, wherein at least one of the first sensor and the second sensor detects the first rebar and the second rebar, and at least one of the third sensor and the fourth sensor detects the first rebar and the second rebar.

[0150] (Supplementary Note 5) The rebar tying robot according to any one of Supplementary Notes 1 to 4, wherein the first direction and the second direction are orthogonal to each other, and the third direction and the fourth direction are orthogonal to each other.

[0151] (Note 6) The steel bar tying robot according to any one of Notes 1 to 5, wherein the first direction and the second direction are non-orthogonal to each other, the first sensor and the second sensor can be configured in such a manner that the third direction is parallel to the first direction, and the third sensor and the fourth sensor can be configured in such a manner that the fourth direction is parallel to the second direction.

[0152] (Supplementary Note 7) The rebar tying robot according to Supplementary Note 3, wherein the rebar tying robot is configured to move along the first direction while the first sensor and the second sensor detect at least one first rebar, and during the movement of the rebar tying robot, when the first sensor detects an intersection where the at least one first rebar intersects the second rebar, it is determined whether the intersection is consistent with the estimated intersection portion, and when the intersection is inconsistent with the determined intersection portion, the position of the estimated intersection portion is adjusted.

[0153] (Supplementary Note 8) A rebar bundling robot comprises: a rebar bundling unit configured to bundle an intersection of a first rebar and a second rebar of a rebar group, wherein the rebar group includes a plurality of first rebars extending in a first direction and a plurality of second rebars extending in a second direction intersecting the first direction; a travelling unit configured to be able to travel on the first rebar and / or the second rebar; a sensor unit configured to be able to detect the first rebar and / or the second rebar; and a movement amount calculation unit configured to calculate the movement amount of the travelling unit based on position information of the first rebar or the second rebar detected by the sensor unit when the travelling unit moves from the travelling first rebar or the second rebar to other first rebar or other second rebar.

[0154] (Supplementary Note 9) The steel bar tying robot according to Supplementary Note 8, wherein the sensor unit includes: a first sensor and a second sensor, which are configured to detect at least one of the first steel bar and / or at least one of the second steel bar, and are arranged to be separated from each other in a third direction; and a third sensor and a fourth sensor, which are configured to detect at least one of the first steel bar and / or at least one of the second steel bar, and are arranged to be separated from each other in a fourth direction intersecting the third direction, and the movement amount calculation unit calculates the movement amount based on position information of at least one first steel bar or second steel bar that is detected by the first sensor, the second sensor, the third sensor or the fourth sensor and is separated from the first steel bar or second steel bar traveled by the travel unit in the first direction or the second direction.

[0155] (Supplementary Note 10) The rebar tying robot according to Supplementary Note 9, wherein the first direction and the second direction are orthogonal to each other, the rebar tying robot is configured such that the traveling unit travels along the first direction, and the third direction is parallel to the first direction, and the fourth direction is parallel to the second direction, and the movement amount calculation unit calculates the movement amount of the traveling unit relative to the first rebar in motion toward the first rebar departing in the second direction, based on the position of the first rebar departing in the second direction detected by the third sensor or the fourth sensor and the position of the first rebar in motion by the traveling unit.

[0156] (Supplementary Note 11) The rebar tying robot according to Supplementary Note 10, wherein the movement amount calculation unit calculates the movement amount in the second direction so as to move in the second direction based on detection of the end of the first rebar in the first direction by the first sensor or the second sensor.

[0157] This application is based on Japanese patent application (Japanese Patent Application No. 2023-007172) filed on January 20, 2023, the contents of which are incorporated herein by reference.

[0158] Industrial Application Possibilities

[0159] The reinforcing bar tying robot according to the present disclosure can realize efficiency improvement in the operation of tying intersecting reinforcing bars.

[0160] Description of Reference Numerals

[0161] 100, 200 steel bar tying robots

[0162] 110 steel bar bundling unit

[0163] 120 travel units

[0164] 120a First traveling unit

[0165] 120b Second traveling unit

[0166] 120c third travel unit

[0167] 120d fourth travel unit

[0168] 130 sensor units

[0169] 130a First sensor

[0170] 130b Second sensor

[0171] 130c third sensor

[0172] 130d fourth sensor

[0173] 140 main unit

[0174] 150 support rod

[0175] 160 control device

[0176] 166 Intersection calculation unit (intersection estimation unit)

[0177] 174 Movement amount calculation unit (movement amount calculation unit)

[0178] C12 intersection

[0179] cp12 intersection

[0180] R10 first steel bar

[0181] R20 second steel bar.

