Information processing device and bundling system

Abstract

This invention provides an information processing device and a bundling system that can streamline the bundling process. [Solution] The information processing device according to the present disclosure includes an acquisition unit that moves in the first or second direction on a reinforcement arrangement in which a plurality of first reinforcing bars extending in a first direction and a plurality of second reinforcing bars extending in a second direction intersecting the first direction are arranged in a manner that intersects with each other, and acquires information about a plurality of binding devices capable of binding the intersections where the first reinforcing bars and the second reinforcing bars intersect; and a control unit that, based on the information, assigns a binding area to each of the plurality of binding devices for performing binding at the intersections.

Description

Technical Field

[0001] This embodiment relates to an information processing apparatus and a clustering system.

Background Art

[0002] Conventionally, there has been proposed a self-propelled mobile work robot such as a cleaning robot that divides a range to be cleaned into a plurality of parts and sequentially moves and cleans the divided plurality of areas. For example, Patent Document 1 describes a self-propelled body that can complete the work in the area to be worked even if the power is restarted during the work in the area to be worked by holding work order information and operation log information in a non-volatile storage unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the technology described in Patent Document 1, work sequence information and operation log information are stored in a non-volatile memory unit, and the stored contents are retained even when the autonomous vehicle's power supply is restarted. Therefore, even if the power supply is restarted in the middle of working on an area to be worked on, after the restart, the autonomous vehicle can determine from the work sequence information and operation log information stored in the non-volatile memory unit whether it was working on multiple sub-areas of the area to be worked on, and if so, which sub-areas have been completed. It can then start working from the starting position of the sub-area where work has not yet been completed. Consequently, even if the autonomous vehicle described in Patent Document 1 cuts off the power supply at a time that the autonomous vehicle cannot detect in advance due to low battery power or an error event including some external factor while working on an area to be worked on, it can complete the work on the area to be worked on specified by the operator without leaving anything undone, and it can prevent the autonomous vehicle from having to repeat work on a sub-area that had already been completed before the power supply was cut off. Therefore, even if the power supply is restarted in the middle of working on an area to be worked on, the work on the area to be worked on can be completed efficiently and reliably.

[0005] However, in the technology described in Patent Document 1, the operator needs to specify a work area for each of the multiple autonomous mobile work robots. For example, even when using multiple rebar tying robots that autonomously move along multiple reinforcing bars and automate the rebar tying work by tying the intersections where the multiple reinforcing bars intersect with wires, etc., and assigning a tying area, which is the work area, to each rebar tying robot, the operator still needs to specify the tying area. Therefore, there is room for improvement in configurations that use multiple autonomous mobile work robots, such as rebar tying robots, to perform mobile work such as tying.

[0006] This disclosure has been made in view of the above-mentioned issues, and aims to provide an information processing device and a bundling system that can streamline bundling operations. [Means for solving the problem]

[0007] One aspect of the present disclosure provides an information processing device comprising: an acquisition unit that moves in a first or second direction on a reinforcement arrangement in which a plurality of first reinforcing bars extending in a first direction and a plurality of second reinforcing bars extending in a second direction intersecting the first direction are arranged in a manner that intersects with each other, and acquires information about a plurality of tying devices capable of tying together the intersections where the first and second reinforcing bars intersect; and a control unit that, based on the information, assigns a tying area to each of the plurality of tying devices for performing tying at the intersections.

[0008] Another aspect of the present disclosure provides a tying system comprising: a plurality of tying devices that move in a first or second direction on a reinforcement arrangement in which a plurality of first reinforcing bars extending in a first direction and a plurality of second reinforcing bars extending in a second direction intersecting the first direction are arranged in a manner that intersects with each other, and which are capable of tying together the intersections where the first and second reinforcing bars intersect; and a control device that assigns a tying area to each of the plurality of tying devices for performing tying of intersections. [Effects of the Invention]

[0009] This disclosure provides an information processing device and a bundling system that can streamline bundling operations. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is an overall perspective view of a rebar tying robot 100, which is one embodiment of the present disclosure, as seen from an oblique upward direction. [Figure 2] Figure 2 is an overall perspective view of a rebar tying robot, which is one embodiment of the present disclosure, as seen from a diagonally downward direction. [Figure 3] Figure 3 is a plan view of the rebar tying robot 100 as seen from above (above in the Z direction). [Figure 4] Figure 4 is a plan view of the rebar tying robot 100 as seen from below (downward in the Z direction). [Figure 5] Figure 5 is a perspective view of the rebar tying robot 100 with the rebar tying unit 110 removed, viewed from an oblique upward direction. [Figure 6]FIG. 6 is a perspective view of the steel bar bundling robot 100 with the steel bar bundling unit 110 removed, as seen from an obliquely upward direction. [Figure 7] FIG. 7 is a diagram for explaining the functional block configuration of the steel bar bundling robot 100. [Figure 8] FIG. 8 is a view of the steel bar bundling robot 100 traveling along the first steel bar R10, as seen from the Y direction. [Figure 9] FIG. 9 is a view of the steel bar bundling robot 100 traveling along the first steel bar R10, as seen from the X direction. [Figure 10] FIG. 10 is a view of the steel bar bundling robot 100 that has stopped traveling and is performing a bundling operation, as seen from the Y direction. [Figure 11] FIG. 11 is a view of the steel bar bundling robot 100 performing a bundling operation, as seen from the X direction. [Figure 12] FIG. 12 is a view of the steel bar bundling robot 100 performing a bundling operation, as seen from the lower side in the Z direction. [Figure 13A] FIG. 13A shows an image of the vicinity of the intersection of the first steel bar R10 and the second steel bar R20 taken by a 3D distance camera. [Figure 13B] FIG. 13B schematically shows an image of the vicinity of the intersection of the first steel bar R10 and the second steel bar R20. [Figure 14A] FIG. 14A is a schematic side view of the steel bar bundling robot 100 as seen from the horizontal direction (X direction). [Figure 14B] FIG. 14B is a schematic top view of the steel bar bundling robot 100 as seen from the upward direction (upper side in the Z direction). [Figure 15] FIG. 15 is a diagram schematically showing an imaging image by the first sensor 130a. [Figure 16] FIG. 16 is a schematic diagram for explaining template matching. [Figure 17] FIG. 17 is a flowchart of a method for controlling the traveling of the steel bar bundling robot 100 in an embodiment of the present disclosure. [Figure 18A] FIG. 18A is a schematic diagram showing an example of the intersection map 194. [Figure 18B]FIG. 18B is a schematic diagram showing an example of a travel route. [Figure 18C] FIG. 18C is a diagram for explaining a mode in which the steel bar binding robot detects an obstacle. [Figure 18D] FIG. 18D is a diagram for explaining a mode in which the steel bar binding robot 100 detects an intersection. [Figure 18E] FIG. 18E is a diagram showing a state in which the steel bar binding robot 100 has traveled to the intersection T2 detected by the sensor unit 130. [Figure 18F] FIG. 18F is a diagram for explaining a mode in which the steel bar binding robot 100 determines in which area the intersection is included. [Figure 19] FIG. 19 is a diagram schematically showing the steel bar binding robot 100 for explaining a method of estimating an intersection. [Figure 20] FIG. 20 is a flowchart of a method for estimating the intersection c12 in an embodiment of the present disclosure. [Figure 21] FIG. 21 is a flowchart regarding the lateral movement of the steel bar binding robot 100. [Figure 22A] FIG. 22A is a view of the steel bar binding robot 100 during lateral movement as seen from the back. [Figure 22B] FIG. 22B is a view of the steel bar binding robot 100 during lateral movement as seen from an obliquely upward direction. [Figure 23A] FIG. 23A is a view of the steel bar binding robot 100 during lateral movement as seen from the back. [Figure 23B] FIG. 23B is a view of the steel bar binding robot 100 during lateral movement as seen from an obliquely upward direction. [Figure 24A] FIG. 24A is a view of the steel bar binding robot 100 during lateral movement as seen from the back. [Figure 24B] FIG. 24B is a view of the steel bar binding robot 100 during lateral movement as seen from an obliquely upward direction. [Figure 25A] FIG. 25A is a view of the steel bar binding robot 100 during lateral movement as seen from the back. [Figure 25B]Figure 25B is a view of the rebar tying robot 100 in motion, seen from an oblique angle above. [Figure 26A] Figure 26A is a rear view of the rebar tying robot 100 while it is moving laterally. [Figure 26B] Figure 26B is a view of the rebar tying robot 100 in motion, seen from an oblique angle above. [Figure 27A] Figure 27A is a rear view of the rebar tying robot 100 while it is moving laterally. [Figure 27B] Figure 27B is a view of the rebar tying robot 100 in motion, seen from an oblique angle above. [Figure 28] Figure 28 is a schematic view of a rebar tying robot 200 as seen from below in the Z direction according to another embodiment of the present disclosure. [Figure 29] Figure 29 is a schematic diagram showing a rebar tying system 10 according to an embodiment of the present disclosure. [Figure 30] Figure 30 is a diagram showing the functional block configuration of the information processing device 600 according to the embodiment of this disclosure. [Figure 31] Figure 31 shows an example of the hardware configuration of computer 300A according to the present disclosure. [Figure 32] Figure 32 is a flowchart of the processes performed in the rebar tying system according to the embodiment of this disclosure. [Figure 33] Figure 33 shows the functional block configuration of a rebar tying system 10 comprising a rebar tying robot 100A and an information processing device 600 according to an embodiment of the present disclosure. [Figure 34] Figure 34 is a flowchart of the method for allocating bundling areas in an embodiment of the present disclosure. [Figure 35A] Figure 35A is a diagram showing an example of the display screen 630A of the display unit 630 according to the present disclosure. [Figure 35B] Figure 35B shows a partial example of the display screen 630A of the display unit 630 according to the embodiment of this disclosure. [Figure 36A]Figure 36A is a diagram showing a partial example of the display screen 630A of the display unit 630 according to the embodiment of this disclosure. [Figure 36B] Figure 36B shows a partial example of the display screen 630A of the display unit 630 according to the embodiment of this disclosure. [Figure 37A] Figure 37A is a schematic diagram illustrating an example of the bundling area allocation process according to the embodiment of this disclosure. [Figure 37B] Figure 37B is a schematic diagram illustrating an example of the bundling area allocation process according to the embodiment of this disclosure. [Figure 38] Figure 38 shows the functional block configuration of the rebar tying robot 100B according to the embodiment of this disclosure. [Figure 39] Figure 39 is a perspective view of a bundling device 300 according to an embodiment of the present disclosure. [Modes for carrying out the invention]

[0011] This embodiment will now be described with reference to the attached drawings. To facilitate understanding of the explanation, the same reference numerals are used for identical components in each drawing whenever possible, and redundant explanations are omitted.

[0012] The configuration of the binding device 100 according to the embodiment of this disclosure will be described below. In this embodiment, the binding device is a rebar binding device that binds multiple reinforcing bars arranged in a cross pattern, and may be, for example, a rebar binding robot. In the following description, the binding device 100 will be described using the case where it is a rebar binding robot as an example, and the binding device 100 will also be referred to as the rebar binding robot 100. Note that the X axis, Y axis and Z axis may be shown in each drawing. The X axis, Y axis and Z axis form a three-dimensional Cartesian coordinate system in a right-handed system. Hereinafter, the direction of the arrow on the X axis may be called the X axis forward, +X direction, right side of the X direction or X axis right, and the direction opposite to the arrow may be called the X axis backward, -X direction, left side of the X direction or X axis left. The same applies to the other axes. Note that the Z axis forward and Z axis backward may be called "upper side" or "upwards" and "lower side" or "downwards," respectively. Furthermore, planes perpendicular to the X, Y, or Z axes are sometimes called the YZ plane, ZX plane, or XY plane, respectively. However, these directions are used for convenience to explain relative positional relationships. Therefore, these directions do not define absolute positional relationships.

[0013] Figure 1 is an overall perspective view of a rebar tying robot 100, which is an embodiment of the present disclosure, viewed from an oblique upward direction. Figure 2 is an overall perspective view of a rebar tying robot 100, which is an embodiment of the present disclosure, viewed from an oblique downward direction. As shown in Figures 1 and 2, the rebar tying robot 100 according to the embodiment of the present disclosure comprises a rebar tying unit 110, a travel unit 121, and a sensor unit 130. The rebar tying robot 100 may further include other components such as a main body unit 140, a support bar 150, a control unit 160, reels 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 storage device 198 (not shown).

[0014] Figures 1 and 2 also show a group of reinforcing bars R including multiple reinforcing bars R10 extending in the Y direction (also referred to as "first reinforcing bars" or "longitudinal reinforcing bars" in this embodiment). As shown in Figures 1 and 2, the reinforcing bar tying robot 100 is positioned on the group of reinforcing bars R so as to travel along the first reinforcing bars R10. In addition to the multiple reinforcing bars R10, the group of reinforcing bars R may also include multiple reinforcing bars extending in the X direction (also referred to as "second reinforcing bars R20" or "transverse reinforcing bars" in this embodiment).

[0015] In the embodiments of this disclosure, the first reinforcing bar R10 is arranged such that its first direction of extension is parallel to the Y direction. The second reinforcing bar R20 is arranged such that its second direction of extension is parallel to the X direction. Therefore, in the exemplary embodiments of this disclosure, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged orthogonal to each other. Furthermore, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged such that the plane formed by them (also referred to as the "reinforcing bar plane" 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. However, 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 non-orthogonal to each other. For example, the first reinforcing bar R10 and the second reinforcing bar R20 may be arranged such that the angle between them is, for example, 30°, 45°, 60°, or another angle. In the embodiments of this disclosure, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged to be orthogonal to each other, but they do not necessarily have to be orthogonal at some points where they intersect, for example, they may be arranged to form an angle of 85° or more and less than 90°.

[0016] Furthermore, the first reinforcing bar R10 and the second reinforcing bar R20 have a finite length, and multiple first reinforcing bars R10 or multiple second reinforcing bars R20 may be connected via joints in a first or second direction. In addition, the first reinforcing bar R10 and the second reinforcing bar R20 may have ends as described later; for example, the first reinforcing bar R10 and the second reinforcing bar R20 may have ends R10e and R20e, respectively, at one end and the other end in the first and second directions.

[0017] The rebar tying unit 110 is configured to tie the intersection point c12 (Figure 6) between the first rebar R10 and the second rebar R20. The tying operation of the rebar tying unit 110 at the intersection point c12 of the first rebar R10 and the second rebar R20 will be described in detail later.

[0018] As shown in Figures 1 and 2, the travel unit 121 may have four travel units 121a, 121b, 121c, and 121d (referred to in this embodiment as the "first travel unit," "second travel unit," "third travel unit," and "fourth travel unit," respectively). In the embodiments of this disclosure, the travel unit 121 is arranged on the reinforcing bar group R so that the reinforcing bar tying 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 section 122a, a second roller section 122b, a third roller section 122c, and a fourth roller section 122d, respectively, and the first roller section 122a, the second roller section 122b, the third roller section 122c, and the fourth roller section 122d are configured to run on any of the first reinforcing bars R10 along the Y direction (first direction), which is the extension direction of the first reinforcing bar R10.

[0019] In this embodiment, the travel unit 121 is an example of a mobile unit (mobile unit 120, described later). The mobile unit 120 may have the configuration of a mobile unit other than the travel unit 121, either in place of the travel unit 121 or in addition to the travel unit 121.

[0020] In the embodiments of this disclosure, the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d are described as being configured to move in the Y direction, but the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d may be configured to move in directions other than the Y direction.

[0021] For example, the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d may move in a direction that is tilted at an angle of several degrees to tens of degrees from the Y direction. For example, they may move in a direction that is tilted at an angle of several degrees to tens of degrees from the Y direction in the +X direction or the -X direction. For example, if the orientation of the rebar tying robot 100 is tilted from the Y direction due to the presence of foreign matter on the first rebar R10 being traveled, the direction in which the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d move will be tilted at least temporarily from the Y direction in the +X direction or the -X direction. Even in that case, for example, the first travel unit 121a, second travel unit 121b, third travel unit 121c, and fourth travel unit 121d may move in a direction that returns the orientation of the rebar tying robot 100 back to the Y direction (-X direction or +X direction), so that the rebar tying robot 100 moves so that it follows the first rebar R10 almost perfectly. This makes it possible for the rebar tying unit 110 of the rebar tying robot 100 to continuously perform the tying operation at the intersection c12 of the first rebar R10 and the second rebar R20.

[0022] Furthermore, even in a construction site where the first reinforcing bar R10 is arranged in a curve, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d may be configured to move in a curve so as to follow the curved first reinforcing bar R10, and in this case, the first direction, which is the direction of extension of the first reinforcing bar R10, may differ at each point that makes up the curve.

