Binding device

Abstract

To provide a reinforcement binding robot binding device which can increase efficiency of work for binding crossing reinforcements capable of drawing a wire by a simple configuration.SOLUTION: A binding device includes a binding mechanism for feeding a wire to the periphery of reinforcements, and twisting and binding the wire fed to the periphery of the reinforcements, a binding mechanism moving part for moving the binding mechanism between a binding position where the reinforcements are bound and a retreat position separated from the reinforcements, and a wire drawing part for drawing the wire wound around a reel, wherein the wire drawing part draws the wire in a movement direction of the binding mechanism by interlocking with movement of the binding mechanism by the binding mechanism moving part, and an amount of the wire drawn by the wire drawing part is larger than a moving amount of the binding mechanism moved by the operation of the binding mechanism moving part.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present embodiment relates to a binding device. [Background technology]

[0002] Conventionally, technology has been considered for automating rebar binding work, in which a vertically extending rebar and a horizontally extending rebar intersect at their intersections with a wire, etc. For example, Patent Document 1 discloses a self-propelled work robot that can be used in rebar construction work.

[0003] Patent Document 2 also discloses a reinforcing bar mesh manufacturing method and reinforcing bar mesh manufacturing device that uses a bundling machine to bundle multiple reinforcing bars (vertical bars) extending vertically with multiple reinforcing bars (horizontal bars) extending horizontally so as to cross the vertical bars at their intersections to produce a flat reinforcing bar mesh. The reinforcing bar mesh manufacturing device described in Patent Document 2 is provided with a roller for drawing out the wire from the reel to the bundling machine. The roller for drawing out the wire provided in the reinforcing bar mesh manufacturing device described in Patent Document 2 is lowered from an upper retracted position to a lower retracted position and immediately returned to the retracted position to pay out a predetermined length of wire from the reel. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-039174 A [Patent Document 2] JP 2013-035052 A Summary of the Invention [Problem to be solved by the invention]

[0005] According to the technology disclosed in Patent Document 2, when wire is consumed in a bundling operation by a bundling machine, the roller for drawing out the wire is lowered and raised to draw out and store the wire to be used in the next bundling operation from the reel in preparation for the next bundling operation, so that the bundling operation can be carried out smoothly. However, the rebar mesh manufacturing device described in Patent Document 2 requires a separate drive source for driving the roller for drawing out the wire. The installation of a separate drive source may result in increased costs and / or weight. Furthermore, the provision of a drive source may increase the number of parts. Therefore, it is considered that there is room for improvement in the configuration for drawing out the wire of the bundling device.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and has an object to provide a binding device that is capable of pulling out a wire with a simple configuration. [Means for solving the problem]

[0007] One aspect of the present disclosure provides a binding device comprising a binding mechanism that feeds wire around a rebar and twists and binds the wire that has been fed around the rebar, a binding mechanism movement unit that moves the binding mechanism between a binding position where the rebar is tied and a retracted position away from the rebar, and a wire pull-out unit that pulls out the wire wound on the reel, wherein the wire pull-out unit pulls out the wire in the direction of movement of the binding mechanism in conjunction with movement of the binding mechanism by the binding mechanism movement unit, and in which the amount of wire pulled out by the wire pull-out unit is greater than the amount of movement of the binding mechanism that moves due to the operation of the binding mechanism movement unit. Effect of the Invention

[0008] The present disclosure provides a binding device capable of pulling out wires with a simple configuration. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an overall perspective view of a rebar binding robot 100 according to an embodiment of the present disclosure, viewed obliquely from above. [Diagram 2]FIG. 2 is an overall perspective view of a rebar binding robot according to one embodiment of the present disclosure, as viewed obliquely from below. [Diagram 3] FIG. 3 is a plan view of the rebar binding robot 100 as viewed from above (above in the Z direction). [Figure 4] FIG. 4 is a plan view of the rebar binding robot 100 as viewed from below (below in the Z direction). [Diagram 5] FIG. 5 is a perspective view of the reinforcing bar binding robot 100 with the reinforcing bar binding unit 110 removed, as viewed obliquely from above. [Figure 6] FIG. 6 is a perspective view of the reinforcing bar binding robot 100 with the reinforcing bar binding unit 110 removed, as viewed obliquely from above. [Figure 7] FIG. 7 is a diagram illustrating the functional block configuration of the reinforcing bar binding robot 100. As shown in FIG. [Figure 8] FIG. 8 is a view of the reinforcing bar binding robot 100 traveling along the first reinforcing bar R10, viewed from the Y direction. [Figure 9] FIG. 9 is a view of the reinforcing bar binding robot 100 traveling along the first reinforcing bar R10, seen from the X direction. [Figure 10] FIG. 10 is a view of the reinforcing bar binding robot 100, which has stopped traveling and is performing binding work, as viewed from the Y direction. [Figure 11] FIG. 11 is a view of the reinforcing bar binding robot 100 performing binding work, viewed from the X direction. [Figure 12] FIG. 12 is a view of the reinforcing bar binding robot 100 performing the binding work, seen from below in the Z direction. [Figure 13A] FIG. 13A shows an image taken by a 3D distance camera near the intersection of the first rebar R10 and the second rebar R20. [Figure 13B] FIG. 13B is a schematic image of the vicinity of the intersection of the first reinforcing bar R10 and the second reinforcing bar R20. [Figure 14A] FIG. 14A is a schematic side view of the rebar binding robot 100 as viewed from the horizontal direction (X direction). [Figure 14B]FIG. 14B is a schematic top view of the rebar binding robot 100 as viewed from above (upper side in the Z direction). [Figure 15] FIG. 15 is a diagram illustrating an image captured by the first sensor 130a. [Figure 16] FIG. 16 is a schematic diagram for explaining template matching. [Figure 17] FIG. 17 is a schematic diagram of the reinforcing bar binding robot 100, illustrating a method for estimating an intersection point. [Figure 18] FIG. 18 is a flowchart of a method for estimating the intersection point c12 in an embodiment of the present disclosure. [Figure 19] FIG. 19 is a flow chart regarding the lateral movement of the rebar binding robot 100. [Figure 20A] FIG. 20A is a rear view of the rebar binding robot 100 during lateral movement. [Figure 20B] FIG. 20B is a view of the rebar binding robot 100 moving laterally, seen from diagonally above. [Figure 21A] FIG. 21A is a rear view of the rebar binding robot 100 during lateral movement. [Figure 21B] FIG. 21B is a view of the rebar binding robot 100 moving laterally, seen from diagonally above. [Figure 22A] FIG. 22A is a rear view of the rebar binding robot 100 during lateral movement. [Figure 22B] FIG. 22B is a view of the rebar binding robot 100 moving laterally, seen from diagonally above. [Figure 23A] FIG. 23A is a rear view of the rebar binding robot 100 during lateral movement. [Figure 23B] FIG. 23B is a view of the rebar binding robot 100 moving laterally, seen from diagonally above. [Figure 24A] FIG. 24A is a rear view of the rebar binding robot 100 during lateral movement. [Figure 24B] FIG. 24B is a view of the rebar binding robot 100 moving laterally, seen from diagonally above. [Figure 25A]FIG. 25A is a rear view of the rebar binding robot 100 during lateral movement. [Figure 25B] FIG. 25B is a view of the rebar binding robot 100 moving laterally, seen from diagonally above. [Figure 26] FIG. 26 is a schematic diagram of a rebar binding robot 200 according to another embodiment of the present disclosure, viewed from below in the Z direction. [Figure 27A] FIG. 27A is a view of the binding device 100 according to an embodiment of the present disclosure, viewed obliquely from above. [Figure 27B] FIG. 27B is a view of the binding device 100 seen obliquely from the front. [Figure 28A] FIG. 28A is a view of the binding device 100 according to an embodiment of the present disclosure, viewed obliquely from above. [Figure 28B] FIG. 28B is a view of the binding device 100 seen obliquely from the front. [Figure 29A] FIG. 29A is a view of the binding device 100 according to an embodiment of the present disclosure, viewed obliquely from above, for illustrating the configuration for pulling out a wire. [Figure 29B] FIG. 29B is a view of the binding device 100 seen obliquely from the front. [Figure 30A] FIG. 30A is a top view of a banding device 100 according to an embodiment of the present disclosure. [Figure 30B] FIG. 30B is a view of the binding device 100 seen obliquely from above. [Figure 31A] FIG. 31A is a diagram showing reels 180a and 180b, first wire pull-out portion 112, second wire pull-out portion 148, etc., taken out and viewed from the -Y direction. [Figure 31B] FIG. 31B is a diagram showing reels 180a and 180b, first wire pull-out portion 112, second wire pull-out portion 148, etc., viewed obliquely from above. [Diagram 32] FIG. 32 is an enlarged view showing the vicinity of the second wire pull-out portion 148 of the binding device 100 according to the embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the present embodiment will be described with reference to the accompanying drawings. In order to facilitate understanding of the description, the same components in each drawing are denoted by the same reference numerals as much as possible, and duplicated description will be omitted.

[0011] The configuration of the binding device 100 according to the embodiment of the present disclosure will be described below. In this embodiment, the binding device is a rebar binding device that binds a plurality of rebars arranged crossing each other, and may be, for example, a rebar binding robot. In the following, the binding device 100 will be described as a rebar binding robot, and the binding device 100 will also be referred to as a rebar binding robot 100. In addition, the X-axis, Y-axis, and Z-axis may be shown in each drawing. The X-axis, Y-axis, and Z-axis form a right-handed three-dimensional Cartesian coordinate system. Hereinafter, the arrow direction of the X-axis may be referred to as the X-axis forward, +X direction, the right side of the X-direction, or the right side of the X-axis, and the direction opposite to the arrow may be referred to as the X-axis backward, -X direction, the left side of the X-direction, or the left side of the X-axis. The same applies to the other axes. In addition, the Z-axis forward and Z-axis backward may be referred to as the "upper side" or "upper side" and the "lower side" or "lower side", respectively. In addition, the planes perpendicular to the X-axis, Y-axis, and Z-axis may be called the YZ plane, ZX plane, and XY plane, respectively. However, these directions are used for the sake of convenience to explain the relative positional relationship. Therefore, these directions do not define the absolute positional relationship.

[0012] FIG. 1 is an overall perspective view of a rebar bundling robot 100 according to an embodiment of the present disclosure, as viewed from diagonally above. FIG. 2 is an overall perspective view of a rebar bundling robot 100 according to an embodiment of the present disclosure, as viewed from diagonally below. As shown in FIGS. 1 and 2, the rebar bundling robot 100 according to an embodiment of the present disclosure includes a rebar bundling unit 110, a traveling unit 121, and a sensor unit 130. The rebar bundling robot 100 may further include other components such as a main unit 140, a support bar 150, a control unit 160, a reel 180 (first reel 180a and second reel 180b), a battery 182 (first battery 182a and second battery 182b), a lateral movement unit 146, and a memory device 198 (not shown).

[0013] 1 and 2 also show a reinforcing bar group R including multiple reinforcing bars R10 (also referred to as "first reinforcing bars" or "vertical reinforcing bars" in this embodiment) extending in the Y direction. As shown in FIGS. 1 and 2, the reinforcing bar tying robot 100 is placed on the reinforcing bar group R so as to run along the first reinforcing bars R10. In addition to the multiple reinforcing bars R10, the reinforcing bar group R may also include multiple reinforcing bars (also referred to as "second reinforcing bars R20" or "horizontal reinforcing bars" in this embodiment) extending in the X direction.

[0014] In the embodiment of the present disclosure, the first reinforcing bar R10 is arranged so that the first direction, which is the direction in which it extends, is parallel to the Y direction. The second reinforcing bar R20 is arranged so that the second direction, which is the direction in which it extends, is parallel to the X direction. Therefore, in the exemplary embodiment of the present disclosure, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged so that they are perpendicular to each other. Furthermore, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged so that the plane formed by the first reinforcing bar R10 and the second reinforcing bar R20 (also referred to as the "reinforcing bar surface" in this embodiment) is parallel to the XY plane. Therefore, the plane formed by the first reinforcing bar R10 and the second reinforcing bar R20 is a horizontal plane in this embodiment. The arrangement of the first reinforcing bar R10 and the second reinforcing bar R20 is not limited to this. For example, the first reinforcing bar R10 and the second reinforcing bar R20 may be arranged so that they are non-perpendicular to each other. For example, the first reinforcing bar R10 and the second reinforcing bar R20 may be arranged so that the angle between the first reinforcing bar R10 and the second reinforcing bar R20 is, for example, 30°, 45°, 60°, or another angle. In the embodiment of the present disclosure, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged so as to be perpendicular to each other, but they do not necessarily have to be perpendicular to each other depending on the intersection, and may be arranged so as to form an angle of, for example, 85° or more and less than 90°.

[0015] Also, the first reinforcing bar R10 and the second reinforcing bar R20 may have a finite length, and the first reinforcing bars R10 or the second reinforcing bars R20 may be connected via joints in the first direction or the second direction, respectively. Furthermore, the first reinforcing bar R10 and the second reinforcing bar R20 may have ends as described below, for example, the first reinforcing bar R10 and the second reinforcing bar R20 may have ends R10e and R20e, described below, at one end and the other end in the first direction and the second direction, respectively.

[0016] The reinforcing bar fastening unit 110 is configured to fasten the intersection c12 (FIG. 6) between the first reinforcing bar R10 and the second reinforcing bar R20. The fastening operation of the reinforcing bar fastening unit 110 at the intersection c12 between the first reinforcing bar R10 and the second reinforcing bar R20 will be described in detail later.

[0017] 1 and 2, the traveling unit 121 may have four traveling units 121a, 121b, 121c, and 121d (in this embodiment, these are also referred to as the "first traveling unit," the "second traveling unit," the "third traveling unit," and the "fourth traveling unit," respectively). In the embodiment of the present disclosure, the traveling units 121 are disposed on the group of rebars R so that the rebar binding robot 100 moves in the Y direction. The first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d each have a first roller portion 122a, a second roller portion 122b, a third roller portion 122c, and a fourth roller portion 122d, and the first roller portion 122a, the second roller portion 122b, the third roller portion 122c, and the fourth roller portion 122d are configured to run on any one of the multiple first reinforcing bars R10 along the Y direction (first direction), which is the extension direction of the first reinforcing bars R10.

[0018] In this embodiment, the traveling unit 121 is an example of a moving unit (moving unit 120 described later). Instead of the traveling unit 121, or in addition to the traveling unit 121, the moving unit 120 may have the configuration of a moving unit other than the traveling unit 121.

[0019] In the embodiment of the present disclosure, the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d are described as being configured to move in the Y direction as an example, but the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d may also be configured to move in a direction other than the Y direction.

[0020] For example, the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d may move in a direction tilted at an angle of several degrees to several tens of degrees from the Y direction. For example, they may move in a direction tilted at an angle of several degrees to several tens of degrees from the Y direction in the +X direction or -X direction. For example, if the orientation of the rebar binding robot 100 is tilted from the Y direction due to the presence of a foreign object on the traveling first rebar R10, the moving direction of the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d will at least temporarily tilt from the Y direction to the +X direction or -X direction. Even in this case, the rebar binding robot 100 may be caused to proceed so as to substantially follow the first rebar R10 by, for example, moving the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d in a direction that returns the tilt of the orientation of the rebar binding robot 100 to the Y direction (in the -X or +X direction). This allows the rebar binding unit 110 of the rebar binding robot 100 to continue performing the binding operation at the intersection c12 of the first rebar R10 and the second rebar R20.

[0021] Furthermore, for example, even in a construction site where the first reinforcing bar R10 is arranged in a curved shape, the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d may be configured to move in a curved shape to follow the curved first reinforcing bar R10, and in this case, the first direction, which is the extension direction of the first reinforcing bar R10, may be different for each point that constitutes the curve.

