Binding device and system

Abstract

According to one embodiment of the present disclosure, a binding device is provided with: a reinforcing steel bar binding unit configured so as to bind an intersection of at least two reinforcing steel bars among a plurality of reinforcing steel bars; an advancing unit configured to be capable of advancing on the plurality of reinforcing steel bars; and a travel control unit that controls the travel of the travel unit on the basis of a map including a plurality of regions including the estimated positions of the intersection points.

Description

Technical Field

[0001] The present embodiment relates to a strapping device and system. Background Art

[0002] In the past, for example, a rebar bundling robot has been proposed that autonomously travels over multiple rebars and automates the rebar bundling process, bundling the intersections of the rebars with wire or the like. For example, Patent Document 1 describes a self-propelled rebar bundling machine that receives image data from a camera, detects the presence of obstacles based on the image data, and marks intersections where no bundling is performed.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2020-197072 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] Many robots estimate their own position based on information from encoders, etc., that measure the rotational speed of the motors installed in their travel units. However, there can be significant discrepancies between the position estimated based on encoder information and the external world measured by sensors, etc., necessitating appropriate corrections to the estimated position through calculations based on these discrepancies. This correction process can increase the computational load, impose a heavy processing burden, and sometimes cause operational delays.

[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 strapping device and system capable of high-precision travel without performing a process of correcting an estimated own position based on measurement results of sensors or the like.

[0009] Means for solving problems

[0010] One embodiment of the present disclosure provides a bundling device comprising: a steel bar bundling unit configured to bundle an intersection of at least two steel bars among a plurality of steel bars; a traveling unit configured to be able to travel on the plurality of steel bars; and a traveling control unit configured to control the travel of the traveling unit, wherein the traveling control unit controls the travel of the traveling unit based on a map including a plurality of areas, the plurality of areas including an estimated position of the intersection.

[0011] Effects of the Invention

[0012] According to the present disclosure, a strapping device and system are provided that can travel with high precision without performing a process of correcting an estimated own position based on measurement results of sensors or the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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.

[0014] 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.

[0015] Figure 3 This is a plan view of the rebar tying robot 100 as viewed from above (upper side in the Z direction).

[0016] Figure 4 This is a plan view of the rebar tying robot 100 as viewed from below (from below in the Z direction).

[0017] Figure 5 This is a perspective view of the rebar tying robot 100 , with the rebar tying unit 110 detached, as seen from obliquely above.

[0018] Figure 6 This is a perspective view of the rebar tying robot 100 , with the rebar tying unit 110 detached, as seen from an oblique upper direction.

[0019] Figure 7 1 is a diagram illustrating a functional block configuration of the rebar tying robot 100 .

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Figure 11 This is a diagram of the rebar tying robot 100 performing tying work as viewed from the X direction.

[0024] 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.

[0025] Figure 13A 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 is shown.

[0026] Figure 13B An image schematically shows the vicinity of an intersection of the first reinforcing bar R10 and the second reinforcing bar R20.

[0027] Figure 14A This is a schematic side view of the rebar tying robot 100 as viewed from the horizontal direction (X direction).

[0028] Figure 14B This is a schematic plan view of the rebar tying robot 100 as viewed from above (upper side in the Z direction).

[0029] Figure 15 Schematically shows an image captured by the first sensor 130 a .

[0030] Figure 16 is a schematic diagram for explaining template matching.

[0031] Figure 17 1 is a flowchart of a method for controlling the movement of the rebar tying robot 100 in an embodiment of the present disclosure.

[0032] Figure 18A This is a schematic diagram showing an example of the intersection map 194.

[0033] Figure 18B This is a schematic diagram showing an example of a travel route.

[0034] Figure 18C This is a diagram for explaining how the rebar tying robot detects obstacles.

[0035] Figure 18D It is a diagram for explaining the manner in which the rebar tying robot 100 detects an intersection.

[0036] Figure 18E 1 is a diagram showing a state in which the rebar tying robot 100 has advanced to the intersection T2 detected by the sensor unit 130 .

[0037] Figure 18F 1 is a diagram for explaining an angle θ between the direction D of the rebar tying robot 100 and the direction of the first rebar R11 .

[0038] Figure 19 1 is a diagram schematically showing a reinforcing bar tying robot 100 for explaining a method of estimating an intersection portion.

[0039] Figure 20 This is a flowchart of a method for estimating the intersection c12 in the embodiment of the present disclosure.

[0040] Figure 21 This is a flowchart related to the lateral movement of the rebar tying robot 100 .

[0041] Figure 22A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0042] Figure 22B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0043] Figure 23A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0044] Figure 23B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0045] Figure 24A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0046] Figure 24B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0047] Figure 25A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0048] Figure 25B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0049] Figure 26A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0050] Figure 26B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0051] Figure 27A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0052] Figure 27B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0053] Figure 28 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

[0054] 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.

[0055] The structure of the bundling device 100 according to an embodiment of the present disclosure will be described below. It should be noted that in this embodiment, the bundling device is a rebar bundling device for bundling multiple rebars arranged in a crosswise manner, and may be, for example, a rebar bundling robot. The bundling device 100 will be described below using a rebar bundling robot as an example, and the bundling device 100 will also be referred to as the rebar bundling robot 100. It should be noted that the X-axis, Y-axis, and Z-axis are sometimes shown in the various drawings. The X-axis, Y-axis, and Z-axis form a right-handed three-dimensional orthogonal coordinate system. Hereinafter, the direction of the arrow on the X-axis will sometimes be referred to as the X-axis front, the +X direction, the right side of the X-axis, or the right side of the X-axis, while the direction opposite to the arrow will sometimes be referred to as the X-axis rear, the -X direction, the left side of the X-axis, or the left side of the X-axis. The same applies to the other axes. Furthermore, the direction in front of the Z-axis and the direction behind the Z-axis may sometimes be referred to as "upper" to "above" and "lower" to "lower," respectively. In addition, a plane perpendicular to the X-axis, Y-axis, or Z-axis is sometimes referred to as a YZ plane, a ZX plane, or an XY plane. However, these directions are used to facilitate the description of relative positional relationships. Therefore, these directions do not define absolute positional relationships.

[0056] 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 100 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 disclosure includes a rebar tying unit 110, a travel unit 121, and a sensor unit 130. The rebar tying robot 100 may further include other components, such as a main unit 140, a support rod 150, a control unit 160, reels 180 (a first reel 180a and a second reel 180b), batteries 182 (a first battery 182a and a second battery 182b), a lateral movement unit 146, and a storage device 198 (not shown).

[0057] 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. 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).

[0058] In the embodiment of the present disclosure, the first rebar R10 is arranged so that its extending direction, i.e., the first direction, is parallel to the Y direction. Furthermore, the second rebar R20 is arranged so that its extending direction, i.e., the second direction, 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. Furthermore, the arrangement of the first rebar R10 and the second rebar R20 is not limited to this. For example, 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 formed by 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. For example, they may be arranged to form an angle of 85° or more and less than 90°.

[0059] 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.

[0060] The reinforcing bar binding unit 110 is configured to bind the intersection c12 ( Figure 6 The following describes in detail the operation of the reinforcing bar tying unit 110 tying the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20.

[0061] like Figure 1 as well as Figure 2As shown, the travel unit 121 may include four travel units 121a, 121b, 121c, and 121d (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 unit 121 is arranged on the rebar group R so that the rebar tying robot 100 travels in the Y direction. The first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d 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 rebar R10 extends.

[0062] In this embodiment, the traveling unit 121 is an example of a mobile unit (a mobile unit 120 described later). The mobile unit 120 may replace the traveling unit 121 or may have a configuration other than the traveling unit 121 in addition to the traveling unit 121.

[0063] In the embodiment of the present disclosure, the case where the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d are configured to travel along the Y direction is described as an example, but the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d can also be configured to travel in a direction other than the Y direction.