[0023] As shown in Figures 1 and 2 and Figure 3 described later, the sensor unit 130 (an example of a "detection unit") has sensors 130a, 130b, 130c, and 130d (in this embodiment, also referred to as the "first sensor," "second sensor," "third sensor," and "fourth sensor," respectively). The first sensor 130a and the second sensor 130b are spaced apart from each other along the Y direction in Figures 1 and 2 (in this embodiment, the direction in which the straight line connecting the first sensor 130a and the second sensor 130b extends is also referred to as the "third direction"). Furthermore, the fourth sensor 130d is positioned on the side opposite to the side of the rebar tying robot 100 where the third sensor 130c is located (the side facing the back of the page in Figures 1 and 2). The third sensor 130c and the fourth sensor 130d are positioned so as to be spaced apart along a direction that intersects 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").

[0024] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are configured to detect the first reinforcing bar R10 and / or the second reinforcing bar R20. For example, the first sensor 130a and the second sensor 130b may be configured to detect the first reinforcing bar R10, and the third sensor 130c and the fourth sensor 130d may be configured to detect the second reinforcing bar R20. Alternatively, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may all be configured to detect the first reinforcing bar R10 and the second reinforcing bar R20.

[0025] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d (an example of an "obstacle detection unit") may be configured to detect obstacles. Alternatively, the rebar tying robot 100 may be equipped with a sensor capable of detecting obstacles (an example of an "obstacle detection unit") in addition to the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d.

[0026] Figure 3 shows a plan view of the rebar tying robot 100 as seen from above (above in the Z direction). Figure 4 shows a plan view of the rebar tying robot 100 as seen from below (below in the Z direction).

[0027] As can be seen from Figures 3 and 4, the first travel unit 121a and the second travel unit 121b may be positioned on one and the other in the fourth direction (X direction) relative to the first sensor 130a (on the left and right sides of the X direction, respectively, in Figure 3). Similarly, the third travel unit 121c and the fourth travel unit 121d may be positioned on one and the other in the fourth direction (X direction) relative to the second sensor 130b. In other words, the first sensor 130a may be positioned between the first travel unit 121a and the second travel unit 121b in the fourth direction. Likewise, the second sensor 130b may be positioned between the third travel unit 121c and the fourth travel unit 121d in the fourth direction.

[0028] Furthermore, as shown in Figures 3 and 4, the third sensor 130c may be positioned between the first travel unit 121a and the third travel unit 121c in the third direction (the Y direction in Figures 3 and 4), and similarly, the fourth sensor 130d may be positioned between the second travel unit 121b and the fourth travel unit 121d in the third direction (the Y direction).

[0029] Furthermore, as shown in Figure 4, for example, the first sensor 130a may be positioned in a downward view on a straight line passing through the rotation axis 128a of the first roller portion 122a constituting the first travel unit 121a and the rotation axis 128b of the second roller portion 122b constituting the second travel unit 121b, or behind the straight line passing through the rotation axis 128a and the rotation axis 128b (in the -Y direction in Figure 4). Similarly, the second sensor 130b may be positioned in a downward view on a straight line passing through the rotation axis 128c of the third roller portion 122c constituting the third travel unit 121c and the rotation axis 128d of the fourth roller portion 122d constituting the fourth travel unit 121d, or in front of the straight line passing through the rotation axis 128c and the rotation axis 128d (in the +Y direction in Figure 4).

[0030] Furthermore, as shown in Figures 3 and 4, the first sensor 130a is positioned in front of the main unit 140 in the Y-axis direction (+Y direction). Similarly, the second sensor 130b is positioned behind the main unit 140 in the Y-axis direction (-Y direction). The third sensor 130c and the fourth sensor 130d are positioned on the left and right sides of the main unit 140 in the X direction in a top view in Figure 3, respectively. That is, as can be seen from Figure 4, for example, in this embodiment, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are positioned on or inside the outer edge of a rectangle virtually formed by connecting the approximate centers of the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d in a plan view of the rebar tying robot 100. Furthermore, the rectangle virtually formed by the first to fourth travel units 121a to 121d may become a square, for example, when the distances between each travel unit in the X and Y directions are approximately equal. In this case, the first to fourth sensors 130a to 130d may be positioned on or inside the outer edge of the virtual square. Also, depending on the arrangement configuration of the first to fourth travel units 121a to 121d, the first to fourth travel units 121a to 121d may virtually form a quadrilateral other than a rectangle or a square. In this case as well, the first to fourth sensors 130a to 130d may be positioned on or inside the outer edge of the virtual quadrilateral.

[0031] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d have been described in example of being positioned on or inside the outer edge of a rectangle virtually formed by connecting the approximate centers of the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d, but are not limited to this. For example, depending on the arrangement configuration of the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d, and / or the shape of the main unit 140, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may have different arrangement configurations. 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 the approximate centers of the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d in a plan view of the rebar tying robot 100.

[0032] As shown in Figures 1 and 3, the main body unit 140 may have a main body top surface 142. The main body top surface 142 may have, for example, a circular hole 144 formed near the center, and the rebar tying unit 110 may be arranged so as to pass through the hole 144.

[0033] 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 that extend in one direction and are provided parallel to, for example, the fourth direction (the X direction in Figures 1 to 4). Therefore, in the embodiments of this disclosure, the first support bar 150a and the second support bar 150b are provided parallel to each other, for example, in the horizontal direction. Also, as shown in Figures 1 to 4, the first support bar 150a and the second support bar 150b may be provided 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 unit 140 of the rebar tying robot 100 when the rebar tying robot 100 moves laterally (the X direction in Figures 1 to 4, and the fourth direction in the rebar tying robot 100).

[0034] Figure 5 is a perspective view of the rebar tying robot 100 with the rebar tying unit 110 removed, viewed from the right rear. Figure 6 is a perspective view of the rebar tying robot 100 with the rebar tying unit 110 removed, viewed from the right front. As shown in Figures 5 and 6, the rebar tying unit 110 may be provided to be movable in the vertical direction (Z direction in Figure 5) while passing through the hole 144. This allows, for example, the rebar tying unit 110 to be lowered, and when the rebar tying robot 100 reaches the intersection c12 of the first rebar R10 and the second rebar R20, it will tie the rebar at the intersection c12 of the first rebar R10 and the second rebar R20. As shown in Figures 5 and 6, the rebar tying robot 100 has reels 180a and 180b. Reels 180a and 180b contain wires used for tying reinforcing bars, and when the reinforcing bar tying unit 110 ties the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the wires contained in reels 180a and / or reel 180b are pulled out, and the intersection c12 is tied. Although a detailed explanation is omitted, the reinforcing bar tying unit 110 is provided with a wire twisting section 114 (Figure 5) at one end of the reinforcing bar tying unit 110 (the lower end in the Z direction in Figure 5), which has a wire guide and is configured to perform the reinforcing bar tying work. The reinforcing bar tying work of the wire twisting section 114 may be achieved, for example, by a function similar to that of a known reinforcing bar tying machine.

[0035] Figure 7 is a diagram illustrating the functional block configuration of the rebar tying robot 100. As shown in Figure 7, in addition to the configuration of the rebar tying unit 110, the travel unit 121, and the sensor unit 130 described above, the rebar tying robot 100 may also include a control unit 160, a lateral movement unit 146, and a storage device 198.

[0036] The control unit 160 is configured to control the movement (travel) and tying operations performed by the rebar tying robot 100. The control unit 160 may include a sensor detection result acquisition unit 162, a determination unit 164, an intersection point calculation unit 166 (also referred to as the "intersection point estimation unit" or "intersection point estimation unit" in this embodiment), a rebar tying unit control unit 168, a travel control unit 170 (also referred to as the "travel control unit" in this embodiment), a stop control unit 172, a movement amount calculation unit 174, a posture control unit 176, a motor control unit 178, a foreign object bypass control unit 188, an odometry information calculation unit 190, an intersection point map generation unit 184, and a travel route generation unit 186.

[0037] In the rebar tying robot 100 of this embodiment, as shown in Figure 1, the control unit 160 is positioned in the Y direction opposite to the rebar tying unit 110, on the side opposite to the reel 180a and reel 180b. More specifically, as shown in Figure 1, the reel 180a and reel 180b are positioned in the -Y direction of the rebar tying unit 110, while the control unit 160 is positioned in the +Y direction of the rebar tying unit 110. In particular, immediately after replacing the wire reels (reel 180a and / or reel 180b), the reels with the wire wound on them become relatively heavy, but by positioning the control unit 160 on the opposite side of the rebar tying unit 110, it is possible to balance the weight.

[0038] The lateral movement unit 146 (Figure 7) is configured to control the movement of the main unit 140 of the rebar tying robot 100. In the rebar tying robot 100 according to the embodiment of this disclosure, the rebar tying robot 100 may be moved horizontally by the lateral movement unit 146. The lateral movement unit 146 may be equipped with a first lateral movement motor 146ma and a second lateral movement motor 146mb, and for example, when moving the rebar tying robot 100 laterally, the main unit 140 may be moved horizontally by the two motors 146ma and 146mb.

[0039] More specifically, as shown in Figure 6, the lateral movement unit 146 includes a first lateral movement roller 146la and a first drive rack 146ca. The first lateral movement roller 146la is provided on the first connecting portion 147a that connects the first travel unit 121a and the second travel unit 121b to the main unit 140. The first drive rack 146ca is provided on the back surface (-Z direction surface) of the main unit 140 along the X direction.

[0040] Similarly, as shown in Figure 2, the lateral movement unit 146 has a second lateral movement roller 146lb and a second drive rack 146cb. The second lateral movement roller 146lb is provided on the second connecting portion 147b that connects the third travel unit 121c and the fourth travel unit 121d to the main unit 140. The second drive rack 146cb is provided on the back surface (-Z direction surface) of the main unit 140 along the X direction.

[0041] The second lateral movement roller 146lb constitutes, for example, a drive gear. The second drive rack 146cb has, for example, multiple teeth arranged linearly in the X direction that mesh with external teeth provided on the outer circumference of the second lateral movement roller 146lb. 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 be along 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 travel unit 121c and the fourth travel unit 121d.

[0042] Similarly, the first lateral movement roller 146la (Figure 6) also constitutes, for example, a drive gear, and the first drive rack 146ca has multiple teeth arranged in a straight line in the X direction that mesh with the external teeth provided on the outer circumference of the first lateral movement roller 146la. The first lateral movement roller 146la is driven by the 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, thereby allowing the main unit 140 to move relative to the third travel unit 121c and the fourth travel unit 121d in the X direction.

[0043] Thus, the main unit 140 may be configured to move laterally (in the X direction) relative to the travel unit 121 by driving the first lateral movement roller 146la and the second lateral movement roller 146lb, respectively, with the first lateral movement motor 146a and the second lateral movement motor 146b.

[0044] The storage device 198 may include a storage medium (e.g., a semiconductor memory element) or other media for non-transitory storage of, for example, one or more computer programs executed in the control unit 160, or data used to control the rebar tying robot 100. The storage device 198 may also include, for example, a template database 198t. The template database 198t may store, for example, images of templates used when detecting the first rebar R10 and / or the second rebar R20, or 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 from the sensor unit 130, as described later, or data obtained by applying image processing such as frequency analysis to the template images. Furthermore, the control unit 160 may also have 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 it in the template database 198t. The template data stored in the template database 198t may, for example, be accumulated when new template data is created, or deleted when the binding work at each construction site is completed. Alternatively, the created template data may be retained in the template database 198t of the storage device 198 for a certain period of time, and then deleted periodically, for example.

[0045] The storage device 198 may include, for example, an intersection map 194. The intersection map 194 is, for example, a map that divides a binding work area, which includes the estimated positions of intersections, into multiple regions. Each region may include each estimated position. In other words, each region may correspond to each estimated position. The intersection map 194 may be generated, for example, by an intersection map generation unit 184. The intersection map 194 may further include information on a travel route. The travel route may be a route that passes through at least one of the multiple regions included in the intersection map 194. The travel route may be generated, for example, by a travel route generation unit 186.

[0046] The sensor detection result acquisition unit 162 acquires the detection results from the sensor unit 130. For example, the detection results of the first sensor 130a, second sensor 130b, third sensor 130c, and / or fourth sensor 130d of the sensor unit 130 may be used by the first rebar determination unit 164a1 and / or second rebar determination unit 164a2 of the determination unit 164, which will be described later, to determine the position of the first rebar R10 and / or the second rebar R20. In addition, the detection results of the first sensor 130a, second sensor 130b, third sensor 130c, and / or fourth sensor 130d may be used by the first rebar end determination unit 164b1 and / or second rebar end determination unit 164b2 of the determination unit 164 to determine the position of the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20.

[0047] The determination unit 164 may include a first rebar determination unit 164a1, a second rebar determination unit 164a2, a first rebar end determination unit 164b1, a second rebar end determination unit 164b2, an obstacle determination unit 164c, a posture determination unit 164d, and a robot height calculation unit 164e. The first rebar determination unit 164a1 and the second rebar determination unit 164a2 determine the position of the first rebar R10 and / or the second rebar R20 using, for example, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d acquired by the sensor detection result acquisition unit 162. As described later, the first rebar determination unit 164a1 and the second rebar determination unit 164a2 may determine the position of the first rebar R10 and / or the second rebar R20 by performing template matching based on the captured images which are the detection results of the first sensors 130a to the fourth sensors 130d.

[0048] The first rebar end determination unit 164b1 and the second rebar end determination unit 164b2 determine the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20 using, for example, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d acquired by the sensor detection result acquisition unit 162. The first rebar end determination unit 164b1 and the second rebar end determination unit 164b2 may also determine the position of the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20 based on template matching, similar to the first rebar determination unit 164a1 and the second rebar determination unit 164a2.

[0049] The robot height calculation unit 164e may, for example, calculate the height of the rebar tying robot 100 from the rebar group R based on the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d. For example, when the first 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 (for example, 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 reinforcing bar group R by calculating the distance of the reinforcing bar tying robot 100 from the reinforcing bar group R based on the relative size of the first reinforcing bar R10 and / or the second reinforcing bar R20 within the imaged image of the first reinforcing bar R10 and / or the second reinforcing bar R20.

[0050] The height of the rebar tying robot 100 from the rebar group R may be calculated, for example, based on the angle of the travel unit 121. As shown in Figure 6, the travel unit 121a has a first body-side link section 125a connected to the main body section 140 and a first roller-side link section 123a connected to the first roller section 122a, and the first body-side link section 125a and the first roller-side link section 123a may constitute a link mechanism. In this case, the link angle, which is the angle between the first body-side link section 125a and the first roller-side link section 123a, may be detected by the first link angle detection sensor 134a (Figure 7) of the sensor unit 130, and the height of the first travel unit 121a may be calculated based on the link angle.

[0051] Similarly, as shown in Figure 2, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d each have a second body-side link portion 125b and a second roller-side link portion 123b, a third body-side link portion 125c and a third roller-side link portion 123c, and a fourth body-side link portion 125d and a fourth roller-side link portion 123d. The heights of the second travel unit 121b, the third travel unit 121c, and the fourth travel 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, respectively, using a second link angle detection sensor 134b, a third link angle detection sensor 134c, and a fourth link angle detection sensor 134d.

[0052] The robot height calculation unit 164e may calculate the height of the rebar tying robot 100 from the rebar group R based on the heights (heights from the rebar group R) of the first travel unit 121a, second travel unit 121b, third travel unit 121c, and fourth travel unit 121d calculated in this way. For example, the height of the rebar tying robot 100 may be calculated using the average value of some or all of the calculated heights of the first travel unit 121a, second travel unit 121b, third travel unit 121c, and fourth travel unit 121d. Also, for example, if the rebar tying robot 100 is positioned parallel or nearly parallel to the virtual plane formed by the rebar group R, the height of the rebar tying robot 100 may be determined by any one of the heights of the first travel unit 121a, second travel unit 121b, third travel unit 121c, and fourth travel unit 121d.

[0053] As shown in Figure 7, the sensor unit 130 may include a tilt detection sensor 132 in addition to the first sensors 130a to the fourth sensors 130d described above. As the tilt detection sensor 132, for example, a known tilt sensor or horizontal sensor, or any sensor capable of detecting the tilt angle of the rebar tying robot 100 may be used. The sensor detection result acquisition unit 162 may also acquire the detection result of the tilt detection sensor 132. Based on the detection result of the tilt detection sensor 132, for example, the posture determination unit 164d of the determination unit 164 may determine the posture of the rebar tying robot 100, and based on the determination result of the posture determination unit 164d, the posture control unit 176 may drive the height change motors 126 of the travel unit 121 (first height change motor 126a of the first travel unit 121a, second height change motor 126b of the second travel unit 121b, third height change motor 126c of the third travel unit 121c, and / or height change motor 126d of the fourth travel unit 121d) to adjust the posture of the rebar tying robot 100.