Claims

1. A steel bar tying robot comprising: a steel bar bundling unit configured to bundle an intersection of first and second steel bars of a steel bar group, wherein the steel bar group includes a plurality of first steel bars extending in a first direction and a plurality of second steel bars extending in a second direction intersecting the first direction and arranged to intersect the first steel bars; a traveling unit configured to be able to travel on the first steel bar and / or the second steel bar; The first sensor and the second sensor are configured to detect at least one of the first steel bars and / or at least one of the second steel bars and are arranged spaced apart from each other along a third direction; as well as The third sensor and the fourth sensor are configured to detect at least one of the first reinforcing bars and / or at least one of the second reinforcing bars, and are arranged spaced apart from each other along a fourth direction intersecting the third direction.

2. The steel bar tying robot according to claim 1, wherein: The travel unit includes a first travel unit, a second travel unit, a third travel unit, and a fourth travel unit. The first traveling unit and the second traveling unit are respectively arranged on one side and the other side of the fourth direction relative to the first sensor. The third traveling unit and the fourth traveling unit are respectively arranged on one side and the other side of the fourth direction with respect to the second sensor.

3. The steel bar tying robot according to claim 1, wherein: The steel bar tying robot is arranged on the steel bar group in such a manner that the third direction is parallel to the first direction and the fourth direction is parallel to the second direction. The reinforcing bar tying robot further includes an intersection estimation unit for estimating the intersection. The first sensor and the second sensor are configured to detect the first steel bar. The third sensor and the fourth sensor are configured to detect the second steel bar. The intersection estimation unit estimates the position of the first reinforcing bar detected by both the first sensor and the second sensor based on the detection values of the first sensor and the second sensor. The intersection portion estimating unit estimates the position of the second reinforcing bar detected by both the third sensor and the fourth sensor based on the detection values of the third sensor and the fourth sensor. The intersection portion estimating unit estimates an intersection point between a first reinforcing bar detected by the first sensor and the second sensor and a second reinforcing bar detected by the third sensor and the fourth sensor as the intersection portion.

4. The steel bar tying robot according to claim 1, wherein: At least one of the first sensor and the second sensor detects the first steel bar and the second steel bar, At least one of the third sensor and the fourth sensor detects the first and second steel bars.

5. The steel bar tying robot according to claim 1, wherein: The first direction and the second direction are orthogonal to each other, The third direction and the fourth direction are orthogonal to each other.

6. The steel bar tying robot according to claim 1, wherein: The first direction and the second direction are non-orthogonal to each other, The first sensor and the second sensor can be arranged so that the third direction is parallel to the first direction. The third sensor and the fourth sensor may be arranged so that the fourth direction is parallel to the second direction.

7. The steel bar tying robot according to claim 3, wherein: The rebar tying robot is configured to move along the first direction while the first sensor and the second sensor detect at least one first rebar. During the movement of the steel bar tying robot, when the first sensor detects the intersection of at least one first steel bar and a second steel bar, it is determined whether the intersection is consistent with the estimated intersection. When the intersection is inconsistent with the determined intersection, the position of the estimated intersection is adjusted.

8. A steel bar tying robot comprising: a steel bar bundling unit configured to bundle an intersection of first steel bars and second steel bars of a steel bar group, wherein the steel bar group includes a plurality of first steel bars extending in a first direction and a plurality of second steel bars extending in a second direction intersecting the first direction; a traveling unit configured to be able to travel on the first steel bar and / or the second steel bar; a sensor unit configured to detect the first steel bar and / or the second steel bar; as well as A movement amount calculation unit calculates the movement amount of the traveling unit based on the position information of the first steel bar or the second steel bar detected by the sensor unit when the traveling unit moves from the traveling first steel bar or the second steel bar to another first steel bar or another second steel bar.

9. The steel bar tying robot according to claim 8, wherein: The sensor unit comprises: The first sensor and the second sensor are configured to detect at least one of the first steel bars and / or at least one of the second steel bars, and are arranged spaced apart from each other in a third direction; and The third sensor and the fourth sensor are configured to detect at least one of the first steel bars and / or at least one of the second steel bars, and are arranged spaced apart from each other in a fourth direction intersecting the third direction. The movement amount calculation unit calculates the movement amount based on position information of at least one first steel bar or second steel bar that is separated from the first steel bar or second steel bar traveling by the traveling unit in the first direction or the second direction, detected by the first sensor, the second sensor, the third sensor, or the fourth sensor.

10. The steel bar tying robot according to claim 9, wherein: The first direction and the second direction are orthogonal to each other, The steel bar tying robot is configured such that the traveling unit travels along the first direction, the third direction is parallel to the first direction, and the fourth direction is parallel to the second direction. The movement amount calculation unit calculates the movement amount of the traveling unit when it moves relative to the traveling first steel bar toward the first steel bar departing in the second direction, based on the position of the first steel bar departing in the second direction detected by the third sensor or the fourth sensor and the position of the first steel bar during the traveling of the traveling unit.

11. The steel bar tying robot according to claim 10, wherein: The movement amount calculation unit calculates the movement amount in the second direction so that the first reinforcing bar moves in the second direction based on detection of the end portion of the first reinforcing bar in the first direction by the first sensor or the second sensor.

Images