Binding device and binding program

Abstract

This enables the identification of appropriate intersection points for workpieces with different shapes. [Solution] For a workpiece B having intersections P1 and P2 where reinforcing bars S1 and S2 intersect, the configuration includes a binding unit 6 that binds the intersections with a binding unit W, a storage unit 76 that stores three-dimensional information 763 of the intersection model, a first information acquisition unit 31 that acquires three-dimensional information 764 from the workpiece B, and an identification unit 77 that refers to the three-dimensional information 763 of the intersection model and identifies the intersections P1 and P2 from the acquired three-dimensional information 764 of the workpiece B, thereby realizing the identification of intersections P1 and P2, which have shapes that are difficult to identify in a two-dimensional image.

Description

Technical Field

[0001] The present invention relates to a binding device and a binding program having a binding portion for binding reinforcing bars with a wire.

Background Art

[0002] Reinforcing bars are used in concrete structures to improve strength, and are bound with wires by a binding machine so that the reinforcing bars do not shift from a predetermined position during concrete placement. Conventional binding systems have photographed reinforcing bars with a camera that obtains two-dimensional image data, determined the positions of the intersections of the reinforcing bars by image processing of the photographed images, positioned the binding machine by a moving mechanism, and performed binding on the intersections (see, for example, Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Conventional binding devices can obtain intersections from two-dimensional photographed images taken from above by a camera and autonomously perform binding operations on each intersection within the work area. Such a conventional binding device can appropriately identify intersections and perform binding when the workpiece consists of reinforcing bars in a planar grid pattern. However, in recent years, there has been a demand for tying together the intersections of three-dimensionally assembled reinforcing bars, such as those used in columns and beams. With three-dimensionally assembled reinforcing bars, there are problems such as the appearance differing depending on the location of the intersection, and the difficulty in distinguishing the jig that holds the reinforcing bar from the intersection. As a result, it has been difficult to properly identify and tie the intersections with conventional tying devices.

[0005] The present invention aims to provide a binding device and a binding program that can identify appropriate intersection points for workpieces of different shapes. [Means for solving the problem]

[0006] To solve the above-mentioned problems, the binding device of the present invention is For a workpiece having intersections where reinforcing bars cross, a binding section is provided to bind the intersections with a binding body, A memory unit that stores three-dimensional information of the intersection model, A first information acquisition unit that acquires three-dimensional information from the aforementioned workpiece, A unit that identifies intersections by referring to the three-dimensional information of the intersection model and using the acquired three-dimensional information of the workpiece, It is equipped with.

[0007] Furthermore, the bundling program of the present invention is A computer controls a binding device that includes a binding unit for binding the intersections of reinforcing bars with a binding body for a workpiece having intersections where reinforcing bars intersect, a storage unit that stores three-dimensional information of the intersection model, and a first information acquisition unit that acquires three-dimensional information from the workpiece. The system provides a function to identify intersections by referring to the three-dimensional information of the intersection model and using the acquired three-dimensional information of the workpiece. [Effects of the Invention]

[0008] According to the present invention, it is possible to properly identify intersections regardless of the form of the workpiece, not only for planar workpieces but also for workpieces made of three-dimensionally assembled reinforcing bars, etc. [Brief explanation of the drawing]

[0009] [Figure 1] It is a perspective view of the apparatus main body of the tying system according to an embodiment of the invention. [Figure 2] It is a block diagram showing a schematic control configuration of the tying system. [Figure 3] It is a side view of the tying part in the posture when performing the tying operation. [Figure 4] It is a perspective view of the workpiece. [Figure 5] It is a perspective view showing the first pattern of the intersections included in the workpiece. [Figure 6] It is a perspective view showing the second pattern of the intersections included in the workpiece. [Figure 7] It is a flowchart showing the procedure of the tying process. [Figure 8] It is a flowchart of the intersection identification process. [Figure 9] It is a conceptual diagram of the workpiece included in other workpiece model data. [Figure 10] It is a conceptual diagram showing the first pattern of the intersections included in other intersection model data. [Figure 11] It is a conceptual diagram showing the second pattern of the intersections included in other intersection model data.

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0011] [Configuration of the tying system] FIG. 1 is a perspective view of the apparatus main body 10 included in the tying system 1 as a tying apparatus according to an embodiment of the present invention, FIG. 2 is a block diagram showing a schematic control configuration of the tying system 1, and FIG. 3 is a side view in the posture when the tying part 6 of the tying system 1 performs a tying operation. As shown in these figures, the tying system 1 ties the intersections where the reinforcing bars intersect with respect to the workpiece B in which the reinforcing bars are assembled in a predetermined shape. Specifically, the bundling system 1 includes a device main body 10 and a control device 7.

[0012] The device main body 10 includes a work holding part 2, an overall imaging part 3, a robot arm 4, an individual imaging part 5, and a bundling part 6. Among these, the work holding part 2 is disposed inside the pedestal 11 of the device main body 10, and the overall imaging part 3, the robot arm 4, the individual imaging part 5, and the bundling part 6 are mounted on the pedestal 11. In the following description, each direction of X, Y, and Z refers to the direction shown in FIG. 1. Each direction of X, Y, and Z is perpendicular to each other, the XY plane is a substantially horizontal plane, and the Z direction is a direction substantially along the vertical.

[0013] The pedestal 11 is formed in a rectangular parallelepiped shape that is long in the X direction, and includes four columns 12 erected at the four corners in the X direction and the Y direction, and four beams 13 spanned in the X direction and the Y direction at the upper ends of the columns 12. Among the areas inside the pedestal 11, approximately half of one side in the X direction (the right side in FIG. 1) is an imaging area E1 where imaging by the overall imaging part 3 is performed, and the other half (the left side in FIG. 1) is a bundling area E2 where bundling work by the robot arm 4 and the bundling part 6 is performed.

[0014] [Work and Work Holding Part] Here, an example of the work B is shown in the perspective view of FIG. 4. The work B exemplifies, for example, an overall quadrangular prism-shaped one that constitutes the skeleton of the column and beam. The work B has main reinforcements S1 composed of a plurality of straight reinforcing bars arranged in parallel, and a plurality of hoop reinforcements S2 composed of reinforcing bars surrounding the plurality of main reinforcements S1. The direction along the main reinforcement S1 is defined as the longitudinal direction of the work B. The hoop reinforcement S2 has a substantially rectangular shape when viewed from the longitudinal direction, and the plurality of hoop reinforcements S2 are arranged at equal intervals in the longitudinal direction. A total of six main reinforcements S1 are arranged at the four corner portions of each hoop reinforcement S2 and at the intermediate positions of the long sides of the hoop reinforcement S2. Each hoop reinforcement S2 is in a state where one end and the other end of the reinforcing bar constituting the hoop reinforcement S2 are half-wound around the main reinforcement S1 located at one of the corner portions.