[0054] The rebar tying robot 100 may, for example, drive the height change motor 126 based on the detection result of the inclination detection sensor 132 so that the main unit 140 is parallel to the surface formed by the first rebar R10 and / or the second rebar R20 (in this embodiment, also referred to as the "rebar surface"). For example, if the first rebar R10 and the second rebar R20 are arranged so that the rebar surface extends in the horizontal direction, and the rebar tying robot 100 is tilted in the X direction, the posture of the rebar tying robot 100 may be adjusted by changing the height of the first travel unit 121a and the third travel unit 121c, or the second travel unit 121b and the fourth travel unit 121d, among the first to fourth travel units 121a to 121d.

[0055] The intersection point calculation unit 166 estimates the intersection point c12 of the first reinforcing bar R10 and the second reinforcing bar R20 by calculating it. The intersection point calculation unit 166 may, for example, 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, as will be described later. Based on the calculated position of the intersection point c12, the reinforcing bar tying robot 100 may perform tying work using the reinforcing bar tying 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 tying robot 100 using the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and / or the fourth travel unit 121d so that the reinforcing bar tying unit 110 is on the intersection point c12.

[0056] The rebar tying unit control unit 168 controls the movement of the rebar tying unit 110 by controlling the rebar tying unit movement unit 168m. The rebar tying unit 110 can take on a tying position in which it performs a tying operation to tie the intersection point c12 where the first rebar R10 and the second rebar R20 intersect, and a retracted position in which it moves to a retracted position after the tying operation is completed and before moving to the next intersection point c12 to perform the tying operation. When the rebar tying unit 110 moves from the retracted position to the tying position, it moves in the -Z direction, and when it moves from the tying position to the retracted position, it moves in the +Z direction. This movement of the rebar tying unit 110 in the Z direction is realized by the rebar tying unit movement unit 168m, which is composed of, for example, a motor. Furthermore, the vertical movement of the rebar tying unit 110 in the Z direction by the rebar tying unit movement unit 168m is controlled by the rebar tying unit control unit 168.

[0057] The rebar tying unit control unit 168 also controls the tying operation of the rebar tying unit 110 at the intersection c12 after the rebar tying unit 110 has moved to the tying position. For example, the tying work performed by the rebar tying unit 110 using wires pulled out from the reel 180 by the wire pulling unit described later is controlled by the rebar tying unit control unit 168. For example, after moving the rebar tying robot 100 by the first traveling unit 121a, second traveling unit 121b, third traveling unit 121c, and / or fourth traveling unit 121d so that the rebar tying unit 110 is positioned above the intersection c12, the rebar tying unit control unit 168 may control the rebar tying unit moving unit 168m to lower the rebar tying unit 110 to the tying position so that it approaches the intersection c12, and then tie the rebar at the intersection c12.

[0058] The travel control unit 170 controls the movement along the travel route. For example, the travel control unit 170 may use the motor control unit 178 to control the travel unit 121 so that the rebar tying robot 100 follows the first rebar R10 as it moves, 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 Figure 5, when the rebar tying robot 100 travels along the first rebar R12 and the first rebar R14, the drive motors of the travel unit 121 (the first wheel drive motor 124a that drives the first roller section 122a, the second wheel drive motor 124b that drives the second roller section 122b, the third wheel drive motor 124c that drives the third roller section 122c, and / or the fourth wheel drive motor 124d that drives the fourth roller section 122d) may be driven to prevent the rebar tying robot 100 from detaching from the first rebar R12 and the first rebar R14.

[0059] For example, the position of the rebar tying robot 100 may be adjusted by accelerating or decelerating the first wheel drive motor 124a and the third wheel drive motor 124c, which are the drive motors for the first travel unit 121a and the third travel unit 121c, which are located at the same or approximately the same position in the X direction, relative to the second wheel drive motor 124b and the fourth wheel drive motor 124d, which are the drive motors for the second travel unit 121b and the fourth travel unit 121d, which are located at the other side in the X direction, thereby causing the rebar tying robot 100 to move in accordance with the first rebar R10.

[0060] Alternatively, the travel control unit 170 may, for example, adjust the rotational speeds of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d to make the rebar tying robot 100 move in a manner that follows the first rebar R10. For example, by setting the rotational speed of one or more of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to a rotational speed different from that of the other wheel drive motors, or by setting the rotational speeds of all of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to different rotational speeds from each other, it becomes possible to make the rebar tying robot 100 flexibly follow the first rebar R10.

[0061] The driving control unit 170 may determine whether or not an obstacle has been detected during driving based on the determination result of the obstacle detection unit 164c. If it is determined that an obstacle has been detected, the driving route generation unit 186 may generate (update) the driving route. The updated driving route does not have to include the area containing the obstacle. Also, if no obstacles are detected, the driving route generation unit 186 may generate (update) the driving route to include the area containing the obstacle.

[0062] The travel control unit 170 may determine whether or not an intersection has been detected during travel, based on the calculation results of the intersection calculation unit 166. If an intersection is detected, the travel control unit may control the travel unit 121 with the motor control unit 178 to travel to the detected intersection. The travel control unit 170 may also determine which region of the intersection map the detected intersection is located in. For example, the travel control unit 170 may calculate the self-position of the rebar tying robot 100 based on the odometry information calculated by the odometry information calculation unit 190, and then perform the determination process based on that self-position.

[0063] The stop control unit 172 is configured to control the stopping operation of the rebar tying robot 100. For example, as will be described later, if the rebar tying robot 100, which has been traveling along 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 near or approaching the end R13e of the first rebar R13 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 motors 124a to the fourth wheel drive motors 124d, thereby stopping the rebar tying robot 100. Furthermore, the rebar tying robot 100 may be stopped not only when it is located near the end R13e of the first rebar R13, but also when it is determined that it is located near the end R12e of the first rebar R12 and / or the end R14e of the first rebar R14, or when it is determined that the rebar tying robot 100 is approaching the end R12e and / or the end R14e, in addition to or instead of the end R13e of the first rebar R13.

[0064] Furthermore, the stop control unit 172 may, for example, stop the rebar tying robot 100 in order to tie the intersection point c12 of the first rebar R10 and the second rebar R20 with the rebar tying unit 110 when the intersection point calculation unit 166 described above calculates the intersection point c12.

[0065] The movement amount calculation unit 174 may be configured to calculate the amount of movement when the rebar tying robot 100 moves laterally (moves in the X direction), as will be described later. For example, as described above, if the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 determine that the rebar tying robot 100 is near or approaching the end R12e of the first rebar R12 and the end R14e of the first rebar R14, the rebar tying robot 100 completes the rebar tying work at the intersection c12 on the first rebar R13 located between the first rebar R12 and the first rebar R14, moves to another first rebar R10, and starts the rebar tying work at the intersection c12.

[0066] For example, when the rebar tying robot 100 completes the rebar tying work at the intersection c12 on the first rebar R13 and then performs the rebar tying work at the intersection c12 on the first rebar R14, the rebar tying robot 100 moves in the X direction by the distance of one first rebar R10 in the X direction. At this time, the movement amount calculation unit 174 may calculate the movement amount based on the distance in the X direction between adjacent first rebars R10, based on the position information of the first rebar R10 determined by the first rebar determination unit 164a1. Similarly, when the rebar tying robot 100 performs the rebar tying work at the intersection c12 on first rebars R10 that are two or more spaces apart in the X direction, the movement amount may be calculated based on the distance between the first rebars R10. Furthermore, based on the calculated movement amount, the lateral movement unit 146 may perform lateral movement (e.g., horizontal movement) of the main unit 140 during lateral movement. The movement amount calculation unit 174 may also calculate movement amounts in directions other than lateral movement. For example, the movement amount calculation unit 174 may calculate the vertical movement (movement in the first direction, the Y direction) of the rebar tying robot 100 based on the detection results of each sensor 130, the determination results of the rebar end determination unit 164b1 and / or the rebar end determination unit 164b2, etc.

[0067] As the sensor unit 130, for example, a camera capable of capturing two-dimensional or three-dimensional images may be used, and based on the detection results of the sensor unit 130, the location of the foreign object may be determined, for example, by the obstacle determination unit 164c of the determination unit 164. At construction sites where reinforcing bars are assembled, for example, tools may be left on the surface of the reinforcing bars, or workers may be working there. These may be detected as foreign objects based on the detection results of the sensor unit 130, and based on the detection results of the foreign object, the foreign object bypass control unit 188 may be configured to bypass the foreign object by driving 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. Alternatively, the reinforcing bar tying robot 100 may be configured to bypass the foreign object by performing lateral movement as described later.

[0068] The odometry information calculation unit 190 calculates the position and orientation of the rebar tying robot 100 as odometry information based on information from various sensors. For example, the odometry information calculation unit 190 may calculate the travel path of the rebar tying robot 100 by acquiring information such as the rotation speed of the motors output from encoders (not shown) provided on each motor of the travel unit 120, and then integrating this information, thereby calculating the position of the rebar tying robot 100. Furthermore, the output of the sensor unit 130 may also be utilized in calculating the position of the rebar tying robot 100. In addition, the odometry information calculation unit 190 may acquire information output from the sensor unit 130 and then calculate the orientation of the rebar tying robot 100 based on this information. This makes it possible to estimate the travel path and self-position on the intersection map.

[0069] The intersection map generation unit 184 generates an intersection map 194. The intersection map generation unit 184 may generate the intersection map 194 based on various information relating to reinforcing bars. For example, the intersection map 194 may be generated based on arrangement information relating to the arrangement of multiple reinforcing bars. The arrangement information may include, for example, information relating to the pitch between each reinforcing bar. The pitch information may include, for example, information indicating the pitch, as well as information for calculating the pitch (number of reinforcing bars and overall dimensions of the reinforcing bars). The arrangement information may also include information relating to the number of intersections. The information relating to the number of intersections may include, for example, information indicating the number of intersections, as well as information for calculating the number of intersections (for example, the number of first reinforcing bars and the number of second reinforcing bars).

[0070] The route generation unit 186 generates a route. The route generation unit 186 may generate a route based on, for example, an intersection map 194. Specifically, the route generation unit 186 may generate a route that passes through each area included in the intersection map 194. The information of the generated route may be included in the intersection map 194.

[0071] The control unit 160 is a processor such as a CPU (Central Processing Unit) which corresponds to the calculation unit, and is a control unit that performs control, calculations, and processing of data related to the execution of computer programs stored in the storage device 198. The processor is a calculation unit that executes a program that performs the operation of the rebar tying robot 100 (rebar tracking and travel, lateral movement (e.g., horizontal movement), rebar tying work, etc.) using each detected data. By executing the program stored in the storage device 198, the processor realizes each unit of the control unit (for example, the sensor detection result acquisition unit 162, etc.).

[0072] The memory device 198 may have, for example, RAM (Random Access Memory) and ROM (Read Only Memory). RAM is the part of the memory that allows data to be rewritten, and may be composed of, for example, semiconductor memory elements. RAM may store programs executed by the processor and data necessary for program execution (for example, template data used to determine the position of reinforcing bars based on the detection results of the sensor unit 130, as described later). These are examples, and RAM may store other data, or some of these may not be stored.

[0073] ROM is a data readable portion of the storage unit, and may be composed of semiconductor memory elements, for example. ROM may store, for example, programs executed by the control unit 160 or data that is not rewritten.

[0074] The program executed by the control unit 160 may be stored and provided in a computer-readable storage medium such as a storage device 198 (e.g., RAM or ROM), or, if the rebar tying robot 100 according to this embodiment has a communication unit (not shown), the program may be provided via a communication network connected by the communication unit.

[0075] The physical configuration described above is illustrative, and in the rebar tying robot 100 according to the embodiments of this 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 a Large-Scale Integration (LSI) that integrates a processor and memory. Furthermore, the rebar tying robot 100 may be equipped with a Graphical Processing Unit (GPU) as the control unit 160, and the various operations described above may be realized by the GPU executing a program.

[0076] The rebar tying robot 100 does not necessarily have the function of generating intersection point maps and / or generating travel routes; these functions may be provided by a separate device. This separate device may, for example, consist of a detection unit capable of detecting rebars, a mobile unit, and a control unit. The mobile unit may be configured as a mobile unit for traveling on rebars, or as a flight unit (e.g., a propeller) capable of flying above the rebars. This separate device (which may be called a "map generation device," etc.) may move (travel or fly, etc.) on the rebars while detecting them, generate intersection point maps and travel routes based on the detection results, and transmit them to the rebar tying robot 100. The rebar tying robot 100 may travel on the rebars based on the received intersection point maps and travel routes. Thus, the system may consist of the rebar tying robot 100 and the map generation device.

[0077] Next, the movement of the rebar tying robot 100 along the rebar will be described with reference to Figures 8 and 9. Figure 8 is a view of the rebar tying robot 100 moving along the first rebar R10 from the Y direction (-Y direction). Figure 9 is a view of the rebar tying robot 100 moving along the first rebar R10 from the X direction (+X direction). In Figures 8 and 9, the rebar tying robot 100 moves in the first direction (Y direction). As shown in Figures 8 and 9, while moving, the rebar tying robot 100 moves such that the third roller section 122c of the third travel unit 121c is on the first rebar R12 and the fourth roller section 122d of the fourth travel unit 121d is on the first rebar R14. As shown in Figure 9, the second roller section 122b of the second running unit 121b also runs on the first reinforcing bar R14, similar to the fourth roller section 122d of the fourth running unit 121d. Although not shown in Figures 8 and 9, the first roller section 122a of the first running unit 121a also runs on the first reinforcing bar R12, similar to the third roller section 122c of the third running unit 121c. Thus, when the rebar tying robot 100 according to the embodiment of this disclosure travels along the first rebar R10, it travels, for example, along a certain first rebar R10 (first rebar R12) and a first rebar R10 (first rebar R14) located two positions away from a certain first rebar R12, and ties together 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 located between the first rebar R12 and the first rebar R14 that it is traveling along.

[0078] Next, the rebar tying robot 100 during rebar tying work will be described with reference to Figures 10, 11, and 12. Figure 10 is a view of the rebar tying robot 100, which has stopped moving and is performing tying work, from the Y direction (-Y direction). Figure 11 is a view of the rebar tying robot 100 performing tying work from the X direction (+X direction). Figure 12 is a view of the rebar tying robot 100 performing tying work from the lower side in the Z direction (-Z direction). Figures 10, 11, and 12 show an example in which the rebar tying robot 100 ties the intersection c12 of the first rebar R13 and the second rebar R20. For tying work, the rebar tying robot 100 stops moving (Figure 10) and lowers the rebar tying unit 110 to perform tying (Figures 11 and 12).

[0079] Next, we will describe the configuration by which the rebar tying robot 100 according to the present disclosure calculates the positions of the rebar group R (first rebar R10 and second rebar R20). The rebar tying robot 100 according to the embodiment of this disclosure includes a traveling unit 121 configured to travel on a group of rebars R which includes a plurality of first rebars R1 whose extension direction is in the Y direction (first direction) and a plurality of second rebars R2 whose extension direction is in the X direction (second direction) which intersects the Y direction (first direction) and which are arranged to intersect the first rebars R1; a sensor unit 130 configured to detect at least one first rebar R10 and / or at least one second rebar R20; and a first rebar determination unit 164a1 and / or a second rebar determination unit 164a2 (also referred to as the "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 constituting a two-dimensional image generated by the detection result of the sensor unit 130. The rebar tying robot 100 according to the embodiment of this disclosure can streamline the process of calculating 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 from the detection results of the sensor unit 130. For example, compared to calculating the position of the rebar using three-dimensional data as the detection result of the sensor unit, the computational load can be reduced by performing calculations based on a two-dimensional image.

[0080] In the rebar tying robot 100 according to the embodiment of this disclosure, the two-dimensional image used to calculate the positions of the first rebar R10 and / or the second rebar R20 may be a grayscale image. In this case, the rebar tying robot 100 includes a storage device 198 that stores information of at least one template image including partial images of the first rebar R10 and / or the second rebar R20, and the two-dimensional image includes 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 positions of at least one first rebar R10 and / or at least one second rebar R20 by comparing the grayscale image with the template image.

[0081] Furthermore, in the rebar tying robot 100 according to the embodiment of this disclosure, if the density value of a pixel in the grayscale image is greater than or equal to 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, if the density value of a pixel constituting the grayscale image is greater than or equal to a predetermined threshold (first threshold), at least a part of the first rebar R1 and / or at least a part of the second rebar R2 exists at the position corresponding to the pixel having a density value greater than or equal to the predetermined threshold. Alternatively, when using a grayscale image as a two-dimensional image, the grayscale image may be generated by lowering the image density of the area where the object exists and increasing the image density of the area where the object does not exist. In this case, if 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.

[0082] In the rebar tying robot 100 according to the embodiment of this disclosure, the grayscale image may be generated by 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 object to be detected, and the z coordinate value detected by the three-dimensional sensor is converted into different image densities 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 coordinate, y coordinate and image density.