[0064] For example, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d may travel in a direction inclined by several to several tens of degrees from the Y direction. For example, they may travel in a direction inclined by several to several tens of degrees from the Y direction toward the +X direction or the -X direction. For example, if the rebar tying robot 100 is tilted from the Y direction due to, for example, a foreign object on the first rebar R10 being traveled, the direction in which the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d travel at least temporarily from the Y direction toward the +X direction or the -X direction. In this case, for example, the rebar tying robot 100 may be caused to move in a direction (-X direction or +X direction) such that the inclination of the rebar tying robot 100 returns to the Y direction, for example by the first traversing unit 121a, the second traversing unit 121b, the third traversing unit 121c, and the fourth traversing unit 121d. This allows the rebar tying robot 100 to move so as to substantially follow the first rebar R10. This allows the rebar tying unit 110 of the rebar tying robot 100 to continue tying the intersection c12 of the first and second rebars R10 and R20.

[0065] In addition, for example, in a construction site where the first steel bar R10 is arranged in a curved manner, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d can also be configured to travel in a curved manner in a manner that follows 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.

[0066] like Figure 1 and Figure 2 and the following Figure 3 As shown, the sensor unit 130 (an example of a "detection unit") 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 2 The 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.

[0067] 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.

[0068] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d (an example of an "obstacle detection unit") may also be configured to detect obstacles. Alternatively, the rebar tying robot 100 may include a sensor capable of detecting obstacles (an example of an "obstacle detection unit") in addition to the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d.

[0069] Figure 3 : is a top view of the rebar tying robot 100 as viewed from above (above in the Z direction). Figure 4 1 is a plan view of the rebar tying robot 100 as viewed from below (from below in the Z direction).

[0070] from Figure 3 and Figure 4 It can be seen that the first traveling unit 121a and the second traveling unit 121b may also be arranged at one side and the other side ( Figure 3 (in the left and right directions in the X direction, respectively). Furthermore, the third traveling unit 121c and the fourth traveling unit 121d may be positioned on one side and the other side of the second sensor 130b in the fourth direction (X direction). In other words, the first sensor 130a may be positioned between the first and second traveling units 121a, 121b in the fourth direction. Similarly, the second sensor 130b may be positioned between the third traveling unit 121c, 121d in the fourth direction.

[0071] Moreover, if Figure 3and Figure 4 As shown, the third sensor 130c can also be in the third direction ( Figure 3 and Figure 4 Similarly, the fourth sensor 130d may also be arranged between the second traveling unit 121b and the fourth traveling unit 121d in the third direction (Y direction).

[0072] In addition, for example Figure 4 As shown, the first sensor 130a may also be arranged on a straight line passing through the rotation axis 128a of the first roller portion 122a constituting the first traveling unit 121a and the rotation axis 128b of the second roller portion 122b constituting the second traveling unit 121b, or further rearward than the straight line passing through the rotation axis 128a and the rotation axis 128b (at the bottom). Figure 4 Similarly, the second sensor 130b may be arranged on a straight line passing through the rotation axis 128c of the third roller portion 122c constituting the third travel unit 121c and the rotation axis 128d of the fourth roller portion 122d constituting the fourth travel unit 121d, or in front of the straight line passing through the rotation axis 128c and the rotation axis 128d (in the -Y direction). Figure 4 The center is the +Y direction).

[0073] In addition, if 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 (+Y direction). Similarly, the second sensor 130b is arranged in the rear of the main unit 140 in the Y-axis direction (-Y direction). The third sensor 130c and the fourth sensor 130d are respectively arranged in the Figure 3 When viewed from above, they are arranged on the left and right sides in the X direction. Figure 4As 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 of, or inside the outer edges of, a virtual rectangle formed by connecting the approximately centers of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d, when viewed from above. It should be noted that the virtual rectangle formed by the first traveling unit 121a to the fourth traveling unit 121d may also 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 sensor 130a to the fourth sensor 130d may also be arranged on the outer edges of, or inside the outer edges of, the virtual square. In addition, according to the configuration structure of the first traveling unit 121a to the fourth traveling unit 121d, the first traveling unit 121a to the fourth traveling unit 121d 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 the inner side of the imaginary quadrilateral.

[0074] While the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are arranged on the outer edge or inside the outer edge of a rectangle formed by connecting the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d approximately near their centers, the present invention is not limited thereto. For example, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may be arranged differently depending on the arrangement of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d and / or the shape of the main unit 140. For example, the first sensor 130a, the second sensor 130b, the third sensor 130c and the fourth sensor 130d can also be configured to be on the outer edge or outside the outer edge of a rectangle imaginarily formed near the approximate center of the first travel unit 121a, the second travel unit 121b, the third travel unit 121c and the fourth travel unit 121d when viewed from above with respect to the rebar tying robot 100.

[0075] 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.

[0076] 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). The first support rod 150a and the second support rod 150b can also be configured to be separated from each other in the Y direction (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.

[0077] Figure 5 This is a perspective view of the state where the steel bar tying unit 110 of the steel bar tying robot 100 is removed, as seen from the right rear obliquely. Figure 6 This is a perspective view of the state where the steel bar tying unit 110 of the steel bar tying robot 100 is removed, as viewed from the right front. 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 vertical direction ( Figure 5 Thus, for example, when the reinforcing bar tying unit 110 is lowered and the reinforcing bar tying robot 100 reaches the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 is tied. Figure 5 and Figure 6 As shown, the rebar tying robot 100 includes reels 180a and 180b. The reels 180a and 180b contain wires for tying rebars, and when the rebar tying unit 110 ties the intersection c12 of the first rebar R10 and the second rebar R20, the wires contained in the reels 180a and / or 180b are drawn out to tie the intersection c12. Although detailed description is omitted, the rebar tying unit 110 is provided with a wire at one end (at the Figure 5 The wire twisting portion 114 ( FIG. 114 ) is provided with a wire guide and the like and is configured to perform a reinforcing bar binding operation. Figure 5 The reinforcing bar binding operation of the wire twisting unit 114 can also be achieved by, for example, the same function as a known reinforcing bar binding machine.

[0078] Figure 71 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 unit 160 , a lateral movement unit 146 , and a storage device 198 in addition to the aforementioned rebar tying unit 110 , the traveling unit 121 , and the sensor unit 130 .

[0079] The control unit 160 is configured to control the movement (travel) and tying operations performed by the rebar tying robot 100. The control unit 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 unit" in this embodiment), a rebar tying unit control unit 168, a travel control unit 170 (also referred to as a "travel control unit" in this embodiment), a stop control unit 172, a movement amount calculation unit 174, a posture control unit 176, a motor control unit 178, a foreign object bypass control unit 188, a mileage information calculation unit 190, an intersection map generation unit 184, and a travel route generation unit 186.

[0080] It should be noted that, in the steel bar tying robot 100 of this embodiment, Figure 1 As shown in FIG. 1 , the control unit 160 is disposed on the opposite side of the reel 180a and the reel 180b relative to the reinforcing bar binding unit 110 in the Y direction. More specifically, Figure 1 As shown, reels 180a and 180b are arranged in the -Y direction of the rebar tying unit 110, while control unit 160 is arranged in the +Y direction of the rebar tying unit 110. Especially immediately after replacing the wire reels (reel 180a and / or reel 180b), the reels with the wound wire become relatively heavy. However, by arranging control unit 160 on the opposite side of the rebar tying unit 110, the weight can be balanced.

[0081] Lateral movement unit 146 ( Figure 7 ) is configured 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, the rebar tying robot 100 may be moved horizontally by the lateral movement unit 146. The lateral movement unit 146 may include a first lateral movement motor 146ma and a second lateral movement motor 146mb. For example, during the lateral movement of the rebar tying robot 100 described later, the main unit 140 may be moved horizontally by the two motors 146ma and 146mb.

[0082] More specifically, if Figure 6As shown, the transverse movement unit 146 includes a first transverse movement roller 1461a and a first drive rack 146ca. The first transverse movement roller 1461a is provided on a first connection portion 147a that connects the first and second travel units 121a, 121b to the main unit 140. The first drive rack 146ca is provided on the back side (the surface facing the -Z direction) of the main unit 140 along the X direction.