[0015] Before the intersections of each main reinforcement bar S1 and each tie reinforcement bar S2 are tied together, workpiece B cannot stably maintain its respective arrangement. Therefore, each main reinforcement bar S1 is supported by a jig (not shown) fixed to the holding base 21 of the workpiece holding section 2 so as to maintain the above arrangement. The main reinforcement bar S1 is gripped by a pair of claw members provided on the upper surface of the jig, which extends in a direction perpendicular to the main reinforcement bar S1. Each tie reinforcement S2 may also be supported by a jig, similar to the main reinforcement S1.

[0016] In principle, in the above-mentioned workpiece B, each intersection point where the main reinforcement S1 and each tie reinforcement S2 intersect is bound together with a wire W acting as a binding element. Figures 5 and 6 are perspective views showing two patterns of intersections where binding is performed in workpiece B of Figure 4. Figure 5 shows the first pattern, intersection P1 where a straight main reinforcement S1 and a straight stirrup reinforcement S2 intersect. Figure 6 shows the second pattern, intersection P2 where the corner of the straight main reinforcement S1 and stirrup reinforcement S2 intersect. Workpiece B in Figure 4 is primarily tied to these two types of intersections P1 and P2. In the following description, when referring to intersections P1 and P2 collectively, it will be written as "intersection P". Also, when referring to main reinforcement S1 and stirrups S2 collectively, it will be written as "reinforcement S".

[0017] The workpiece holding unit 2 holds the workpiece B via a jig (not shown) and moves the held workpiece B between the shooting area E1 and the binding area E2. Specifically, the workpiece holding unit 2 comprises a holding base 21 for holding the workpiece B, a rail 22 that movably supports the holding base 21, and a drive motor 23 that drives the rail 22. The support base 21 is formed in the shape of a rectangular plate with its four sides aligned in the X and Y directions.

[0018] The rail 22 is laid along the X direction and guides the holding base 21 in the X direction. In this embodiment, the rail 22 is laid so that the holding base 21 (workpiece B) can move at least between the shooting area E1 and the binding area E2. However, the rail 22 may be extended to the outside of the frame 11, and the workpiece B may be configured to move to the work processes before and after binding. The drive motor 23 is the drive source for moving the holding platform 21. Based on a drive command from the control device 7, the drive motor 23 moves the holding platform 21 between the shooting area E1 and the binding area E2. Furthermore, the workpiece holding unit 2 only needs to be able to move the holding base 21 (workpiece B) from the shooting area E1 to the binding area E2.

[0019] [Overall Photography Department] The overall imaging unit 3 images the entire workpiece B in the imaging area E1. Specifically, the overall imaging unit 3 includes a first camera 31 positioned above the imaging area E1 and a moving mechanism 32 that movably supports the first camera 31. The first camera 31 is positioned facing downwards and photographs the workpiece B held by the workpiece holding unit 2 from above in the shooting area E1, acquiring measurement data 764 including distance information and image information of the intersection P of the reinforcing bars S. The first camera 31 is a stereo camera with compound eyes (e.g., 4 eyes) and acquires distance information in the depth direction (vertical direction) along with image information (monochrome image) in the XY plane, outputting it to the control device 7 as measurement data 764. This measurement data 764 from the first camera 31 is distance image data consisting of image information and distance information, and corresponds to three-dimensional information at the intersection P of the workpiece B.

[0020] The first camera 31 is an example of the first information acquisition unit according to the present invention. It should be noted that, as long as three-dimensional information at the intersection point P of the workpiece B can be obtained, the system is not limited to sensors utilizing passive stereo methods like the first camera 31, but may also utilize sensors such as optical radar, active stereo, optical interferometry, lens focusing, etc. Furthermore, the first information acquisition unit may be a sensor that utilizes magnetism, ultrasound, X-rays, etc., rather than being limited to detection by light, as long as it can obtain three-dimensional information.

[0021] The moving mechanism 32 includes a Y-direction slider 33 that extends along the Y-direction. The Y-direction slider 33 is spanned on a beam 13 along the X-direction and is supported on the beam 13 so as to be movable in the X-direction. The first camera 31 is suspended from the Y-direction slider 33 so as to be movable in the Y-direction. Based on control commands from the control device 7, the moving mechanism 32 drives a drive source (not shown) to move the first camera 31 to a predetermined position (XY coordinates). Furthermore, as will be described later, the moving mechanism 32 may capture images of the entire workpiece B in multiple stages in order to obtain an image of the workpiece B with a desired resolution. Therefore, depending on the performance of the first camera 31 and the shape of the workpiece B, the moving mechanism 32 may only move the first camera 31 in either the X or Y direction, or it may not be provided at all.

[0022] [Robot arm] The robot arm 4 is an example of a mobile body according to the present invention, and is equipped with an individual imaging unit 5 and a binding unit 6, and moves the individual imaging unit 5 and the binding unit 6 to a desired position in the binding area E2. In other words, the robot arm 4 is a displacement mechanism that displaces the binding unit 6 and the workpiece B relative to each other. The robot arm 4 of this embodiment comprises a moving mechanism 46, a robot arm body 40, and a controller 49. The controller 49 and the control unit 77 of the control device 7, which will be described later, function as the control unit of the robot arm 4.

[0023] The moving mechanism 46 moves the robot arm body 40. In this embodiment, the moving mechanism 46 includes a Y-direction slider 461 that spans the beam 13 of the frame 11. The Y-direction slider 461 moves the robot arm body 40 in the Y direction. However, the specific configuration of the moving mechanism 46 is not particularly limited, and may include, for example, a mechanism for moving the robot arm body 40 in the X direction. Also, if the operating range of the robot arm body 40 can cover the entire binding area E2 without relying on the moving mechanism 46, the moving mechanism 46 may not be provided.

[0024] The robot arm body 40 is a ceiling-mounted vertical articulated robot, and is installed facing downwards on a Y-direction slider 461 that spans the beam 13 in the binding area E2. Specifically, the robot arm body 40 comprises a base section 41, multiple arms 42, an end effector 43, and multiple joint sections 44. Furthermore, the robot arm body 40 is not limited to a vertical articulated robot, as long as it has movable individual imaging units 5 and binding units 6. Furthermore, it is preferable that the robot arm 4 can change the position on each of the three orthogonal axes and the angle around at least one of the three orthogonal axes for either or both of the individual imaging unit 5 (second camera 51) and the binding unit 6.