[0083] Alternatively, the rebar tying robot 100 according to the embodiment of this 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.

[0084] Furthermore, the rebar tying robot 100 according to the embodiment of this disclosure may calculate the positions 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.

[0085] In embodiments of this disclosure, the degree of matching may be calculated, for example, by comparing the detection result from the sensor unit 130, the two-dimensional image generated based on the detection result from the sensor unit 130, or the template image. For example, the degree of matching may be calculated by comparing the pixel values ​​of all pixels in the partial image to be compared from the two-dimensional image generated based on the detection result from the sensor unit 130 with the pixel values ​​of all pixels in the template image, and expressing the percentage of matching pixels as a percentage based on whether the pixel values ​​of each corresponding pixel in the two images being compared match. For example, if the template image contains 50,000 pixels, and the density of 40,000 pixels matches or is nearly the same (for example, the difference between the two is within 10%) when compared with the 50,000 pixels in the grayscale image to be compared, the degree of matching may be calculated as 80%.

[0086] In this case, the positions of the first reinforcing bar R10 and / or the second reinforcing bar R20 may be calculated using a standard value for the degree of matching. In this case, 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 degree of matching is equal to or greater than a predetermined standard value, and if the degree of matching is equal to or greater than the predetermined standard value, it may determine that the first reinforcing bar R10 and / or the second reinforcing bar R20 are within the detection range of the sensor unit 130.

[0087] In the rebar tying robot 100 according to the embodiment of this disclosure, different values ​​may be set for each height as the reference value of the degree of matching. In this case, the rebar tying robot 100 according to the embodiment of this disclosure is equipped with a robot height calculation unit 164e (also referred to as the "robot height calculation unit" in this embodiment) that calculates the height of the rebar tying 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 tying robot 100, and the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculates the rebar tying robot calculated by the robot height calculation unit 164e (robot height calculation unit) based on the plurality of reference values The system may be configured to determine if there is a reference value corresponding to the height of the rebar tying robot 100 from the rebar group R of the rebar tying robot 100, and if it is determined that there is a reference value corresponding to the height of the rebar tying robot 100 among multiple reference values, the position of the first rebar R10 and / or the second rebar R20 may be calculated based on this reference value. If it is determined that there is no reference value corresponding to the height of the rebar tying robot 100 among multiple reference values, a new reference value corresponding to the measured height of the rebar tying robot 100 may be calculated based on at least two of the multiple reference values.

[0088] In embodiments of this disclosure, for example, multiple reference values ​​may be set for the height of the rebar tying robot 100 from the rebar group R for predetermined sizes. For example, five reference values ​​may be set for the height of the rebar tying robot 100 from the rebar group R, ranging from 10 cm to 30 cm in 5 cm increments. In this case, for example, if the robot height calculation unit 164e determines that the height of the rebar tying robot 100 from the rebar group R is 20 cm, and a reference value of 60% has been set for a height of 20 cm, then 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 tying robot 100 from the rebar group R is 23 cm, and a reference value for 23 cm has not been set, then a new reference value may be set based on, for example, the reference value for 20 cm and the reference value for 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, the memory device 198 and used as needed in subsequent operations. Note that the above height, reference value, and method of calculating the new reference value are examples and are not limited thereto. For example, more reference values ​​may be set, or reference values ​​may be set for heights less than 10 cm or greater than 30 cm.

[0089] The following describes the process for calculating the position of reinforcing bars using a reinforcing bar tying robot according to the embodiment of this disclosure.

[0090] 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, the TOFcam-635 manufactured by ESPROS Photonics). With a 3D distance camera, for example, an image with different shading depending on the distance from the camera is output for each object being photographed, and the distance to the target object can be obtained for each pixel, so that relatively close objects are represented with higher density (closer to black) and relatively farther objects with lighter density (closer to white). In the embodiment of this disclosure, while the rebar tying robot 100 is traveling along the rebar group R, the distance between the rebar tying robot 100 and the rebar group R does not change much, so the rebars may be detected by recognizing relatively dark and close objects as rebars (first rebar R10 and / or second rebar R20).

[0091] Figures 13A and 13B show images output by a 3D distance camera. Figure 13A shows an image of the area near the intersection of the first reinforcing bar R10 and the second reinforcing bar R20, captured by the 3D distance camera. Figure 13B schematically shows an image of the area near the intersection of the first reinforcing bar R10 and the second reinforcing bar R20. As shown in Figure 13A, the image captured by the 3D distance camera shows variations in density, and in the embodiments of this disclosure, it is possible to recognize the areas with high density as the first reinforcing bar R10 and / or the second reinforcing bar R20. As schematically shown in Figure 13B, images with different density levels are acquired for each pixel.

[0092] The sensor unit 130 is not limited to imaging devices such as cameras as exemplified above; 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 described above may be generated based on the depth direction information acquired by the laser.

[0093] Next, the process of detecting reinforcing bars based on the image (grayscale image in this embodiment) captured and acquired by the sensor unit 130 will be described. First, the arrangement of the first sensor 130a, second sensor 130b, third sensor 130c, and fourth sensor 130d of the sensor 130 will be described with reference to Figures 14A and 14B. Figures 14A and 14B are schematic diagrams showing the arrangement of the first sensor 130a, second sensor 130b, third sensor 130c, and fourth sensor 130d. Figure 14A is a schematic side view of the reinforcing bar tying robot 100 viewed from the horizontal direction (X direction). Figure 14B is a schematic top view of the reinforcing bar tying robot 100 viewed from above (upper side in the Z direction). Figure 14A schematically shows the first sensor 130a, the second sensor 130b, and the third sensor 130c, along with the imaging ranges provided by the first sensor 130a, the second sensor 130b, and the third sensor 130c.

[0094] As schematically shown in Figures 14A and 14B, the first sensor 130a and the second sensor 130b, which are spaced apart from each other in the Y direction, are positioned to image diagonally downward. The third sensor 130c and the fourth sensor 130d (not shown) are similarly positioned to image diagonally downward. The first sensor 130a and the second sensor 130b are set, for example, so that the field of view defining the imaging range is, for example, 80° or more and 100° or less. The third sensor 130c and the fourth sensor 130d are set, for example, so that the field of view is, for example, 50° or more and 70° or less. Any of the sensors 130 may be set to a different field of view. As described above, when determining whether a foreign object has been detected 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 turning the angle of each sensor upward.

[0095] Figure 15 schematically shows an image captured by the first sensor 130a. As shown in Figure 15, in the embodiment of this disclosure, the first sensor 130a is positioned to capture an image in the diagonally downward direction, so that the spacing between adjacent first reinforcing bars R10 becomes narrower from front to back. In the embodiment of this disclosure, the position of each reinforcing bar (multiple first reinforcing bars R10 and multiple 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 this disclosure, by template matching, for example, the reinforcing bars (first reinforcing bars R10 and / or second reinforcing bars R20) are detected based on the similarity (in this embodiment, also called the "matching degree") between the captured image and a pre-prepared image, a grayscale image including the grayscale portion corresponding to the reinforcing bar is prepared as a template, the images captured by each sensor unit 130 are scanned, and the similarity is calculated in the scanning direction.

[0096] Refer to Figure 16 to explain the template matching implemented in the embodiments of this disclosure. Figure 16 is a schematic diagram illustrating the template matching according to this embodiment. Figure 16 shows an image of the vicinity of the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, along with template images TI10 and TI20 for scanning in the X and Y directions. Figure 16 also shows schematic graphs G10 and G20 of the similarity calculated according to the scanning of template images TI10 and TI20, respectively. By scanning template images TI10 and TI20 in the Y and X directions, respectively, and calculating the similarity with template images TI10 and TI20, it is determined that locations on the captured image where the maximum value of the calculated similarity exceeds a threshold correspond to the locations where reinforcing bars are present. As shown in graphs G10 and G20, in the distribution of similarity along the Y and X directions, portions exceeding the thresholds TH10 and TH20 are identified, and these correspond to the locations where reinforcing bars are present. The similarity (matching degree) may be calculated, for example, by comparing the color density of each pixel in the captured image with the color density of each pixel that makes up the template image. For example, first, the distance to the object for each pixel in the captured image is extracted as the color density. Next, if the sum or average value of the color density of the entire captured image is light (for example, lower than a predetermined threshold), it is determined that there is no rebar in the captured image. On the other hand, if the color density is dark (for example, higher than a predetermined threshold), the difference between the extracted color density and the color density of each pixel that makes up 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 difference between the color density of the captured pixel and the color density of the pixels that make up the template image is lowest may be extracted as the rebar position. In this way, based on the similarity calculated by scanning the template image with the captured image, it is possible to detect the first rebar R10 and the second rebar R20 by template matching.

[0097] As described above with reference to Figure 15, in the embodiment of this disclosure, in the image captured by the first sensor 130a, the spacing between adjacent first reinforcing bars R10 in the X direction changes along the Y direction. Similarly, in the image captured by the second sensor 130b, the spacing between 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 spacing between captured second reinforcing bars R20 in the Y direction changes along the X direction. Therefore, for example, the image may be corrected by performing an orthorectification transformation on the captured image so that the spacing between reinforcing bars on the captured image becomes approximately equal before performing template matching. Alternatively, without performing image transformations such as orthorectification, reinforcing bar detection based on template matching can also be performed by preparing an image as a template in which the spacing between reinforcing bars changes, as shown in Figure 15.

[0098] In the template matching according to the embodiments of this disclosure, for example, frequency analysis may be performed on each image, and the relationship between the captured image and the template image may be evaluated by using the phase correlation method.

[0099] The positions of the first reinforcing bar R10 and the second reinforcing bar R20 can also be estimated by acquiring 3D XYZ data of an object within the detection range using, for example, a 3D sensor. As described above, in the reinforcing bar tying robot 100 according to the embodiment of this disclosure, by performing template matching that treats the 3D data in the Z direction as information on pixel density, the computational amount for calculating the position of the intersection point c12 can be made relatively small compared to, for example, when the calculation is performed based on 3D XYZ data. When performing tying work at the intersection point c12 while moving, as in the reinforcing bar tying robot 100 according to the embodiment of this disclosure, a reinforcing bar position determination method using template matching, which can reduce the computational amount, is preferably used.

[0100] Next, a method for determining the intersection 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 tying robot 100 determines the intersection 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 tying robot 100 includes a reinforcing bar tying unit 110 configured to tie the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 of the reinforcing bar group R, as described above, and the sensor unit 130 includes a first sensor 130a and a second sensor 130b arranged spaced apart from each other along a third direction and 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, and the reinforcing bar tying robot 100 is a traveling unit The knit 121 moves in the Y direction (first direction), and the direction in which the first sensor 130a and the second sensor 130b are positioned (third direction) is parallel to the Y direction (first direction). The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculate the position of the first rebar R10 by comparing the detection results of the first sensor 130a and / or the second sensor 130b with the first template image. The rebar tying unit 110 may tie the intersection c12 on the first rebar R10 whose position has been calculated.

[0101] Furthermore, the rebar tying robot 100 may be 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 tying robot 100 further includes an intersection point calculation unit 166 (also called the "intersection point estimation unit" in this embodiment) that estimates the intersection point c12, and the sensor unit 130 includes a third sensor 130c and a fourth sensor 130d that are spaced apart along a fourth direction intersecting the third direction and are configured to detect at least the second rebar R20, and 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 tying robot 100 is a fourth The rebars may be arranged so that their orientation is parallel to the X direction (second direction), and the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculate the position of the second rebar 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 c12 to be the intersection of the calculated first rebar R10 and the calculated second rebar R20, and the rebar tying unit 110 may be configured to tie the estimated intersection point c12.

[0102] Furthermore, when the rebar tying robot 100 detects the end R10e of the first rebar R10, it may cause the third sensor 130c and / or the fourth sensor 130d to 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 lateral movement amount of the rebar tying robot 100, as described later. That is, when the traveling unit 121 moves from the first rebar R10 to another first rebar R10, the rebar tying robot 100 is equipped with a movement amount calculation unit 174 (movement amount calculation unit) that calculates the amount of movement of the traveling unit 121 based on the position information of the first rebar R10 calculated by the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit), and the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) Based on the detection results of the first sensor 130a and / or the second sensor 130b, the system calculates the position of the first reinforcing bar R10 as the traveling unit 121 moves. If the degree of matching of the detection result of the first sensor 130a is less than a predetermined standard value, the system determines whether the degree of matching is equal to or greater than a predetermined end standard value. If it is determined that the degree of matching is equal to or greater than the predetermined end standard value, the system determines that the end R10e of the first reinforcing bar R10 is within the detection range of the first sensor 130a, and the detection of the first sensor 130a is performed. If it is determined that the end portion R10e of the first reinforcing bar R10 is within 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) calculate the position of other first reinforcing bars R10 that are spaced apart in the X direction (second direction) from the first reinforcing bar R10 that the traveling unit 121 is moving towards, based on the detection results of the third sensor 130c and / or the fourth sensor 130d. Furthermore, the movement amount calculation unit 174 (movement amount calculation unit) calculates the amount of movement of the traveling unit 121 in the X direction (second direction) based on the position 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 to which the traveling unit 121 is moving. The traveling unit 121 may be configured to move in the X direction (second direction) based on the calculated amount of movement in the X direction (second direction).

[0103] Using Figure 17, the method for controlling the movement of the rebar tying robot 100 in the embodiment of this disclosure will be explained. Figure 17 is a flowchart of the method for controlling the movement of the rebar tying robot 100 in the embodiment of this disclosure.

[0104] First, various information regarding the reinforcing bars is acquired, and then an intersection map is generated based on that information (S1702). Figure 18A is a schematic diagram showing an example of an intersection map 194. In the example shown in Figure 18A, nine intersection points C1 to C9 in the intersection map 194 are shown as an example of estimated intersection points C in the reinforcing bar tying work area of ​​the reinforcing bar tying robot 100. Each estimated position C is the estimated position of the intersection of the first reinforcing bar R1, whose extension direction is the Y direction (first direction), and the second reinforcing bar R2, whose extension direction is the X direction (second direction). Specifically, for example, estimated position C1 is the estimated position of the intersection of the first reinforcing bar R11 and the second reinforcing bar R21, estimated position C2 is the estimated position of the intersection of the first reinforcing bar R11 and the second reinforcing bar R22, and estimated position C3 is the estimated position of the intersection of the first reinforcing bar R11 and the second reinforcing bar R23. Furthermore, for example, estimated position C6 is the estimated location of the intersection of the first reinforcing bar R12 and the second reinforcing bar R21, estimated position C5 is the estimated location of the intersection of the first reinforcing bar R12 and the second reinforcing bar R22, and estimated position C4 is the estimated location of the intersection of the first reinforcing bar R12 and the second reinforcing bar R23. Furthermore, for example, estimated position C7 is the estimated location of the intersection of the first reinforcing bar R13 and the second reinforcing bar R21, estimated position C8 is the estimated location of the intersection of the first reinforcing bar R13 and the second reinforcing bar R22, and estimated position C9 is the estimated location of the intersection of the first reinforcing bar R13 and the second reinforcing bar R23.

[0105] The intersection map 194 further includes multiple regions r containing each estimated position C. In the example shown in Figure 18A, nine regions r1 to r9 are shown in the intersection map 194, each containing one of the nine estimated positions C1 to C9. That is, in the intersection map 194, each region r corresponds to each estimated position C. In the example shown in Figure 18A, the region r is shown as a roughly circular shape with predetermined dimensions. However, in the intersection map 194, the shape of the region r is not limited to a roughly circular shape, but may be a rectangle (including a roughly rectangular shape), a polygon (including a roughly polygon), or any other arbitrary shape. Also, the dimensions of the region r are not particularly limited and may be set arbitrarily. In the example shown in Figure 18A, the regions r are spaced apart from each other. However, in the intersection map 194, the regions r may be adjacent to each other.

[0106] The intersection map 194 can be generated based on various information about the reinforcing bars. For example, the intersection map 194 may be generated based on information about the pitch between each reinforcing bar and information about the number of estimated positions. The information about the pitch between each reinforcing bar and the information about the number of estimated positions may be information entered by the user, stored in the storage device 190, or obtained from an external information processing device via communication. The information about the pitch may be, for example, a value calculated based on the number of reinforcing bars and the overall dimensions of the area where the reinforcing bars are placed (for example, the overall dimensions divided by the number of reinforcing bars). The information about the number of estimated positions may be, for example, a value calculated from the number of first reinforcing bars and the number of second reinforcing bars (for example, the product of the number of first reinforcing bars and the number of second reinforcing bars).

[0107] Next, a travel route is generated based on the intersection map 194 (S1704). Figure 18B is a schematic diagram showing an example of a travel route. The travel route may be a route that passes through at least one of the multiple regions included in the intersection map 194. Here, "passing through a region" means, for example, that at least a part of the travel route is included in the region, and it is not necessary to pass through the center of the region or through an estimated position included in the region. The travel route may pass through at least one of the multiple regions r, and may or may not pass through all of them. In Figure 18B, an example of a travel route is shown by arrows connecting each region r. That is, Figure 18B shows a travel route that passes through regions r1, r2, r3, r4, r5, r6, r7, r8, and r9 in order.