[0083] Likewise, if Figure 2 As shown, the lateral movement unit 146 includes a second lateral movement roller 1461b and a second drive rack 146cb. The second lateral movement roller 1461b is provided on the second connection portion 147b that connects the third travel unit 121c and the fourth travel unit 121d to the main unit 140. The second drive rack 146cb is provided on the back side (the surface facing the -Z direction) of the main unit 140 along the X direction.

[0084] The second traverse roller 1461b, for example, constitutes a drive gear. The second drive rack 146cb, for example, has multiple teeth arranged linearly in the X direction that mesh with external teeth provided on the outer circumference of the second traverse roller 1461b. The second traverse roller 1461b is driven by the second traverse motor 146mb. When the second traverse roller 1461b is rotated by the second traverse motor 146mb, the second traverse roller 1461b moves relative to the second drive rack 146cb along the length of the second drive rack 146cb. This allows the main unit 140 to move relative to the third travel unit 121c and the fourth travel unit 121d in the X direction.

[0085] The first transverse moving roller 1461a ( Figure 6 ) also constitutes a drive gear, for example. For the first drive rack 146ca, a plurality of teeth meshing with external teeth provided on the outer circumference of the first traverse roller 146la are arranged linearly in the X direction. The first traverse roller 146la is driven by a first traverse motor 146ma. When the first traverse roller 146la is rotated by the first traverse motor 146ma, the first traverse roller 146la moves relative to the first drive rack 146ca along the longitudinal direction of the first drive rack 146ca, thereby enabling the main unit 140 to move relative to the third travel unit 121c and the fourth travel unit 121d in the X direction.

[0086] In this manner, the main unit 140 may be laterally moved (moved in the X direction) relative to the travel unit 121 by driving the first traverse roller 1461a and the second traverse roller 1461b by the first traverse motor 146a and the second traverse motor 146b, respectively.

[0087] The storage device 198 may include, for example, a storage medium (e.g., a semiconductor memory element) or other medium for non-transitory storage of one or more computer programs executed by the control unit 160, data used to control the rebar tying robot 100, and the like. The storage device 198 may also include, for example, a template database 198t. As described later, the template database 198t 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, and the ends R10e and / or R20e of the first rebar R10 and / or the second rebar R20 using template matching, as well as data obtained by performing image processing such as frequency analysis on the template images. Furthermore, the control unit 160 may further include a template data creation unit, for example, configured to create template data based on images captured by the sensor unit 130 at a site where the rebar tying operation is to be performed, and store the template data in the template database 198t. Template data stored in the template database 198t can be accumulated, for example, when new template data is created, and can be deleted when the bundling work at each construction site is completed. Alternatively, created template data can be stored in the template database 198t of the storage device 198 for a certain period of time and then deleted, for example, periodically.

[0088] The storage device 198 may also include, for example, an intersection map 194. The intersection map 194 is, for example, a map that divides the strapping operation area, including the estimated location of the intersection, into multiple zones. Each zone may include each estimated location. In other words, each zone may correspond to each estimated location. The intersection map 194 may also be generated, for example, by the intersection map generation unit 184. The intersection map 194 may also include route information. The route may be a route that passes through at least one of the multiple zones included in the intersection map 194. The route may also be generated, for example, by the route generation unit 186.

[0089] 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, described later, to determine the position of 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 position of the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20.

[0090] 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, an obstacle determination unit 164c, a posture determination unit 164d, and a robot height calculation unit 164e. The first rebar determination unit 164a1 and the second rebar determination unit 164a2 determine the positions of the first rebar R10 and / or the second rebar R20 using, 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. As described later, the first rebar determination unit 164a1 and the second rebar determination unit 164a2 may also determine the positions 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 through the fourth sensor 130d.

[0091] The first and second rebar end determination units 164b1 and 164b2 determine the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20, for example, using 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. The first and second rebar end determination units 164b1 and 164b2 may determine the positions of the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20 by template matching, similar to the first and second rebar determination units 164a1 and 164a2.

[0092] The robot height calculator 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 sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d. For example, when the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d captures the first rebar R10 and / or the second rebar R20 (e.g., captures a range including the first rebar R10 and / or the second rebar R20), the robot height calculator 164e may calculate the distance between the rebar tying robot 100 and the rebar group R based on the relative sizes of the first rebar R10 and / or the second rebar R20 within the captured images of the first rebar R10 and / or the second rebar R20, thereby calculating the height of the rebar tying robot 100 from the rebar group R.

[0093] 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 121. Figure 6 As shown, the travel unit 121a may also include a first main body side link portion 125a connected to the main body portion 140 and a first roller side link portion 123a connected to the first roller portion 122a, and the first main body side link portion 125a and the first roller side link portion 123a constitute a link mechanism. In this case, the first link angle detection sensor 134a ( Figure 7 ) Detects the angle formed by the first main body side link portion 125a and the first roller side link portion 123a, that is, the link angle, and calculates the height of the first traveling unit 121a based on the link angle.

[0094] Likewise, if Figure 2 As shown, the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d may also have a second main body side link portion 125b, a second roller side link portion 123b, a third main body side link portion 125c, a third roller side link portion 123c, and a fourth main body side link portion 125d and a fourth roller side link portion 123d, and the heights of the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d may be calculated by respectively detecting the link angles formed by the second main body side link portion 125b and the second roller side link portion 123b, the third main body side link portion 125c and the third roller side link portion 123c, and the fourth main body side link portion 125d 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.

[0095] 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 121a, 121b, 121c, and 121d. 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 121a, 121b, 121c, and 121d. 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 121a, 121b, 121c, and 121d.

[0096] like Figure 7 As 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, using the posture determination unit 164d of the determination unit 164. Based on the determination result of the posture determination unit 164d, the height change motor 126 of the travel unit 121 (the first height change motor 126a of the first travel unit 121a, the second height change motor 126b of the second travel unit 121b, the third height change motor 126c of the third travel unit 121c, and / or the height change motor 126d of the fourth travel unit 121d) may be driven by the posture control unit 176 to adjust the posture of the rebar tying robot 100.

[0097] The rebar tying robot 100 can, for example, drive the height adjustment motor 126 based on the detection results of the inclination detection sensor 132 to align the main unit 140 with the plane formed by the first and / or second rebars R10, R20 (also referred to as the "rebar plane" in this embodiment). For example, if the first and second rebars R10, R20 are arranged so that the rebar plane extends horizontally, and the rebar tying robot 100 is tilted in the X direction, the height of the first and third travel units 121a, 121c, or the second and fourth travel units 121b, 121d, of the first to fourth travel units 121a, 121d can be adjusted to adjust the posture of the rebar tying robot 100.

[0098] 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 later, 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 121, 121b, and / or 121d so that the rebar tying unit 110 is located at the intersection c12.

[0099] The rebar bundling unit control unit 168 controls the movement of the rebar bundling unit 110 by controlling the rebar bundling unit moving unit 168m. The rebar bundling unit 110 can adopt a bundling position, where it performs a bundling operation at the intersection c12 where the first rebar R10 and the second rebar R20 intersect, and a retreat position, where it retreats after the bundling operation is completed while moving toward the intersection c12 for the next bundling operation. The rebar bundling unit 110 moves in the -Z direction when moving from the retreat position toward the bundling position, and in the +Z direction when moving from the bundling position toward the retreat position. This Z-direction movement of the rebar bundling unit 110 is achieved, for example, by the rebar bundling unit moving unit 168m, which is comprised of a motor or the like. Furthermore, the Z-direction raising and lowering movement of the rebar bundling unit 110 by the rebar bundling unit moving unit 168m is controlled by the rebar bundling unit control unit 168.