[0022] 1 and 2, and FIG. 3 described later, the sensor unit 130 has a sensor 130a, a sensor 130b, a sensor 130c, and a sensor 130d (also referred to as a "first sensor", a "second sensor", a "third sensor", and a "fourth sensor" in this embodiment, respectively). The first sensor 130a and the second sensor 130b are arranged apart from each other along the Y direction in FIG. 1 and FIG. 2 (the direction in which the straight line connecting the first sensor 130a and the second sensor 130b extends is also referred to as a "third direction" in this embodiment). In addition, the fourth sensor 130d is arranged on the side opposite to the side on which the third sensor 130c of the rebar tying robot 100 is provided (the side on the far side of the paper in Figures 1 and 2), and the third sensor 130c and the fourth sensor 130d are arranged so as to be spaced apart from each other along a direction intersecting the Y direction in Figures 1 and 2 (the X direction in the example shown in Figures 1 and 2; in this embodiment, the direction in which the straight line connecting the third sensor 130c and the fourth sensor 130d extends is also referred to as the "fourth direction").

[0023] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are configured to be capable of detecting 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 be capable of detecting the first rebar R10, and the third sensor 130c and the fourth sensor 130d may be configured to be capable of detecting 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 be capable of detecting the first rebar R10 and the second rebar R20.

[0024] Fig. 3 shows a plan view of the rebar tying robot 100 seen from above (above in the Z direction), and Fig. 4 shows a plan view of the rebar tying robot 100 seen from below (below in the Z direction).

[0025] As can be seen from FIG. 3 and FIG. 4, the first traveling unit 121a and the second traveling unit 121b may be disposed on one side and the other side of the fourth direction (X direction) with respect to the first sensor 130a (the left side and the right side in the X direction, respectively, in FIG. 3). Also, the third traveling unit 121c and the fourth traveling unit 121d may be disposed on one side and the other side of the fourth direction (X direction) with respect to the second sensor 130b. In other words, the first sensor 130a may be disposed between the first traveling unit 121a and the second traveling unit 121b in the fourth direction. Similarly, the second sensor 130b may be disposed between the third traveling unit 121c and the fourth traveling unit 121d in the fourth direction.

[0026] Furthermore, as shown in Figures 3 and 4, the third sensor 130c may be arranged between the first running unit 121a and the third running unit 121c in the third direction (Y direction in Figures 3 and 4), and similarly, the fourth sensor 130d may be arranged between the second running unit 121b and the fourth running unit 121d in the third direction (Y direction).

[0027] 4, the first sensor 130a may be disposed on a straight line passing through the rotation axis 128a of the first roller part 122a constituting the first traveling unit 121a and the rotation axis 128b of the second roller part 122b constituting the second traveling unit 121b, or behind the straight line passing through the rotation axis 128a and the rotation axis 128b (-Y direction in FIG. 4). Similarly, the second sensor 130b may be disposed on a straight line passing through the rotation axis 128c of the third roller part 122c constituting the third traveling unit 121c and the rotation axis 128d of the fourth roller part 122d constituting the fourth traveling unit 121d, or ahead of the straight line passing through the rotation axis 128c and the rotation axis 128d (+Y direction in FIG. 4). A specific example of the sensor unit 130 will be described later.

[0028] 3 and 4, the first sensor 130a is disposed in front of the main unit 140 in the Y-axis direction (+Y direction). Similarly, the second sensor 130b is disposed behind the main unit 140 in the Y-axis direction (-Y direction). The third sensor 130c and the fourth sensor 130d are disposed on the left and right sides of the main unit 140 in the X-direction in a top view in FIG. 3. That is, as can be seen from FIG. 4, for example, in this embodiment, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are disposed on the outer edge of a rectangle virtually formed by connecting the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d near their centers in a plan view of the rebar binding robot 100, or inside the outer edge of the rectangle. The rectangle virtually formed by the first to fourth traveling units 121a to 121d may be a square, for example, when the distances between the traveling units in the X and Y directions are substantially equal, and in this case, the first to fourth sensors 130a to 130d may be arranged on the outer edge of the virtual square or inside the virtual square. Depending on the arrangement of the first to fourth traveling units 121a to 121d, the first to fourth traveling units 121a to 121d may virtually form a quadrangle other than a rectangle or a square, and even in this case, the first to fourth sensors 130a to 130d may be arranged on the outer edge of the virtual quadrangle or inside the virtual quadrangle.

[0029] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d have been described as being arranged on the outer edge of a rectangle virtually formed by connecting the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d near the centers thereof or inside the outer edge thereof, but this 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 in different configurations 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 may be positioned on or outside the outer edge of a rectangle virtually formed by connecting approximately the centers of the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d in a planar view of the rebar tying robot 100.

[0030] 1 and 3, the main body unit 140 may have a main body upper surface 142. The main body upper surface 142 may have, for example, a circular hole 144 formed near the center, and the rebar binding unit 110 may be arranged to pass through the hole 144.

[0031] In this embodiment, the rebar tying robot 100 may include, for example, two support bars 150 (a first support bar 150a and a second support bar 150b, respectively). The first support bar 150a and the second support bar 150b are bars extending in one direction, and are provided parallel to, for example, a fourth direction (the X direction in Figs. 1 to 4). Therefore, in the embodiment of the present disclosure, the first support bar 150a and the second support bar 150b are provided parallel to, for example, the horizontal direction. Also, as shown in Figs. 1 to 4, the first support bar 150a and the second support bar 150b may be provided so as to be spaced apart from each other in the Y direction (the third direction). The first support bar 150a and the second support bar 150b may be configured to support the main body unit 140, etc. of the rebar binding robot 100, for example, when the rebar binding robot 100 moves laterally (the X direction in Figures 1 to 4, the fourth direction in the rebar binding robot 100).

[0032] FIG. 5 is a perspective view of the reinforcing bar tying robot 100 with the reinforcing bar tying unit 110 removed, as viewed from the diagonally right rear direction. FIG. 6 is a perspective view of the reinforcing bar tying robot 100 with the reinforcing bar tying unit 110 removed, as viewed from the diagonally right front direction. As shown in FIG. 5 and FIG. 6, the reinforcing bar tying unit 110 may be provided so as to be movable in the up-down direction (Z direction in FIG. 5) while penetrating the hole 144. As a result, 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. As shown in FIG. 5 and FIG. 6, the binding device 100 has reels 180a and 180b. The reels 180a and 180b contain wires used for bundling reinforcing bars, and when the reinforcing bar bundling unit 110 bundles the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the wires contained in the reels 180a and / or 180b are pulled out to bundle the intersection c12. Although not described in detail, the reinforcing bar bundling unit 110 is provided with a wire twisting unit 114 (FIG. 5) at one end (the lower end in the Z direction in FIG. 5) of the reinforcing bar bundling unit 110, which has a wire guide or the like and is configured to perform reinforcing bar bundling work. The reinforcing bar bundling work of the wire twisting unit 114 may be realized, for example, by a function similar to that of a known reinforcing bar bundling machine.

[0033] Fig. 7 is a diagram illustrating the functional block configuration of the rebar binding robot 100. As shown in Fig. 7, the rebar binding robot 100 may include a control unit 160, a lateral movement unit 146, and a storage device 198 in addition to the above-mentioned rebar binding unit 110, traveling unit 121, sensor unit 130, etc.

[0034] The control unit 160 is configured to control the movement and binding work performed by the rebar binding robot 100. The control unit 160 may include a sensor detection result acquisition unit 162, a determination unit 164, an intersection point calculation unit 166 (also referred to as an "intersection point estimation unit" or an "intersection point estimation unit" in this embodiment), a rebar binding unit control unit 168, a rebar tracking control unit 170, a stop control unit 172, a movement amount calculation unit 174, a posture control unit 176, a motor control unit 178, and a foreign object detouring control unit 179.

[0035] In the rebar binding robot 100 of this embodiment, as shown in Fig. 1, the control unit 160 is disposed on the opposite side of the rebar binding unit 110 to the reels 180a and 180b in the Y direction. More specifically, as shown in Fig. 1, the reels 180a and 180b are disposed in the -Y direction of the rebar binding unit 110, whereas the control unit 160 is disposed in the +Y direction of the rebar binding unit 110. In particular, immediately after replacing the wire reel (reel 180a and / or reel 180b), the reel on which the wire is wound becomes relatively heavy, but by disposing the control unit 160 on the opposite side of the rebar binding unit 110, it is possible to balance the weight.

[0036] The lateral movement unit 146 (FIG. 7) is configured to control the movement of the main unit 140 of the rebar binding robot 100. In the rebar binding robot 100 according to an embodiment of the present disclosure, the rebar binding robot 100 may be moved in the horizontal direction 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, and for example, when the rebar binding robot 100 moves laterally, the main unit 140 may be moved horizontally by the two motors 146ma and 146mb.

[0037] 6, the lateral movement unit 146 has a first lateral movement roller 1461a and a first driving rack 146ca. The first lateral movement roller 1461a is provided on a first connecting portion 147a that connects the first traveling unit 121a and the second traveling unit 121b to the main unit 140. The first driving rack 146ca is provided on the back surface (the surface in the -Z direction) of the main unit 140 along the X direction.

[0038] 2, the lateral movement unit 146 has a second lateral movement roller 146lb and a second driving rack 146cb. The second lateral movement roller 146lb is provided on a second connecting portion 147b that connects the third traveling unit 121c and the fourth traveling unit 121d to the main unit 140. The second driving rack 146cb is provided on the back surface (the surface in the -Z direction) of the main unit 140 along the X direction.

[0039] The second lateral movement roller 146lb constitutes, for example, a driving gear. The second drive rack 146cb has, for example, a plurality of teeth that mesh with external teeth provided on the outer periphery of the second lateral movement roller 146lb, which are arranged in a straight line in the X direction. The second lateral movement roller 146lb is driven by the second lateral movement motor 146mb. ​​When the second lateral movement roller 146lb is rotated by the second lateral movement motor 146mb, the second lateral movement roller 146lb moves relative to the second drive rack 146cb so as to follow the longitudinal direction of the second drive rack 146cb. In this way, the main unit 140 can move in the X direction relative to the third traveling unit 121c and the fourth traveling unit 121d.

[0040] The first lateral movement roller 146la (FIG. 6) also constitutes, for example, a drive gear, and the first drive rack 146ca has a plurality of teeth that mesh with the external teeth provided on the outer periphery of the first lateral movement roller 146la, which are aligned linearly in the X direction. The first lateral movement roller 146la is driven by a first lateral movement motor 146ma. When the first lateral movement roller 146la is rotated by the first lateral movement motor 146ma, the first lateral movement roller 146la moves relative to the first drive rack 146ca along the longitudinal direction of the first drive rack 146ca, and the main unit 140 can move in the X direction relative to the third traveling unit 121c and the fourth traveling unit 121d.

[0041] In this manner, the first lateral movement roller 146la and the second lateral movement roller 146lb may be driven by the first lateral movement motor 146a and the second lateral movement motor 146b, respectively, to cause the main unit 140 to move laterally (in the X direction) relative to the traveling unit 121.

[0042] The storage device 198 may include, for example, a storage medium (e.g., a semiconductor memory device) or other media for non-transitoryly storing one or more computer programs executed in the control unit 160, data used to control the rebar tying robot 100, and the like. The storage device 198 may include, for example, a template database 198t. The template database 198t may store, for example, template images used when detecting the first rebar R10 and / or the second rebar R20 or detecting the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20 using template matching based on the detection results of the sensor unit 130, as described below, and data obtained by performing image processing such as frequency analysis on the template images. The control unit 160 may further include a template data creation unit, and may be configured to create template data based on images captured using the sensor unit 130 according to the site where the rebar tying work is to be performed, and store the template data in the template database 198t. The template data stored in the template database 198t may be accumulated, for example, when new template data is created, or may be deleted when the bundling work at each construction site is completed. Alternatively, the created template data may be configured to be stored in the template database 198t of the storage device 198 for a certain period of time and then deleted, for example, periodically.

[0043] The sensor detection result acquisition unit 162 acquires the detection results by 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 be used to determine the position of the first reinforcing bar R10 and / or the second reinforcing bar R20 by the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 of the determination unit 164 described later. In addition, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may be used to determine the position of the end R10e of the first reinforcing bar R10 and / or the end R20e of the second reinforcing bar R20 by the first reinforcing bar end determination unit 164b1 and / or the second reinforcing bar end determination unit 164b2 of the determination unit 164.

[0044] The determination unit 164 may include a first reinforcing bar determination unit 164a1, a second reinforcing bar determination unit 164a2, a first reinforcing bar end determination unit 164b1, a second reinforcing bar end determination unit 164b2, a posture determination unit 164c, an obstacle determination unit 164d, and a robot height calculation unit 164e. The first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2 determine the position of the first reinforcing bar R10 and / or the second reinforcing bar 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 determine the position of the first rebar R10 and / or the second rebar R20 by performing template matching based on the captured images that are the detection results of the first sensor 130a to the fourth sensor 130d.

[0045] The first reinforcing bar end determination unit 164b1 and the second reinforcing bar end determination unit 164b2 determine the end R10e of the first reinforcing bar R10 and / or the end R20e of the second reinforcing bar 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 reinforcing bar end determination unit 164b1 and the second reinforcing bar end determination unit 164b2 may also determine the position of the end R10e of the first reinforcing bar R10 and / or the end R20e of the second reinforcing bar R20 based on template matching, similar to the first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2.

[0046] The robot height calculation unit 164e may calculate the height of the rebar binding robot 100 from the group of rebars R based on, for example, 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 reinforcing bar R10 and / or the second reinforcing bar R20 are imaged by the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d (e.g., when an area including the first reinforcing bar R10 and / or the second reinforcing bar R20 is imaged), the robot height calculation unit 164e may calculate the height of the reinforcing bar tying robot 100 from the group of reinforcing bars R by calculating the distance of the reinforcing bar tying robot 100 from the group of reinforcing bars R based on the relative size of the first reinforcing bar R10 and / or the second reinforcing bar R20 in the image of the imaged first reinforcing bar R10 and / or the second reinforcing bar R20.

[0047] The height of the rebar tying robot 100 from the group of rebars R may be calculated, for example, based on the angle of the traveling unit 121. As shown in Fig. 6, the traveling unit 121a has a first main body side link part 125a connected to the main body part 140 and a first roller side link part 123a connected to the first roller part 122a, and the first main body side link part 125a and the first roller side link part 123a may form a link mechanism. At this time, the link angle formed by the first main body side link part 125a and the first roller side link part 123a may be detected by the first link angle detection sensor 134a (Fig. 7) of the sensor unit 130, and the height of the first traveling unit 121a may be calculated based on the link angle.

[0048] Similarly, as shown in FIG. 2, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d have the second body side link portion 125b and the second roller side link portion 123b, the third body side link portion 125c and the third roller side link portion 123c, and the fourth body side link portion 125d and the fourth roller side link portion 123d, and the heights of the second running unit 121b, the third running unit 121c, and the fourth running unit 121d may be calculated by detecting the link angles formed by the second body side link portion 125b and the second roller side link portion 123b, the third body side link portion 125c and the third roller side link portion 123c, and the fourth 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, respectively.

[0049] The robot height calculation unit 164e may calculate the height of the rebar binding robot 100 from the group of rebars R based on the thus calculated heights (heights from the group of rebars R) of the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d. For example, the height of the rebar binding robot 100 may be calculated from the average value of some or all of the calculated heights of the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d. Also, for example, when the rebar binding robot 100 is positioned parallel or nearly parallel to a virtual plane formed by the group of rebars R, the height of the rebar binding robot 100 may be determined from any one of the heights of the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d.

[0050] 7, the sensor unit 130 may include an inclination detection sensor 132 in addition to the above-mentioned first sensor 130a to fourth sensor 130d. As the inclination detection sensor 132, a sensor capable of detecting the inclination angle of the rebar binding robot 100, such as a known inclination sensor or horizontal sensor, may be used. The sensor detection result acquisition unit 162 may also acquire the detection result of the inclination detection sensor 132. Based on the detection result of the inclination detection sensor 132, for example, the posture of the rebar binding robot 100 may be determined by the posture determination unit 164c of the determination unit 164, and based on the determination result of the posture determination unit 164c, the posture control unit 176 may drive the height changing motors 126 of the running units 121 (the first height changing motor 126a of the first running unit 121a, the second height changing motor 126b of the second running unit 121b, the third height changing motor 126c of the third running unit 121c, and / or the height changing motor 126d of the fourth running unit 121d) to adjust the posture of the rebar binding robot 100.