[0108] The method for generating travel routes is not particularly limited, but for example, it may be a method in which the travel cost is calculated for each assumed travel route and the travel route with a predeterminedly small travel cost (for example, the travel route with the minimum cost) is adopted. Here, the cost may be, for example, the sum of the products of the distance of each path constituting the travel route and the weight assigned to that path. The travel cost for a travel route may be calculated arbitrarily, but for example, the weights contributing to the travel cost may be changed for follow-up movement that follows the reinforcing bars and lateral movement that changes the distance between the reinforcing bars being followed. In particular, the weight of lateral movement may be made larger than the weight of follow-up movement for reasons such as the energy required for lateral movement being relatively high or the time required for lateral movement being relatively long.

[0109] Furthermore, in situations where two reinforcing bars intersect, two scenarios are possible: one where the reinforcing bar moves to follow the upper bar, and another where it moves to follow the lower bar. In this case, following the lower bar may necessitate moving over the upper bar, so following the upper bar may be preferable. Therefore, when calculating the movement cost, the weight of moving to follow the lower bar may be given more weight than the weight of moving to follow the upper bar.

[0110] Next, the robot begins traveling along the travel route (S1706). Specifically, the rebar tying robot 100 controls the travel unit 120 to travel along the travel route, for example, based on the travel route generated in step S1702. The odometry information calculation unit 190 calculates the position and orientation of the rebar tying robot 100 as odometry information based on the information acquired from the sensor unit 130 while the rebar tying robot 100 is traveling. This makes it possible to estimate the travel path and the robot's own position on the intersection map.

[0111] The rebar tying robot 100 determines whether the obstacle detection result via the sensor unit 130 has been updated while it is moving (S1708). Figure 18C is a diagram illustrating an example of how the rebar tying robot detects an obstacle, as an example of when the obstacle detection result is updated. Figure 18C shows the moving rebar tying robot 100 and the obstacle O3. Reference numeral 130R indicates the detection range of the sensor unit 130. In Figure 18C, the detection range 130R is shown as a circle, but this is merely an example, and the shape and dimensions of the detection range are not particularly limited. The rebar tying robot 100 detects the obstacle O3 via the sensor unit 130, for example.

[0112] The rebar tying robot 100 may determine whether the detected obstacle O3 is included in any of the regions r included in the intersection map 194. In this determination process, for example, the angle θ (see Figure 18C) between the direction D of the rebar tying robot 100 included in the odometry information and the direction of the first rebar R11 may be calculated, and then it may be determined which region r the obstacle is included in. This process makes it possible to determine in which direction the obstacle is located relative to the direction D of the rebar tying robot 100, and therefore it is possible to determine which region r the obstacle is included in. In the example shown in Figure 18C, it is determined that the obstacle O3 is included in region r3.

[0113] If it is determined that an obstacle has been detected, the process returns to step S1704, and the rebar tying robot 100 generates (updates) a travel route. At this time, the rebar tying robot 100 may generate (update) a travel route that does not include the region r containing the obstacle. In the example shown in Figure 18C, the rebar tying robot 100 may generate (update) a travel route that does not include the region r3 containing the obstacle O3.

[0114] As another example of when the obstacle detection results are updated, if an obstacle that was detected in the previous step S1704 is no longer detected in the subsequent step S1704, the rebar tying robot 100 may generate (update) the travel route to include the region r that was not included in the travel route because it contained the obstacle.

[0115] The rebar tying robot 100 determines whether or not it has detected an intersection via the sensor unit 130 while traveling (S1710). The rebar tying robot 100 detects the intersection by using the intersection estimation method described later, for example, using the process shown in Figure 20. Figure 18D is a diagram illustrating how the rebar tying robot 100 detects an intersection. Figure 18D shows the rebar tying robot 100 in motion and the intersection T2. ​​Figure 18D shows an example in which the intersection T2 has been detected.

[0116] Next, the robot travels to the detected intersection (S1712). For example, as shown in Figure 18E, the rebar tying robot 100 controls the travel unit 120 to travel to the intersection T2 detected by the sensor unit 130. The rebar tying robot 100 travels to the intersection T2 such that, for example, the rebar tying unit 110 is positioned above the intersection c12.

[0117] Next, the intersections are tied together (S1714). For example, the rebar tying robot 100 controls the rebar tying unit 110 to tie together the intersection T2.

[0118] Next, it is determined which region of the intersection map the detected intersection falls into (S1716). In the example shown in Figure 18E, the rebar tying robot 100 determines whether the detected intersection T2 falls into any of the regions r included in the intersection map 194. In this determination process, for example, the angle θ (see Figure 18F) between the direction D of the rebar tying robot 100 included in the odometry information and the direction of the first rebar R11 may be calculated, and then it may be determined which region r the intersection T2 falls into. This process makes it possible to determine which direction the intersection T2 is located in relative to the direction D of the rebar tying robot 100, and therefore it is possible to determine which region r the intersection T2 falls into. In the example shown in Figure 18E, an example is shown in which the intersection T2 is determined to fall into region r2.

[0119] Next, it is determined whether the determined region r is the end point of the travel route (S1718). If it is determined that the determined region r is not the end point of the travel route, the process returns to step S1706. If it is determined that the determined region r is the end point of the travel route, the process ends.

[0120] Referring to Figure 19, a method for estimating the intersection point of the first reinforcing bar R10 and the second reinforcing bar R20 will be described. Figure 19 is a schematic diagram showing the reinforcing bar tying robot 100 as viewed from the lower side in the Z direction (-Z direction) to illustrate the method for estimating the intersection point. As shown in Figure 19, for example, in the embodiment of this disclosure, the reinforcing bar tying robot 100 travels along the two first reinforcing bars R12 and R14 as described above, and is configured such that 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 Figure 17, the third sensor 130c and the fourth sensor 130d detect, for example, the second reinforcing bar R23. At this time, based on the detection results of the first sensor 130a and the second sensor 130b, the first reinforcing bar R13 extending between the first sensor 130a and the second sensor 130b is estimated, and based on the detection results of the third sensor 130c and the fourth sensor 130d, the second reinforcing bar R23 extending between the third sensor 130c and the fourth sensor 130d is estimated. The point where the estimated first reinforcing bar R13 extending between the first sensor 130a and the second sensor 130b intersects with the second reinforcing bar R23 extending between the third sensor 130c and the fourth sensor 130d is estimated to be the intersection point c12.

[0121] The method for estimating the intersection point c12 in the embodiment of this disclosure will be explained using Figure 20. Figure 20 is a flowchart of the method for estimating the intersection point c12 in the embodiment of this disclosure. This process is performed, for example, in step S1710 described above.

[0122] First, the detection results of the first sensor 130a and the second sensor 130b are obtained (S2002).

[0123] Next, based on the detection results of the first sensor 130a and the second sensor 130b, template matching is performed to confirm the first reinforcing bar R10 and / or the second reinforcing bar R20 detected by the first sensor 130a and the second sensor 130b (S2004).

[0124] 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 (S2006).

[0125] Next, the detection results from the third sensor 130c and the fourth sensor 130d are obtained (S2008).

[0126] 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 (S2010).

[0127] Next, the intersection point is estimated based on the estimated positions of the first reinforcement bar R13 and the second reinforcement bar R20 (S2012).

[0128] Thus, the rebar tying robot 100 according to the embodiment of this disclosure is arranged on the rebar group R such that the third direction (Y direction) in which the first sensor 130a and the second sensor 130b are positioned is parallel to the first direction, which is the direction in which the first rebar R10 extends, and the fourth direction in which the third sensor 130c and the fourth sensor 130d are positioned is parallel to the second direction, which is the direction in which the second rebar R20 extends. The robot is equipped with an intersection location calculation unit 166, which is an intersection location estimation unit that estimates the intersection location c12. The first sensor 130a and the second sensor 130b are configured to detect the first rebar R10, and the third sensor 130c and the fourth sensor 130d are configured to detect the second rebar R20. Furthermore, the intersection location calculation unit 166, which is an intersection location estimation unit, may be configured to estimate the position of the first reinforcing bar R10 (first reinforcing bar R13) detected by either the first sensor 130a or 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 either the third sensor 130c or 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 of the first reinforcing bar R13 detected by the first sensor 130a and the second sensor 130b and the second reinforcing bar R23 detected by the third sensor 130c and the fourth sensor 130d as the intersection location c12.

[0129] When the rebar tying robot 100 calculates the position of the intersection point c12 of the first rebar R10 and the second rebar R20 on the first rebar R13, for example, the first sensor 130a may be passing through the intersection point (intersection cp12). In this case, for example, the position of the calculated intersection point c12 may be adjusted based on the information of the intersection cp12 captured by the first sensor 130a. In other words, the rebar tying robot 100 is configured to move in a first direction (Y direction) while the first sensor 130a and the second sensor 130b detect 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 tying robot 100 is moving, it is configured to determine whether the intersection cp12 and the estimated intersection point c12 coincide, and if 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 detected intersection cp12 position does not match the estimated intersection c12 position, the position of the rebar tying robot 100 may be adjusted by, for example, accelerating or decelerating the first travel unit 121a, second travel unit 121b, third travel unit 121c, and / or fourth travel unit 121d of the travel unit 121, respectively, or by controlling the rotational speeds of the first wheel drive motor 124a, second wheel drive motor 124b, third wheel drive motor 124c, and fourth wheel drive motor 124d, similar to the method described above for making the rebar tying robot 100 follow the first rebar R10.

[0130] Please note that the method for estimating intersection points described above is illustrative and not limited to the example shown in Figure 20. For example, the acquisition of detection results from each sensor does not have to be performed in the order described above, nor does the estimation of the rebar positions based on the detection results have to be performed in the order described above.

[0131] Next, a method for calculating the amount of movement of the rebar tying robot 100 in the embodiment of this disclosure will be described. Referring to Figure 19, an example will be given in which the rebar tying robot 100 reaches the vicinity of the Y-direction end R10e of the first rebar R10 and performs lateral movement (movement in the X-direction). As shown in Figure 19, the rebar tying robot 100 travels along the first rebars R12 and R14, tying the first rebar R13, which is located between the first rebars R12 and R14, at the point where it intersects with the second rebars R20 (for example, the second rebars R21, R22, R23, R24, and R25), and reaches the vicinity of the ends R12e, R13e, and R14e. At this point, the rebar tying robot 100 will then proceed to tie the first rebar R14, which is adjacent to the first rebar R13 in the X direction (+X direction) from the first rebar R13 that it has just been tying. Therefore, it will move in the X direction (+X direction, the direction from the first rebar R13 towards the first rebar R14).

[0132] Referring to Figure 21, the method of lateral movement of the rebar tying robot 100 in this case will be explained. Figure 21 is a flowchart relating to the lateral movement of the rebar tying robot 100.

[0133] First, the detection result of the first sensor 130a is obtained (S2102).

[0134] Next, template matching is performed on the detection results of the first sensor 130a (S2104).

[0135] Next, based on the template matching results, it is determined whether the end portion R13e of the first reinforcing bar R13, which is detected by the first sensor 130a, has been detected (S2106).

[0136] Next, it is determined whether the end portion R20e of the second reinforcing bar R20 has been detected (S2108). As an example of the end portion R20e of the second reinforcing bar R20, 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 have been detected.

[0137] For example, based on the detection results of the third sensor 130c and / or the fourth sensor 130d, it may be determined whether the end R20e of the second reinforcing bar R20 has been detected. In the embodiment of this disclosure, the reinforcing bar tying robot 100 performs tying work at the intersection of the first reinforcing bar R10 and the second reinforcing bar R20, starting from the first reinforcing bar R10 on the left side of the X-axis and moving towards the first reinforcing bar R10 on the right side of the X-axis, as viewed from above in the Z-axis direction. Therefore, based on the detection results of the fourth sensor 130d, which is located on the right side of the X-axis, it may be determined whether the right end R20e of the second reinforcing bar R20 has been detected. For example, if the right end R20e of the second reinforcing bar R20 is detected by the fourth sensor 130d, it is possible that the tying work on the last first reinforcing bar R10 has been completed, and the tying work on the group of reinforcing bars R that is the target of the work may be terminated.

[0138] The detection of the end R20e is not limited to this, and for example, it may be determined based on the detection results of other sensors. For example, when tying work is performed from the first reinforcing bar R10 on the right side in the X direction toward the first reinforcing bar R10 on the left side in the X direction, the third sensor 130c may be used to detect the left end R20e of the second reinforcing bar R20 in the X direction. It is also possible to configure the system to terminate the tying work based on conditions other than the detection of the end R20e. For example, it is possible to set a condition to start tying work on another reinforcing bar at a location other than the end R20e and configure the system to move the reinforcing bar tying robot 100, or it is possible to change the tying position and change the reinforcing bar to be tyed due to the occurrence of factors such as foreign object detection and move the reinforcing bar tying robot 100. Furthermore, the first sensor 130a and / or the second sensor 130b can also detect the second reinforcing bar R20 by adjusting, for example, the placement location, tilt, field of view, etc. Therefore, the detection of the end portion R20e of the second reinforcing bar R20 may be performed using the detection results of the first sensor 130a and / or the second sensor 130b.

[0139] Next, the detection result from the fourth sensor 130d is obtained (S2110).

[0140] Next, template matching is performed based on the detection results of the fourth sensor 130d (S2112).

[0141] Next, based on the position of the first reinforcing bar R10 detected by the fourth sensor 130d, the next destination of the first reinforcing bar R10 to be moved is estimated (S2114). In the embodiments of this disclosure, the fourth sensor 130d detects multiple first reinforcing bars R10. For example, in the example shown in Figure 19, the fourth sensor 130d may detect a first reinforcing bar R14 located to the right of the reinforcing bar tying robot 100 in the X direction. Furthermore, having performed tying 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 tying work at the intersection along the first reinforcing bar R14, the reinforcing bar tying robot 100 moves laterally, for example, to travel along the first reinforcing bar R13 and the first reinforcing bar R15. For example, the rebar tying robot 100 may be moved laterally in the X direction such that the first traveling unit 121a and the third traveling unit 121c travel on the first rebar R13, and the second traveling unit 121b and the fourth traveling unit 121d travel on the first rebar R15.

[0142] Next, the amount of lateral movement is calculated (S2116). The amount of lateral movement of the rebar tying robot 100 may be calculated by the following method. For example, as described above, when the rebar tying robot 100 moves to the right in the X direction (+X direction) when viewed from the upper side in the Z direction, that is, when it moves in the direction in which the fourth sensor 130d is positioned, the amount of lateral movement of the rebar tying robot 100 may be calculated based on two pieces of information: how far the fourth sensor 130d is from the center of the rebar tying robot 100 in the X direction, and how far the first rebar R14 detected by the fourth sensor 130d is from the fourth sensor 130d.

[0143] When the fourth sensor 130d calculates how far it is from the center of the rebar tying robot 100 in the X direction, the center of the rebar tying robot 100 in the X direction may be, for example, the position where the rebar tying unit 110 is located. Alternatively, the tying position by the rebar tying unit 110 may be considered as the center of the rebar tying 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 of the rebar tying robot 100's tying work, may be determined as the center position of the rebar tying robot 100 in the X direction. Note that the center position of the rebar tying robot 100 in the X direction and the distance of the fourth sensor 130d from the center position of the rebar tying robot 100 in the X direction (distance in the X direction) may be calculated in advance and stored in the storage device 198. Furthermore, 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 according to the construction site, the distance of the fourth sensor 130d in the X direction from the center of the rebar tying robot 100 in the X direction may be calculated by calculating how much and in which direction the fourth sensor 130d has been moved, and 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 the image captured by the fourth sensor 130d.

[0144] For example, if the fourth sensor 130d is mounted at a position 100 units away from the center of the rebar tying robot 100 in the X direction (for example, the position of the first rebar R13), and the first rebar R14 is located 20 units away from the center of the rebar tying robot 100 in the X direction from the fourth sensor 130d, the spacing of the first rebars R10 (the spacing between the first rebars R13 and R14) can be calculated as 121 units, and control may be performed to set the lateral movement amount to 121 units. For example, if the fourth sensor 130d is mounted 20 cm away from the center of the rebar tying robot 100 in the X direction (for example, the position of the first rebar R13), and the first rebar R14 is located 4 cm away from the fourth sensor 130d in the direction away from the center of the rebar tying robot 100 in the X direction, the spacing of the first rebars R10 (the spacing between the first rebars R13 and R14) can be calculated as 24 cm, and control may be performed to set the lateral movement amount to 24 cm. Furthermore, if the fourth sensor 130d is mounted 20 cm away in the X direction from the center of the rebar tying robot 100 in the X direction (for example, the position of the first rebar R13), and the first rebar R14 is located 4 cm closer to the center of the rebar tying robot 100 in the X direction from the fourth sensor 130d, the distance between the first rebars R10 (the distance between the first rebars R13 and R14) can be calculated as 16 cm, and control may be performed to set the lateral movement amount to 16 cm.