[0025] Multiple arms 42 are connected in series to each other, with the base portion 41 as the base end. The base portion 41 is mounted on the Y-direction slider 461 of the moving mechanism 46 and is supported so as to be movable in the Y direction. Multiple joints 44 rotatably connect the base 41, multiple arms 42, and end effectors 43. Each joint 44 is provided with a motor 441 that drives the arm 42 (or end effector 43) connected to the tip of the joint 44, and an encoder 442 that detects the position (speed) of the motor 441 and outputs it to the controller 49. The end effector 43 is connected to the tips of multiple arms 42. The end effector 43 is equipped with an individual imaging unit 5 and a binding unit 6. The specific configuration of the tip of the robot arm body 40 is not particularly limited, as long as it is equipped with an individual imaging unit 5 and a binding unit 6. For example, the individual imaging unit 5 may be fixed to the furthest joint 44, and the binding unit 6 may be connected as an end effector via a tool changer.

[0026] The controller 49 controls the movement of each part of the robot arm 4 based on control commands from the control device 7. Specifically, the controller 49 operates each motor 441 and the movement mechanism 46, and outputs information acquired by each encoder 442 to the control device 7. The controller 49 may also locally control the operation of the mounted individual imaging units 5 and binding units 6 based on control commands from the control device 7.

[0027] [Individual Photography Section] The individual imaging unit 5 is mounted at the tip of the robot arm body 40 and individually photographs the intersections P of the reinforcing bars S to be tied in the tying area E2 with a higher resolution than the overall imaging unit 3. Specifically, the individual imaging unit 5 comprises a second camera 51, a lifting motor 52, and a lighting unit 53. The second camera 51 is mounted on the end effector 43 of the robot arm 4 with its line of sight facing downwards, and the robot arm body 40 can tilt its line of sight in any direction (forward, backward, left, or right) to photograph the intersection point P. The second camera 51 is positioned to move along the line of sight relative to the end effector 43. The line of sight of the second camera 51 is parallel to the pivot axis Zr of the binding section 6, which will be described later. The second camera 51 of the individual imaging unit 5 has a narrower information acquisition range than the first camera 31 of the overall imaging unit 3, and captures images within this narrow information acquisition range with high-density pixels. As a result, the second camera 51 can capture a high-resolution surface image of the reinforcing bar at mainly one intersection P, enabling the acquisition of detailed information. The second camera 51 functions as a second information acquisition unit capable of observing at least one intersection. The bundling system 1 acquires detailed information with the second camera 51, and based on that detailed information, it can position the bundling section 6 with high precision, enabling highly accurate bundling. The second camera 51 in this embodiment is, for example, an RGB camera, and acquires image information (color image) of the intersection point P to be bound and outputs it to the control device 7. The type of sensor of the second camera 51 is not particularly limited as long as it is capable of acquiring image information of at least one intersection point P, and it may also be a camera that acquires monochrome images. The second camera 51 can, for example, acquire two-dimensional image information of the intersection point P, but it may also acquire three-dimensional information of the intersection point P by taking multiple shots while moving along the line of sight. The lifting motor 52 is a drive source that moves (lifts and lowers) the second camera 51 toward the tip (up and down) relative to the end effector 43. The lighting unit 53 is positioned slightly in front of the second camera 51 and around the shooting range, illuminating the object being photographed by the second camera 51. The lighting unit 53 in this embodiment has multiple light sources (floodlights; not shown) that can illuminate the object being photographed by the second camera 51 from different angles.

[0028] [Binding part] As shown in Figure 3, the binding unit 6 is mounted at the tip of the robot arm body 40. The binding unit 6 comprises a rebar binding machine 61 (hereinafter referred to as "binding machine 61") that binds the intersections P of the reinforcing bars S that constitute the workpiece B with wire W, a slack formation unit 62 that pulls out the wire W from the reel 63 and forms slack in the wire W between the binding machine 61 and the reel 63, and a control unit 64 (see Figure 2) that executes the binding operation of the rebar binding machine 61 and the slack formation operation of the wire W of the slack formation unit 62 according to operation commands from the control device 7.

[0029] The rebar tying machine 61 has an inlet 611 into which two wires W are fed from outside the housing along the feeding direction F shown in the figure. The two wires W fed into the interior from the inlet 611 are wrapped around the intersection P of the rebar S. The two wires W wrapped around the rebar S are then fed in the reverse feeding direction R to wrap around the rebar S and cut, after which the wires W are twisted to tie the rebar S with the wires W.

[0030] Therefore, the binding machine 61 includes a wire feeding section for feeding the wire W, a wire guide 612 for guiding the wire W, a curl guide 613 and a guide 614 for winding the wire W around the reinforcing bar S, a cutting section for cutting the wire W wound around the reinforcing bar S, and a twisting section for twisting the wire W wound around the reinforcing bar S.

[0031] The wire guide 612 is provided in front of the entrance 611 and guides the two wires W to enter the entrance 611 along the feeding direction F.

[0032] The wire feeding section is located inside the entrance section 611 and feeds two wires W along the feeding direction F by gripping them with a pair of feed gears. The wire feeding section is equipped with a feed motor 615 (see Figure 2) which serves as the drive source. By driving the feed motor 615 in the forward direction, the two wires W are fed in the feeding direction F, allowing the wires W to be wound around the reinforcing bar S by the curl guide 613 and guide guide 614 located further along the path. The feed motor 615 can also drive the two wires W in the reverse direction R, allowing the reinforcing bar S to be tightened by the wires W.

[0033] The cutting section is located inside the entrance section 611 and further inside the wire feeding section. The cutting section has a movable blade and a fixed blade (not shown), and the drive source for the movable blade is shared with the twisting section. The movable blade can be moved toward the fixed blade by the torsion motor 616 (see Figure 2), which is the drive source for the twisting section, to cut two wires. The drive source for the cutting section may be provided separately and independently.

[0034] The binding section 6 in Figure 3 is supported by the end effector 43 at the tip of the robot arm 4. The reference posture is defined as the state in which the pivot axis Zr of the end effector 43 is parallel to the aforementioned Z direction (vertical up and down direction). The binding operation can also be performed by tilting the robot arm body 40 in any direction from the reference posture, either forward, backward, left, or right. Furthermore, the binding section 6 is set so that the position where the wire W is tied to the reinforcing bar S is located on the axis of the pivot axis Zr. During binding, the robot arm 4 positions the binding section 6 so that the intersection point P of the reinforcing bar S is on the axis of the pivot axis Zr. Furthermore, during the binding operation, the binding section 6 moves forward along the pivot axis Zr towards the curl guide 613 and the guide guide 614 (tip end side) to perform the binding. Hereinafter, the forward movement direction of the fastening portion 6 will be defined as "the insertion direction of the tip of the fastening portion 6" or simply "the insertion direction".