[0051] The rebar binding robot 100 may drive the height changing motor 126 based on the detection result of the inclination detection sensor 132 so that the main unit 140 is parallel to the surface formed by the first rebar R10 and / or the second rebar R20 (also referred to as the "rebar surface" in this embodiment). For example, if the first rebar R10 and the second rebar R20 are arranged so that the rebar surface extends horizontally, and the rebar binding robot 100 is tilted in the X direction, the height of the first running unit 121a and the third running unit 121c, or the second running unit 121b and the fourth running unit 121d, among the first running unit 121a to the fourth running unit 121d, may be changed to adjust the posture of the rebar binding robot 100.

[0052] The intersection point calculation unit 166 estimates the intersection point c12 by calculating the intersection point c12 of the first reinforcing bar R10 and the second reinforcing bar R20. For example, as described below, the intersection point calculation unit 166 may calculate the position of the intersection point c12 based on the positions of the first reinforcing bar R10 and the second reinforcing bar R20 determined by the first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2. Based on the calculated position of the intersection point c12, the reinforcing bar binding robot 100 may perform binding work using the reinforcing bar binding unit 110. Based on the estimated position of the intersection point c12, the motor control unit 178 may adjust the position of the reinforcing bar binding robot 100 by the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and / or the fourth traveling unit 121d so that the reinforcing bar binding unit 110 is on the intersection point c12.

[0053] The reinforcing bar binding unit control unit 168 controls the movement of the reinforcing bar binding unit 110 by controlling the reinforcing bar binding unit moving unit 168m. The reinforcing bar binding unit 110 can take a binding position where the reinforcing bar binding unit 110 performs a binding operation to bind the intersection c12 where the first reinforcing bar R10 and the second reinforcing bar R20 intersect, and a retreat position where the reinforcing bar binding unit 110 retreats after the completion of the binding operation while moving to the intersection c12 where the next binding operation is performed. The reinforcing bar binding unit 110 moves in the -Z direction when moving from the retreat position to the binding position, and moves in the +Z direction when moving from the binding position to the retreat position. Such movement of the reinforcing bar binding unit 110 in the Z direction is realized by the reinforcing bar binding unit moving unit 168m composed of, for example, a motor. The reinforcing bar binding unit control unit 168 controls the lifting and lowering operation of the reinforcing bar binding unit 110 in the Z direction by the reinforcing bar binding unit moving unit 168m.

[0054] The rebar binding unit control unit 168 also controls the binding operation of the rebar binding unit 110 at the intersection c12 after the rebar binding unit 110 moves to the binding position. For example, the binding work by the rebar binding unit 110, which is performed using a wire drawn out from the reel 180 by a wire drawing unit described later, is controlled by the rebar binding unit control unit 168. For example, after moving the rebar binding robot 100 by the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and / or the fourth traveling unit 121d so that the rebar binding unit 110 is positioned above the intersection c12, the rebar binding unit control unit 168 may control the rebar binding unit moving unit 168m to lower the rebar binding unit 110 to the binding position so as to approach the intersection c12, and perform binding at the intersection c12.

[0055] The rebar following control unit 170 may, for example, control the traveling unit 121 by the motor control unit 178 so that the rebar binding robot 100 follows the first rebar R10 while traveling, based on information such as the position of the first rebar R10 determined by the first rebar determination unit 164a1. For example, as shown in Fig. 5, when the rebar binding robot 100 travels over the first rebar R12 and the first rebar R14, the drive motors of the traveling unit 121 (the first wheel drive motor 124a that drives the first roller unit 122a, the second wheel drive motor 124b that drives the second roller unit 122b, the third wheel drive motor 124c that drives the third roller unit 122c, and / or the fourth wheel drive motor 124d that drives the fourth roller unit 122d) may be driven so that the rebar binding robot 100 does not come off the first rebar R12 and the first rebar R14.

[0056] For example, 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, the first wheel drive motor 124a and the third wheel drive motor 124c which are the drive motors of the first running unit 121a and the third running unit 121c which are arranged at the same position or approximately the same position in the X direction, may be accelerated or decelerated relative to the second wheel drive motor 124b and the fourth wheel drive motor 124d which are the drive motors of the second running unit 121b and the fourth running unit 121d which are arranged on the other side in the X direction, thereby adjusting the position of the rebar binding robot 100 and making the rebar binding robot 100 run to follow the first rebar R10.

[0057] Alternatively, the rebar following control unit 170 may adjust the rotation speed of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d, for example, to cause the rebar binding robot 100 to travel so as to follow the first rebar R10. For example, by setting one or more rotation 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 to different rotation speeds from the rotation speeds of the other wheel drive motors, or by setting all of the rotation 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 to different rotation speeds from each other, the rebar binding robot 100 can be made to flexibly follow the first rebar R10.

[0058] The stop control unit 172 is configured to control the stopping operation of the rebar binding robot 100. For example, as described below, when the rebar binding robot 100, which has traveled over the first rebar R12 and the first rebar R14, is determined by the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 to be in the vicinity of the end R13e of the first rebar R13 or approaching the end R13e 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 stop control unit 172 may control the motor control unit 178 to drive and stop the first wheel drive motor 124a to the fourth wheel drive motor 124d, thereby stopping the rebar binding robot 100. In addition, the rebar tying robot 100 may be stopped not only at the end R13e of the first rebar R13, but also 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 is approaching the end R12e and / or the end R14e, instead of or in addition to the end R13e.

[0059] In addition, the stop control unit 172 may stop the rebar binding robot 100, for example, when the intersection point c12 of the first rebar R10 and the second rebar R20 is calculated by the above-mentioned intersection point calculation unit 166, in order to bind the intersection point c12 with the rebar binding unit 110.

[0060] The movement amount calculation unit 174 may be configured to calculate the amount of movement when the reinforcing bar binding robot 100 moves laterally (in the X direction), for example. For example, as described above, when the first reinforcing bar end determination unit 164b1 and / or the second reinforcing bar end determination unit 164b2 determine that the reinforcing bar binding robot 100 is in the vicinity of or approaching the end R12e of the first reinforcing bar R12 and the end R14e of the first reinforcing bar R14, the reinforcing bar binding robot 100 completes the reinforcing bar binding work at the intersection c12 on the first reinforcing bar R13 arranged between the first reinforcing bar R12 and the first reinforcing bar R14, moves to another first reinforcing bar R10, and starts the reinforcing bar binding work at the intersection c12.

[0061] For example, when the rebar binding robot 100 completes the rebar binding work at the intersection c12 on the first rebar R13 and then performs the rebar binding work at the intersection c12 on the first rebar R14, the rebar binding robot 100 moves in the X direction by one interval for the interval in the X direction between the first rebars R10. At this time, the movement amount calculation unit 174 may calculate the movement amount based on the interval in the X direction between adjacent first rebars R10 based on the information on the position of the first rebars R10 determined by the first rebar determination unit 164a1. Similarly, when the rebar binding robot 100 performs the rebar binding work at the intersection c12 on first rebars R10 that are separated by two or more in the X direction, the movement amount may be calculated based on the interval between the first rebars R10. In addition, the lateral movement unit 146 may perform the lateral movement (e.g., horizontal movement) of the main unit 140 during the lateral movement based on the calculated movement amount. The movement amount calculation unit 174 may calculate the amount of movement in a direction other than the horizontal movement amount. For example, the movement amount calculation unit 174 may calculate the amount of vertical movement (movement in the first direction, Y direction) of the rebar binding robot 100 based on the detection results of each sensor 130, the determination results by the rebar end determination unit 164b1 and / or the rebar end determination unit 164b2, etc.

[0062] The sensor unit 130 may be, for example, a camera capable of taking two-dimensional or three-dimensional images, and the position of the foreign object may be determined by, for example, the obstacle determination unit 164d of the determination unit 164 based on the detection result of the sensor unit 130. At a construction site where reinforcing bars are assembled, for example, tools or the like may be left on the surface of the reinforcing bars, or workers may be working on the reinforcing bars. These may be detected as foreign objects based on the detection result by the sensor unit 130, and the foreign object detouring control unit 179 may be configured to 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 by the motor control unit 178 to detouring the foreign object based on the detection result of the foreign object. Alternatively, the reinforcing bar binding robot 100 may be configured to detouring the foreign object by performing a lateral movement described later.

[0063] The control unit 160 is, for example, a processor such as a CPU (Central Processing Unit) that corresponds to a calculation unit, and is a control unit that controls the execution of computer programs stored in the storage device 198 and calculates and processes data. The processor is a calculation unit that executes programs that execute the operations of the rebar tying robot 100 (rebar tracking and traveling, lateral movement (e.g., horizontal movement), rebar tying work, etc.) using each detection data, etc. Each unit of the control unit (for example, the sensor detection result acquisition unit 162, etc.) is realized by the processor executing the programs stored in the storage device 198.

[0064] The storage device 198 may have, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory). The RAM is a memory section in which data can be rewritten, and may be composed of, for example, a semiconductor memory element. The RAM may store programs executed by the processor and data required for executing the programs (for example, template data used to determine the position of rebar based on the detection results of the sensor unit 130, as described below). Note that these are merely examples, and the RAM may store data other than these, or some of these data may not be stored.

[0065] The ROM is a storage unit from which data can be read, and may be configured, for example, with a semiconductor memory element. The ROM may store, for example, programs executed by the control unit 160 and data that is not rewritten.

[0066] The program executed by the control unit 160 may be provided by being stored in a computer-readable storage medium such as a memory device 198 (e.g., a RAM or a ROM), or, if the rebar binding robot 100 of this embodiment has a communication unit (not shown), the program may be provided via a communication network connected by the communication unit.

[0067] The above physical configuration is merely an example, and in the rebar tying robot 100 according to the embodiment of the present disclosure, the control unit 160 and the storage device 198 do not necessarily have to be independent. For example, the rebar tying robot 100 may be equipped with an LSI (Large-Scale Integration) that integrates a processor and memory. The rebar tying robot 100 may also be equipped with a GPU (Graphical Processing Unit) as the control unit 160, and the GPU may execute a program to realize the various operations described above.

[0068] Next, the running operation of the rebar bundling robot 100 on the rebars will be described with reference to Fig. 8 and Fig. 9. Fig. 8 is a view of the rebar bundling robot 100 running along the first rebar R10 as seen from the Y direction (-Y direction). Fig. 9 is a view of the rebar bundling robot 100 running along the first rebar R10 as seen from the X direction (+X direction). In Fig. 8 and Fig. 9, the rebar bundling robot 100 runs in a first direction (Y direction). As shown in Fig. 8 and Fig. 9, the rebar bundling robot 100 runs such that the third roller 122c of the third running unit 121c is on the first rebar R12 and the fourth roller 122d of the fourth running unit 121d is on the first rebar R14. As shown in Fig. 9, the second roller part 122b of the second running unit 121b also runs on the first rebar R14, similar to the fourth roller part 122d of the fourth running unit 121d. Although not shown in Figs. 8 and 9, the first roller part 122a of the first running unit 121a also runs on the first rebar R12, similar to the third roller part 122c of the third running unit 121c. In this way, when the rebar tying robot 100 according to an embodiment of the present disclosure runs along the first rebar R10, it runs, for example, between a certain first rebar R10 (first rebar R12) and a first rebar R10 (first rebar R14) that is located two bars away from the certain first rebar R12, and ties the intersection c12 of the first rebar R10 and the second rebar R20 that is located on the first rebar R13, which is the first rebar R10 that is located between the running first rebar R12 and the first rebar R14.

[0069] Next, the reinforcing bar bundling robot 100 during reinforcing bar bundling work will be described with reference to Figs. 10, 11, and 12. Fig. 10 is a view of the reinforcing bar bundling robot 100 performing bundling work, seen from the Y direction (-Y direction) after stopping its travel. Fig. 11 is a view of the reinforcing bar bundling robot 100 performing bundling work, seen from the X direction (+X direction). Fig. 12 is a view of the reinforcing bar bundling robot 100 performing bundling work, seen from below in the Z direction (-Z direction). Figs. 10, 11, and 12 show an example in which the reinforcing bar bundling robot 100 bundles the intersection c12 of the first reinforcing bar R13 and the second reinforcing bar R20. When performing bundling work, the reinforcing bar bundling robot 100 stops its travel (Fig. 10) and lowers the reinforcing bar bundling unit 110 to perform bundling (Figs. 11 and 12).

[0070] Next, a configuration for calculating the positions of the reinforcing bar group R (first reinforcing bar R10 and second reinforcing bar R20) by the reinforcing bar binding robot 100 according to an embodiment of the present disclosure will be described. The rebar binding robot 100 according to an embodiment of the present disclosure includes a traveling unit 121 configured to travel on a group of rebars R including a plurality of first rebars R1 whose extension direction is the Y direction (first direction) and a plurality of second rebars R2 whose extension direction is the X direction (second direction) intersecting the Y direction (first direction) and that are arranged so as to intersect with 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 a "rebar position calculation unit" in this embodiment) configured to calculate the position of at least one first rebar R10 and / or at least one second rebar R20 detected by the sensor unit 130 based on the pixel values ​​of a plurality of pixels that constitute a two-dimensional image generated by the detection results of the sensor unit 130. The rebar tying robot 100 according to the embodiment of the present disclosure can improve the efficiency of the calculation process of the positions of the first rebar R10 and / or the second rebar R20 by calculating the positions of the first rebar R10 and / or the second rebar R20 based on two-dimensional images generated by the detection results of the sensor unit 130. For example, by performing calculations based on two-dimensional images, the calculation load can be reduced compared to the case where the positions of the rebars are calculated using three-dimensional data as the detection results of the sensor unit.

[0071] In the rebar binding 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 grayscale image. In this case, the rebar binding robot 100 may be equipped with 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, the two-dimensional image may include a grayscale image, and the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) may be configured to calculate the position of at least one first rebar R10 and / or at least one second rebar R20 by comparing the grayscale image with the template image.

[0072] Furthermore, in the rebar binding robot 100 according to the embodiment of the present disclosure, when the density value of a pixel in the grayscale image is equal to or greater than a predetermined threshold, it may be determined that the pixel corresponds to the first rebar R10 and / or the second rebar R20. In this case, the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) may determine that at least a part of the first rebar R1 and / or at least a part of the second rebar R2 exists at a position corresponding to a pixel having a density value equal to or greater than the predetermined threshold when the density value of the pixel constituting the grayscale image is equal to or greater than a predetermined threshold (first threshold). Alternatively, when a grayscale image is used as a two-dimensional image, the grayscale image may be generated by lowering the image density of an area where an object exists and raising the image density of an area where an object does not exist, and in this case, when the density value of a pixel is less than a predetermined threshold, it may be determined that the pixel corresponds to the first rebar R10 and / or the second rebar R20.

[0073] In the rebar tying robot 100 according to the embodiment of the present disclosure, the grayscale image may be generated based on the detection results of a three-dimensional sensor. In this case, the sensor unit 130 includes a three-dimensional sensor capable of detecting the x-, y-, and z-coordinates of multiple points on the surface of the detection target, and the z-coordinate value detected by the three-dimensional sensor is converted into an image density that differs according to the magnitude of the z-coordinate value, and the grayscale image may be generated by constructing a two-dimensional image based on the x-, y-, and image density.

[0074] Alternatively, the rebar tying robot 100 according to the embodiment of the present disclosure may be configured such that the sensor unit 130 captures a grayscale image. In this case, the sensor unit 130 may include an imaging device, and the grayscale image may be generated based on an image captured by the imaging device.

[0075] Furthermore, the rebar binding robot 100 according to the embodiment of the present disclosure may 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 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 grayscale image and the template image.