[0100] Furthermore, after the rebar tying unit 110 moves to the tying position, the rebar tying unit control unit 168 controls the rebar tying unit 110 to perform tying operations on the intersection c12. For example, the rebar tying unit 110's tying operation using wire drawn from the reel 180 by the wire drawing unit (described later) is controlled by the rebar tying unit control unit 168. For example, after the rebar tying robot 100 is moved by the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and / or the fourth travel unit 121d so that the rebar tying unit 110 is positioned above the intersection c12, the rebar tying unit control unit 168 controls the rebar tying unit moving unit 168m to lower the rebar tying unit 110 to the tying position so that it approaches the intersection c12, thereby tying the intersection c12.

[0101] The travel control unit 170 controls the travel along the travel route. For example, the travel control unit 170 may control the travel unit 121 by the motor control unit 178 so that the rebar tying robot 100 follows the first rebar R10 during travel based on information such as the position of the first rebar R10 determined by the first rebar determination unit 164a1. Figure 5 As shown, when the rebar tying robot 100 travels on the first rebar R12 and the first rebar R14, the driving motors of the traveling unit 121 (the first wheel driving motor 124a driving the first roller portion 122a, the second wheel driving motor 124b driving the second roller portion 122b, the third wheel driving motor 124c driving the third roller portion 122c and / or the fourth wheel driving motor 124d driving the fourth roller portion 122d) can also be driven in a manner that the rebar tying robot 100 does not separate from the first rebar R12 and the first rebar R14.

[0102] For example, the driving motors of the first travel unit 121a and the third travel unit 121c, which are arranged at the same position or approximately the same position in the X direction among 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, i.e., the first wheel drive motor 124a and the third wheel drive motor 124c, are accelerated or decelerated relative to the driving motors of the second travel unit 121b and the fourth travel unit 121d, which are arranged on the other side in the X direction, i.e., the second wheel drive motor 124b and the fourth wheel drive motor 124d, thereby adjusting the position of the rebar tying robot 100 so that the rebar tying robot 100 moves in a manner following the first rebar R10.

[0103] Alternatively, the travel control unit 170 may also adjust the rotational speeds 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 to cause the rebar tying robot 100 to travel in a manner that 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 speed different from that of the other wheel drive motors, or by setting the rotational speeds of all 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 different speeds, the rebar tying robot 100 can flexibly follow the first rebar R10.

[0104] The travel control unit 170 may also determine whether an obstacle has been detected during travel based on the determination result of the obstacle determination unit 164c. If an obstacle is detected, the route generation unit 186 may generate (update) a route. The updated route may not include the area containing the obstacle. Furthermore, if no obstacle is detected, the route generation unit 186 may generate (update) a route to include the area containing the obstacle.

[0105] The travel control unit 170 may also determine whether an intersection has been detected during travel based on the calculation results of the intersection calculation unit 166. If an intersection is detected, the travel control unit 170 may control the travel unit 121 via the motor control unit 178 so that the robot travels to the detected intersection. The travel control unit 170 may also determine which area of the intersection map the detected intersection is included in. For example, the travel control unit 170 may calculate the position of the rebar tying robot 100 based on the mileage information calculated by the mileage information calculation unit 190 and perform this determination based on that position.

[0106] 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.

[0107] 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 .

[0108] As described later, the movement amount calculation unit 174 may also be configured to calculate the movement amount when the rebar tying robot 100 moves laterally (moves 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 disposed 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.

[0109] 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 the intersection c12 of the first rebar R14, the rebar tying robot 100 moves in the X direction by one interval, relative to the X-direction intervals of the first rebars R10. In this case, the movement amount calculation unit 174 may calculate the movement amount based on the X-direction intervals between adjacent first rebars R10, using information on the positions of the first rebars R10 determined by the first rebar determination unit 164a1. Similarly, when the rebar tying robot 100 ties two or more intersections c12 of the first rebars R10 separated in the X direction, the movement amount may be calculated based on the intervals between the first rebars R10. Furthermore, the calculated movement amount may be used to perform lateral movement (e.g., horizontal movement) of the main body unit 140 by the lateral movement unit 146 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 movement amount of the longitudinal movement (movement in the first direction, Y direction) of the rebar tying robot 100 based on the detection results of each sensor 130, the determination results of the rebar end determination unit 164b1 and / or the rebar end determination unit 164b2, etc.

[0110] The sensor unit 130 may be, for example, a camera capable of capturing two-dimensional or three-dimensional images. Alternatively, the position of a foreign object may be determined based on the detection results of the sensor unit 130, for example, by the obstacle determination unit 164c 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 on the rebar. Alternatively, the foreign object bypass control unit 188 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 188 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 rebar tying robot 100 may bypass the foreign object by performing lateral movement, as described below.

[0111] The mileage information calculation unit 190 calculates the position and posture of the rebar tying robot 100 as mileage information based on information from various sensors. For example, the mileage information calculation unit 190 may obtain information such as the motor speed output from encoders (not shown) of each motor provided in the travel unit 120 and, by integrating this information, calculate the travel path of the rebar tying robot 100, thereby calculating the position of the rebar tying robot 100. Furthermore, the mileage information calculation unit 190 may further utilize the output of the sensor unit 130 in calculating the position of the rebar tying robot 100. Furthermore, the mileage information calculation unit 190 may obtain information output from the sensor unit 130 and calculate the posture of the rebar tying robot 100 based on this information. This allows the rebar tying robot 100 to estimate its travel path and its own position on the intersection map.

[0112] The intersection map generation unit 184 generates an intersection map 194. The intersection map generation unit 184 may also generate the intersection map 194 based on various information related to the reinforcement bars. For example, the intersection map 194 may be generated based on configuration information related to the arrangement of a plurality of reinforcement bars. Configuration information may be, for example, information related to the spacing between the reinforcement bars. Information related to the spacing may include, for example, information indicating the spacing, or information used to calculate the spacing (the number of reinforcement bars and the overall size of the reinforcement bars). Furthermore, the configuration information may include information related to the number of intersections. Information related to the number of intersections may include, for example, information indicating the number of intersections, or information used to calculate the number of intersections (for example, the number of first reinforcement bars and the number of second reinforcement bars).

[0113] The route generation unit 186 generates a route. For example, the route generation unit 186 may generate a route based on the intersection map 194. Specifically, the route generation unit 186 may generate a route that passes through each area included in the intersection map 194. Information on the generated route may also be included in the intersection map 194.

[0114] The control unit 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 computer programs stored in the storage device 198, 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). The various units of the control unit (e.g., the sensor detection result acquisition unit 162) are implemented by the processor executing the programs stored in the storage device 198.

[0115] Storage device 198 may include, for example, random access memory (RAM) and read-only memory (ROM). RAM can rewrite data 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.

[0116] 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 unit 160 or data that is not to be rewritten.

[0117] The program executed by the control unit 160 can be provided by being stored in a computer-readable storage medium such as the storage device 198 (e.g., RAM or ROM). In the case where the rebar tying robot 100 of this embodiment has a communication unit not shown in the figure, the program can also be provided via a communication network connected thereto.

[0118] The above physical structure is merely an example. In the rebar tying robot 100 according to the embodiments of the present disclosure, the control unit 160 and the storage device 198 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 unit 160, and the various operations described above may be implemented by executing programs on the GPU.

[0119] It should be noted that the rebar tying robot 100 may not have the functions of generating an intersection map and / or a travel route, and these functions may be performed by a device separate from the rebar tying robot 100. For example, this separate device may include a detection unit capable of detecting rebar, a movement unit, and a control unit. The movement unit may be a movement unit for traveling over the rebar, or a flying unit (e.g., a propeller) capable of flying over the rebar. This separate device (which may be referred to as a "map generating device") may also detect the rebar while moving (traveling, flying, etc.) over the rebar, generate an intersection map and a travel route based on the detection results, and transmit these to the rebar tying robot 100. The rebar tying robot 100 may also travel over the rebar based on the received intersection map and travel route. In this way, a system may be formed by the rebar tying robot 100 and the map generating device.