[0145] The amount of lateral movement of the rebar tying robot 100 may be calculated such that, for example, when the rebar tying robot 100 is moved laterally to tie the rebars at the intersection on the first rebar R14, the rebar tying robot 100 as a whole moves laterally to a distance corresponding to the distance between adjacent first rebars R10. In the above example, the first traveling unit 121a and the third traveling unit 121c move from the first rebar R12 to the first rebar R13, and the second traveling unit 121b and the fourth traveling unit 121d move from the first rebar R14 to the first rebar R15. In the embodiment of this disclosure, the first rebars R10 are arranged at approximately equal intervals and approximately parallel to each other, so the amount of movement in the X direction of the first traveling unit 121a to the fourth traveling unit 121d is equal. Therefore, the lateral movement may be, for example, the distance in the X direction between the first reinforcing bars R14 and R15 detected by the fourth sensor 130d. Alternatively, since the distance between the first reinforcing bars R10 is approximately equal, the lateral movement may be calculated based on the distance between adjacent first reinforcing bars R10 calculated based on the detection results from other sensors. Furthermore, the distance in the X direction of multiple (e.g., three or more) first reinforcing bars R10 may be calculated, the average value of the calculated distances in the X direction between multiple first reinforcing bars R10 may be found, and the average value of the distance between the first reinforcing bars R10 may be used as the lateral movement. By calculating the average value, the influence of errors on the calculated lateral movement can be reduced, for example, if there is an error in the distance between the first reinforcing bars R10.

[0146] Next, the rebar tying robot 100 is moved laterally based on the calculated lateral movement amount (S2118).

[0147] After completing its lateral movement, the rebar tying robot 100 may, for example, travel along the first rebar R13 and the first rebar R15 where the first travel unit 121a to the fourth travel unit 121d are located after the movement (S2120), and begin tying work at the intersection c12 on the first rebar R14.

[0148] The detection of the end R10e of the first reinforcing bar R10 described above may be determined by, for example, preparing a template corresponding to the image of the end R10e and making a judgment based on the degree of matching with the template of the end R10e. For example, when preparing a template image that extends in one direction for the parts other than the end R10e, as illustrated with reference to Figure 16, a template image may be prepared for the end R10e in which the length in the Y direction of the part corresponding to the reinforcing bar is shorter than that of the parts other than the end R10e.

[0149] Alternatively, it may be determined that the reinforcing bar is approaching the end R10e if the degree of matching falls within a certain range. For example, in the portion of the first reinforcing bar R10 other than the end R10e, the presence of the portion of the first reinforcing bar R10 other than the end R10e may be determined if the degree of matching is relatively close to 100%, for example, 75% or more, and if the degree of matching is relatively low, for example, 50% or more and 75% or less, it may be determined that the reinforcing bar is running in a portion of the first reinforcing bar R10 that is close to the end R10e. The degree of matching here is an example for both the portion other than the end R10e and 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 reinforcing bars and other environmental factors.

[0150] Thus, when the rebar tying robot 100 moves laterally, the detection results of the first rebar R10 by the third sensor 130c and / or the fourth sensor 130d are used in particular. As mentioned above, for the third sensor 130c and the fourth sensor 130d, for example, in calculating the position of the intersection point c12 of the first rebar R10 and the second rebar R20, the detection results of the position of the second rebar R20 by the third sensor 130c and the fourth sensor 130d are used. In other words, in calculating the position of the intersection point c12 of the first rebar R10 and the second rebar R20, the detection results of the position of the first rebar R10 by the third sensor 130c and the fourth sensor 130d are not required, 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 proceeds with the rebar tying work and reaches the end R10e of the first rebar R10, for example, the rebar tying robot 100 will move laterally, and therefore, in order to calculate the amount of movement, the imaging range of the third sensor 130c and / or the fourth sensor 130d may be changed by methods such as 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.

[0151] As explained above with reference to Figure 21, the case in which the detection results of the first sensor 130a and the fourth sensor 130d are used is an example, but the sensors whose detection results are referenced are not limited to these, and for example, it is possible to change which sensor is used depending on the direction in which the rebar tying robot 100 is moving. As described above, when the end R10e of the first rebar R10 is detected by the first sensor 130a, the rebar tying robot 100 is not limited to moving laterally in the direction of the fourth sensor 130d, but for example, when the end R10e of the first rebar R10 is detected by the first sensor 130a, the rebar tying robot 100 may move laterally in the direction of the third sensor 130c. Furthermore, for example, if the end portion R10e of the first reinforcing bar R10 is detected by the second sensor 130b, the reinforcing bar tying robot 100 may move laterally in the direction of the third sensor 130c, or if the end portion R10e of the first reinforcing bar R10 is detected by the second sensor 130b, the reinforcing bar tying robot 100 may move laterally in the direction of the fourth sensor 130d.

[0152] The following describes an example of lateral movement of the rebar tying robot 100 with reference to Figures 22A to 27B. Figures 22A to 27B show the rebar tying robot 100 in lateral movement. Figures 22A, 23A, ..., and 27A are views of the rebar tying robot 100 from the rear, while Figures 22B, 23B, ..., and 27B are views of the rebar tying robot 100 from an oblique angle above.

[0153] Figures 22A and 22B show the rebar tying robot 100 before it begins lateral movement. As shown in Figures 22A and 22B, the rebar tying robot 100 travels along the first rebars R12 and R14.

[0154] Next, the rebar tying robot 100 begins to move laterally. In the embodiments of this disclosure, as described above, for example, if it is determined that the robot has reached or is approaching the vicinity of the end R10e of the first rebar R10 based on the detection result by the first sensor 130a, it is determined to start moving laterally. Figures 23A and 23B show the state when the rebar tying robot 100 has started to move laterally. As shown in Figures 23A and 23B, the rebar tying robot 100 moves in the direction of movement of the main body unit 140 (X direction) without moving the traveling unit 121. As shown in Figures 23A and 23B, at this time, the first traveling unit 121a and the second traveling unit 121b remain 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 either rebar. Lateral movement of the main unit 140 (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 with the first lateral movement motor 146ma and the second lateral movement motor 146mb of the lateral movement unit 146 (not shown in Figures 23A and 23B), thereby moving the main unit 140 in the X direction via the first drive rack 146ca and the second drive rack 146cb.

[0155] Next, the rebar tying robot 100 moves the travel unit 121 (the lower end of the travel unit 121) upward relative to the first rebar R10. As shown in Figures 24A and 24B, the lower end of the travel unit 121 in the -Z direction is raised upward in the Z direction (+Z direction) in Figures 24A and 24B. At this time, for example, the first main body side link portion 125a and the first roller side link portion 123a move in a direction that brings them relatively closer to each other (i.e., the first main body side link portion 125a and the first roller side link portion 123a close together). That is, the first main body side link portion 125a and the first roller side link portion 123a move in such a way that the angle between them becomes smaller. Similarly, for the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d, the second main body side link portion 125b and the second roller side link portion 123b, the third main body side link portion 125c and the first roller side link portion 123c, and the fourth main body side link portion 125d and the fourth roller side link portion 123d move in the closing direction, respectively.

[0156] When the main body side link section 125 and the roller side link section 123 close and the lower end of the travel unit 121 rises, the support bars 150a and 150b relatively descend. When the travel unit 121 moves away from the first reinforcing bar R10, the support bars 150a and 150b come into contact with the first reinforcing bar R10. For example, the length of the travel unit 121 in the Z direction may be changeable by closing the main body side link section 125 and roller side link sections 123 (first main body side link section 125a and first roller side link section 123a, second main body side link section 125b and second roller side link section 123b, third main body side link section 125c and third roller side link section 123c, fourth main body side link section 125d and fourth roller side link section 123d) which correspond to a configuration in which the rollers (first roller section 122a, second roller section 122b, third roller section 122c, and fourth roller section 122d) are supported by motors, etc. (for example, the first wheel height changing motor 126a, second wheel height changing motor 126b, third wheel height changing motor 126c, and fourth wheel height changing motor 126d shown in Figure 7). The roller portion 122 may be raised by closing the main body side link portion 125 and the roller side link portion 123, thereby separating the roller portion 122 from the first reinforcing bar R10.

[0157] As shown in Figures 24A and 24B, the support bars 150a and 150b are in contact with, for example, the first reinforcing bars R11 to R14. In this way, the entire reinforcing bar tying robot 100 is supported by the support bars 150a and 150b.

[0158] Next, the travel unit 121 of the rebar tying robot 100 moves in the X direction. As shown in Figures 25A and 25B, the first travel unit 121a and the third travel unit 121c, and the second travel unit 121b and the fourth travel 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 travel unit 121a to the fourth travel 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 (first rebars R12 to R15), supporting the rebar tying robot 100.

[0159] Next, the main body side link portion 125 and the roller side link portion 123 of the travel unit 121 are opened. This lowers the lower end of the travel unit 121 in the -Z direction relative to the first reinforcing bar R10. At this time, for example, the first main body side link portion 125a and the first roller side link portion 123a move in a direction that moves them away from each other (i.e., the first main body side link portion 125a and the first roller side link portion 123a open up to each other). In other words, the first main body side link portion 125a and the first roller side link portion 123a move in such a way that the angle between them becomes larger. Similarly, for the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d, the second main body side link portion 125b and the second roller side link portion 123b, the third main body side link portion 125c and the first roller side link portion 123c, and the fourth main body side link portion 125d and the fourth roller side link portion 123d move in the opening direction, respectively.

[0160] As shown in Figures 26A and 26B, the lower end of the travel unit 121 in the -Z direction is lowered downward in the Z direction (-Z direction) in Figures 26A and 26B. As shown in Figures 26A and 26B, the first travel unit 121a and the third travel unit 121c are in contact with the first reinforcing bar R13, and the second travel unit 121b and the fourth travel unit 121d are in contact with the first reinforcing bar R15. Therefore, the support bars 150a and 150b rise relative to the first reinforcing bar R10. Thus, in this state, the reinforcing bar tying robot 100 is supported by the travel unit 121.

[0161] Next, as shown in Figures 27A and 27B, the main unit 140 is moved in the X direction. As described above with reference to Figures 23A and 23B, the lateral movement of the main unit 140 shown in Figures 27A and 27B (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, which is not shown in Figures 27A and 27B. Thus, the lateral movement of the rebar tying robot 100 is completed. The rebar tying robot 100 then starts moving, for example, on the first rebar R13 and the first rebar R15, and performs the tying work at the intersection c12 of the first rebar R10 and the second rebar R20 on the first rebar R14.

[0162] The above explanation uses the example of the rebar tying robot 100 moving from the first rebars R12 and R14 to the first rebars R13 and R15. However, it is also possible to move to a location separated by multiple first rebars R10. In this case as well, movement can be performed using the same method as described above, or by repeating the above movement method, it is possible to move over even longer distances. Furthermore, when moving to a location separated by multiple first rebars R10, the amount of movement may be calculated based on the detection results of the sensor unit 130 using the same method.

[0163] Furthermore, the rebar tying robot 100 is not limited to the method described above, and may move laterally by other methods. In such cases, the amount of movement of the rebar tying robot 100 can be calculated based on the detection results of the sensor unit 130 according to the method for calculating the amount of movement in the embodiment of this disclosure. By using the method for calculating the amount of movement in the embodiment of this disclosure, the movement of the rebar tying robot 100 can be made to proceed smoothly.

[0164] As described above, the rebar tying robot 100 according to the embodiment of this disclosure includes a traveling unit 121 configured to travel on a group of rebars R which includes a plurality of first rebars R1 whose extension direction is in a first direction (Y direction) and a plurality of second rebars R2 whose extension direction is in a second direction (X direction) that intersects the first rebars R1 and is arranged to intersect the first rebars R1; a sensor unit 130 configured to detect at least one first rebar R10 and / or at least one second rebar R20; and a first rebar determination unit 164a1 and / or a second rebar determination unit 164a2 (also referred to as the "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 constituting a two-dimensional image generated by the detection result of the sensor unit 130. The rebar tying robot 100 according to the embodiment of this disclosure can streamline the process of calculating 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 results of the sensor unit 130. Therefore, the rebar detection process in the rebar blood flow operation of the rebar tying robot 100 can be streamlined. For example, compared to calculating the position of the rebar using three-dimensional data as the detection result of the sensor unit, the computational load can be reduced by performing calculations based on two-dimensional images.

[0165] Improvements in the technological level of the various units constituting the rebar tying robot 100 are making it possible to speed up and streamline rebar tying work. In order to achieve high-speed rebar tying work, it is desirable to speed up the processes of detecting rebars and detecting intersections between rebars where tying takes place. The rebar tying robot 100 according to the embodiment of this disclosure can improve the efficiency of the rebar detection process, and thus contribute to speeding up rebar tying work.

[0166] Furthermore, the rebar tying robot 100 according to the embodiment of this disclosure includes, for example, a rebar tying unit 110 configured to tie the intersection points c12 between the first rebars R10 and the second rebars R20 of a group of rebars, which include a plurality of first rebars R10 whose extension direction is in a first direction (Y direction) and a plurality of second rebars R20 whose extension direction is in a second direction (X direction) that intersects the first rebars R10 and is arranged to intersect the first rebars R10, and a traveling unit configured to be able to travel on the first rebars R10 and / or the second rebars R20. The rebar tying robot 100 comprises a knit 121, a first sensor 130a and a second sensor 130b configured to detect at least one first rebar R10 and / or at least one second rebar R20 and spaced apart from each other along a third direction (Y direction), and a third sensor 130c and a fourth sensor 130d configured to detect at least one first rebar R10 and / or at least one second rebar R20 and spaced apart from each other along a fourth direction (X direction) that intersects the third direction (Y direction). As described above, the rebar tying robot 100 is equipped with four sensors 130 (first sensor 130a, second sensor 130b, third sensor 130c, and fourth sensor 130d), so for example, as described above, it can efficiently detect the intersection point c12 of the first rebar R10 and the second rebar R20. The position of the intersection point c12 can be confirmed, for example, by installing a sensor near the rebar tying unit 110. However, since the rebar tying unit 110 is configured to move up and down, it can be difficult to install a sensor nearby. In the embodiment of this disclosure, the position of the intersection point c12 can be estimated based on the detection results of the four sensors 130, even without installing a sensor near the rebar tying unit 110.

[0167] Furthermore, the rebar tying robot 100 according to the embodiment of this disclosure includes, for example, a rebar tying unit 110 configured to tie the intersection points c12 of the first rebars R10 and the second rebars R20 of a group of rebars including a plurality of first rebars R10 whose extension direction is in a first direction (Y direction) and a plurality of second rebars R20 whose extension direction is in a second direction (X direction) that intersects the first direction (Y direction), and a robot configured to be able to travel on the first rebars R10 and / or the second rebars R20. The robot comprises a travel unit 121, a sensor unit 130 configured to detect a first reinforcing bar R10 and / or a second reinforcing bar R20, and a movement amount calculation unit 174 that calculates the amount of movement of the travel unit 121 based on the position information of the first reinforcing bar R10 or second reinforcing bar R20 detected by the sensor unit 130 when the travel unit 121 moves from the first reinforcing bar R10 or second reinforcing bar R20 on which it is traveling to another first reinforcing bar R10 or other second reinforcing bar R20. As described above, the reinforcing bar tying robot 100 according to the embodiment of the present disclosure can, for example, determine the position of the reinforcing bar to which the reinforcing bar tying robot 100 is to move based on the detection result of the sensor unit 130, and calculate the amount of movement of the reinforcing bar tying robot 100 based on the position of the reinforcing bar on which the travel unit 121 of the reinforcing bar tying robot 100 is traveling and the position of the reinforcing bar to which it is to move. For example, when the rebar tying robot 100 reaches the end of the rebar it was tying, it can calculate the amount of movement based on the detection results from the sensor unit 130 when it moves to the next rebar to be tyed.

[0168] In the embodiments of this disclosure described above, the example described was when the rebar tying robot 100 performs rebar tying work at the intersection c12 of the first rebar R10 and the second rebar R20 in a group of rebars arranged orthogonally to each other. However, the rebar tying robot 100 according to the embodiments of this disclosure may also be used when the first rebar R10 and the second rebar R20 are not orthogonal to each other.