[0076] In the embodiment of the present disclosure, the degree of matching may be calculated, for example, by comparing the detection result by the sensor unit 130, a two-dimensional image generated based on the detection result by the sensor unit 130, or a template image. For example, the pixel values ​​of all pixels in a partial image to be compared among the two-dimensional image generated based on the detection result by the sensor unit 130 are compared with the pixel values ​​of all pixels in the template image, and the degree of matching may be calculated by expressing the ratio of matching pixels as a percentage based on whether the pixel values ​​of corresponding pixels in the two images to be compared match. For example, when the template image includes 50,000 pixels and is compared with 50,000 pixels in a grayscale image to be compared, and the densities of 40,000 pixels match or are almost matched (for example, the difference between the two is within 10%), the degree of matching may be calculated as 80%.

[0077] At this time, the position of the first reinforcing bar R10 and / or the second reinforcing bar R20 may be calculated using a 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 (reinforcing bar position calculation unit) may determine whether the matching degree is equal to or greater than a predetermined reference value, and if the matching degree is equal to or greater than the predetermined reference value, determine that the first reinforcing bar R10 and / or the second reinforcing bar R20 are present within the detection range of the sensor unit 130.

[0078] In the rebar binding robot 100 according to the embodiment of the present disclosure, a different value may be set for each height as the reference value of the matching degree. In this case, the rebar binding robot 100 according to the embodiment of the present disclosure includes a robot height calculation unit 164e (also referred to as a "robot height calculation unit" in this embodiment) that calculates the height of the rebar binding robot 100 from the rebar group R, and the predetermined reference value includes a plurality of reference values ​​corresponding to different heights of the rebar binding robot 100, and the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculates the height of the rebar binding robot calculated by the robot height calculation unit 164e (robot height calculation unit) for the plurality of reference values. The system may be configured to determine whether there is a reference value corresponding to the height of the rebar tying robot 100 from the rebar group R, and if it is determined that a reference value corresponding to the height of the rebar tying robot 100 exists among the multiple reference values, calculate the position of the first rebar R10 and / or the second rebar R20 based on this reference value, and if it is determined that a reference value corresponding to the height of the rebar tying robot 100 does not exist among the multiple reference values, calculate a new reference value corresponding to the measured height of the rebar tying robot 100 based on at least two of the multiple reference values.

[0079] In the embodiment of the present disclosure, for example, a plurality of reference values ​​may be set for each predetermined size of the height of the rebar binding robot 100 from the rebar group R. For example, five reference values ​​may be set for the height of the rebar binding robot 100 from the rebar group R, starting from 10 cm and ending at 5 cm intervals up to 30 cm. In this case, for example, if the robot height calculation unit 164e determines that the height of the rebar binding 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. Also, for example, if the robot height calculation unit 164e determines that the height of the rebar binding robot 100 from the rebar group R is 23 cm, and no reference value for 23 cm is set, a new reference value may be set based on, for example, the reference value of 20 cm and the reference value of 25 cm. For example, if the reference value for a height of 20 cm is 60% and the reference value for a height of 25 cm is 50%, the reference value for 23 cm may be calculated by linear interpolation as 50%+(((60%-50%)*((25 cm-23 cm) / (25 cm-20 cm)))=54%. The newly calculated reference value may be stored in, for example, storage device 198 and used as necessary in subsequent work. Note that the above heights, reference values, and methods of calculating new reference values ​​are merely examples and are not limited to these. For example, more reference values ​​may be set, and reference values ​​may be set for heights less than 10 cm or greater than 30 cm.

[0080] The process of calculating the position of a reinforcing bar by a reinforcing bar binding robot according to an embodiment of the present disclosure will be described below.

[0081] First, a specific example of the sensor unit 130 used in the rebar tying robot 100 will be described in detail. As the sensor unit 130, for example, a 3D distance camera such as a ToF (Time of Flight) camera can be used (for example, TOFcam-635 manufactured by ESPROS Photonics). The 3D distance camera outputs an image with different shading for each object depending on the distance from the camera, and the distance to the target object is obtained for each pixel, and objects that are relatively close are displayed with a higher density (closer to black) and objects that are relatively farther away are displayed with a lighter density (closer to white). In the embodiment of the present disclosure, while the rebar tying robot 100 is traveling through the group of rebars R, the distance between the rebar tying robot 100 and the group of rebars R does not change substantially, so rebars may be detected by recognizing relatively black objects as rebars (first rebar R10 and / or second rebar R20).

[0082] 13A and 13B show images output by a 3D distance camera. FIG. 13A shows an image taken by a 3D distance camera near the intersection of the first rebar R10 and the second rebar R20. FIG. 13B shows a schematic image of the intersection of the first rebar R10 and the second rebar R20. As shown in FIG. 13A, the image taken by the 3D distance camera has light and dark shading, and in the embodiment of the present disclosure, it is possible to recognize the part with high density as the first rebar R10 and / or the second rebar R20. As shown in FIG. 13B, an image with different light and dark shading is obtained for each pixel.

[0083] The sensor unit 130 is not limited to the imaging device such as a camera exemplified above, and other sensors may be used. For example, a laser capable of acquiring information in the depth direction or height direction may be used. For example, a two-dimensional image using the same image density as above may be generated based on the information in the depth direction acquired by the laser.

[0084] Next, a process of detecting rebars based on an image (a grayscale image in this embodiment) captured and acquired by the sensor unit 130 will be described. First, with reference to Figs. 14A and 14B, the arrangement 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. Figs. 14A and 14B are diagrams that show the arrangement of the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d. Fig. 14A is a schematic side view of the rebar binding robot 100 as viewed from the horizontal direction (X direction). Fig. 14B is a schematic top view of the rebar binding robot 100 as viewed from above (upper side in the Z direction). FIG. 14A also shows the imaging ranges of the first sensor 130a, the second sensor 130b, and the third sensor 130c in a schematic manner, along with the first sensor 130a, the second sensor 130b, and the third sensor 130c.

[0085] As shown in FIG. 14A and FIG. 14B, the first sensor 130a and the second sensor 130b, which are spaced apart from each other in the Y direction, are arranged to capture images obliquely downward. The third sensor 130c and the fourth sensor 130d (not shown) are also arranged to capture images obliquely downward. The first sensor 130a and the second sensor 130b are set, for example, so that the angle of view that defines the imaging range is 80° or more and 100° or less. The third sensor 130c and the fourth sensor 130d are set, for example, so that the angle of view is 50° or more and 70° or less. Any of the sensors 130 may be set to have another angle of view. As described above, when determining whether a foreign object exists 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 imaging range of each sensor may be changed, for example, by changing the angle of each sensor to face upward.

[0086] FIG. 15 is a schematic diagram of an image captured by the first sensor 130a. As shown in FIG. 15, in the embodiment of the present disclosure, the first sensor 130a is arranged to capture an image in a diagonally downward direction, so that the interval between adjacent first reinforcing bars R10 narrows from the front to the back. In the embodiment of the present disclosure, the position of each reinforcing bar (a plurality of first reinforcing bars R10 and a plurality of second reinforcing bars R20) constituting the reinforcing bar group R can be detected by performing, for example, template matching based on the image thus obtained. In the embodiment of the present disclosure, the reinforcing bars (the first reinforcing bars R10 and / or the second reinforcing bars R20) are detected by template matching, for example, based on the similarity between the captured image and a previously prepared image (also referred to as "matching degree" in this embodiment), a grayscale image including a grayscale portion corresponding to the reinforcing bar is prepared as a template, the image captured by each sensor unit 130 is scanned, and the similarity in the scanning direction is calculated.

[0087] Template matching performed in the embodiment of the present disclosure will be described with reference to FIG. 16. FIG. 16 is a schematic diagram for explaining template matching according to the present embodiment. FIG. 16 shows a captured image near the intersection c12 of the first rebar R10 and the second rebar R20, and template images TI10 and TI20 for scanning in the X and Y directions. FIG. 16 also shows the template images TI10 and TI20, and schematic graphs G10 and G20 of the similarity calculated according to each scan. The template images TI10 and TI20 are scanned in the Y and X directions, respectively, and the similarity with the template images TI10 and TI20 is calculated, and it is determined that the location on the captured image where the maximum value of the calculated similarity exceeds a threshold corresponds to the location where the rebar exists. As shown in the graphs G10 and G20, in the distribution of similarity along the Y and X directions, parts exceeding the thresholds TH10 and TH20 are confirmed, and these correspond to the location where the rebar exists. The similarity (matching degree) may be calculated by, for example, comparing the color density of each pixel in the captured image with the color density of each pixel constituting the template image. For example, first, the distance to the object of each pixel in the captured image is extracted as the color density. Next, if the total or average color density of the entire captured image is low (for example, lower than a predetermined threshold), it is determined that there is no reinforcing bar in the captured image. On the other hand, if 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. Among the pixels in the captured image, the position where the sum of the absolute values ​​of the differences between the color density of the captured pixel and the color density of the pixel constituting the template image is the lowest may be extracted as the reinforcing bar position. In this way, the first reinforcing bar R10 and the second reinforcing bar R20 can be detected by template matching based on the similarity calculated by scanning the template image against the captured image.

[0088] As described above with reference to FIG. 15, in the embodiment of the present disclosure, in the image captured by the first sensor 130a, the interval between the first reinforcing bars R10 adjacent in the X direction changes along the Y direction. Similarly, in the image captured by the second sensor 130b, the interval between the first reinforcing bars R10 in the X direction changes along the Y direction, and in the images captured by the third sensor 130c and the fourth sensor 130d, the interval between the second reinforcing bars R20 in the Y direction changes along the X direction. Therefore, for example, the captured image may be corrected by performing orthogonal transformation so that the intervals between the reinforcing bars in the captured image become approximately equal, and then template matching may be performed. Note that detection of reinforcing bars based on template matching can also be performed by preparing an image in which the intervals between reinforcing bars change as shown in FIG. 15 as a template without performing image transformation such as orthogonal transformation.

[0089] In the template matching according to the embodiment of the present disclosure, for example, a frequency analysis may be performed on each image, and the relevance between the captured image and the template image may be evaluated using a phase correlation method.

[0090] The positions of the first rebar R10 and the second rebar R20 can be estimated by, for example, acquiring three-dimensional data of XYZ of the object within the detection range using a three-dimensional sensor or the like. As described above, in the rebar binding robot 100 according to the embodiment of the present disclosure, the amount of calculation required to calculate the position of the intersection point c12 can be made relatively small compared to the case where calculation is performed based on three-dimensional XYZ data, for example, by performing template matching that treats the third-dimensional data in the Z direction as pixel density information. When performing binding work at the intersection point c12 while traveling, as in the rebar binding robot 100 according to the embodiment of the present disclosure, a method of determining the position of the rebar by template matching that can reduce the amount of calculation is preferably used.

[0091] Next, a method for determining the intersection point of the first reinforcing bar R10 and the second reinforcing bar R20 in an embodiment of the present disclosure will be described. In an embodiment of the present disclosure, when the reinforcing bar binding robot 100 determines the intersection point c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the first sensor 130a and the second sensor 130b may be configured to detect the first reinforcing bar R10, as described above. That is, the reinforcing bar binding robot 100 includes the reinforcing bar binding unit 110 configured to bind the intersection point c12 of the first reinforcing bar R10 and the second reinforcing bar R20 of the reinforcing bar group R, as described above, the sensor unit 130 includes the first sensor 130a and the second sensor 130b arranged to be spaced apart from each other along the third direction and configured to be able to detect at least the first reinforcing bar R10, the at least one template image described above includes a template image TI10 (first template image) including a partial image of the first reinforcing bar R10, and the reinforcing bar binding robot 100 includes a traveling unit 130a and a second sensor 130b configured to detect at least the first reinforcing bar R10, and the at least one template image described above includes a template image TI10 (first template image) including a partial image of the first reinforcing bar R10. The knit 121 may progress in the Y direction (first direction) and the direction in which the first sensor 130a and the second sensor 130b are arranged (third direction) is parallel to the Y direction (first direction), and the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) may calculate the position of the first reinforcing bar R10 by comparing the detection results of the first sensor 130a and / or the second sensor 130b with a first template image, and the reinforcing bar binding unit 110 may bind the intersection point c12 on the first reinforcing bar R10 whose position has been calculated.

[0092] Furthermore, at this time, the rebar binding robot 100 may be further configured such that the third sensor 130c and the fourth sensor 130d detect the second rebar R20 in addition to the first rebar R10 and estimate the intersection point c12. That is, the rebar binding robot 100 further includes an intersection point calculation unit 166 (also referred to as an "intersection point estimation unit" in this embodiment) that estimates the intersection point c12, the sensor unit 130 includes the third sensor 130c and the fourth sensor 130d that are arranged apart from each other along a fourth direction that intersects with the third direction and are configured to be able to detect at least the second rebar R20, at least one template image includes a template image TI20 (second template image) that includes a partial image of the second rebar R20, and the rebar binding robot 100 further includes a fourth template image calculation unit 166 that calculates the intersection point c12. 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, the intersection point estimation unit (intersection point estimation unit) estimates the intersection point between the calculated first reinforcing bar R10 and the calculated second reinforcing bar R20 as the intersection point c12, and the reinforcing bar binding unit 110 may be configured to bind the estimated intersection point c12.

[0093] Furthermore, when the rebar binding robot 100 detects the end R10e of the first rebar R10, the third sensor 130c and / or the fourth sensor 130d may detect the first rebar R10, and the first rebar R10 detected by the third sensor 130c and / or the fourth sensor 130d may be used to calculate the amount of lateral movement of the rebar binding robot 100, which will be described later. That is, when the rebar binding robot 100 moves from the first rebar R10 along which the traveling unit 121 is moving to another first rebar R10, the rebar binding robot 100 includes a movement amount calculation unit 174 (movement amount calculation unit) that calculates the amount of movement of the traveling unit 121 based on position information of the first rebar R10 calculated by the first rebar judgment unit 164a1 and / or the second rebar judgment unit 164a2 (rebar position calculation unit), and the first rebar judgment unit 164a1 and / or the second rebar judgment unit 164a2 (rebar position calculation unit) Based on the detection results of the first sensor 130a and / or the second sensor 130b, calculates the position of the first rebar R10 along which the traveling unit 121 moves, and if the matching degree of the detection result of the first sensor 130a is less than a predetermined reference value, determines whether the matching degree is equal to or greater than a predetermined end reference value, and if it is determined that the matching degree is equal to or greater than the predetermined end reference value, determines that the end R10e of the first rebar R10 is present within the detection range of the first sensor 130a, and When it is determined that the end R10e of the first reinforcing bar R10 is present within the range, the third sensor 130c and / or the fourth sensor 130d are set to detect the first reinforcing bar R10, and 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 another first reinforcing bar R10 that is separated in the X direction (second direction) from the first reinforcing bar R10 along which the traveling unit 121 advances 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 running unit 121 in the X direction (second direction) based on the positions of other first reinforcing bars R10 calculated by the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) and the position of the first reinforcing bar R10 along which the running unit 121 moves, and the running 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).

[0094] A method for estimating the intersection of the first reinforcing bar R10 and the second reinforcing bar R20 will be described with reference to FIG. 17. FIG. 17 is a schematic diagram of the reinforcing bar binding robot 100 as viewed from the lower side in the Z direction (-Z direction) for explaining the method for estimating the intersection. As shown in FIG. 17, for example, in the embodiment of the present disclosure, the reinforcing bar binding robot 100 is configured to travel over two reinforcing bars, the first reinforcing bar R12 and the first reinforcing bar R14, as described above, the first sensor 130a and the second sensor 130b detect the first reinforcing bar R13, and the third sensor 130c and the fourth sensor 130d detect the second reinforcing bar R20. In the example shown in FIG. 17, the third sensor 130c and the fourth sensor 130d detect, for example, the second reinforcing bar R23. At this time, the first rebar R13 extending between the first sensor 130a and the second sensor 130b is estimated based on the detection results of the first sensor 130a and the second sensor 130b, and the second rebar R23 extending between the third sensor 130c and the fourth sensor 130d is estimated based on the detection results of the third sensor 130c and the fourth sensor 130d. The intersection point c12 is estimated as the point where the estimated first rebar R13 extending between the first sensor 130a and the second sensor 130b intersects with the second rebar R23 extending between the third sensor 130c and the fourth sensor 130d.