[0035] The curl guide 613 and the guide 614 are located at the tip of the strapping machine 61 (the lower end during strapping operation), and are positioned on either side of the aforementioned pivot axis Zr. The curl guide 613 is positioned with its base end located beyond the entrance portion 611 in the feeding direction F, and a guide path is formed on the inside of the curl guide 613 to curl the wire W as it moves from the base end to the tip end.

[0036] The guide 614 is positioned opposite the curl guide 613 and has a guide path formed on its inside that receives the wire W, which has been curled by the curl guide 613, from its tip and guides the wire W to the base end while maintaining the curled state. Through the cooperation of these curl guides 613 and guide 614, the wire W can be deformed into a loop and wrapped around the reinforcing bar S.

[0037] The twisting section has a locking member that captures the wire W while it is wrapped around the reinforcing bar S between the base end of the guide guide 614 and the base end of the curl guide 613. The locking member is supported inside the binding machine 61 so as to be rotatable around a rotation axis concentric with the aforementioned pivot axis Zr, and is provided with torque for rotational drive by the aforementioned twisting motor 616. After the wire W is cut by the cutting section, the locking member is rotated by the twisting motor 616, twisting both ends of the wire W to bind the reinforcing bar S.

[0038] On one side of the binding machine 61 in the direction along its pivot axis Zr (the upper side during binding), two reels 63 of wire W are rotatably supported side by side. The two reels 63 are each rotatable around an axis along the direction perpendicular to the plane of the paper in Figure 3, and are arranged side by side on that axis.

[0039] The slack-forming section 62 is positioned on one side of the binding machine 61 and the two reels 63 in an orthogonal direction Xw perpendicular to the pivot axis Zr. The slack-forming section 62 includes a first slack-forming section 621 and a second slack-forming section 622 that move past each other, and a slack-forming motor 623 that serves as the driving source for these passing movements.

[0040] The feed direction F of the wire W, as described above, is roughly parallel to a plane that is parallel to the pivot axis Zr and the orthogonal direction Xw. Furthermore, the feed direction F of the wire W is inclined somewhat upward in the plane of Figure 3 relative to the orthogonal direction Xw on the upstream side. The first slack-forming section 621 and the second slack-forming section 622 both hold rollers over which the two wires W are stretched.

[0041] The first slack-forming section 621 and the second slack-forming section 622 then move in a passing motion generally along the feeding direction F, thereby extending the path length of the wire W from the reel 63 to the entrance 611 of the binding machine 61 and pulling the wire W out from the reel 63. In addition, the first slack-forming section 621 and the second slack-forming section 622 then move back after the passing motion, thereby adding slack to the wire W by the amount it was pulled out from the reel 63.

[0042] Incidentally, the two wires W are required to be fed into the entrance 611 of the binding machine 61 from a direction close to the feeding direction F (i.e., an incidence angle close to the feeding direction F). The feeding direction F is a suitable direction for deforming the wires W into an appropriate loop shape by the curl guide 613 and guide guide 614 located ahead of that direction of travel. In order to supply the wire W to the inlet 611 of the binding machine 61 along the feeding direction F, the slack-forming unit 62 is positioned such that the path from the downstream second slack-forming unit 622 to the inlet 611 of the binding machine 61 is along the feeding direction F. When passing another unit, the second slack-forming unit 622 moves away from the inlet 611 of the binding machine 61 along the feeding direction F.

[0043] Therefore, the binding section 6 is positioned such that the slack-forming section 62 protrudes significantly from one side (the right side of the page in Figure 3) in the direction Xw perpendicular to the binding machine 61 (rotating axis Zr). Furthermore, the second camera 51 and lighting unit 53 of the individual shooting unit 5 are located on the left side of the paper in Figure 3 relative to the binding machine 61 of the binding unit 6.

[0044] [Control device] As shown in Figure 2, the control device 7 is a computer that comprehensively controls the bundling system 1. Specifically, the control device 7 comprises an operation unit 72, a display unit 73, a storage unit 76, and a control unit 77. The operation unit 72 is an operating means that allows the user to perform various operations to operate the control device 7, and includes, for example, a pointing device such as a mouse or a keyboard. The display unit 73 is composed of, for example, a liquid crystal display, an organic EL display, or other display, and displays various information based on display signals from the control unit 77. The display unit 73 may also be a touch panel that serves as part of the operation unit 72, or it may provide audio output.

[0045] The memory unit 76 is composed of RAM (Random Access Memory), ROM (Read Only Memory), etc., and stores various programs and data, as well as functioning as a workspace for the control unit 77. In this embodiment, the storage unit 76 pre-stores a binding program 761, work model data 762, and intersection model data 763 for executing the binding process described later, as well as measurement data 764 acquired by the first camera 31 and measurement data 765 acquired by the second camera 51.

[0046] The measurement data 764 is three-dimensional information of the intersection point P of workpiece B, acquired by the first camera 31 during the execution of the binding process described later. Measurement data 765 is two-dimensional information of the intersection point P of workpiece B acquired by the second camera 51. However, in the case of a configuration in which three-dimensional information is acquired by the second camera 51, three-dimensional information is recorded instead of two-dimensional information.

[0047] Work model data 762 is three-dimensional information of the entire workpiece B, based on the design information of the workpiece B to be worked on. It also includes the three-dimensional position information of the intersection point P where the binding takes place, as well as information on its orientation. The work model data 762 is three-dimensional information of an ideal workpiece B based on design information. Therefore, there may be errors between this data and the workpiece B held on the holder 21, but it is useful for the control device 7 to determine the approximate position of each intersection point P. Furthermore, the work model data 762 is not limited to design information of the workpiece B to be worked on; for example, it may also be three-dimensional information obtained by performing three-dimensional measurements on an existing workpiece B.

[0048] Intersection model data 763 is three-dimensional information of the area surrounding the intersection of main reinforcement S1 and stirrups S2 that constitute intersection P of workpiece B. As mentioned above, the intersections P included in workpiece B can be broadly classified into two patterns: intersection P1 shown in Figure 5 and intersection P2 shown in Figure 6. Intersection model data 763 is prepared for both intersection P1 and intersection P2.

[0049] The intersection model data 763 is preferably three-dimensional information of an ideal intersection P1, P2 model. For example, it may be three-dimensional information extracted from the design information of workpiece B, or it may be three-dimensional information generated by cutting out the peripheral portion centered on intersection P1, P2 from workpiece model data 762. However, the intersection model data 763 is not limited to design information; for example, it may be three-dimensional information obtained by performing three-dimensional measurements on the intersection points P1 and P2 of another existing workpiece B.