[0120] 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 (−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 (+X). Figure 8 as 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 third roller portion 122c of the third traveling unit 121c is located on the first rebar R12 and the fourth roller portion 122d of the fourth traveling unit 121d is located on the first rebar R14. Figure 9 As shown, the second roller portion 122b of the second traveling unit 121b also travels on the first reinforcing bar R14 in the same manner as the fourth roller portion 122d of the fourth traveling unit 121d. Figure 8 and Figure 9 Although not shown, the first roller portion 122a of the first travel unit 121a also travels on the first rebar R12, similarly to the third roller portion 122c of the third travel unit 121c. Thus, the rebar tying robot 100 of the present embodiment, when 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 on the first rebar R13, which is located between the traveling first rebar R12 and the first rebar R14.

[0121] 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 (−Y direction). Figure 11 This is a diagram of the rebar tying robot 100 performing tying work as viewed from the X direction (+X). 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 (−Z direction). Figure 10 、 Figure 11 as well as Figure 12The example in which the reinforcing bar tying robot 100 ties the intersection c12 of the first reinforcing bar R13 and the second reinforcing bar R20 is shown. Figure 10 ), the steel bar bundling unit 110 is lowered to perform bundling ( Figure 11 and Figure 12 ).

[0122] 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 121 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 R10 and / or at least one second rebar R20; 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.

[0123] In the rebar tying robot 100 according to the embodiment 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 198 that stores 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.

[0124] Furthermore, in the rebar tying robot 100 according to the embodiment of the present disclosure, if the density value of a pixel in the shading image is greater than a predetermined threshold, the pixel may be determined to correspond 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 pixels 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, if the density value of a pixel is less than the predetermined threshold, the pixel may be determined to correspond to the first rebar R10 and / or the second rebar R20.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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%.

[0129] 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.

[0130] 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.

[0131] 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 198, 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.

[0132] 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.

[0133] 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).

[0134] Figure 13A and Figure 13BAn image output by a 3D range camera is shown. Figure 13A 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 is shown. Figure 13B The image near the intersection of the first reinforcement R10 and the second reinforcement R20 is schematically shown. Figure 13A As shown, in the image captured by the 3D range camera, there are shades, and in the embodiment of the present disclosure, the portion with high density can be identified as the first reinforcing bar R10 and / or the second reinforcing bar R20. Figure 13B As schematically shown, an image having different shades of density is acquired for each pixel.

[0135] 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.

[0136] 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 14A and Figure 14B , 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 14A and Figure 14B 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 14A This is a schematic side view of the rebar tying robot 100 as viewed from the horizontal direction (X direction). Figure 14B This is a schematic top view of the rebar tying robot 100 as viewed from above (upper side in the Z direction). Figure 14A , along with the first sensor 130a, the second sensor 130b, and the third sensor 130c, the imaging ranges of the first sensor 130a, the second sensor 130b, and the third sensor 130c are also schematically shown.

[0137] like Figure 14A as well as Figure 14BAs shown schematically, 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 have a field of view of, for example, 80° or more and 100° or less, for a predetermined shooting range. In addition, the third sensor 130c and the fourth sensor 130d are set to have a field of view of, for example, 50° or more and 70° or less, for example. 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.

[0138] 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.

[0139] 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 image TI10 and threshold value TI20 are scanned in the Y and X directions, respectively, and similarities with template images TI10 and TI20 are calculated. In this way, locations in the captured image where the maximum calculated similarity exceeds the threshold value are determined to correspond to locations where rebar is present. As shown in graphs G10 and G20, portions exceeding threshold values 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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 traveling unit 121. 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.

[0144] 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.

[0145] 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 121 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 121 moves from the first rebar R10 being traveled 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 being traveled by the traveling unit 121 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 or equal to 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 detect 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 121 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 121 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 121. The traveling unit 121 may be configured to move in the X direction (second direction) based on the calculated movement amount in the X direction (second direction).

[0146] use Figure 17 A method of controlling the movement of the rebar tying robot 100 in the embodiment of the present disclosure will be described. Figure 17 1 is a flowchart of a travel control method of the rebar tying robot 100 according to an embodiment of the present disclosure.

[0147] First, after obtaining various information related to reinforcing bars, an intersection map is generated based on the information ( S1702 ). Figure 18A 194 is a schematic diagram showing an example of the intersection map 194. Figure 18A In the illustrated example, nine intersections C1 to C9 are shown in the intersection map 194 as examples of estimated intersection positions C within the rebar tying operation area of the rebar tying robot 100. Each estimated position C is the estimated position of an intersection between a first rebar R1 extending in the Y direction (first direction) and a second rebar R2 extending in the X direction (second direction). Specifically, for example, estimated position C1 is the estimated position of the intersection between the first rebar R11 and the second rebar R21, estimated position C2 is the estimated position of the intersection between the first rebar R11 and the second rebar R22, and estimated position C3 is the estimated position of the intersection between the first rebar R11 and the second rebar R23. For example, estimated position C6 is the estimated position of the intersection of the first reinforcement R12 and the second reinforcement R21, estimated position C5 is the estimated position of the intersection of the first reinforcement R12 and the second reinforcement R22, and estimated position C4 is the estimated position of the intersection of the first reinforcement R12 and the second reinforcement R23. For example, estimated position C7 is the estimated position of the intersection of the first reinforcement R13 and the second reinforcement R21, estimated position C8 is the estimated position of the intersection of the first reinforcement R13 and the second reinforcement R22, and estimated position C9 is the estimated position of the intersection of the first reinforcement R13 and the second reinforcement R23.

[0148] The intersection map 194 also includes a plurality of regions r including each estimated position C. Figure 18A In the example shown, nine regions r1 to r9 including nine estimated positions C1 to C9 are shown as an example in the intersection map 194. That is, in the intersection map 194, each region r corresponds to each estimated position C. Figure 18A In the example shown, the region r is represented as a roughly circular shape with a predetermined size. However, in the intersection map 194, the shape of the region r is not limited to a roughly circular shape, but may be a rectangle (including a roughly rectangular shape), a polygon (including a roughly polygonal shape), or any other shape. In addition, the size of the region r is not particularly limited and can be set arbitrarily. Figure 18A In the example shown, the regions r are separated from each other. However, in the intersection map 194, the regions r may be adjacent to each other.

[0149] The intersection map 194 can be generated based on various information related to the steel bars. For example, the intersection map 194 can also be generated based on information related to the spacing between the steel bars and information related to the number of estimated positions. The information related to the spacing between the steel bars and the information related to the number of estimated positions can be information input by the user, stored in the storage device 190, or obtained from an external information processing device via communication. In addition, the information related to the spacing can also be, for example, a value calculated based on the number of steel bars and the overall size of the area where the steel bars are arranged (for example, a value obtained by dividing the overall size by the number of steel bars). In addition, the information related to the number of estimated positions can also be, for example, a value calculated based on the number of first steel bars and the number of second steel bars (for example, the product of the number of first steel bars and the number of second steel bars).

[0150] Next, a travel route is generated based on the intersection map 194 ( S1704 ). Figure 18B It is a schematic diagram showing an example of a travel route. The travel route may be a route that passes through at least one of the multiple areas included in the intersection map 194. Here, "passing through an area" is, for example, only necessary for at least a portion of the travel route to be included in the area, and does not necessarily need to pass through the center of the area or the estimated position included in the area. The object passed through in the travel route only needs to be at least one of the multiple areas r, and it may be all or not all. Figure 18B In FIG, an example of a travel route is represented by an arrow connecting each region r. Figure 18B , a travel route passing through areas r1, r2, r3, r4, r5, r6, r7, r8, and r9 is shown in sequence.

[0151] The method for generating a route is not particularly limited. For example, a method may be employed in which a travel cost is calculated for each proposed route and the route with the lowest travel cost to a specified degree (e.g., the route with the lowest cost) is selected. Here, the cost may be calculated, for example, by summing the distance of each path forming the route and the product of the weight applied to that path. The travel cost for a route can be calculated arbitrarily. For example, the weighting contributing to the travel cost may be changed by following the movement of the following rebar and by changing the lateral movement between the following rebars. In particular, lateral movement may be weighted more heavily than following movement, for reasons such as the relatively high energy required for lateral movement or the relatively long time required for lateral movement.