[0095] A method for estimating the intersection point c12 in an embodiment of the present disclosure will be described with reference to Fig. 18. Fig. 18 is a flowchart of a method for estimating the intersection point c12 in an embodiment of the present disclosure.

[0096] First, the detection results of the first sensor 130a and the second sensor 130b are obtained (S1802).

[0097] Next, based on the detection results of the first sensor 130a and the second sensor 130b, template matching is performed to confirm the first rebar R10 and / or the second rebar R20 detected by the first sensor 130a and the second sensor 130b (S1804).

[0098] The position of the first reinforcing bar R13 is estimated based on the detection results of the first sensor 130a and the second sensor 130b (S1806).

[0099] Next, the detection results of the third sensor 130c and the fourth sensor 130d are obtained (S1808).

[0100] Next, the position of the second reinforcing bar R20 is estimated based on the detection results of the third sensor 130c and the fourth sensor 130d (S1810).

[0101] Next, the intersection point is estimated based on the estimated positions of the first reinforcing bar R13 and the estimated positions of the second reinforcing bar R20 (S1812).

[0102] In this manner, the rebar binding robot 100 according to the embodiment of the present disclosure is disposed on the rebar group R so that the third direction (Y direction) in which the first sensor 130a and the second sensor 130b are disposed is parallel to the first direction in which the first rebar R10 extends, and the fourth direction in which the third sensor 130c and the fourth sensor 130d are disposed is parallel to the second direction in which the second rebar R20 extends, and is provided with an intersection point calculation unit 166 which is an intersection point estimation unit that estimates the intersection point c12, and the first sensor 130a and the second sensor 130b are configured to be capable of detecting the first rebar R10, and the third sensor 130c and the fourth sensor 130d are configured to be capable of detecting the second rebar R20. Thus, the intersection point calculation unit 166, which is the intersection point 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, and to 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 to estimate the intersection point c12 between 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.

[0103] When the rebar binding robot 100 calculates the position of the intersection c12 of the first rebar R10 and the second rebar R20 on the first rebar R13, for example, the first sensor 130a may have passed the intersection point (intersection cp12). At this time, for example, the calculated position of the intersection c12 may be adjusted based on information on the intersection cp12 imaged by the first sensor 130a. That is, the rebar binding robot 100 may be configured so that the first sensor 130a and the second sensor 130b move in a first direction (Y direction) while detecting the first rebar R10, and when the first sensor 130a detects an intersection cp12 where the first rebar R10 intersects with the second rebar R20 while the rebar binding robot 100 is moving, it determines whether the intersection cp12 coincides with an estimated intersection point c12, and when the intersection cp12 and the estimated intersection point c12 do not coincide, it may be configured to adjust the position of the estimated intersection point c12. If the position of the detected intersection point cp12 does not match the position of the estimated intersection point c12, the position of the rebar binding robot 100 may be adjusted, for example, by accelerating or decelerating the first running unit 121a, the second running unit 121b, the third running unit 121c, and / or the fourth running unit 121d of the running unit 121, respectively, in a manner similar to that described above regarding the method of making the rebar binding robot 100 follow the first rebar R10, or by controlling the rotation 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.

[0104] The method of estimating the intersection point described above with reference to Fig. 18 is merely an example and is not limited to the above example. For example, the acquisition of the detection results by each sensor does not have to be performed in the above order, and the estimation of the position of the reinforcing bar based on the detection results does not have to be performed in the above order.

[0105] Next, a method for calculating the movement amount of the rebar binding robot 100 in the embodiment of the present disclosure will be described. With reference to Fig. 17, a case will be described in which the rebar binding robot 100 reaches the vicinity of the end R10e in the Y direction of the first rebar R10 and moves laterally (in the X direction). As shown in Fig. 17, the rebar binding robot 100 travels over the first rebar R12 and the first rebar R14, binds the portion where the first rebar R13, which is between the first rebar R12 and the first rebar R14, intersects with the second rebar R20 (e.g., the second rebars R21, R22, R23, R24, and R25), and reaches the vicinity of the end R12e, end R13e, and end R14e. At this time, the rebar tying robot 100 will next perform the tying work on the first rebar R14, which is the rebar adjacent to the first rebar R13 in the X direction (+X direction) on which it has been performing the tying work, and therefore moves in the X direction (+X direction, the direction from the first rebar R13 to the first rebar R14).

[0106] A method for lateral movement of the reinforcing bar binding robot 100 in this case will be described with reference to Fig. 19. Fig. 19 is a flow chart relating to the lateral movement of the reinforcing bar binding robot 100.

[0107] First, the detection result of the first sensor 130a is obtained (S1902).

[0108] Next, template matching is performed on the detection result of the first sensor 130a (S1904).

[0109] 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 has been detected (S1906).

[0110] Next, it is determined whether the end R20e of the second reinforcing bar R20 has been detected (S1908). As the end R20e of the second reinforcing bar R20, for example, as shown in FIG. 17, it may be determined whether any of the ends R21e, R22e, R23e, R24e, and R25e of the second reinforcing bars R21, R22, R23, R24, and R25 has been detected.

[0111] For example, it may be determined whether the end R20e of the second reinforcing bar R20 has been detected based on the detection results of the third sensor 130c and / or the fourth sensor 130d. In the embodiment of the present disclosure, the reinforcing bar binding robot 100 performs the binding work of the intersection of the first reinforcing bar R10 and the second reinforcing bar R20 from the first reinforcing bar R10 on the left side of the X axis to the first reinforcing bar R10 on the right side of the X axis when viewed from above in the Z direction. Therefore, it may be determined whether the end R20e of the second reinforcing bar R20 on the right side in the X direction has been detected based on the detection results of the fourth sensor 130d provided on the right side in the X direction when viewed from above in the Z direction. For example, when the end R20e of the second reinforcing bar R20 on the right side in the X direction is detected by the fourth sensor 130d, it is possible that the binding work of the last first reinforcing bar R10 has been completed, so the binding work of the reinforcing bar group R that is the work target may be terminated.

[0112] The detection of the end R20e is not limited to this, and may be determined based on the detection result of another sensor, for example, in the case where the bundling work 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, the end R20e on the left side in the X direction of the second rebar R20 may be detected by the third sensor 130c. It is also possible to configure the bundling work to end based on a condition other than the detection of the end R20e. For example, it is also possible to configure the reinforcing bar bundling robot 100 to move by setting a condition to start the bundling work of another reinforcing bar at a position other than the end R20e, or to change the bundling position due to the occurrence of a factor such as the detection of a foreign object, and to change the reinforcing bar to be bundled and to move the reinforcing bar bundling robot 100. In addition, it is also possible for the first sensor 130a and / or the second sensor 130b to detect the second rebar R20 by adjusting, for example, the placement location, inclination, angle of view, etc., so detection of the end R20e of the second rebar R20 may be performed using the detection results of the first sensor 130a and / or the second sensor 130b.

[0113] Next, the detection result of the fourth sensor 130d is obtained (S1910).

[0114] Next, template matching is performed based on the detection result of the fourth sensor 130d (S1912).

[0115] Next, the first reinforcing bar R10 to which the reinforcing bar binding robot 100 will move is estimated based on the position of the first reinforcing bar R10 detected by the fourth sensor 130d (S1914). In the embodiment of the present disclosure, the fourth sensor 130d detects a plurality of first reinforcing bars R10. For example, in the example shown in FIG. 17, the fourth sensor 130d may detect the first reinforcing bar R14 located on the right side of the reinforcing bar binding robot 100 in the X direction. In addition, since the reinforcing bar binding robot 100 has performed the bundling work at the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 along the first reinforcing bar R13, when performing the bundling work at the intersection along the first reinforcing bar R14 next, the reinforcing bar binding robot 100 moves laterally so as to travel, for example, on the first reinforcing bar R13 and the first reinforcing bar R15. For example, lateral movement may be performed to move the rebar binding robot 100 in the X direction so that the first running unit 121a and the third running unit 121c run on the first rebar R13, and the second running unit 121b and the fourth running unit 121d run on the first rebar R15.

[0116] Next, the amount of lateral movement is calculated (S1918). The amount of lateral movement of the rebar binding robot 100 may be calculated by the following method. For example, as described above, when the rebar binding robot 100 moves to the right in the X direction (+X direction) when viewed from above in the Z direction, that is, when it moves in the direction in which the fourth sensor 130d is disposed, the amount of lateral movement of the rebar binding robot 100 may be calculated based on two pieces of information: how far the fourth sensor 130d is from the center in the X direction of the rebar binding robot 100, and how far the first rebar R14 detected by the fourth sensor 130d is from the fourth sensor 130d.

[0117] When calculating how far the fourth sensor 130d is from the center of the rebar binding robot 100 in the X direction, the center of the rebar binding robot 100 in the X direction may be, for example, the position where the rebar binding unit 110 is located. Alternatively, the binding position by the rebar binding unit 110 may be regarded as the center of the rebar binding robot 100 in the X direction. In this case, for example, the position in the X direction of the first rebar R13, which is the target for the rebar binding robot 100 to perform the binding work, may be determined to be the center position of the rebar binding robot 100 in the X direction. Note that the center position of the rebar binding robot 100 in the X direction and the distance of the fourth sensor 130d from the center position of the rebar binding robot 100 in the X direction (distance in the X direction) may be calculated in advance and stored in the storage device 198. In a configuration in which the position of the sensor unit 130 can be changed, for example, when the position of the fourth sensor 130d is changed depending on a construction site or the like, the direction and amount by which the fourth sensor 130d has been moved may be calculated, and the distance in the X direction of the fourth sensor 130d from the center in the X direction of the rebar binding robot 100 may be calculated taking into account the amount of movement of the fourth sensor 130d. In addition, the distance from the fourth sensor 130d to the first rebar R14 detected by the fourth sensor 130d may be calculated, for example, based on an image captured by the fourth sensor 130d.

[0118] For example, if the fourth sensor 130d is attached at a position 100 away in the X direction from the center of the X direction of the rebar binding robot 100 (e.g., the position of the first rebar R13), and the first rebar R14 is at a position 20 away from the fourth sensor 130d in a direction away from the center of the X direction of the rebar binding robot 100, the spacing of the first rebar R10 (the spacing between the first rebar R13 and the first rebar R14) may be calculated to be 121, and control may be performed to set the lateral movement amount to 121. For example, if the fourth sensor 130d is attached at a position 20 cm away in the X direction from the center of the X direction of the rebar binding robot 100 (e.g., the position of the first rebar R13), and the first rebar R14 is at a position 4 cm away from the fourth sensor 130d in a direction away from the center of the X direction of the rebar binding robot 100, the spacing of the first rebar R10 (spacing between the first rebar R13 and the first rebar R14) may be calculated to be 24 cm, and control may be performed to set the lateral movement amount to 24 cm. In addition, if the fourth sensor 130d is attached at a position 20 cm away in the X direction from the center of the rebar binding robot 100 in the X direction (for example, the position of the first rebar R13), and the first rebar R14 is located 4 cm closer to the center of the rebar binding robot 100 in the X direction from the fourth sensor 130d, the spacing of the first rebar R10 (spacing between the first rebar R13 and the first rebar R14) may be calculated to be 16 cm, and control may be performed to set the lateral movement amount to 16 cm.

[0119] The amount of lateral movement of the rebar binding robot 100 may be calculated so that, for example, when the rebar binding robot 100 is moved laterally to next bind an intersection on the first rebar R14, the rebar binding robot 100 moves laterally as a whole by an amount equivalent to the interval between adjacent first rebars R10, as described above. In the above example, the first running unit 121a and the third running unit 121c move from the first rebar R12 to the first rebar R13, and the second running unit 121b and the fourth running unit 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 at approximately equal intervals and approximately parallel to each other, so that the amount of movement in the X direction of the first running unit 121a to the fourth running unit 121d is equal. Therefore, the lateral movement amount may be, for example, the distance in the X direction between the first reinforcing bars R14 and the first reinforcing bars R15 detected by the fourth sensor 130d. Alternatively, since the distances between the first reinforcing bars R10 are almost equal, the lateral movement amount may be calculated based on the distance between adjacent first reinforcing bars R10 calculated based on the detection results by other sensors. Also, the distance in the X direction between multiple (e.g., three or more) first reinforcing bars R10 may be calculated, and the average value of the calculated distances in the X direction between the multiple first reinforcing bars R10 may be calculated, and the average value of the distances between the first reinforcing bars R10 may be used as the lateral movement amount. By calculating the average value, for example, even if there is an error in the distance between the first reinforcing bars R10, the effect of the error on the calculated lateral movement amount can be reduced.

[0120] Next, the rebar binding robot 100 is moved laterally based on the calculated amount of lateral movement (S1918).

[0121] After completing its lateral movement, the rebar tying robot 100 may, for example, move along the first rebar R13 and the first rebar R15 where the first running unit 121a to the fourth running unit 121d are located after the movement (S1920), and begin tying work at the intersection point c12 on the first rebar R14.

[0122] The detection of the end R10e of the first rebar R10 described above may be determined, for example, by preparing a template corresponding to the image of the end R10e and determining the degree of matching between the end R10e and the template. For example, when preparing a template image extending in one direction for the portion other than the end R10e as illustrated with reference to Fig. 16, a template image may be prepared for the end R10e in which the length in the Y direction of the portion corresponding to the rebar is shorter than that of the portion other than the end R10e.

[0123] Alternatively, it may be determined that the end R10e is being reached when the degree of matching is within a certain range. For example, in the portion other than the end R10e of the first rebar R10, the presence of the portion other than the end R10e of the first rebar R10 may be determined when the degree of matching is relatively close to 100%, i.e., 75% or more, and it may be determined that the portion of the first rebar R10 close to the end R10e is being traveled when the degree of matching is relatively low, for example, 50% or more and 75% or less. The degree of matching here is merely an example for the portion other than the end R10e and for the vicinity of the end R10e, and other values ​​may be set, or the reference value may be configured to be changeable depending on the arrangement of the rebars and other environments.

[0124] In this way, when the rebar tying robot 100 moves laterally, the detection result of the first rebar R10 by the third sensor 130c and / or the fourth sensor 130d is used in particular. As for the third sensor 130c and the fourth sensor 130d, as described above, for example, when calculating the position of the intersection point c12 of the first rebar R10 and the second rebar R20, the detection result of the position of the second rebar R20 by the third sensor 130c and the fourth sensor 130d is used. In other words, when calculating the position of the intersection point c12 of the first rebar R10 and the second rebar R20, the detection result of the position of the first rebar R10 by the third sensor 130c and the fourth sensor 130d does not need to be used, so in this case, the first rebar R10 does not need to be detected by the third sensor 130c and the fourth sensor 130d. When the rebar tying robot 100 progresses with the rebar tying work and reaches the end R10e of the first rebar R10, for example, the rebar tying robot 100 moves laterally, and therefore, the imaging range of the third sensor 130c and / or the fourth sensor 130d may be changed, for example, by 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 and the amount of movement can be calculated.

[0125] 19, an example has been described in which the detection results of the first sensor 130a and the fourth sensor 130d are used, but the sensors that refer to the detection results are not limited to these, and it is also possible to change which sensor is used depending on the traveling direction of the rebar binding robot 100, for example. As described above, when the end R10e of the first rebar R10 is detected by the first sensor 130a, the rebar binding robot 100 is not limited to moving laterally in the direction of the fourth sensor 130d, and for example, when the end R10e of the first rebar R10 is detected by the first sensor 130a, the rebar binding robot 100 may move laterally in the direction of the third sensor 130c. Also, 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 in the direction of the third sensor 130c, or when the end R10e of the first rebar R10 is detected by the second sensor 130b, the rebar tying robot 100 may move laterally in the direction of the fourth sensor 130d.