[0050] Furthermore, if the three-dimensional information of the intersection points P1 and P2 is generated with a more rigorous and realistic three-dimensional shape, it will reproduce even the surface irregularities and patterns of the main reinforcement bars S1 and stirrups S2. In the process of searching for and identifying intersections P1 or P2 by comparing the intersection model data 763 with measurement data 764 acquired by the first camera 31, as described later, the identity between the three-dimensional shape shown by the intersection model data 763 and the three-dimensional shape shown by the measurement data 764 is determined. For this reason, if the intersection model data 763 reproduces even the surface irregularities and patterns of the reinforcing bars S, there is a risk that sufficient identity in the comparison may not be obtained. Therefore, it is preferable that the intersection model data 763 has been processed, such as by smoothing, to make the surface irregularities and patterns of the reinforcing bars closer to or replace them with smooth curved or flat surfaces. Similarly, the aforementioned work model data 762 may also be modified by making the surface irregularities and patterns of the main reinforcement S1 and stirrups S2 closer to or replacing them with smooth curved or flat surfaces.

[0051] The three-dimensional information of intersection model data 763 may be point cloud data unfolded on the surface of the models of intersections P1 and P2, 3D data in surface model data formats such as polygon, spline, or subdivision, or 3D data in solid model data formats such as CSG (Constructive Solid Geometry) representation or boundary representation. Alternatively, it may be 3D data in wireframe model or voxel representation. The same applies to the three-dimensional information of the work model data 762 mentioned above. Furthermore, the three-dimensional information of the work model data 762 and the three-dimensional information of the intersection model data 763 do not have to be 3D data in the same format.

[0052] Furthermore, the intersection model data 763 includes insertion direction information indicating the appropriate insertion direction when the binding unit 6 performs a binding operation on the models of intersections P1 and P2. For example, in the case of intersection P1, the directions indicated by the arrows in Figure 5 represent the insertion direction information I11 to I13, which indicates the correct insertion direction. There are multiple candidates for insertion direction information I11 to I13, and the priority order among them is also included to determine the most appropriate binding operation. In the example in Figure 5, the priority order is from insertion direction information I11 to I13. The same applies to intersection point P2, where the directions indicated by the arrows in Figure 6 represent the insertion direction information I21 to I23, which indicates the correct insertion direction. These also include a priority order for performing a more appropriate binding operation, and in the example in Figure 6, the priority order is from insertion direction information I21 to I23. The insertion direction information I11-I13 and I21-I23 may be prepared as independent data within the storage unit 76, rather than being included in the intersection model data 763. In that case, each of the insertion direction information I11-I13 and I21-I23 must include information indicating whether it corresponds to intersection P1 or P2.

[0053] The control unit 77 is composed of, for example, a CPU (Central Processing Unit) and controls the operation of each part of the control device 7. Specifically, the control unit 77 operates each part of the control device 7 based on the operation content of the operation unit 72, and also loads programs pre-stored in the storage unit 76 and executes various processes in cooperation with the loaded programs.

[0054] [Operation of the bundling system] Next, we will explain the operation of the binding system 1 when performing the binding process to bind workpiece B. Figure 7 is a flowchart showing the procedure for the bundling process, and Figure 8 is a flowchart showing the process for identifying the intersection of workpiece B.

[0055] In the tying process, as mentioned above, the main reinforcement bars S1 and tie reinforcement bars S2 of workpiece B are tied together at the intersections P1 and P2 (see Figure 4). This tying process is performed when the control unit 77 of the control device 7 reads the tying program 761 from the storage unit 76 and loads it. Here, it is assumed that workpiece B is already fixed to the holding base 21 by a jig (not shown) and placed in the shooting area E1 (see Figure 1). In the following, it is assumed that the control unit 77 of the control device 7 is solely responsible for executing each process, but the control entity for the bundling process is not particularly limited. For example, the control units of each component of the bundling system 1 may execute the process, or the control device 7 and the control units of each component may cooperate to execute the process.

[0056] As shown in Figure 7, the control unit 77 performs an intersection identification process to identify intersections P1 and P2 included in the workpiece B during the bundling process (step S1). Furthermore, the control unit 77, which performs the intersection identification process, functions as an "identification unit" that identifies intersection P1 or P2 from the three-dimensional information of workpiece B by executing the bundling program 761.

[0057] In the intersection identification process, as shown in Figure 8, first the control unit 77 reads the work model data 762 and the intersection model data 763 (step S101). At this time, the control unit 77 determines the approximate position and orientation of the intersection points P1 and P2 of the workpiece B on the holding table 21 from the position information of the intersection points P1 and P2 indicated by the workpiece model data 762.

[0058] Next, the control unit 77 of the control device 7 photographs the workpiece B in the shooting area E1 using the first camera 31 of the overall shooting unit 3 (step S102). The control unit 77 acquires measurement data 764 for the entire workpiece B using the first camera 31, which is a stereo camera, consisting of XY plane image data (monochrome image) including distance information, and stores it in the storage unit 76. If necessary, the control unit 77 controls the movement mechanism 32 to move the first camera 31 in the XY plane according to the size of the workpiece B and the field of view of the first camera 31, and takes pictures of the entire workpiece B divided into multiple parts with some overlap (for example, divided into 2x2 four sections in each XY direction) (the drive motor 23 may also move the holding base 21). Then, the control unit 77 combines the acquired multiple images to generate an image of the entire workpiece B and stores it in the storage unit 76. Furthermore, the control unit 77 performs a process to convert the measurement data 764 from the first camera 31 into 3D data in the same format as the three-dimensional information of the intersection model data 763 (step S103).

[0059] Then, with respect to the three-dimensional shape of workpiece B shown by the converted measurement data 764, the system searches for areas around the positions of intersections P1 and P2 shown by the workpiece model data 762 where the three-dimensional intersection model shown by the intersection model data 763 of intersections P1 and P2 roughly matches the three-dimensional shape. During the search, the system fine-tunes the position and orientation of the three-dimensional intersection model based on the intersection model data 763 and determines whether the shape matches a predetermined position on the three-dimensional shape of workpiece B shown by the measurement data 764 (step S104). Then, the position and orientation of the three-dimensional intersection model based on the intersection model data 763 at the time of the match become the position and orientation of intersection P1 or P2.

[0060] The control unit 77 determines whether the position and orientation of intersection P1 or P2 have been identified based on the intersection model data 763 for all intersections P1 and P2 that are scheduled to be bundled in the work model data 762 (step S105).