[0169] Figure 28 is a schematic diagram of a rebar tying robot 200 according to another embodiment of the present disclosure, viewed from below in the Z direction (-Z direction). As shown in Figure 28, in this embodiment, the second rebar R20 is positioned at an angle of approximately 30° to the first rebar R10. The rebar tying robot 200 according to this embodiment differs from the rebar tying robot 100 in the positions of the third sensor 130c and the fourth sensor 130d. The third sensor 130c and the fourth sensor 130d of the rebar tying robot 200 are positioned on a straight line that is inclined at 30° with respect to the X direction. In the rebar tying robot 200, by aligning the third sensor 130c and the fourth sensor 130d with the second rebar R20 and positioning them in a direction inclined from the X direction, the second rebar R20 can be detected in the same manner as the rebar tying robot 100.

[0170] Thus, the arrangement of the first sensors 130a to the fourth sensors 130d may be changed according to the arrangement configuration of the first reinforcing bar R10 and the second reinforcing bar 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 reinforcing bar tying work, for example, according to the construction site where the group of reinforcing bars R to be tied is located. Alternatively, even after the reinforcing bar tying robot 100 has started moving, the relationship between the first reinforcing bar R10 and the second reinforcing bar R20 may be determined based on the detection results 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 capable of driving the first sensor 130a to the fourth sensor 130d may be provided, and the position of the first sensor 130a to the fourth sensor 130d may be changed by driving the motor.

[0171] [Configuration of the rebar tying system] Referring to Figure 29, the configuration of the rebar tying system according to the embodiment of this disclosure will be described. Figure 29 is a schematic diagram of the system showing the rebar tying system 10 according to the embodiment of this disclosure. As shown in Figure 29, the rebar tying system 10 includes a rebar tying robot 100 (tying device) and an information processing device 600.

[0172] As shown in Figure 29, the rebar tying system 10 according to this embodiment is equipped with a plurality of rebar tying robots 100_1, 100_2, ..., 100_n (where n is a natural number), and the plurality of rebar tying robots 100_1, 100_2, ..., 100_n (where n is a natural number) perform tying work on a reinforcement arrangement in which a plurality of rebars (first rebar R10 and second rebar R20) are arranged in a crisscross pattern, tying the intersections where the first rebar R10 and the second rebar R20 intersect. In addition, in the rebar tying system 10 according to this embodiment, the plurality of rebar tying robots 100_1, 100_2, ..., 100_n perform tying work on intersections within their assigned work area, which is the tying area. In the rebar tying system 10 according to this embodiment, the information processing device 600 assigns tying areas to a plurality of rebar tying robots 100_1, 100_2, ..., 100_n. In the following, any of the rebar tying robots 100_1, 100_2, ..., 100_n will also be referred to as rebar tying robot 100.

[0173] The information processing device 600 is, for example, a personal computer and is configured to exchange data with the rebar tying robot 100 via a network NE such as the Internet. In this embodiment, the information processing device 600 can, for example, assign a tying area, which is a work area, to each of the multiple tying devices when performing tying work to tie the intersection points where the first rebar R10 and the second rebar R20 intersect on a reinforcement arrangement in which multiple rebars (first rebar R10 and second rebar R20) are arranged, using multiple tying devices such as the rebar tying robot 100 described above.

[0174] Specifically, the information processing device 600 acquires information about the rebar tying robot 100 from the rebar tying robot 100, for example. Based on the information about the rebar tying robot 100 acquired from the rebar tying robot 100, the information processing device 600 is configured to assign a tying area where the rebar tying robot 100 will perform tying at intersections. In this embodiment, the information about the rebar tying robot 100 may include, for example, information about the rebar tying robot 100's movement speed.

[0175] The data may be obtained from each of the bundling robots 100_1, 100_2, ..., 100_n, or it may be obtained by accessing one or more databases located outside the information processing device 600. The information processing device 600 may also be equipped with a database that stores the data used for these processes. The detailed configuration of the information processing device 600 will be described later. Note that the network NE here can be various networks such as WAN (Wide Area Network), LAN (Local Area Network), or short-range wireless communication.

[0176] The information processing device 600 may be a personal computer, a server, or a portable information terminal such as a smartphone or tablet. The information processing device 600 may be composed of a combination of hardware such as a camera module, a distance measuring sensor, a microprocessor, a touch panel, memory, and a communication module. The information processing device 600 may also be, for example, the information processing terminal of the worker performing the bundling work.

[0177] In this embodiment, as described above, the information processing device 600 can assign a binding area to each of the multiple binding devices (rebar binding robots 100_1, 100_2, ..., 100_n) to perform binding at the intersections of multiple reinforcing bars (first reinforcing bar R10 and second reinforcing bar R20). Therefore, since there is no need for the worker to assign the binding area, it is possible to streamline the work, such as by shortening the working time.

[0178] [Configuration of the information processing device] The following describes an information processing device according to an embodiment of this disclosure. The information processing device according to this embodiment, as described below, can, for example, use multiple tying devices such as the above-described rebar tying robot 100 to perform tying work on a reinforcement arrangement in which multiple rebars (first rebar R10 and second rebar R20) are arranged, and tie the intersection points where the first rebar R10 and the second rebar R20 intersect, and assign a tying area, which is a work area, to each of the multiple tying devices.

[0179] Figure 30 is a functional block diagram showing each function of the information processing device 600 according to the embodiment of this disclosure. The information processing device 600 according to the embodiment of this disclosure shown in Figure 30 moves in the first direction (Y direction) or the second direction (X direction) on a reinforcement arrangement in which a plurality of first reinforcing bars (first reinforcing bars R10) extending in the first direction (Y direction) and a plurality of second reinforcing bars (second reinforcing bars R20) extending in the second direction (X direction) intersecting the first direction (Y direction) intersect with each other, and the intersection of the first reinforcing bars (first reinforcing bars R10) and the second reinforcing bars (second reinforcing bars R20) The information processing device 600 according to this embodiment may be configured, for example, as a physically separate information processing device from the rebar tying robot 100, and configured to assign a tying area to each of the multiple tying devices (rebar tying robots 100_1, 100_2, ..., 100_n) that can tie the rebars together, and as a physical separate information processing device from the rebar tying robot 100, and configured to assign a tying area to the rebar tying robot 100 outside of the rebar tying robot 100. Alternatively, the information processing device 600 according to this embodiment may be configured, for example, as part of the rebar tying robot 100.

[0180] In this disclosure, when a binding device such as a rebar binding robot 100 binds multiple rebars (multiple first rebars R10 and multiple second rebars R20) together at an intersection, for example, a rebar extending in a first direction (Y direction) (first rebar R10) and a rebar extending in a second direction (X direction) (second rebar R20) may be bound together in a region including the intersection where both rebars (first rebar R10 and second rebar R20) intersect.

[0181] When using multiple rebar tying robots or other tying devices to tie the intersections of multiple reinforcing bars in a reinforced concrete structure, it may be necessary to designate a tying area for each of the multiple rebar tying robots, which is the work area where each robot performs the intersection tying. In this case, for example, the operator of the rebar tying robots needs to determine, for each of the multiple rebar tying robots, the appropriate tying area to allocate to them so that the tying work can be completed efficiently using the multiple robots.

[0182] The information processing device 600 according to the embodiment of this disclosure assigns a tying area to the rebar tying robot 100 where it will perform tying at the intersections of multiple rebars (first rebar R10 and second rebar R20). Therefore, for example, the worker does not need to assign a tying area. This makes it possible to shorten the work time. Furthermore, by assigning a tying area to the rebar tying robot 100 via the information processing device 600, it becomes possible to assign a tying area that allows for the efficient completion of the tying work on the rebar arrangement to be tied, thus shortening the work time and improving work efficiency.

[0183] As will be described later, the information processing device 600 according to this embodiment can be applied not only to the self-propelled rebar tying robot 100 described above with reference to Figure 1, etc., but also when assigning a tying area to a robot arm type rebar tying device (rebar tying device 300 (Figure 39)). Even when assigning a tying area to a robot arm type rebar tying device 300, the tying area does not need to be specified by the operator to the robot arm type rebar tying device 300, thus improving the efficiency of the tying work.

[0184] As shown in Figure 30, the information processing device 600 comprises an acquisition unit 610 and a control unit 620. Also, as shown in Figure 30, the control unit 620 may have, for example, a bundling area allocation unit 622.

[0185] The acquisition unit 610 is configured to acquire information about the rebar tying robots 100 (rebar tying robots 100_1, 100_2, ..., 100_n).

[0186] The control unit 620 is configured to assign a binding area to each of the multiple binding devices (rebar binding robots 100 (rebar binding robots 100_1, 100_2, ..., 100_n)) to perform binding at the intersection of the first rebar R10 and the second rebar R20, based on the information acquired by the acquisition unit 610. The assignment of binding areas may be performed, for example, by the binding area assignment unit 622 of the control unit 620.

[0187] [Hardware configuration of information processing equipment] Next, with reference to Figure 31, an example of a hardware configuration when the information processing device 600 is implemented by the computer 310A will be described. Figure 31 is a diagram showing an example of the hardware configuration of the computer 310A.

[0188] The information processing device 600 according to this embodiment includes, as described later, a memory for storing information (e.g., programs and various data) and a processor that operates based on the information stored in the memory. The processor may, for example, have the functions of each part implemented by individual hardware, or the functions of each part may be implemented by integrated hardware. The processor may be, for example, a CPU. However, the processor is not limited to a CPU, and various types of processors such as a GPU (Graphics Processing Unit) or a DSP (Digital Signal Processor) can be used. The processor may also be a hardware circuit using an ASIC. The memory may be a semiconductor memory such as SRAM (Static Random Access Memory) or DRAM (Dynamic Random Access Memory), a register, a magnetic storage device such as a hard disk drive, or an optical storage device such as an optical disk drive. For example, the memory stores instructions that can be read by a computer, and the functions of each part of the information processing device 600 are realized when these instructions are executed by the processor. The instructions here may be instructions from an instruction set that constitutes a program, or instructions that instruct the hardware circuit of the processor to operate.

[0189] As shown in Figure 31, the computer 310A includes, for example, a processor 311, memory 312, storage device 313, input I / F unit 314, data I / F unit 315, communication I / F unit 316, and display device 317.

[0190] Computer 310A may be, for example, a server computer, a personal computer (e.g., a desktop, laptop, tablet, etc.), a media computer platform (e.g., a cable, satellite set-top box, digital video recorder, etc.), a handheld computer device (e.g., a PDA, email client, etc.), or any other type of computer or communication platform.

[0191] The processor 311 is a control unit that controls various processes in the computer 310A by executing programs stored in the memory 312.

[0192] Memory 312 is a storage medium such as RAM (Random Access Memory). Memory 312 temporarily stores the program code of the program executed by the processor 311, as well as data required during program execution.

[0193] The storage device 313 is a non-volatile storage medium such as a hard disk drive (HDD) or flash memory. The storage device 313 stores the operating system and various programs necessary to implement the above configurations.

[0194] The input interface unit 314 is a device for receiving input from the user. The input interface unit 314 can be, for example, a keyboard, mouse, touch panel, various sensors, or a wearable device. The input interface unit 314 may be connected to the computer 310A via an interface such as USB (Universal Serial Bus).

[0195] The data I / F unit 315 is a device for inputting data from outside the computer 310A. The data I / F unit 315 is, for example, a drive device for reading data stored on various storage media. The data I / F unit 315 may be provided outside the computer 310A. If the data I / F unit 315 is provided outside the computer 310A, it is connected to the computer 310A via an interface such as USB.

[0196] The communication interface unit 316 is a device for performing data communication with external devices of the computer 310A via a network such as the Internet, either by wire or wireless connection. The communication interface unit 316 may be located outside the computer 310A. If the communication interface unit 316 is located outside the computer 310A, it is connected to the computer 310A via an interface such as USB.

[0197] The display device 317 is a device for displaying various types of information. The display device 317 may be, for example, a liquid crystal display, an organic EL (Electro-Luminescence) display, or a display for a wearable device. The display device 317 may be located outside the computer 310A. If the display device 317 is located outside the computer 310A, it is connected to the computer 310A via, for example, a display cable. Furthermore, if a touch panel is used as the input I / F unit 314, the display device 317 may be integrated with the input I / F unit 314.

[0198] The binding area assignment program, which is a program for assigning binding areas to the rebar binding robot 100 according to this embodiment, the control program for the information processing device 600, or a part thereof, may be stored and provided on a computer-readable storage medium such as the storage device 313. The storage medium storing the program may be a non-transitory computer-readable medium. The non-transitory storage medium is not particularly limited, but may be a storage medium such as a USB memory or CD-ROM.

[0199] Alternatively, the bundled area allocation program according to this embodiment may be provided from outside the information processing device 600 via a communication network to which the information processing device 600 is connected. In the information processing device 600, for example, the processor 311 may execute the bundled area allocation program according to this embodiment, thereby realizing various processes and operations described later with reference to Figure 34, etc.

[0200] These physical configurations are illustrative and do not necessarily have to be independent. For example, the information processing device 600 according to this embodiment may have a Large-Scale Integration (LSI) in which the processor 311 and the storage device 313 are integrated. Also, as described above, the information processing device 600 may have a GPU as the processor 311, in which case the GPU executes a bundled area allocation program, thereby realizing various operations and processes described later with reference to Figure 34, etc.

[0201] Furthermore, the information processing device 600 and / or other devices such as the rebar tying robot 100A described later are not limited to the configuration described above. For example, some or all of the functions of the information processing device 600 may be performed by other information processing devices.

[0202] Furthermore, the functional units of the information processing device 600 described with reference to Figure 30, etc., are not limited to the above-described configuration. That is, the functional units of the information processing device 600 described with reference to Figure 30 may be merely examples for the convenience of explanation in this embodiment, and some of the functions performed by the above-described multiple functional units may be configured to be performed by other functional units or other servers. Also, multiple functional units may be configured to be executed by a single piece of hardware. In other words, the information processing device 600 according to this embodiment may be realized by multiple information processing devices, and the information processing device 600 may be composed of, for example, one or more physical servers, or it may be configured using a virtual server operating on a hypervisor. Alternatively, the information processing device 600 may be configured using one or more cloud servers.

[0203] Next, referring to Figure 32, the processes performed in the rebar tying system 10, which includes a tying device (such as a rebar tying robot 100) and an information processing device 600 according to the embodiment of this disclosure, will be described.

[0204] In the process illustrated in Figure 32, first, for example, a process related to preparation before starting the tying of multiple reinforcing bars may be performed. For example, input of reinforcing bar information by the worker may be accepted (S3202). For example, information regarding the number of vertical bars (first reinforcing bars R10 extending in the first direction) and the number of horizontal bars (second reinforcing bars R20 extending in the second direction) may be accepted. In this embodiment, further input of information such as the pitch of the reinforcing bars (distance between adjacent reinforcing bars arranged in the same direction, etc.) may also be accepted.

[0205] Furthermore, as part of the preparation process, for example, input of the tying mode by the worker may be accepted (S3204). As for the tying mode, for example, information such as tying all of the intersections of multiple reinforcing bars, or tying every other intersection (tying in a staggered pattern) may be accepted.

[0206] Furthermore, input may be accepted regarding the number of rebar tying robots 100 placed on the reinforcement arrangement where the rebars are arranged, the position where each rebar tying robot 100 is placed, or the position where each rebar tying robot 100 starts moving (S3206). The positions of the rebar tying robots 100 and the positions where the rebar tying robots 100 start moving may be input, for example, as coordinates on a two-dimensional coordinate system composed of the intersections of the reinforcement arrangements where multiple rebars are placed.

[0207] Next, each rebar tying robot 100 is assigned an area in which it will perform tying. In assigning the area in which each rebar tying robot 100 will perform tying (also referred to as the "tying area" in this embodiment), for example, the current position of the rebar tying robot 100 or the starting position of the rebar tying robot 100 may be displayed on the display unit of the information processing device 600 (such as the display unit 630 (Figure 33) described later) (S3208).

[0208] Next, for example, the number of vertical bars (first reinforcing bars R10 arranged along the first direction of extension) can be divided by the total number of rebar tying robots 100 to calculate the number of vertical bars (first reinforcing bars R10) that each rebar tying robot 100 will tie, and the area containing the calculated number of vertical bars can be allocated and set as the tying area where each rebar tying robot 100 will perform the tying (S3210). The tying area where each rebar tying robot 100 will perform the tying work can be set as an area that includes the number of vertical bars (first reinforcing bars R10) calculated by the above method, and also includes the starting position of each rebar tying robot 100.

[0209] Next, a movement path for each rebar tying robot 100 may be generated (S3212). The movement path for each rebar tying robot 100 may be generated such that, for example, it starts from the current position of each rebar tying robot 100, passes through multiple intersections of rebars within the set tying area in order, and reaches the same position where it starts moving, or any other position that can be arbitrarily set as the position where it ends moving.

[0210] In this embodiment, the progress of the tying work of each rebar tying robot 100 may be displayed next. For example, the movement path generated for each rebar tying robot 100 may be displayed on a display unit (display unit 630 (Figure 33)) (S3214).