[0126] An example of lateral movement of rebar tying robot 100 will be described below with reference to Figures 20A to 25B. Figures 20A to 25B are views of rebar tying robot 100 during lateral movement, Figures 20A, 21A, ..., 25A are views of rebar tying robot 100 as seen from behind, and Figures 20B, 21B, ..., 25B are views of rebar tying robot 100 as seen from diagonally above.

[0127] 20A and 20B show the rebar binding robot 100 before starting its lateral movement. As shown in Fig. 20A and 20B, the rebar binding robot 100 travels over the first rebars R12 and R14.

[0128] Next, the rebar binding robot 100 starts to move laterally. In the embodiment of the present disclosure, as described above, it is determined that the rebar binding robot 100 starts to move laterally when it is determined that the rebar binding robot 100 has reached or is about to reach the vicinity of the end R10e of the first rebar R10 based on the detection result by the first sensor 130a. Figures 21A and 21B show the state when the rebar binding robot 100 starts to move laterally. As shown in Figures 21A and 21B, the rebar binding robot 100 does not move the traveling unit 121, but moves in the direction in which the main unit 140 moves (X direction). As shown in Figures 21A and 21B, at this time, the first traveling unit 121a and the second traveling unit 121b are present on the first rebar R12 and the first rebar R14, respectively, without moving. At this time, the support bars 150a and 150b are not in contact with any of the rebars. The lateral movement of the main unit 140 (here, for example, movement in the horizontal direction (movement in the X direction)) may be performed, for example, by driving 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 by the first lateral movement motor 146ma and the second lateral movement motor 146mb of the lateral movement unit 146 not shown in Figures 21A and 21B, and moving the main unit 140 in the X direction via the first driving rack 146ca and the second driving rack 146cb.

[0129] Next, the rebar binding robot 100 moves the traveling unit 121 (the lower end of the traveling unit 121) upward relative to the first rebar R10. As shown in Fig. 22A and Fig. 22B, the lower end of the traveling unit 121 in the -Z direction is raised upward in the Z direction (+Z direction) in Fig. 22A and Fig. 22B. At this time, for example, the first main body side link part 125a and the first roller side link part 123a move in a direction in which they relatively approach each other (i.e., the first main body side link part 125a and the first roller side link part 123a close to each other). In other words, the first main body side link part 125a and the first roller side link part 123a move so that the angle formed by the first main body side link part 125a and the first roller side link part 123a becomes smaller. Similarly, for the second running unit 121b, the third running unit 121c, and the fourth running unit 121d, the second body side link portion 125b and the second roller side link portion 123b, the third body side link portion 125c and the first roller side link portion 123c, and the fourth body side link portion 125d and the fourth roller side link portion 123d move in the closing direction, respectively.

[0130] When the main body side link portion 125 and the roller side link portion 123 close and the lower end of the traveling unit 121 rises, the support bars 150a and 150b relatively descend. When the traveling unit 121 moves away from the first rebar R10, the support bars 150a and 150b come into contact with the first rebar R10. For example, the running unit 121 may be configured so that its length in the Z direction can be changed by closing the main body side link portion 125 and the roller side link portion 123 (the first main body side link portion 125a and the first roller side link portion 123a, 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) which correspond to a configuration supporting the rollers (the first roller portion 122a, the second roller portion 122b, the third roller portion 122c, and the fourth roller portion 122d) using a motor or the like (for example, the first wheel height changing motor 126a, the second wheel height changing motor 126b, the third wheel height changing motor 126c, and the fourth wheel height changing motor 126d shown in FIG. 7). The roller portion 122 may be raised by closing the main body side link portion 125 and the roller side link portion 123, so that the roller portion 122 moves away from the first rebar R10.

[0131] 22A and 22B, the support bars 150a and 150b contact, for example, the first rebars R11 to R14. In this way, the entire rebar binding robot 100 is supported by the support bars 150a and 150b.

[0132] Next, the traveling units 121 of the rebar binding robot 100 move in the X direction. As shown in Figures 23A and 23B, the first traveling unit 121a and the third traveling unit 121c, and the second traveling unit 121b and the fourth traveling unit 121d, which were in contact with the first rebar R12 and the first rebar R14, respectively, are moved above the first rebar R13 and the first rebar R15. At this time, none of the first traveling units 121a to the fourth traveling unit 121d are in contact with the first rebar R10, and the support bars 150a and 150b are in contact with the first rebar R10 (the first rebars R12 to R15) and support the rebar binding robot 100.

[0133] Next, the main body side link part 125 and the roller side link part 123 of the traveling unit 121 are opened. As a result, the lower end of the traveling unit 121 in the -Z direction is lowered relatively to the first rebar R10. At this time, for example, the first main body side link part 125a and the first roller side link part 123a move in a direction in which they move relatively away from each other (i.e., the first main body side link part 125a and the first roller side link part 123a open). That is, the first main body side link part 125a and the first roller side link part 123a move so that the angle formed by the first main body side link part 125a and the first roller side link part 123a becomes larger. Similarly, for the second running unit 121b, the third running unit 121c, and the fourth running unit 121d, the second body side link portion 125b and the second roller side link portion 123b, the third body side link portion 125c and the first roller side link portion 123c, and the fourth body side link portion 125d and the fourth roller side link portion 123d move in the opening direction, respectively.

[0134] As shown in Figures 24A and 24B, the lower end of the -Z direction of the traveling unit 121 is lowered downward in the Z direction (-Z direction) in Figures 24A and 24B. As shown in Figures 24A and 24B, the first traveling unit 121a and the third traveling unit 121c contact the first rebar R13, and the second traveling unit 121b and the fourth traveling unit 121d contact the first rebar R15. Therefore, the support bars 150a and 150b rise relative to the first rebar R10. Therefore, in this state, the rebar binding robot 100 is supported by the traveling units 121.

[0135] Next, as shown in Fig. 25A and Fig. 25B, the main unit 140 is moved in the X direction. As described above with reference to Fig. 21A and Fig. 21B, the lateral movement of the main unit 140 shown in Fig. 25A and Fig. 25B (here, for example, movement in the horizontal direction (movement in the X direction)) may be performed, for example, by the first lateral movement motor 146ma and the second lateral movement motor 146mb of the lateral movement unit 146 not shown in Fig. 25A and Fig. 25B. In this way, the lateral movement of the rebar binding robot 100 is completed. The rebar binding robot 100 starts traveling, for example, on the first rebar R13 and the first rebar R15, and performs the binding work of the intersection c12 of the first rebar R10 and the second rebar R20 on the first rebar R14.

[0136] The above describes an example in which the rebar tying robot 100 moves from the first rebars R12 and R14 to the first rebars R13 and R15, but it is also possible to move to a location separated by multiple first rebars R10. In this case, the robot can move using the same method as above, or the robot can move a longer distance by repeating the above movement method. In addition, when moving to a location separated by multiple first rebars R10, the movement amount may be calculated based on the detection results of the sensor unit 130 using the same method.

[0137] Furthermore, the rebar tying robot 100 may move laterally by other methods, not limited to the method described above. Even in such cases, it is possible to calculate the amount of movement of the rebar tying robot 100 based on the detection results of the sensor unit 130 in accordance with the movement amount calculation method in the embodiment of the present disclosure, and by using the movement amount calculation method in the embodiment of the present disclosure, it is possible to smoothly move the rebar tying robot 100.

[0138] As described above, the rebar binding robot 100 according to an embodiment of the present disclosure includes a traveling unit 121 configured to travel on a group of rebars R including a plurality of first rebars R1 whose extension direction is a first direction (Y direction) and a plurality of second rebars R2 whose extension direction is a second direction (X direction) intersecting the first direction (Y direction) and arranged so as to intersect with 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 a "rebar position calculation unit" in this embodiment) configured to calculate the position of at least one first rebar R10 and / or at least one second rebar R20 detected by the sensor unit 130 based on the pixel values ​​of a plurality of pixels that constitute a two-dimensional image generated by the detection results of the sensor unit 130. The rebar tying robot 100 according to the embodiment of the present disclosure can improve the efficiency of the calculation process of the positions of the first rebar R10 and / or the second rebar R20 by calculating the positions of the first rebar R10 and / or the second rebar R20 based on a two-dimensional image generated by the detection result of the sensor unit 130. Therefore, the efficiency of the rebar detection process in the rebar detection work of the rebar tying robot 100 can be improved. For example, by performing calculations based on two-dimensional images as the detection result of the sensor unit, the calculation load can be reduced compared to the case where the position of the rebar is calculated using three-dimensional data.

[0139] Improvements in the technical level of the various units that make up the rebar tying robot 100 have made it possible to speed up and streamline rebar tying work. In order to speed up rebar tying work, it is considered desirable to speed up the process of detecting rebars and the intersections between rebars where the rebars are tied. The rebar tying robot 100 according to the embodiment of the present disclosure can improve the efficiency of the rebar detection process, thereby contributing to speeding up rebar tying work.

[0140] In addition, the rebar tying robot 100 according to the embodiment of the present disclosure includes, for example, a group of rebars including a plurality of first rebars R10 whose extension direction is a first direction (Y direction) and a plurality of second rebars R20 whose extension direction is a second direction (X direction) intersecting the first direction (Y direction) and arranged so as to intersect with the first rebars R10. The rebar tying unit 110 is configured to tie the intersections c12 between the first rebars R10 and the second rebars R20 of the group of rebars, and a traveling unit 110 configured to be able to travel on the first rebars R10 and / or the second rebars R20. The reinforcing bar binding robot 100 includes a knit 121, a first sensor 130a and a second sensor 130b that are configured to detect at least one first reinforcing bar R10 and / or at least one second reinforcing bar R20 and are arranged at a distance from each other along a third direction (Y direction), and a third sensor 130c and a fourth sensor 130d that are configured to detect at least one first reinforcing bar R10 and / or at least one second reinforcing bar R20 and are arranged at a distance from each other along a fourth direction (X direction) that intersects with the third direction (Y direction). As described above, the reinforcing bar binding robot 100 includes four sensors 130 (the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d), and therefore, for example, as described above, the detection of the intersection point c12 of the first reinforcing bar R10 and the second reinforcing bar R20 can be efficiently performed. The position of the intersection point c12 can be confirmed, for example, by providing a sensor near the rebar binding unit 110, but since the rebar binding unit 110 is configured to move up and down, it may be difficult to provide a sensor in the vicinity. In the embodiment of the present disclosure, even if no sensor is provided near the rebar binding unit 110, the position of the intersection point c12 can be estimated based on the detection results of the four sensors 130.

[0141] In addition, the rebar tying robot 100 according to the embodiment of the present disclosure includes, for example, a group of rebars including a plurality of first rebars R10 whose extension direction is a first direction (Y direction) and a plurality of second rebars R20 whose extension direction is a second direction (X direction) that intersects the first direction (Y direction), and includes a rebar tying unit 110 configured to tie intersections c12 between the first rebars R10 and the second rebars R20 of the group of rebars, and a rebar tying unit 110 configured to be capable of traveling on the first rebars R10 and / or the second rebars R20. The rebar tying robot 100 according to the embodiment of the present disclosure includes a traveling unit 121, a sensor unit 130 configured to detect the first rebar R10 and / or the second rebar R20, and a movement amount calculation unit 174 that calculates the movement amount of the traveling unit 121 based on the 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 first rebar R10 or the second rebar R20 on which it is traveling 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 to which the rebar tying robot 100 is to move based on the detection result of the sensor unit 130, and calculate the movement amount of the rebar tying robot 100 based on the position of the rebar on which the traveling unit 121 of the rebar tying robot 100 is to move and the position of the rebar to which it is to move. For example, when the rebar tying robot 100 reaches the end of the rebar on which it has been performing rebar tying work, and then moves to the next rebar on which it will perform rebar tying work, the amount of movement can be calculated based on the detection results by the sensor unit 130.

[0142] In the above-described embodiment of the present disclosure, an example has been described in which the reinforcing bar tying robot 100 performs reinforcing bar tying work at the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 in a group of reinforcing bars arranged so that the first reinforcing bar R10 and the second reinforcing bar R20 are perpendicular to each other. However, the reinforcing bar tying robot 100 according to the embodiment of the present disclosure may also be used in cases in which the first reinforcing bar R10 and the second reinforcing bar R20 are in a non-perpendicular relationship.

[0143] FIG. 26 is a schematic diagram of a rebar bundling robot 200 according to another embodiment of the present disclosure, viewed from below in the Z direction (-Z direction). As shown in FIG. 26, in this embodiment, the second rebar R20 is arranged at an angle of about 30° with respect to the first rebar R10. The rebar bundling robot 200 according to this embodiment has a different position of the third sensor 130c and the fourth sensor 130d from the rebar bundling robot 100. The third sensor 130c and the fourth sensor 130d of the rebar bundling robot 200 are arranged so as to be on a line that is inclined at 30° with respect to the X direction. In the rebar bundling robot 200, the third sensor 130c and the fourth sensor 130d are arranged to be aligned with the second rebar R20 and in a direction inclined from the X direction, so that the second rebar R20 can be detected in the same manner as the rebar bundling robot 100.

[0144] In this way, the arrangement of the first sensor 130a to the fourth sensor 130d may be changed depending on the arrangement of the first rebar R10 and the second rebar R20. The arrangement of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may be changed manually or automatically before starting the rebar binding work depending on the construction site where the rebar group R to be bound is located, for example. Alternatively, even after the rebar binding robot 100 starts traveling, the relationship between the first rebar R10 and the second rebar R20 may be determined based on the detection result of the sensor unit 130, and the arrangement of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may be dynamically changed based on the determination result. In this case, for example, a motor or the like capable of driving the first sensor 130a to the fourth sensor 130d may be provided, and the positions of the first sensor 130a to the fourth sensor 130d may be changed by driving the motor.

[0145] Hereinafter, with reference to Figs. 27A to 32, a configuration for pulling out the wire W used in the bundling operation in the bundling device 100 according to the embodiment of the present disclosure will be described.

[0146] The binding device 100 according to this embodiment includes a reinforcing bar binding unit 110 (also referred to as a "binding mechanism" in this embodiment), a reinforcing bar binding unit moving section 168m (also referred to as a "binding mechanism moving section" in this embodiment), and a wire pull-out section (a first wire pull-out section 112 and a second wire pull-out section 148 described later). The reinforcing bar binding unit 110 (binding mechanism) feeds the wire W around the reinforcing bar R and twists and binds the wire W fed around the reinforcing bar R. The reinforcing bar binding unit moving section 168m (binding mechanism moving section) moves the reinforcing bar binding unit 110 (binding mechanism) between a binding position (binding position P1 described later) where the reinforcing bar R is bound and a retracted position (retracted position P2 described later) away from the reinforcing bar R. The wire pull-out section pulls out the wire W wound around the reel 180. The wire pull-out section pulls out the wire W in the movement direction of the reinforcing bar binding unit 110 (binding mechanism) in conjunction with the movement of the reinforcing bar binding unit 110 (binding mechanism) by the reinforcing bar binding unit moving section 168m (binding mechanism moving section). Furthermore, the amount of wire W pulled out by the wire pull-out section is greater than the amount of movement of the reinforcing bar binding unit 110 (binding mechanism) moved by the operation of the reinforcing bar binding unit moving section 168m (binding mechanism moving section).

[0147] Fig. 27A is a view of the binding device 100 according to the embodiment of the present disclosure, seen from diagonally above, for explaining the configuration for drawing out the wire. Fig. 27B is a view of the binding device 100 seen from diagonally forward. Figs. 27A and 27B show the state after the reinforcing bar binding unit 110 of the binding device 100 has completed the binding operation at the intersection c12 between the first reinforcing bar R10 and the second reinforcing bar R20. Therefore, in the example shown in Figs. 27A and 27B, the reinforcing bar binding unit 110 of the binding device 100 is at the binding position P1.