[0061] Furthermore, depending on the orientation and placement of workpiece B on the holding base 21, it may be difficult to search for or tie some intersections P1 or P2 of workpiece B. For example, in the case of workpiece B placed on the holding base 21 as shown in Figure 1, the intersections P1 and P2 on the bottom side become difficult to locate and tie. In this case, the workpiece B is flipped over, and the tie-tying work is performed in two separate steps, for the intersections P1 and P2 on one side and the intersections P1 and P2 on the opposite side. In this case, it is preferable to distinguish between the intersection points P1 and P2 included in the work model data 762 that will be bound in the binding process before inversion and those that will be bound in the binding process after inversion. Furthermore, if such settings are made in the work model data 762, then "all intersections P1, P2 in work model data 762 where bundling is planned" in step S105 means either "all intersections P1, P2 that are bundled in the bundling operation before reversal" or "all intersections P1, P2 that are bundled in the bundling operation after reversal".

[0062] Then, in step S105, if any of the intersections P1 and P2 that are scheduled to be bound in the work model data 762 cannot be found by matching them with the three-dimensional intersection model shown in the intersection model data 763, the control unit 77 controls the moving mechanism 32 to move the first camera 31 a predetermined distance in a predetermined direction, thereby changing the relative position of the first camera 31 and the work B (step S106). Then, the process returns to step S102 to repeat the imaging of workpiece B by the first camera 31 and the search for the intersection model.

[0063] On the other hand, if a location is found that matches the three-dimensional intersection model shown in the intersection model data 763 for all intersections P1 and P2 where binding is planned in the work model data 762, the position and orientation of all intersections P1 and P2 are determined (step S107). The location of intersection P1 or P2 identified here is more accurate than the location of intersection P1 and P2 indicated in the work model data 762. This is because the work model data 762 specifies the location of intersection P1 or P2 derived from the design conditions of work B, and errors may occur in work B on the holding base 21.

[0064] Furthermore, since the intersection model data 763 for intersections P1 and P2 includes insertion direction information, the appropriate insertion direction for the binding operation for the identified intersection P1 or P2 can be determined from the orientation of that intersection P1 or P2 (step S108). Then, once the position, orientation, and insertion direction of all intersections P1 or P2 have been identified, the intersection identification process is completed, and the control unit 77 proceeds to step S2 in Figure 7.

[0065] The control unit 77 drives the drive motor 23 of the workpiece holding unit 2 to operate the holding table 21 and move the workpiece B to the binding area E2 (step S2). Furthermore, the control unit 77 sequentially initiates the binding operation for the identified intersections P1 and P2 of the workpiece B. Specifically, in the binding area E2, the control unit 77 moves the second camera 51 of the individual imaging unit 5 mounted on the robot arm 4 closer to either intersection P1 or P2 (step S3). Here, the control unit 77 controls the movement of the robot arm 4 based on the position, orientation, and insertion direction of intersection P1 or P2 identified in the intersection identification process, moving the second camera 51 to a position in front of intersection P1 or P2 along the insertion direction. Then, the control unit 77 controls the movement of the lifting motor 52, bringing the second camera 51 closer to intersection P1 or P2 to a predetermined distance. As a result, intersection P1 or P2 is positioned directly in front of the second camera 51, and one of the intersections P1 or P2 is within the field of view of the second camera 51.

[0066] Next, the control unit 77 uses the second camera 51, which was brought close in step S3, to photograph the intersection point P1 or P2, acquire the measurement data 765, and store it in the storage unit 76 (step S4). The measurement data 765 from the second camera 51 includes higher resolution color image data than that from the first camera 31. When the second camera 51 is taking pictures, the control unit 77 may control the lighting unit 53 to photograph the intersection point P1 or P2 with multiple different lighting patterns. This allows for the generation of a three-dimensional image based on changes in the patterns of projected and reflected light, and the acquisition of distance information.

[0067] Next, the control unit 77 calculates the position of intersection point P1 or P2 based on the image data acquired in step S4 (step S5). In other words, the control unit 77 detects the contours (edges) of the main reinforcement bars S1 and tie reinforcement bars S2 from the image data of the main reinforcement bars S1 and tie reinforcement bars S2. The control unit 77 determines the position of intersection point P1 or P2 with even greater precision than the position obtained by the intersection point identification process described above, based on the contours of the main reinforcement S1 and the stirrup reinforcement S2. It also calculates the wire length required for tying by determining the outer diameters of the main reinforcement S1 and the stirrup reinforcement S2, and determines the angle of the tying unit 6 around the pivot axis Zr when performing the tying operation based on the direction along the contours of the main reinforcement S1 and the direction along the contours of the stirrup reinforcement S2. Furthermore, the control unit 77 determines whether the insertion direction of the binding portion 6 is appropriate based on the possibility of interference between the binding portion 6 and other reinforcing bars S or jigs, etc. (step S6).

[0068] If it is determined that the current insertion direction is not appropriate, another insertion direction recorded in the intersection model data 763 for intersection P1 or P2 is selected according to priority (step S7). In this case, the process returns to step S3, and the approach to intersection P1 or P2 from the other insertion direction and the imaging by the second camera 51 are repeated.

[0069] On the other hand, if the insertion direction of the binding portion 6 is correct, the control unit 77 moves the binding portion 6 closer to the intersection P1 or P2 (step S8). Here, the control unit 77 controls the movement of the robot arm 4 and moves the binding unit 6 mounted on the end effector 43 closer to intersection P1 or P2, replacing the second camera 51. At this time, based on the more accurate position information of intersection P1 or P2 obtained in step S7, the control unit 77 can position the binding position of the binding unit 6 opposite intersection P1 or P2 with high positional accuracy.

[0070] Next, the control unit 77 operates the binding unit 6 to bind the intersection P1 or P2 with the wire W (step S9). Next, the control unit 77 determines whether or not to terminate the bundling process (step S10). If it determines not to terminate the process (step S10; No), it proceeds to step S3 described above. As a result, steps S3 to S10 are repeated until, for example, all necessary intersections P are bound together. In other words, the selection of the next intersection P1 or P2 to be bound, and the photography and binding of that intersection P1 or P2 are performed sequentially. Then, in step S10, if it is determined that, for example, all necessary intersections P have been secured (step S10; Yes), the control unit 77 terminates the securing process.

[0071] [Technical Effects of Embodiments of the Invention] As described above, the binding system 1 of this embodiment includes a storage unit 76 in which intersection model data 763, which is three-dimensional information of the intersection model, is stored; a first camera 31 as a first information acquisition unit that acquires measurement data 764 as three-dimensional information from the workpiece B; and a control unit 77 that refers to the intersection model data 763 and functions as an identification unit that identifies an intersection P1 or P2 from the acquired three-dimensional information of the workpiece B. Since the measurement data 764 obtained by the first camera 31 is three-dimensional information of workpiece B, the large fluctuations in the captured image due to differences in the direction of the line of sight to intersection P1 or P2, as is the case with two-dimensional image capture, are suppressed. Therefore, it becomes possible to stably and accurately identify the position and orientation of intersection P1 or P2 based on the intersection model data 763. Furthermore, when workpiece B is fixed with a jig, there is a risk that the intersection point between the reinforcing bar S and the jig may be mistakenly identified as an intersection point when capturing a two-dimensional image. However, by utilizing the intersection model data 763, which is three-dimensional information of the intersection model, the occurrence of misrecognition can be sufficiently reduced, making it possible to more stably and accurately identify the position and orientation of intersection point P1 or P2.