[0152] Furthermore, when two rebars intersect, it is possible to imagine moving in a manner that follows the upper rebar or in a manner that follows the lower rebar. In this case, when following the lower rebar, it may be necessary to move so as to overhang the upper rebar, so it may be desirable to move in a manner that follows the upper rebar. Therefore, in calculating the movement cost, the weight of moving in a manner that follows the lower rebar may be greater than the weight of moving in a manner that follows the upper rebar.

[0153] Next, the rebar tying robot 100 begins traveling along the route (S1706). Specifically, based on the route generated in step S1702, the robot controls the travel unit 120 to travel along the route. The mileage information calculation unit 190 calculates the position and posture of the rebar tying robot 100 as mileage information based on information acquired from the sensor unit 130 during the robot's travel. This allows the robot to estimate its travel path and its own position on the intersection map.

[0154] The rebar tying robot 100 determines whether the obstacle detection result by the sensor unit 130 has been updated during the travel ( S1708 ). Figure 18C FIG. 1 is a diagram for explaining how a steel bar tying robot detects an obstacle as an example of updating the obstacle detection result. Figure 18C 1 shows the moving steel bar tying robot 100 and the obstacle O3. The mark 130R represents the detection range of the sensor unit 130. Figure 18C In FIG. 1 , the detection range 130R is shown as a circle, but this is only an example, and the shape and size of the detection range are not particularly limited. The rebar tying robot 100 detects the obstacle O3 via the sensor unit 130, for example.

[0155] The rebar tying robot 100 may also determine whether the detected obstacle O3 is included in a certain area r included in the intersection map 194. In this determination process, for example, the angle θ between the direction D of the rebar tying robot 100 included in the mileage information and the direction of the first rebar R11 may be calculated (see Figure 18C ) is used to determine which region r the obstacle is included in. This process allows us to determine which direction the obstacle is located relative to the direction D of the rebar tying robot 100, and thus to determine which region r the obstacle is included in. Figure 18C In the example shown, it is determined that the obstacle O3 is included in the region r3.

[0156] If it is determined that an obstacle is detected, the process returns to step S1704, and the rebar tying robot 100 generates (updates) the travel route. At this time, the rebar tying robot 100 may also generate (update) the travel route in a manner that does not include the region r containing the obstacle. Figure 18C In the illustrated example, the rebar tying robot 100 may generate (update) the travel route so as not to include the region r3 including the obstacle O3.

[0157] As another example of updating the obstacle detection results, the rebar tying robot 100 may also generate (update) the route in a manner that includes an area r that was not previously included in the route and is an area containing the obstacle when the obstacle that was detected in the previous step S1704 is no longer detected in the next step S1704.

[0158] The reinforcing bar tying robot 100 determines whether an intersection is detected by the sensor unit 130 during the movement (S1710). The reinforcing bar tying robot 100 uses, for example, Figure 20 The processing shown above is followed by using the intersection estimation method described later to detect the intersection. Figure 18D 1 is a diagram for explaining how the reinforcing bar tying robot 100 detects an intersection. Figure 18D , the moving rebar tying robot 100 and the intersection T2 are shown. Figure 18D An example in which the intersection T2 is detected is shown.

[0159] Then, the process moves to the detected intersection (S1712). For example, Figure 18E As shown, the rebar tying robot 100 controls the traveling unit 120 to travel to the intersection T2 detected by the sensor unit 130. The rebar tying robot 100 travels to the intersection T2 such that the rebar tying unit 110 is located above the intersection c12.

[0160] Next, the intersection is tied ( S1714 ). For example, the rebar tying robot 100 controls the rebar tying unit 110 to tie the intersection T2.

[0161] Next, it is determined in which area of the intersection map the detected intersection is included (S1716). Figure 18E In the example shown, the rebar tying robot 100 determines whether the detected intersection T2 is included in a certain area r included in the intersection map 194. In this determination process, for example, the angle θ between the direction D of the rebar tying robot 100 included in the mileage information and the direction of the first rebar R11 may be calculated (see Figure 18F), it is determined in which region r the intersection T2 is included. By this process, it is possible to understand in which direction the intersection T2 is located relative to the direction D of the reinforcing bar tying robot 100, and thus it is possible to determine in which region r the intersection T2 is included. Figure 18E In the example shown, it is determined that the intersection T2 is included in the region r2.

[0162] Next, it is determined whether the determined area r is the end location of the route (S1718). If it is determined that the determined area r is not the end location of the route, the process returns to step S1706. If it is determined that the determined area r is the end location of the route, the process ends.

[0163] Reference Figure 19 , a method for estimating the intersection of the first reinforcement R10 and the second reinforcement R20 will be described. Figure 19 1 is a diagram schematically showing the reinforcing bar tying robot 100 viewed from the lower side (-Z direction) in the Z direction for explaining a method of estimating an intersection. Figure 19 As 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.

[0164] use Figure 20 , a method for estimating the intersection c12 in an embodiment of the present disclosure is described. Figure 20 Flowchart of the method for estimating the part c12 in the embodiment of the present disclosure. This process is performed, for example, in the above-mentioned step S1710.

[0165] First, detection results of the first sensor 130 a and the second sensor 130 b are acquired ( S2002 ).

[0166] 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 ( S2004 ).

[0167] 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 ( S2006 ).

[0168] Next, the detection results of the third sensor 130 c and the fourth sensor 130 d are acquired ( S2008 ).

[0169] 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 ( S2010 ).

[0170] Next, an intersection is estimated based on the estimated positions of the first reinforcement R13 and the estimated positions of the second reinforcement R20 ( S2012 ).

[0171] 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.

[0172] 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 121a, the second travel unit 121b, the third travel unit 121c and / or the fourth travel unit 121d of the travel unit 121, 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.

[0173] It should be noted that, referring to Figure 20 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.

[0174] 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 19 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 19As 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, which is adjacent to the already tied first rebar R13 in the X direction (+X direction), thereby moving in the X direction (+X direction, from the first rebar R13 toward the first rebar R14).

[0175] Reference Figure 21 , a method of lateral movement of the rebar tying robot 100 in this case will be described. Figure 21 This is a flowchart related to the lateral movement of the rebar tying robot 100 .

[0176] First, the detection result of the first sensor 130 a is acquired ( S2102 ).

[0177] Next, template matching is performed on the detection result of the first sensor 130 a ( S2104 ).

[0178] Next, based on the result of template matching, it is determined whether the end R13e of the first reinforcing bar R13 detected by the first sensor 130a is detected (S2106).

[0179] Next, it is determined whether the end R20e of the second reinforcing bar R20 is detected (S2108). As the end R20e of the second reinforcing bar R20, for example, Figure 19 As shown, it is also possible to determine whether any of the ends R21e, R22e, R23e, R24e, and R25e of the second reinforcing bars R21, R22, R23, R24, and R25 are detected.

[0180] 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.

[0181] 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.

[0182] Next, the detection result of the fourth sensor 130 d is obtained ( S2110 ).

[0183] Next, template matching is performed based on the detection result of the fourth sensor 130 d ( S2112 ).

[0184] 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 (S2114). In the embodiment of the present disclosure, the fourth sensor 130d detects a plurality of first reinforcing bars R10. For example, Figure 19In the example shown, the fourth sensor 130d can also detect the first rebar R15 located on the right side of the rebar tying robot 100 in the X direction. Furthermore, since the tying operation has been completed along the intersection c12 of the first rebar R10 and the second rebar R20 of the first rebar R13, when the tying operation is next performed along the intersection c12 of the first rebar R14, the rebar tying robot 100 can move laterally, for example, by traveling over the first rebar R13 and the first rebar R15. For example, the rebar tying robot 100 can also move laterally in the X direction, with the first and third travel units 121a and 121c traveling over the first rebar R13, and the second and fourth travel units 121b and 121d traveling over the first rebar R15.