[0148] In this embodiment, the binding position P1 is a position where the reinforcing bar binding unit 110 binds the reinforcing bar R, and may be, for example, a position where at least a part of the wire twisting part 114 straddles the reinforcing bar surface (the surface formed by the first reinforcing bar R10 and the second reinforcing bar R20) in the Z direction. In this embodiment, the position of the tip (the end in the -Z direction) of the wire twisting part 114 at this time is shown as P1 in Figures 27A and 27B as the binding position P1. As shown in Figures 27A and 27B, the tip of the wire twisting part 114 is located in the -Z direction from the first reinforcing bar R10 and the second reinforcing bar R20.

[0149] Similarly, Fig. 28A is a view of the binding device 100 according to an embodiment of the present disclosure seen from diagonally above to explain the configuration for pulling out the wire, and Fig. 28B is a view of the binding device 100 seen from diagonally forward. Figs. 28A and 28B show a state in which the reinforcing bar binding unit 110 of the binding device 100 has retreated to a retreated position P2 from a state in which the binding operation at the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 has been completed at the binding position P1 (the state shown in Figs. 27A and 27B).

[0150] In this embodiment, the retracted position P2 is a position where the rebar binding unit 110 does not bind the rebar R, and may be, for example, a position where the wire twisting part 114 does not straddle the rebar surface (the surface formed by the first rebar R10 and the second rebar R20) in the Z direction. In this embodiment, the position of the tip (the end in the -Z direction) of the wire twisting part 114 at this time is shown as P2 in Figs. 28A and 28B as the retracted position P2. As shown in Figs. 28A and 28B, the tip of the wire twisting part 114 is located in the +Z direction from the first rebar R10 and the second rebar R20. Note that the retracted position P2 is not limited to this. For example, even if the tip of the wire twisting portion 114 is located in the -Z direction from the rebar surface, the rebar binding unit 110 as a whole may be set to the retracted position P2 when it is in a state where it is not performing the binding operation of the rebar R (for example, a state where the rebar binding unit 110 cannot perform the binding operation unless it is moved relative to the rebar R in the Z direction), and the retracted position P2 may be determined by the positions of the constituent parts of the rebar binding unit 110 (such as the wire twisting portion 114) at this time.

[0151] Further, Fig. 29A is a view of the binding device 100 according to the embodiment of the present disclosure from an obliquely upward direction to explain the configuration for drawing out the wire, and Fig. 29B is a view of the binding device 100 from an obliquely forward direction. Figs. 29A and 29B show a state in which the reinforcing bar binding unit 110 of the binding device 100 has completed the binding operation at the intersection c12 between the first reinforcing bar R10 and the second reinforcing bar R20 (the state shown in Figs. 27A and 27B) and retreated to the retreated position P2 (the state shown in Figs. 28A and 28B), and then the reinforcing bar binding unit 110 descends in the -Z direction before starting the binding operation at the intersection c12 between the first reinforcing bar R10 and the second reinforcing bar R20. Therefore, in the example shown in Figs. 29A and 29B, the reinforcing bar binding unit 110 of the binding device 100 is at the binding position P1.

[0152] As shown in Fig. 27A and Fig. 27B, in addition to the configuration described above, the binding device 100 further includes a first wire pull-out section 112 (also referred to as "first pull-out section" in this embodiment) provided via a relay section 112L at the end of the reinforcing bar binding unit 110 opposite the wire twisting section 114. The relay section 112L transmits the movement of the reinforcing bar binding unit 110 moved by the reinforcing bar binding unit moving section 168m to the first wire pull-out section 112. More specifically, the reinforcing bar binding unit 110 is moved in the +Z direction or -Z direction by the reinforcing bar binding unit moving section 168m, and the relay section 112L provided on the reinforcing bar binding unit 110 moves in the Z direction in conjunction with the movement of the reinforcing bar binding unit 110 in the Z direction, so that the first wire pull-out section 112 moves in the Z direction in conjunction with the reinforcing bar binding unit 110. Therefore, the relay portion 112L functions as a link member that links the first wire pull-out portion 112 with the movement of the rebar binding unit 110. The first wire pull-out portion 112 is configured to be able to engage with the wire W. As will be described later, the first wire pull-out portion 112 has a first cylindrical surface 112c. In this embodiment, the first cylindrical surface 112c of the first wire pull-out portion is a part of a cylindrical surface, for example a semi-cylindrical surface.

[0153] As shown in FIG. 27A and FIG. 27B, the main unit 140 (also referred to as the "binding device main body" in this embodiment) is provided with a second wire pull-out section 148 (also referred to as the "second pull-out section" in this embodiment), a first guide 149a and a second guide 149b. The second wire pull-out section 148 is provided on the -Z direction surface of the main unit 140 via a support member 148s. Therefore, even if the reinforcing bar binding unit 110 moves, the position of the second wire pull-out section 148 does not change. That is, as will be described in detail later, the second wire pull-out section 148 moves relative to the first wire pull-out section 112 when the first wire pull-out section 112 moves in conjunction with the movement of the reinforcing bar binding unit 110.

[0154] In this embodiment, the second wire pull-out portion 148 is fixed to the main unit 140 and has a configuration that does not move relative to the main unit 140. However, the second wire pull-out portion 148 is not limited to this configuration, and may be configured to be movable relative to the main unit 140. For example, the second wire pull-out portion 148 may have a configuration that is swingable relative to the main unit 140. Even if the second wire pull-out portion 148 is configured to be swingable relative to the main unit 140, it does not have to be completely fixed as long as the first wire pull-out portion 112 moves with the movement of the rebar binding unit 110 and can pull out the wire W by moving relatively to the first wire pull-out portion 112. The second wire pull-out portion 148 may be provided to be swingable relative to the main unit 140 within a range in which the wire W can be pulled out by moving relatively to the first wire pull-out portion 112.

[0155] The second wire pull-out portion 148 has a second cylindrical surface 148c. As shown in Fig. 27B, in this embodiment, the second wire pull-out portion 148 is a cylindrical roller member. The second wire pull-out portion 148 is configured to be able to engage with the wire W.

[0156] The first guide 149a and the second guide 149b are provided on the inner circumferential surface of a hole 144 of the main unit 140. The hole 144 is substantially circular when viewed from the Z direction, and the first guide 149a and the second guide 149b are arranged on opposite sides to each other with respect to the center of the circle formed by the inner circumferential surface of the hole 144. In the example shown in the figure, the first guide 149a is arranged on the +X direction and +Y direction portions of the inner circumferential surface of the hole 144, and the second guide 149b is arranged on the -X direction and -Y direction portions of the inner circumferential surface of the hole 144.

[0157] The first guide 149a and the second guide 149b are respectively provided with a first slit 149as and a second slit 149bs extending in the Z direction. The rebar binding unit 110 is provided with a first engagement portion 116a and a second engagement portion 116b, with the first engagement portion 116a engaged with the first slit 149as and the second engagement portion 116b engaged with the second slit 149b. With this configuration, when the rebar binding unit 110 moves in the Z direction, it moves with the first engagement portion 116a engaged with the first slit 149a and the second engagement portion 116b engaged with the second slit 149b. That is, the movement of the reinforcing bar binding unit 110 in the Z direction is guided by a configuration in which a first guide 149a and a second guide 149b provided on the main unit 140 engage with a first engagement portion 116a and a second engagement portion 116b provided on the reinforcing bar binding unit 110. As described later, in the binding device 100 according to this embodiment, the reinforcing bar binding unit 110 has two first engagement portions 116a1 and 116a2 and two second engagement portions 116b1 and 116b2.

[0158] As described above, Fig. 27A and Fig. 27B show the state in which the binding device 100 has completed the binding operation by the rebar binding unit 110. At this time, as shown in Fig. 27B, for example, the wire W engaged with the first wire draw-out portion 112 and the second wire draw-out portion 148 provided below (in the -Z direction) the first wire draw-out portion 112 is in a state in which there is relatively no slack. Fig. 27B is a view of the binding device 100 seen from the oblique front in the Y direction, and the wire W that is not visible due to the first wire draw-out portion 112 and the main unit 140 is shown by a dashed line in Fig. 27B. As shown in Fig. 27B, the wire W engaged with the first wire draw-out portion 112 and curved in a semicircular shape along the first cylindrical surface 112c of the first wire draw-out portion 112 is also engaged with the second wire draw-out portion 148 in the -Z direction, and curved along the second cylindrical surface 148c, which is the cylindrical surface of the roller member of the second wire draw-out portion 148.

[0159] In the binding device 100, after the reinforcing bar binding unit 110 completes the binding operation at the binding position P1 in the state shown in Fig. 27A and Fig. 27B described above, the reinforcing bar binding unit 110 moves to the retreat position P2 as shown in Fig. 28A and Fig. 28B. As shown in Fig. 28A and Fig. 28B, at the retreat position P2, the first engagement part 116a (the first engagement part 116a1 and the first engagement part 116a2) and the second engagement part 116b (the second engagement part 116b1 and the second engagement part 116b2) are respectively raised in the +Z direction along the first guide 149a and the second guide 149b. In addition, in conjunction with the movement of the reinforcing bar binding unit 110 in the +Z direction, the first wire pull-out part 112 provided in the reinforcing bar binding unit 110 via the relay part 112L is also moved in the +Z direction. On the other hand, the second wire pull-out portion 148 provided on the main unit 140 via a support member 148s does not move even if the rebar binding unit 110 moves in the Z direction. That is, the position of the second wire pull-out portion 148 in the binding device 100 does not change between the binding position P1 and the retreated position P2. Therefore, the second wire pull-out portion 148 moves in the Z direction relative to the first wire pull-out portion 112 when the first wire pull-out portion 112 moves in conjunction with the movement of the rebar binding unit 110 (binding mechanism). In this embodiment, the second wire pull-out portion 148 moves in the -Z direction relative to the first wire pull-out portion 112 when the first wire pull-out portion 112 moves in the +Z direction in conjunction with the movement of the rebar binding unit 110.

[0160] As shown in Fig. 28A and Fig. 28B, when the reinforcing bar binding unit 110 is in the retracted position P2, the first wire pull-out portion 112 is raised in the +Z direction compared to when the reinforcing bar binding unit 110 is in the binding position P1 as shown in Fig. 27A and Fig. 27B, so the distance between the first wire pull-out portion 112 and the second wire pull-out portion 148 is larger. Also, as can be seen by comparing Fig. 27A and Fig. 27B with Fig. 28A and Fig. 28B, the distance in the Z direction between the first wire pull-out portion 112 and the reel 180 is also larger when the reinforcing bar binding unit 110 is in the retracted position P2 compared to when the reinforcing bar binding unit 110 is in the binding position P1. Also, compared to the state shown in Fig. 27A and Fig. 27B, the distance in the Z direction between the second wire pull-out portion 148 and the vicinity of the wire twisting portion 114 of the reinforcing bar binding unit 110 is also larger in the state shown in Fig. 28A and Fig. 28B. Accordingly, in the state shown in Figures 28A and 28B, the length of the wire W between the first wire pull-out portion 112 and the second wire pull-out portion 148, the length of the wire W between the reel 180b and the first wire pull-out portion 112, and the length of the wire W between the second wire pull-out portion 148 and the vicinity of the wire twisting portion 114 are all longer than in the state shown in Figures 27A and 27B.

[0161] 28B is a view of the binding device 100 as seen from diagonally in the Y direction, but in Fig. 28B, the first wire pull-out portion 112, the fourth sensor 130d, and the wire W that is not visible due to the main unit 140 are indicated by dashed lines. As shown in Fig. 28B, the wire W engaged with the first wire pull-out portion 112 and curved in a semicircular shape along the first cylindrical surface 112c of the first wire pull-out portion 112 is also engaged with the second wire pull-out portion 148 in the -Z direction, and curved along the second cylindrical surface 148c, which is the cylindrical surface of the roller member of the second wire pull-out portion 148. Referring to Figures 27B and 28B, it is shown more specifically that the length of the wire W between the first wire pull-out portion 112 and the second wire pull-out portion 148, the length of the wire W between the reel 180b and the first wire pull-out portion 112, and the length of the wire W between the second wire pull-out portion 148 and the vicinity of the wire twisting portion 114 become longer as the rebar binding unit 110 moves from the binding position P1 to the retracted position P2.

[0162] 28A and 28B, the distance between the first wire pull-out portion 112 and the second wire pull-out portion 148 becomes longer by a distance equivalent to the movement distance in the Z direction of the reinforcing bar binding unit 110 compared to the state shown in Figures 27A and 27B as the reinforcing bar binding unit 110 moves in the Z direction. Similarly, the distance between the reel 180b and the first wire pull-out portion 112 also becomes longer by a distance equivalent to the movement distance in the Z direction of the reinforcing bar binding unit 110, and the distance between the second wire pull-out portion 148 and the vicinity of the wire twisting portion 114 also becomes longer by a distance equivalent to the movement distance in the Z direction of the reinforcing bar binding unit 110. As a result of the above, in the state shown in Figures 28A and 28B, the length of the wire W between the first wire pull-out portion 112 and the second wire pull-out portion 148, and the length of the wire W between the second wire pull-out portion 148 and the vicinity of the wire twisting portion 114 are both longer than in the state shown in Figures 27A and 27B by a length equivalent to the distance traveled in the Z direction by the rebar binding unit 110.

[0163] The length of the wire W between the reel 180b and the first wire pull-out portion 112 may vary in amount with the relative movement of the first wire pull-out portion 112 and the second wire pull-out portion 148 depending on the positional relationship between the reel 180b and the first wire pull-out portion 112. For example, when the reinforcing bar binding unit 110 is at the binding position P1, the reel 180b and the first wire pull-out portion 112 are relatively close to each other, and when the reinforcing bar binding unit 110 moves from the binding position P1 to the retracted position P2, the first wire pull-out portion 112 moves in the Z direction or approximately in the Z direction relative to the reel 180b. The amount of change in the length of the wire W between the reel 180b and the first wire pull-out portion 112 is relatively large, and is close to the amount of movement of the reinforcing bar binding unit 110 in the Z direction, for example. On the other hand, if the reel 180b and the first wire pull-out section 112 are provided in such a positional relationship that the change in the length of the wire W between the reel 180b and the first wire pull-out section 112 is relatively small when the rebar binding unit 110 moves from the binding position P1 to the retreat position P2, the length of the wire W between the reel 180b and the first wire pull-out section 112 changes relatively little even when the rebar binding unit 110 moves from the binding position P1 to the retreat position P2. For example, if the reel 180b and the first wire pull-out section 112 are provided relatively apart in the X direction, the wire W has already been pulled out in the X direction by the distance between the reel 180b and the first wire pull-out section 112, so that even if the first wire pull-out section 112 moves in the Z direction relative to the reel 180b, the total amount of the movement of the first wire pull-out section 112 in the Z direction is not pulled out as the amount of wire W pulled out. Therefore, in this case, the length of the drawn wire W is relatively small.

[0164] After the wire W is used in the bundling operation by the rebar binding unit 110, the wire W is cut using a wire cutter (not shown) or the like, leaving the portion twisted by the wire twisting unit 114, and the vicinity of the cut portion is gripped by the wire twisting unit 114. Therefore, the wire W that has become longer as a result of the rebar binding unit 110 moving from the binding position P1 to the retracted position P2 is newly pulled out from the reel 180. That is, with a part of the wire W engaged with the first wire pull-out portion 112 and another part of the wire W engaged with the second wire pull-out portion 148, the first wire pull-out portion 112 moves relative to the second wire pull-out portion 148 as the rebar binding unit 110 (binding mechanism) moves, whereby the wire W is pulled out from the reel 180.

[0165] The length of the wire W newly drawn out from the reel 180 corresponds to the total or more of the length of the wire W between the first wire draw-out portion 112 and the second wire draw-out portion 148, the length of the wire W between the reel 180b and the first wire draw-out portion 112, and the length of the wire W between the second wire draw-out portion 148 and the vicinity of the wire twisting portion 114. As described above, the length of the wire W between the first wire draw-out portion 112 and the second wire draw-out portion 148, and the length of the wire W between the second wire draw-out portion 148 and the vicinity of the wire twisting portion 114 are both longer by a length equivalent to the movement distance of the reinforcing bar binding unit 110 in the Z direction. In other words, the amount of the wire W newly drawn out is twice or more the movement distance of the reinforcing bar binding unit 110.