[0072] Furthermore, the memory unit 76 of the binding system 1 stores insertion direction information, which indicates the insertion direction of the tip of the binding unit 6 that performs the binding operation on the intersection model, in the form included in the intersection model data 763. Therefore, when intersection point P1 or P2 is identified using intersection model data 763 with respect to measurement data 764 of workpiece B, the insertion direction of the binding section 6 can also be identified incidentally. This eliminates the need for detection or calculation to determine the insertion direction for the identified intersection point P1 or P2, thereby reducing the processing load on the control unit 77, suppressing delays in operation, and enabling smooth binding operations.

[0073] Furthermore, the memory unit 76 of the binding system 1 records insertion direction information, which includes multiple different insertion directions, in the form of intersection model data 763. Therefore, if the binding operation from a specific insertion direction becomes difficult due to the risk of interference between the binding portion 6 and the workpiece B or other structures, a candidate for the next insertion direction can be quickly obtained, making it possible to continue a stable and smooth binding operation. In particular, the insertion direction information includes a priority order for multiple different insertion directions, allowing for an immediate determination of which insertion direction should be used for the binding operation, enabling a quick and appropriate binding operation.

[0074] Furthermore, since the memory unit 76 of the binding system 1 stores intersection model data 763 for multiple intersections P1 and P2, it is possible to identify various intersections with different shapes and structures from the workpiece B, thereby improving the versatility of the device.

[0075] Furthermore, since the binding system 1 includes a robot arm 4 that displaces the binding part 6 relative to the workpiece B, and a controller 49 and a control unit 77 that control the robot arm 4, it is possible to properly position the binding part 6 relative to the workpiece B even when the workpiece B has a three-dimensional structure and the intersection point P1 or P2 is arranged three-dimensionally. In addition, the restrictions on the insertion direction of the binding part 6 are relaxed, making it possible to perform binding operations from a more appropriate insertion direction. In particular, since the robot arm 4 displaces the binding portion 6, even if the workpiece B becomes larger or heavier, it becomes possible to easily position the binding portion 6 at the intersections P1 or P2 located at various points on the workpiece B.

[0076] Furthermore, since the storage unit 76 of the binding system 1 stores work model data 762 as three-dimensional information of the overall reinforcing bars S of work B, it becomes possible to easily and quickly search for the location of intersection P1 or P2. In addition, by using both the work model data 762 and the intersection model data 763 to identify the location of intersection P1 or P2, it becomes possible to suppress misrecognition and improve work accuracy.

[0077] Furthermore, the control unit 77, which functions as a specific unit, acquires measurement data 764 by the first camera 31 (step S102) and identifies intersections P1 and P2 by the control unit 77 as a specific unit (step S104) in the intersection identification process shown in Figure 8 above. Based on predetermined conditions, it changes the relative position of the first camera 31 and the workpiece B (step S106), and then retries acquiring measurement data 764 by the first camera 31 (step S102) and identifying intersections P1 and P2 (step S104). This makes it possible to more accurately determine the position and orientation of intersections P1 and P2 based on the more properly acquired measurement data 764.

[0078] Furthermore, since the binding system 1 is equipped with a second camera as a second information acquisition unit capable of observing one intersection point, the positions of multiple intersection points P acquired by the first camera 31 can be acquired individually, making it possible to position the binding unit 6 with higher precision and perform highly accurate binding.

[0079] [Other matters in this embodiment] The embodiments of the present invention have been described above. However, the present invention is not limited to the embodiments described above. For example, a component integrally formed from a single member in an embodiment may be replaced with a component divided into multiple members that are connected or fixed to each other. Also, a component formed by connecting multiple members may be replaced with a component integrally formed from a single member. Furthermore, details shown in the embodiments can be modified as appropriate without departing from the spirit of the invention.

[0080] [Other examples of work model data and intersection model data] The aforementioned work model data 762 exemplifies the three-dimensional information of the entire workpiece B based on design information that includes the three-dimensional positional information of intersection point P. This work model data 762 is data that shows a three-dimensional structure that is faithful to the external shape of workpiece B shown in Figure 4. However, the work model data 762 required for the binding system 1 does not need to be data that faithfully represents the three-dimensional structure of the workpiece B, as long as it can identify the intersections P1 and P2 where the binding will take place, and some information can be omitted. For example, as previously mentioned, the detailed surface shape of the main reinforcement bars S1 and stirrups S2 of workpiece B can be omitted, and information indicating the outer diameter of the main reinforcement bars S1 and stirrups S2 of workpiece B can also be omitted. For example, the work model data 762 may be a representation of each main reinforcement S1 and each tie reinforcement S2 as shown in Figure 9, using lines without a defined diameter (lines without a defined outer diameter). In this case, the work model data 762 only needs to include information indicating the length of each main reinforcement S1 and each tie reinforcement S2 line, the direction of the lines, and their relative arrangement.

[0081] Furthermore, the intersection model data 763 may also be defined by lines without thickness, as shown in Figures 10 and 11, which represent the main reinforcement bars S1 and stirrups S2 that constitute the surrounding areas of intersections P1 and P2 of workpiece B. In this case as well, the intersection model data 763 only needs to include information indicating the length of the lines, the direction of the lines, and the relative arrangement of the main reinforcement bars S1 and stirrups S2 that constitute the surrounding areas of intersections P1 and P2. In the case of intersection model data 763, it is preferable to include insertion direction information I11-I13 and insertion direction information I21-I23, or to prepare them separately and linked to each other.

[0082] [Other examples of intersection identification processing] In the intersection identification process shown in Figure 8, which is executed by the control unit 77, the conditions for retrying the acquisition of measurement data 764 by the first camera 31 (step S102) and the identification of intersections P1 and P2 (step S104) are: (1) the position and orientation of all intersections P1 and P2 that are scheduled to be bundled in the work model data 762 have not been identified (step S105) and (2) the relative position of the first camera 31 and work B has been changed (step S106). However, one or both of the conditions (1) and (2) for performing a retry may be omitted. In other words, regardless of whether the position and orientation of all intersections P1 and P2 where binding is planned in the work model data 762 have been identified, the relative position of the first camera 31 and the work B, the acquisition of measurement data 764 by the first camera 31, and the identification of intersections P1 and P2 may be repeated multiple times to finally determine the position and orientation of intersections P1 and P2. Alternatively, if the position and orientation of all intersections P1 and P2, which are scheduled to be bundled in the work model data 762, are not determined, the acquisition of measurement data 764 by the first camera 31 and the determination of intersections P1 and P2 may be retried without changing the relative position of the first camera 31 and the work B. Furthermore, regardless of whether the position and orientation of all intersections P1 and P2 where binding is planned in the work model data 762 have been identified, the acquisition of measurement data 764 by the first camera 31 and the identification of intersections P1 and P2 may be repeated multiple times without changing the relative position of the first camera 31 and the work B, thereby finally determining the position and orientation of intersections P1 and P2.