[0185] Next, the lateral movement amount is calculated (S2116). 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 (+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 of the rebar tying robot 100 can be calculated based on two pieces of information: how much the fourth sensor 130d has moved in the X direction from the center of the rebar tying robot 100 in the X direction, and how much the first rebar R14 detected by the fourth sensor 130d has moved from the fourth sensor 130d.

[0186] When calculating the distance in the X direction from the X-center of the rebar tying robot 100 by the fourth sensor 130d, the X-center of the rebar tying robot 100 may be, for example, the location where the rebar tying unit 110 is located. Alternatively, the tying position of the rebar tying unit 110 may be considered the X-center of the rebar tying robot 100. In this case, for example, the X-center position of the first rebar R13, which is the target of the tying operation by the rebar tying robot 100, may be determined as the X-center of the rebar tying robot 100. It should be noted that the X-center of the rebar tying robot 100 and the distance (X-center distance) between the fourth sensor 130d and the X-center of the rebar tying robot 100 may also be calculated in advance and stored in the storage device 198. 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, it is also possible to calculate in which direction and by how much the fourth sensor 130d has moved, and to calculate the distance in the X direction from the fourth sensor 130d to the X-direction center of the rebar tying robot 100, taking into account the amount of 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 can also be calculated based on, for example, an image captured by the fourth sensor 130d.

[0187] For example, if the fourth sensor 130d is mounted at a position 100 cm away from the X-direction center of the rebar tying robot 100 (e.g., the position of the first rebar R13) in the X-direction, and the first rebar R14 is located 20 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 as 121, and control may be performed to set the lateral movement amount to 121. For example, if the fourth sensor 130d is mounted at a position 20 cm away from the X-direction center of the rebar tying robot 100 (e.g., the position of the first rebar R13) in the X-direction, 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 as 24 cm, and control may be performed to set the lateral movement amount to 24 cm. Alternatively, when the fourth sensor 130d is installed at a position 20 cm away in the X direction from the center of the rebar tying robot 100 in the X direction (for example, the position of the first rebar R13), and the first rebar R14 is located approximately 4 cm from the fourth sensor 130d toward the center of the rebar tying robot 100 in the X direction, the interval between the first rebars R10 (the interval between the first rebar R13 and the first rebar R14) is calculated to be 16 cm, and control is performed to set the lateral movement amount to 16 cm.

[0188] Regarding the lateral movement of the rebar tying robot 100, for example, as described above, when the rebar tying robot 100 is moved laterally to subsequently tie the intersection of the first rebar R14, the lateral movement can be calculated by assuming the robot 100 performs a lateral movement equivalent to the distance between adjacent first rebars R10. In the above example, the first and third travel units 121a, 121c move from the first rebar R12 to the first rebar R13, while the second and fourth travel units 121b, 121d move from the first rebar R14 to the first rebar R15. In the embodiment of the present disclosure, the first rebars R10 are arranged substantially parallel to each other at approximately equal intervals. Therefore, the first to fourth travel units 121a, 121d move the same amount in the X direction. Therefore, the lateral movement can also be, for example, 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 X-direction distances between multiple (e.g., three or more) first reinforcing bars R10 can be calculated, and the average of these calculated X-direction distances between the multiple first reinforcing bars R10 can be calculated. This average value of the intervals between the first reinforcing bars R10 can be used as the amount of lateral movement. By calculating the average value, for example, even if there is an error in the intervals between the first reinforcing bars R10, the effect of this error on the calculated amount of lateral movement can be reduced.

[0189] Next, the rebar tying robot 100 is moved laterally based on the calculated amount of lateral movement ( S2118 ).

[0190] The rebar tying robot 100 that has completed the lateral movement may, for example, move along the first rebars R13 and R15 where the first to fourth traveling units 121a to 121d are located ( S2120 ) and start tying the intersection c12 of the first rebar R14 .

[0191] 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.

[0192] 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, 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 rebar R10, it is possible to determine that the bar exists in the portion other than the end R10e of the first rebar R10. If the degree of matching is relatively low, for example, between 50% and 75%, it is determined that the bar is advancing in the portion of the first rebar 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 reference value may be configured to be variable depending on the arrangement of the rebars and other environmental factors.

[0193] 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. That is, 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.

[0194] Refer to the above Figure 21While 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 130d. 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. Alternatively, 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.

[0195] Below, refer to Figures 22A to 27B An example of the lateral movement of the rebar tying robot 100 will be described. Figures 22A to 27B FIG. 1 is a diagram of the steel bar tying robot 100 in lateral movement. Figure 22A 、 Figure 23A 、…、 Figure 27A This is a diagram of the rebar tying robot 100 as viewed from the back. Figure 22B 、 Figure 23B 、…、 Figure 27B This is a diagram of the rebar tying robot 100 as seen from obliquely above.

[0196] Figure 22A and Figure 22B : represents the steel bar tying robot 100 before starting lateral movement. Figure 22A and Figure 22B As shown, the rebar tying robot 100 travels on the first rebars R12 and R14.

[0197] 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 23A and Figure 23B It indicates the state when the steel bar tying robot 100 starts to move horizontally. Figure 23A and Figure 23B As shown in FIG. 1 , the rebar tying robot 100 does not move the traveling unit 121 but moves in the direction (X direction) in which the main unit 140 moves. Figure 23A and Figure 23B As shown, at this time, the first traveling unit 121a and the second traveling unit 121b are respectively located on the first steel bar R12 and the first steel bar R14 without moving. At this time, the support rods 150a and 150b are not in contact with any steel bars. The lateral movement of the main unit 140 (here, for example, movement in the horizontal direction (movement in the X direction)) can also be achieved by, for example, Figure 23A and Figure 23B The first lateral movement motor 146ma and the second lateral movement motor 146mb of the lateral movement unit 146 (not shown) drive the first lateral movement roller 146la and the second lateral movement roller 146lb provided on the first connecting portion 147a and the second connecting portion 147b, so that the main unit 140 moves in the X direction via the first drive rack 146ca and the second drive rack 146cb.

[0198] Next, the steel bar tying robot 100 moves the traveling unit 121 (the lower end of the traveling unit 121) upward relative to the first steel bar R10. Figure 24A and Figure 24B As shown, the lower end of the traveling unit 121 in the -Z direction is Figure 24A and Figure 24B The first body-side link 125a and the first roller-side link 123a move toward each other (i.e., they close together). Specifically, the first body-side link 125a and the first roller-side link 123a move so that the angle between them decreases. Similarly, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d move toward the second and second roller-side links 123b, 125c, 123c, and 125d, 123d, respectively.

[0199] When the main body side link part 125 and the roller side link part 123 are closed, the lower end of the travel unit 121 rises, and the support rods 150a and 150b are relatively lowered. When the travel unit 121 moves away from the first reinforcing bar R10, the support rods 150a and 150b come into contact with the first reinforcing bar R10. For example, the travel unit 121 may be configured so that the travel unit 121 is driven by a motor or the like (for example, Figure 7The first, second, third, and fourth wheel height changing motors 126a, 126b, 126c, and 126d shown in the figure can change their length in the Z direction by closing the main body-side links 125 and roller-side links 123 (first main body-side link 125a and first roller-side link 123a, second main body-side link 125b and second roller-side link 123b, third main body-side link 125c and third roller-side link 123c, and fourth main body-side link 125d and fourth roller-side link 123d), which correspond to the supporting rollers (first roller 122a, second roller 122b, third roller 122c, and fourth roller 122d). Alternatively, closing the main body-side links 125 and roller-side links 123 can cause the roller 122 to rise, separating it from the first reinforcing bar R10.

[0200] like Figure 24A and Figure 24B As shown, the support rods 150a and 150b are in contact with the first reinforcing bars R11 to R14, for example. In this way, the entire reinforcing bar tying robot 100 is supported by the support rods 150a and 150b.