[0166] Therefore, the amount of wire W pulled out by the wire pull-out section (first wire pull-out section 112 and second wire pull-out section 148) is greater than the amount of movement of the rebar binding unit 110 (binding mechanism) which moves due to the operation of the rebar binding unit moving section 168m (binding mechanism moving section), and in this embodiment, for example, an amount of wire W that is more than twice the amount of movement of the rebar binding unit 110 is pulled out from the reel 180 by the wire pull-out section.

[0167] For example, when the change in length of the wire W between the reel 180b and the first wire pull-out section 112 is relatively large, for example close to the amount of movement of the rebar binding unit 110 in the Z direction, the amount of wire W newly pulled out is more than twice the amount of movement of the rebar binding unit 110, for example three times. On the other hand, when the change in length of the wire W between the reel 180b and the first wire pull-out section 112 (for example, the amount of change in the Z direction) is relatively small, the amount of wire W newly pulled out is close to twice the amount of movement of the rebar binding unit 110. For example, when the change in length of the wire W between the reel 180b and the first wire pull-out section 112 is 0.4 times the amount of movement of the rebar binding unit 110 in the Z direction, the amount of wire W newly pulled out is 2.4 times the amount of movement of the rebar binding unit 110.

[0168] Note that these amounts of the wire W to be pulled out are merely examples, and the amount of the newly pulled out wire W may be other amounts depending on other factors. For example, the amount of the newly pulled out wire W may be other amounts depending on the strength with which the wire W is wound around the reel 180, the speed and / or strength at which the wire W is pulled out by the first wire pull-out section 112 and / or the second wire pull-out section 148, etc., and therefore the amount of the newly pulled out wire W relative to the amount of movement of the rebar binding unit 110 may be a value other than the above-mentioned two or three times.

[0169] In the binding device 100, after the reinforcing bar binding unit 110 moves to the retracted position P2 as shown in Figures 28A and 28B, the reinforcing bar binding unit 110 moves to the binding position P1 as shown in Figures 29A and 29B. For example, with the reinforcing bar binding unit 110 in the retracted position P2, the binding device 100 moves to the vicinity of the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 where the next binding operation will be performed, and lowers the reinforcing bar binding unit 110 to the binding position P1.

[0170] As shown in Fig. 29A and Fig. 29B, the rebar binding unit 110 moves to the retracted position P2, and the wire W is drawn out by the first wire draw-out section 112 and the second wire draw-out section 148, and then descends to the binding position P1, causing a part of the wire W to sag. Specifically, referring to Fig. 29B, in which the wire W that is not visible due to the first wire draw-out section 112, the fourth sensor 130d, and the main unit 140 is shown by a dashed line, and Fig. 28B, sagging occurs in the part of the wire W between the first wire draw-out section 112 and the reel 180, the part that engages with the first wire draw-out section 112, the part between the first wire draw-out section 112 and the main unit 140, and the part between the main unit 140 and the second wire draw-out section 148. The sagging part of the wire W corresponds to the newly drawn wire W, and a part or all of the sagging wire W is used for the next binding operation by the rebar binding unit 110.

[0171] The amount of wire W newly drawn out may be, for example, 5 times or less the movement amount of the reinforcing bar binding unit 110. As described later, when the reinforcing bar binding unit 110 moves to the retracted position P2 and then descends to the binding position P1 before starting the binding operation again, slack occurs in the wire W, for example, by an amount equivalent to the amount of wire W drawn out. If the amount of slack is too large, the wire W may get caught on a part of the component of the binding device 100, or the binding operation may not be performed properly due to the wire W being subjected to only a tension less than the tension required to perform the binding operation. If the reinforcing bar binding unit 110 is configured to draw out an amount of wire W 5 times or less the movement amount, the binding operation can be performed properly.

[0172] 28B, the position of the second wire pull-out portion 148 is lower (in the -Z direction) than the wire twisting portion 114 at the retracted position P2 of the rebar binding unit 110. In other words, when the rebar binding unit 110 (binding mechanism) is in the retracted position P2, the distance (distance in the Z direction) between the first wire pull-out portion 112 and the second wire pull-out portion 148 is greater than the distance between the first wire pull-out portion 112 and the wire twisting portion 114.

[0173] The relationship between the second wire pull-out portion 148 and the wire twisting portion 114 may change depending on the position of the rebar binding unit 110. For example, when the rebar binding unit 110 is at the binding position P1, the position of the second wire pull-out portion 148 is above the wire twisting portion 114 (in the +Z direction) as shown in Fig. 27B and Fig. 29B. In other words, when the rebar binding unit 110 (binding mechanism) is at the binding position P1, the distance (distance in the Z direction) between the first wire pull-out portion 112 and the second wire pull-out portion 148 is smaller than the distance between the first wire pull-out portion 112 and the wire twisting portion 114.

[0174] The first wire pull-out portion 112 will be described in detail below. Fig. 30A is a top view of the binding device 100, and Fig. 30B is a view of the binding device 100 seen obliquely from above. Fig. 30B is a view of the binding device 100 seen obliquely from above in the +X direction and -Y direction. Both Fig. 30A and Fig. 30B show the binding device 100 when the reinforcing bar binding unit 110 is in the retracted position P2.

[0175] 30A and 30B, the shape of the first wire draw-out portion 112 is a trapezoid with a smaller side in the -Y direction and a larger side in the +Y direction when viewed from the +Z direction. Holes 112h1 and 112h2 are provided in the -Y and +Y direction portions of the first wire draw-out portion 112, respectively. Hole 112h1 is provided in the smaller side of the trapezoidal first wire draw-out portion 112, and hole 112h2 is provided in the larger side of the trapezoidal first wire draw-out portion 112. Therefore, as shown in FIG. 30A, the length of hole 112h1 in the Y direction is set to be shorter than that of hole 112h2.

[0176] In the binding device 100 according to this embodiment, two reels 180a and 180b are provided as the reel 180. Furthermore, wires W (wires Wa and Wb (e.g., FIG. 31A)) are pulled out from the two reels 180a and 180b, respectively, and the binding operation by the reinforcing bar binding unit 110 is performed using the two wires W. The wires W pulled out from the reels 180a and 180b, respectively, are pulled out so as to pass through a relatively small hole portion 112h1, so that they come close to each other. Therefore, in the subsequent binding operation using the two wires W by the reinforcing bar binding unit 110, the two wires W can be easily used together for binding.

[0177] On the other hand, the two bundled wires W are then guided through the other hole portion 112h2 to the wire twisting portion 114. By providing the hole portion 112h2 relatively long, the degree of movement of the wire W passing through the hole portion 112h2 within the hole portion 112h2 can be relatively large, and for example, the generation of a load on the wire W when the rebar binding unit 110 moves can be reduced.

[0178] Furthermore, by configuring the first wire pull-out portion 112 so that the wire W passes through hole portion 112h1 and hole portion 112h2, even when the rebar binding unit 110 is in binding position P1 as described with reference to Figures 29A and 29B and the wire W is slack, the slack wire W can be maintained engaged with the first wire pull-out portion 112.

[0179] As shown in Fig. 30B, a notch 144r may be provided in the hole 144 of the main unit 140, and in this embodiment, the wire W that passes through the hole 112h2 passes through the notch 144r and is guided toward the wire twisting portion 114 of the rebar binding unit 110. Also, in this embodiment, as shown in Fig. 30B, by making the first wire pull-out portion 112 a cylindrical surface 112c, the portion of the wire W that engages with the first wire pull-out portion 112 is curved along the cylindrical surface 112c, so that the load on the wire W can be reduced.

[0180] Hereinafter, the relationship and configuration of the reels 180a, 180b, the first wire pull-out portion 112, and the second wire pull-out portion 148 will be described with reference to Figs. 31A and 31B. Figs. 31A and 31B are views showing a partially removed portion of the binding device 100. Fig. 31A is a view showing the reels 180a, 180b, the first wire pull-out portion 112, the second wire pull-out portion 148, etc., taken out and viewed from the -Y direction. Fig. 31B is a view showing the reels 180a, 180b, the first wire pull-out portion 112, and the second wire pull-out portion 148 viewed obliquely from above.

[0181] As shown in FIG. 31A and FIG. 31B, the wire Wa pulled out from the reel 180a and the wire Wb pulled out from the reel 180b are pulled out so as to pass through the hole 112h1 of the first wire pull-out section 112 and are brought close to each other. After that, the wire Wa and the wire Wb pass through the notch 144r of the main unit 140 almost integrally and are guided to the second wire pull-out section 148. The wire Wa and the wire Wb engaged with the second wire pull-out section 148 and guided along the cylindrical surface 148c of the roller member of the second wire pull-out section 148 are guided into the reinforcing bar binding unit 110 through the wire insertion port 118 provided in the reinforcing bar binding unit 110. The wire Wa and the wire Wb guided into the reinforcing bar binding unit 110 through the wire insertion port 118 are used for the binding operation by the wire twisting section 114.

[0182] Fig. 32 is an enlarged side view showing the vicinity of the second wire pull-out portion 148 shown in Fig. 31A. As shown in Fig. 32, the roller member of the second wire pull-out portion 148 is rotatably provided with respect to the roller support member 148f. As shown in Fig. 32, the roller member of the second wire pull-out portion 148 is provided with respect to the roller support member 148f so that a gap 148g is generated between the cylindrical surface 148c of the roller member and the roller support member 148f, and the wire Wa and the wire Wb guided to the second wire pull-out portion 148 are configured to pass through the gap 148g.

[0183] As shown in Fig. 32, the roller support member 148f has a first support portion 148f1 and a second support portion 148f2 provided to cover the rotation axis 148a, which is the center of rotation of the roller member of the second wire pull-out portion 148, from the +Z direction and the -Z direction, respectively. Therefore, as shown in Fig. 32, the gap 148g corresponds to a gap generated between the cylindrical surface 148c (the part of the cylindrical surface 148c in the -Z direction) of the roller member of the second wire pull-out portion 148 and the second support portion 148f2. Since the gap 148g is closed in the -Z direction by the second support portion 148f2 with respect to the cylindrical surface 148c, which is the surface with which the wire W engages, the wire W that passes through the gap 148g and engages with the second wire pull-out portion 148 can maintain a state of being engaged with the second wire pull-out portion 148 without coming off in the Z direction.

[0184] 31B referred to in the above description, the -Y and +Y directions of the holes 112h1 and 112h2 of the first wire pull-out portion 112 are also closed by a first wall 112w1 and a second wall 112w2 provided in the -Y and +Y directions, respectively, of the cylindrical surface 112c of the first wire pull-out portion 112. Therefore, the wire W (wire Wa and wire Wb) engaged with the first wire pull-out portion 112 can maintain a state of being engaged with the first wire pull-out portion 112 without coming off in the -Y and +Y directions.

[0185] In this way, by configuring the wires Wa and Wb to pass through holes 112h1 and 112h2 of the first wire pull-out portion 112 and / or by configuring the wires Wa and Wb to pass through the gap 148g, the wires Wa and Wb can remain engaged with the first wire pull-out portion 112 and / or the second wire pull-out portion 148, for example, even when the rebar binding unit 110 moves to the binding position P1 and the wires Wa and Wb sag.

[0186] Also, similar to the above-mentioned cylindrical surface 112c of the first wire draw-out portion 112, the second wire draw-out portion 148 is also configured to have a cylindrical surface 148c, thereby reducing the load on the portion of the wire W that engages with the second wire draw-out portion 148. In particular, when a wire W with a relatively high rigidity is used as the wire W used to bind the reinforcing bars R, a relatively large force needs to be applied to bend the wire W, but by configuring the first wire draw-out portion 112 and the second wire draw-out portion 148 to have cylindrical surfaces, such as the first cylindrical surface 112c and the second cylindrical surface 148c, it is possible to easily bend the wire W.

[0187] In this embodiment, the radius of curvature of the first cylindrical surface 112c is configured to be larger than the radius of curvature of the second cylindrical surface 148c. The first cylindrical surface 112c engages with the wires Wa and Wb immediately after they are pulled out from the reels 180a and 180b, and therefore may require a larger force to guide the wires Wa and Wb than the second cylindrical surface 148c. By configuring the radius of curvature of the first cylindrical surface 112c to be larger than the radius of curvature of the second cylindrical surface 148c, the wires Wa and Wb can be relatively easily guided through the first cylindrical surface 112c.

[0188] The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Any design modifications made by a person skilled in the art to these specific examples are also included within the scope of the present disclosure as long as they have the features of the present disclosure. The elements of each of the above-mentioned specific examples and their arrangements, conditions, shapes, etc. are not limited to those exemplified and can be changed as appropriate. The combination of each of the elements of each of the above-mentioned specific examples can be changed as appropriate as long as no technical contradiction occurs. [Explanation of symbols]

[0189] 100, 200 Rebar tying robot (tying device) 110 Rebar binding unit (binding mechanism) 112 first wire pull-out portion (first pull-out portion, wire pull-out portion) 112c First cylindrical surface 112L relay section 114 Wire twisting section 120 Mobile Units 121 Traveling unit 130 Sensor unit 140 Main body (main unit) 148 Second wire pull-out section (Second wire pull-out section, wire pull-out section) 148c Second cylindrical surface 160 Control section (control unit) 168m Rebar binding unit moving part (binding mechanism moving part) 180 reels P1 Binding position P2 Evacuation position R10 1st Reinforcement Bar R20 2nd Reinforcement Bar W, Wa, Wb Wire

Claims

1. A binding mechanism that feeds the wire around the reinforcing bar and twists and binds the wire that has been fed around the reinforcing bar; A binding mechanism moving unit that moves the binding mechanism between a binding position where the binding mechanism binds the reinforcing bar and a retracted position away from the reinforcing bar; a wire pull-out section for pulling out the wire wound on the reel, the wire pull-out unit pulls out the wire in a moving direction of the binding mechanism in conjunction with the movement of the binding mechanism by the binding mechanism moving unit; an amount of the wire drawn out by the wire draw-out unit is greater than an amount of movement of the binding mechanism caused by the operation of the binding mechanism moving unit; Binding device.

2. The wire pull-out section includes a relay section that transmits the movement of the binding mechanism to the wire pull-out section. The strapping device of claim 1 .

3. The wire pull-out portion is a first drawer portion configured to be engageable with the wire and provided in the relay portion, the first drawer portion moving in accordance with the movement of the binding mechanism; a second lead-out portion configured to be engageable with the wire and move relative to the first lead-out portion when the first lead-out portion moves in association with the movement of the binding mechanism; Including, a first pull-out portion of the wire is moved relative to the second pull-out portion in accordance with a movement of the binding mechanism, with a part of the wire engaged with the first pull-out portion and another part of the wire engaged with the second pull-out portion, thereby pulling out the wire from the reel; The strapping device according to claim 2.

4. an amount of the wire pulled out by the wire pull-out unit is equal to or greater than two times and equal to or less than five times the amount of movement of the binding mechanism moved by the operation of the binding mechanism moving unit; The strapping device of claim 1.

5. The second drawer portion is provided in a binding device main body portion that is a main body portion of the binding device, 4. The strapping device according to claim 3.

6. the first lead portion has a first cylindrical surface; the second lead portion has a second cylindrical surface; The radius of curvature of the first cylindrical surface is greater than the radius of curvature of the second cylindrical surface. The binding device according to claim 3.

7. The relay portion is provided at one end of the binding mechanism, A wire twisting unit that twists the wire wound around the reinforcing bar is provided at the other end of the binding mechanism, When the binding mechanism is in the retracted position, A distance between the first lead-out portion and the second lead-out portion is greater than a distance between the first lead-out portion and the wire twisted portion.

4. The strapping device according to claim 3.

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