[0083] [Regarding other configurations] In the above embodiment, the workpiece B targeted by the binding system 1 for binding was exemplified as a rectangular prism-shaped object that constitutes the framework of columns and beams, but it is not limited to this. The binding system 1 can, for example, suitably bind together the intersections of multiple planes or curved surfaces with different orientations.

[0084] Furthermore, the bundling system 1 can also identify intersection P1 or P2 by searching for a portion that approximates the three-dimensional shape indicated by intersection P1 or P2 shown by intersection model data 763, based on measurement data 764 obtained by photographing workpiece B with the first camera 31, without using workpiece model data 762. In this case, since the search is performed across the entire scope of work B, the processing load for the search may increase compared to the case where there are 762 work model data, and processing may take longer.

[0085] Furthermore, the arrangement of the first camera 31 in the bundling system 1 is just one example, and it does not have to be arranged to photograph the workpiece B from above. For example, the workpiece B may be photographed from a horizontal direction, such as from the left or right. In that case, two first cameras 31 may be placed one on the left and one on the right to photograph workpiece B from both sides.

[0086] Furthermore, the binding system 1 may have a fixed mounting base 21 for the workpiece holding unit 2 that does not move. In this case, the overall imaging unit 3 and the robot arm 4 can be positioned closer to the mounting base 21, and imaging and binding operations can be performed on the workpiece B on the mounting base 21 which is in a fixed position.

[0087] Furthermore, if the first camera 31 can detect each intersection point P1 and P2 of the workpiece B with sufficient accuracy, the second camera 51 does not need to be provided in the binding system 1. Alternatively, the bundling system 1 may have the first camera 31 mounted on the robot arm 4 instead of the second camera 51. Furthermore, the first camera 31 may be held by another robot arm, allowing the workpiece B to be photographed from any position.

[0088] Furthermore, the binding system 1 includes a robot arm 4 as a displacement mechanism that displaces the binding portion 6 relative to the workpiece B, but is not limited to this. For example, the binding section 6 may be fixed in place so as not to move, and the robot arm 4 may hold the workpiece B and perform the binding work at intersections P1 and P2 while displacing the workpiece B relative to the binding section 6. Alternatively, in addition to the robot arm 4 that displaces the binding section 6, another robot arm may be added to hold the workpiece B and displace it relative to the binding section 6, and the control unit 77 may control both robot arms to perform the binding work.

[0089] Furthermore, in the example shown for the binding system 1, the storage unit 76 of the control device 7 has two types of intersection model data 763, namely intersection P1 shown in Figure 5 and intersection P2 shown in Figure 6. However, the number of types of intersection model data 763 may be one or more. Furthermore, it is preferable to appropriately set the outline pattern of the intersections in the intersection model according to the structure of workpiece B. [Explanation of symbols]

[0090] 1. Binding System 2. Workpiece holding section 21 Holding stand 3. Overall Photography Department 31. First Camera (First Information Acquisition Unit) 32 Moving mechanism 33 Y-direction slider 4. Robot arm (displacement mechanism) 40 Robot arm body 46 Moving mechanism 461 Y-direction slider 49 Controllers 5 Individual Photography Section 51. Second camera 6 Binding part 61 Rebar tying machine 7 Control device 76 Memory section 761 Binding Program 762 Work Model Data (Overall 3D Information of Reinforcement in the Workpiece) 763 Intersection Model Data (Three-dimensional information of the intersection model) 764 measurement data 765 Measurement data 77 Control Unit (Specific Unit) 10 Main unit of the device B Work I11~I13, I21~I23 Insertion direction information P intersection P1,P2 intersection S-shaped reinforcing bars S1 main bar S2 stirrup W Wire (Bundling material)

Claims

1. For a workpiece having intersections where reinforcing bars cross, a binding section is provided to bind the intersections with a binding body, A memory unit that stores three-dimensional information of the intersection model, A first information acquisition unit that acquires three-dimensional information from the aforementioned workpiece, A unit that identifies intersections by referring to the three-dimensional information of the intersection model and using the acquired three-dimensional information of the workpiece, A binding device equipped with a binding mechanism.

2. The memory unit stores insertion direction information indicating the insertion direction of the tip of the binding part that performs the binding operation on the intersection model. The binding device according to claim 1.

3. The memory unit records insertion direction information that includes a plurality of different directions for the insertion direction of the binding portion relative to the intersection model. The binding device according to claim 2.

4. The memory unit records insertion direction information that includes a priority order for the insertion directions of the binding portion in the multiple different directions relative to the intersection model. The binding device according to claim 3.

5. A displacement mechanism that causes the binding portion and the workpiece to be displaced relative to each other, A control unit that controls the displacement mechanism, The binding device according to claim 1, comprising:

6. The displacement mechanism displaces the binding portion. The binding device according to claim 5.

7. The displacement mechanism displaces the workpiece. The binding device according to claim 5.

8. The memory unit stores three-dimensional information of multiple intersection models. The binding device according to claim 1.

9. The memory unit stores three-dimensional information of the intersection model, which is composed of lines whose outer diameters are not defined. The binding device according to claim 1.

10. The memory unit stores three-dimensional information of the entire reinforcing bar structure of the workpiece. The binding device according to claim 1.

11. After the first information acquisition unit acquires three-dimensional information from the workpiece and the identification unit identifies the intersection points from the acquired three-dimensional information of the workpiece, The process of acquiring three-dimensional information from the workpiece by the first information acquisition unit and identifying intersection points from the acquired three-dimensional information of the workpiece by the identification unit is repeated. The binding device according to claim 10.

12. The system further comprises a second information acquisition unit capable of observing at least one intersection point of the aforementioned workpiece. The binding device according to claim 1.

13. A computer controls a binding device that includes a binding unit for binding the intersections of reinforcing bars with a binding body for a workpiece having intersections where reinforcing bars intersect, a storage unit that stores three-dimensional information of the intersection model, and a first information acquisition unit that acquires three-dimensional information from the workpiece. A binding program that implements the function of a specific unit that identifies intersections from the acquired three-dimensional information of the workpiece by referring to the three-dimensional information of the intersection model.

Images