[0201] Then, the traveling unit 121 of the steel bar tying robot 100 moves along the X direction. Figure 24A and Figure 24B As shown, the first and third travel units 121a, 121c, and the second and fourth travel units 121b, 121d, which are in contact with first rebar R12 and first rebar R14, respectively, move upwards toward first rebar R13 and first rebar R15. At this point, the first through fourth travel units 121a, 121d are no longer in contact with first rebar R10. Support rods 150a and 150b are in contact with first rebar R10 (and first rebars R12-R15), supporting the rebar tying robot 100.

[0202] Next, the main body link 125 and roller-side link 123 of the travel unit 121 are opened. This causes the lower end of the travel unit 121 in the -Z direction to descend relative to the first reinforcing bar R10. At this time, for example, the first main body link 125a and the first roller-side link 123a move away from each other (i.e., the first main body link 125a and the first roller-side link 123a open). Specifically, the first main body link 125a and the first roller-side link 123a move so that the angle between them increases. Similarly, the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d move in the direction of opening the second main body side link portion 125b and the second roller side link portion 123b, the third main body side link portion 125c and the first roller side link portion 123c, and the fourth main body side link portion 125d and the fourth roller side link portion 123d respectively.

[0203] like Figure 26A as well as Figure 26B As shown, the lower end of the traveling unit 121 in the -Z direction is Figure 26A as well as Figure 26B It descends downward in the Z direction (-Z direction). Figure 26A as well as Figure 26B As shown, the first and third traveling units 121a and 121c are in contact with the first rebar R13, while the second and fourth traveling units 121b and 121d are in contact with the first rebar R15. Consequently, the support rods 150a and 150b are raised relative to the first rebar R10. Thus, the rebar tying robot 100 is supported by the traveling unit 121 in this state.

[0204] Next, if Figure 27A and Figure 27B As shown, the main unit 140 moves in the X direction. Figure 23A and Figure 23B The same situation as described above, Figure 27A and Figure 27B The lateral movement of the main unit 140 shown (here, for example, the movement in the horizontal direction (movement in the X direction)) can also be achieved by, for example Figure 27A and Figure 27B The first and second lateral movement motors 146ma and 146mb of the lateral movement unit 146 (not shown) 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 performs tying operations at the intersection c12 of the first and second rebars R10 and R20 on the first rebar R14.

[0205] 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.

[0206] 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.

[0207] As described above, the rebar tying robot 100 according to an embodiment of the present disclosure includes: a travel unit 121 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 R10 and / or at least one second rebar R20; 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 R10 and / or the at least one second rebar R20 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.

[0208] 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 rebars and the intersections between rebars being tied. The rebar tying robot 100 according to the disclosed embodiments improves the efficiency of the rebar detection process, thereby contributing to faster rebar tying operations.

[0209] 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 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 121 configured to travel on the first and / or second rebars R10; a first sensor 130a and a second sensor 130b configured to detect at least one first rebar R10 and / or at least one second rebar R20, and arranged to be spaced apart from each other along a third direction (Y direction); and a third sensor 130c and a fourth sensor 130d configured to detect at least one first rebar R10 and / or at least one second rebar R20, and arranged to be 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.

[0210] 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 121 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 121 based on position information of the first rebar R10 or the second rebar R20 detected by the sensor unit 130 when the traveling unit 121 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 traveled by the travel unit 121 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 to which rebar tying has been performed, 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.

[0211] 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.

[0212] Figure 28 : 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 (-Z direction). Figure 28As 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.

[0213] 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.

[0214] 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.

[0215] This application is based on Japanese patent applications No. 2023-007172 filed on January 20, 2023, No. 2023-007174 filed on January 20, 2023, No. 2023-007176 filed on January 20, 2023, No. 2023-007177 filed on January 20, 2023, No. 2023-007182 filed on January 20, 2023, No. 2023-007187 filed on January 20, 2023, and No. 2023-131219 filed on August 10, 2023, the contents of which are incorporated herein by reference.

[0216] Industrial Application Possibilities

[0217] The strapping device and system according to the present disclosure can travel with high positional accuracy without performing a process of correcting the estimated own position based on the measurement results of sensors or the like.

[0218] Description of Reference Numerals

[0219] 100, 200 steel bar tying robots

[0220] 110 steel bar bundling unit

[0221] 120 mobile units

[0222] 121 travel unit

[0223] 121a First traveling unit

[0224] 121b Second traveling unit

[0225] 121c third travel unit

[0226] 121d fourth travel unit

[0227] 130 sensor units

[0228] 130a First sensor

[0229] 130b Second sensor

[0230] 130c third sensor

[0231] 130d fourth sensor

[0232] 140 main unit

[0233] 146 lateral movement units

[0234] 150 support rod

[0235] 160 control unit

[0236] 162 sensor detection result acquisition unit

[0237] 164 Judgment Department

[0238] 166 Cross-section calculation unit

[0239] 168 Rebar Binding Unit Control Unit

[0240] 170 Travel Control Unit

[0241] 172 Stop Control Unit

[0242] 174 Movement Amount Calculation Unit

[0243] 176 Posture Control Unit

[0244] 178 Motor Control Unit

[0245] 184 Intersection Map Generation Department

[0246] 186 Route Generation Department

[0247] 188 Foreign matter bypassing the control unit

[0248] 190 Mileage Information Calculation Department

[0249] C12 intersection

[0250] cp12 intersection

[0251] R10 first steel bar

[0252] R20 second steel bar.

Claims

1. A strapping device comprising: a steel bar bundling unit configured to bundle an intersection of at least two steel bars among the plurality of steel bars; a traveling unit configured to be able to travel on the plurality of steel bars; and a travel control unit for controlling the travel of the travel unit, in, The travel control unit controls travel of the travel unit based on a map including a plurality of areas including the estimated position of the intersection.

2. The strapping device according to claim 1, wherein: The strapping device further includes a detection unit that detects the intersection portion located within a predetermined detection area. The travel control unit further controls travel of the travel unit based on the position of the intersection portion detected by the detection unit.

3. The strapping device according to claim 2, wherein: The travel control unit further determines in which of the plurality of areas included in the map the position of the intersection detected by the detection unit is included, and controls the travel of the travel unit based on a result of the determination.

4. The strapping device according to claim 1, wherein: The travel control unit generates the map based on arrangement information related to the arrangement of the plurality of reinforcing bars.

5. The strapping device according to claim 4, wherein: The configuration information includes information related to the spacing between the plurality of steel bars and / or information related to the number of the intersections.

6. The strapping device according to claim 1, wherein: The travel control unit controls the travel of the travel unit so as to pass through each of the plurality of areas included in the map.

7. The strapping device according to claim 6, wherein: The travel control unit generates a travel route passing through each of the plurality of areas included in the map, The traveling control unit controls traveling of the traveling unit based on the traveling route.

8. The strapping device according to claim 7, wherein: The strapping device further includes an obstacle detection unit that detects obstacles located within a predetermined detection area. The travel control unit updates the generated travel route when a result of obstacle detection by the obstacle detection unit is updated.

9. The strapping device according to claim 8, wherein: The obstacle detection unit detects an angle between a direction of at least one of the plurality of steel bars and a direction of the bundling device, The travel control unit updates the generated travel route based on the angle when the obstacle detection unit detects an obstacle.

10. The strapping device according to claim 8 or 9, wherein: The travel control unit determines an area including the obstacle detected by the obstacle detection unit among the plurality of areas, The travel control unit updates the travel route so as not to include the determined area.

11. The strapping device according to claim 10, wherein: The travel control unit updates the travel route so as to include the determined area when the obstacle detected in the determined area is no longer detected by the obstacle detection unit.

12. A system comprising: The strapping device according to claim 1; and The map generating device generates the map based on the arrangement information related to the arrangement of the plurality of reinforcing bars.

13. The system according to claim 12, wherein: The map generating device generates the arrangement information by detecting the plurality of steel bars.

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