[0211] Next, each rebar tying robot 100 may begin tying (S3216). For example, each rebar tying robot 100 may start moving and, within the tying area assigned to each rebar tying robot 100, may sequentially tie the intersections of multiple rebars along the generated movement path.

[0212] During the rebar tying process by the rebar tying robot 100, for example, the display of the completed tying locations in the image of the rebar tying robot 100's movement path shown in the above process (S3214) may be changed (S3218). For example, the color or other characteristics of the locations where tying by the rebar tying robot 100 has been completed may be changed on the displayed image of the movement path. For example, information about the locations where tying has been completed by the rebar tying robot 100 may be transmitted to the control unit 620 of the information processing device 600, and the control unit 620 may change the display manner of the intersections on the image of the movement path.

[0213] Furthermore, at this time, the current position of the rebar tying robot 100 may also be shown along the displayed movement path in accordance with the movement of the rebar tying robot 100 (S3220). For example, the current position of the rebar tying robot 100 on the movement path may be indicated by changing the color or the display method on the image of the movement path (for example, changing the shape of the icon indicating the current position of the rebar tying robot 100).

[0214] Each rebar tying robot 100 moves to a starting position or the like once it has completed tying the rebars at the intersections within the designated tying area.

[0215] This concludes the exemplary processing performed in the rebar tying system 10 according to this embodiment.

[0216] [Configuration of information processing device and rebar tying robot] Referring to Figure 33, the functional configuration of the rebar tying system 10 comprising the information processing device 600 and the rebar tying robot 100A according to this embodiment will be described. Figure 33 shows a functional block diagram of the rebar tying system 10 comprising the information processing device 600 and the rebar tying robot 100A according to this embodiment. Although only one rebar tying robot 100A is shown in Figure 33, as described above with reference to Figure 29, etc., the rebar tying system 10 according to this embodiment may be equipped with multiple rebar tying robots 100A, and in that case, the multiple rebar tying robots 100A may have the same functional configuration as the rebar tying robots 100A described below with reference to Figure 33, etc.

[0217] As shown in Figure 33, in this embodiment, for example, the information processing device 600 and the rebar tying robot 100A may be connected to each other via a network NE such as the Internet. The network NE here can be various networks such as a WAN (Wide Area Network), LAN (Local Area Network), or short-range wireless communication. Furthermore, the rebar tying robot 100A and the information processing device 600 may be connected via peer-to-peer (P2P) connection through mutual authentication. For example, they may be connected to each other via wireless communication such as Wi-Fi Direct, Bluetooth® communication, or NFC (Near Field Communication).

[0218] The information processing device 600 according to this embodiment includes, with reference to Figure 30, the acquisition unit 610 and the control unit 620 described above, as well as, for example, a display unit 630 and a communication unit 640. The display unit 630 may be configured to display, for example, the tying area assigned to the rebar tying robot 100A. The display unit 630 may also be configured to display, for example, the arrangement status of multiple rebars (first rebar R10 and second rebar R20), the movement path of the tying device (for example, the rebar tying robot 100A), and the tying status of the rebars at the intersections where the multiple rebars (first rebar R10 and second rebar R20) intersect. The communication unit 640 is configured to enable wireless communication between the information processing device 600 and the rebar tying robot 100A via a network NE.

[0219] As shown in Figure 33, the acquisition unit 610 of the information processing device 600 according to this embodiment may include a speed information acquisition unit 612, a movement start position information acquisition unit 614, a bundling pattern information acquisition unit 616, a bundling execution area information acquisition unit 618, and a bundling non-execution area information acquisition unit 619.

[0220] The speed information acquisition unit 612 may be configured to acquire, for example, information regarding the speed of the rebar tying robot 100A. The information regarding the speed of the rebar tying robot 100A may be acquired, for example, from the rebar tying robot 100A. Alternatively, the speed information acquisition unit 612 may be configured to acquire the speed information of the rebar tying robot 100A by accessing, for example, a database in which the speed information of the rebar tying robot 100A is stored.

[0221] In this embodiment, information regarding the speed of the rebar tying robot 100A may include, for example, the speed at which the rebar tying robot 100A moves in a first direction (Y direction) (first speed) and the speed at which the rebar tying robot 100A moves in a second direction (X direction) (second speed).

[0222] The movement start position information acquisition unit 614 may be configured to acquire information regarding the position where the rebar tying robot 100A starts moving. The position where the rebar tying robot 100A starts moving may be set by an operator, for example, and the movement start position information acquisition unit 614 may be configured to acquire the movement start position set by the operator. The position where the rebar tying robot 100A starts moving may be input by an operator during the preparation stage for the tying work, as described above with reference to Figure 32, for example, and the input information may be received by the information processing device 600. Alternatively, the position where the rebar tying robot 100A starts moving may be set in advance and stored in a database, for example, and the movement start position information acquisition unit 614 may be configured to access the database and acquire information regarding the position where the rebar tying robot 100A starts moving.

[0223] The information processing device 600 according to this embodiment may further include, for example, an input unit, which may have a movement start position information input unit, and may be configured so that the movement start position is input by an operator using the movement start position information input unit. For example, the display unit 630 of the information processing device 600 may display an image or schematic image of a reinforcement arrangement composed of multiple reinforcing bars, and the operator may select an intersection on the reinforcement arrangement where the reinforcing bar tying robot 100A will start moving, thereby inputting information regarding the movement start position.

[0224] The binding pattern information acquisition unit 616 may be configured to acquire information on binding patterns relating to the binding form within the binding area, for example, by the rebar binding robot 100A. In this embodiment, the binding pattern may include, for example, a full-point binding pattern (also referred to as the "first binding pattern" in this embodiment), which is a pattern in which binding is performed at all intersections within the binding area, and a staggered binding pattern (also referred to as the "second binding pattern" in this embodiment), which is a pattern in which binding is performed at least every other intersection (for example, every other intersection) within the binding area. For example, in the preparation stage of the binding work, the worker may input whether to have the rebar binding robot 100A perform binding using the full-point binding pattern or the staggered binding pattern within the binding area, and the information processing device 600 may be configured to receive the input information. Alternatively, the binding patterns may be set in advance and stored in a database or the like, and the binding pattern information acquisition unit 616 may be configured to access the database to acquire information on the binding patterns. In this embodiment, for example, when tying is performed using a staggered tying pattern (second tying pattern), every other intersection within the tying area on the reinforcement may be tied. Alternatively, in this embodiment, for example, every two intersections within the tying area on the reinforcement may be tied (i.e., every two intersections may be skipped), or every two or more (e.g., three) intersections may be skipped.

[0225] As described above, the information processing device 600 according to this embodiment may further include, for example, an input unit, and the input unit may have a binding pattern information input unit, and the binding pattern may be configured to be input by an operator using the binding pattern information input unit. For example, the display unit 630 of the information processing device 600 may be configured to allow selective input to the rebar binding robot 100A (or to each of the multiple rebar binding robots 100A if multiple rebar binding robots 100A are used) of whether to perform binding using an all-point binding pattern or a staggered binding pattern. Alternatively, it may be configured to allow input of which binding pattern will be used for binding in each binding area.

[0226] In this embodiment, the binding pattern may be configured to be either a full-point binding pattern or a staggered binding pattern, but is not limited to these, and other binding patterns may be selected and executed. For example, a binding pattern may be selected where binding occurs every two or more intersections.

[0227] The binding execution area information acquisition unit 618 may be configured to acquire information about binding execution areas, which are areas where binding is performed among multiple intersections on the reinforcement bar. The binding non-execution area information acquisition unit 619 may be configured to acquire information about binding non-execution areas, which are areas where binding is not performed among multiple intersections on the reinforcement bar.

[0228] The binding execution area may be set by the worker, for example, during the preparation stage of the binding work. As described above, the information processing device 600 according to this embodiment may further include, for example, an input unit, and the input unit may have a binding execution area information input unit, and the system may be configured so that the binding execution area is input by the worker using the binding execution area information input unit. For example, the display unit 630 of the information processing device 600 may display an image of the reinforcement arrangement, and the system may be configured so that the worker inputs which area on the image is the binding execution area.

[0229] Furthermore, the bundling execution area may be pre-configured and stored in a database, for example, and the bundling execution area information acquisition unit 618 may be configured to access the database and acquire information regarding the bundling execution area.

[0230] Areas where bundling is not performed may also be set by the worker, for example, during the preparation stage of the bundling work. Furthermore, if the information processing device 600 is equipped with an input unit, the input unit may have a bundling non-performance area information input unit, and the device may be configured so that information regarding bundling non-performance areas is input by the worker using the bundling non-performance area information input unit. Alternatively, bundling non-performance areas may be set in advance and stored in a database, and the bundling non-performance area information acquisition unit 619 may be configured to access the database and acquire bundling non-performance area information.

[0231] In this embodiment, only one of the binding execution area or the binding non-execution area may be input. For example, only the binding execution area may be set by the worker, and in this case, intersections within the assigned binding area other than those within the set binding execution area may be treated as intersections in the binding non-execution area and therefore binding will not be performed. Similarly, for example, only the binding non-execution area may be set by the worker, and in this case, intersections within the binding area other than those within the set binding non-execution area may be treated as intersections in the binding execution area and therefore binding will be performed.

[0232] As shown in Figure 33, the control unit 620 of the information processing device 600 according to this embodiment may have, in addition to the bundling area allocation unit 622 described above with reference to Figure 29, a display control unit 624, for example. The display control unit 624 may have, for example, a bundling area display control unit 624a.

[0233] The bundling area display control unit 624a may be configured, for example, to control the display unit 630 so that the bundling area assigned by the bundling area allocation unit 622 is displayed on the display unit 630. The display unit 630 may have, for example, a bundling area display unit 632, and the bundling area may be configured to be displayed on the bundling area display unit 632 of the display unit 630.

[0234] The display control unit 624 may be configured to display other information in place of or in addition to the tying area by controlling the display unit 630. For example, it may be configured to display the arrangement status of multiple reinforcing bars (first reinforcing bar R10 and second reinforcing bar R20), the movement path of the reinforcing bar tying robot 100A, the operating position such as the current position of the reinforcing bar tying robot 100A, and the tying status. Furthermore, the display unit 630 may be configured to also display the remaining battery level and consumables level of the reinforcing bar tying robot 100A, as well as the communication strength between the reinforcing bar tying robot 100A and the information processing device 600, etc.

[0235] The communication unit 640 is configured to enable wireless communication between the information processing device 600 and the rebar tying robot 100A via the network NE.

[0236] The memory unit 650 may store, for example, binding area allocation information 652, intersection map information 654, robot number information 656, robot characteristic information 658, movement start position information 660, binding pattern information 662, binding execution area information 664, and non-binding execution area information 666.

[0237] The binding area assignment information 652 may, for example, be information about the binding area assigned to each rebar binding robot 100A by the binding area assignment unit 622. The intersection map information 654 may, for example, be information about a map of intersections where the first rebar R10 and the second rebar R20 intersect in a plurality of rebars (first rebar R10 and second rebar R20). The number of robots information 656 may, for example, be information about the number of rebar binding robots 100A that are arranged to perform binding work on a rebar arrangement in which a plurality of rebars are placed. The robot characteristics information 658 may, for example, be information about the characteristics of the rebar binding robot 100A, and may include, for example, speed information 658s, which is information about the speed of each of the rebar binding robots 100A. The speed information 658s ​​of the rebar tying robot 100A may include, for example, information on at least one of the speeds at which the rebar tying robot 100A moves in a first direction (Y direction) and the speed at which the rebar tying robot 100A moves in a second direction (X direction).

[0238] The movement start position information 660 may, for example, be information about the position where each of the rebar tying robots 100A starts moving. The tying pattern information 662 may, for example, be information about whether the rebar tying robot 100A will perform a full-point tying pattern (first tying pattern) or a staggered tying pattern (second tying pattern). The tying execution area information 664 and the tying non-execution area information 666 may be information about a tying execution area, which is an area on the rebar where the rebar tying robot 100A will perform tying, and a tying non-execution area, which is an area where the rebar tying robot 100A will not perform tying, respectively.

[0239] As shown in Figure 33, the rebar tying robot 100A according to this embodiment includes a rebar tying unit 110, a mobile unit 120, a communication unit 154, a determination unit 152, and a storage device 198. In the rebar tying robot 100A, the rebar tying unit 110, the mobile unit 120, and the storage device 198 may each have the same configuration as the rebar tying unit 110, the mobile unit 120, and the storage device 198 described above, for example with reference to Figure 7. Furthermore, the rebar tying robot 100A may also include other components of the rebar tying robot 100, such as a sensor unit 130, a lateral movement unit 146, and a control unit 160, in addition to the rebar tying unit 110, the mobile unit 120, and the storage device 198. In the following, the configuration of the rebar tying robot 100A that is the same as that of the rebar tying robot 100 will be omitted from the explanation as appropriate.

[0240] The rebar tying section 110 is configured to tie together the intersections where multiple rebars (first rebar R10 and second rebar R20) cross.

[0241] The mobile unit 120 is configured to move in a first direction (Y direction) and / or a second direction (X direction) on a reinforcement arrangement in which multiple reinforcing bars (first reinforcing bar R10 and second reinforcing bar R20) are arranged intersecting each other. In the reinforcing bar tying robot 100A according to this embodiment, the mobile unit 120 may be able to travel on the reinforcement arrangement, for example, similar to the reinforcing bar tying robot 100 described above. The mobile unit 120 may be configured to move while the drive unit is in contact with, for example, the first reinforcing bar R10. The drive unit of the mobile unit 120 may have a configuration similar to that of the roller unit 122 (first roller unit 122a, second roller unit 122b, third roller unit 122c, and fourth roller unit 122d) of the reinforcing bar tying robot 100.

[0242] The communication unit 154 is configured to enable wireless communication between the rebar tying robot 100A and the information processing device 600 via the network NE.

[0243] The storage device 198 may include a storage medium (e.g., a semiconductor memory element) or other media for non-transitory storage of, for example, one or more computer programs executed in a control unit provided in the rebar tying robot 100A, or data used for other control of the rebar tying robot 100A. The storage device 198 may also store, for example, tying area assignment information 652, which is information about the tying area assigned to the rebar tying robot 100A, and the area in which the rebar tying robot 100A performs tying work may be controlled based on the tying area assignment information 652 stored in the storage device 198. The storage device 198 may also store, for example, information about the movement path of the rebar tying robot 100A. The storage device 198 may also store, for example, information about the tying mode performed by the rebar tying robot 100A.

[0244] As described above, the rebar tying system 10 shown in Figure 33 may be a tying system comprising a control device (for example, an information processing device 600 equipped with a control unit 620, etc.) and a plurality of tying devices (a plurality of rebar tying robots 100A), in which a tying area is assigned to each of the plurality of tying devices (a plurality of rebar tying robots 100A) by the control device. In other words, the tying system (rebar tying system 10) according to this embodiment, as illustrated in Figure 33, etc., may be a tying system comprising: a plurality of tying devices (a plurality of rebar tying robots 100A) that move in the first direction (Y direction) or the second direction (X direction) on a reinforcement arrangement in which a plurality of first reinforcing bars (first reinforcing bars R10) extending in the first direction (Y direction) and a plurality of second reinforcing bars (second reinforcing bars R20) extending in the second direction (X direction) intersecting the first direction (Y direction) intersect with each other; and a control device (information processing device 600) that assigns a tying area to each of the plurality of tying devices (a plurality of rebar tying robots 100A) to perform tying at the intersections of the intersections. In this embodiment, the control device may have the same configuration as the control unit 620 of the information processing device 600 described above, for example, with reference to Figure 33, or it may have a configuration that does not have one or more functions of the other components of the information processing device 600, such as the acquisition unit 610, display unit 630, communication unit 640, and storage unit 650.

[0245] [How to allocate the bundling area] Referring to Figure 34, a method for allocating a bundled area performed by the information processing device 600 according to this embodiment will be described. As described above, the method for allocating a bundled area according to this embodiment may be performed, for example, by executing a bundled area allocation program stored in a storage device 650 or the like provided by the information processing device 600, using a processor provided by the information processing device 600, such as a control unit 620.

[0246] As shown in Figure 34, first, information regarding the rebar tying robot 100A is acquired (S3402). In this embodiment, information regarding multiple tying devices (rebar tying robot 100A) that move in the first direction (Y direction) or the second direction (X direction) on a reinforcement arrangement in which multiple first rebars R10 extending in the first direction (Y direction) and multiple second rebars R20 extending in the second direction (X direction) intersecting the first direction (Y direction) are arranged, and that can tie together the intersections where the first rebars R10 and the second rebars R20 intersect, is acquired by the acquisition unit 610.

[0247] Next, based on the acquired information, the control unit 620 assigns a tying area to be used for tying the intersections of the first reinforcing bar R10 and the second reinforcing bar R20 on the reinforcement bar arrangement. In this embodiment, the tying area is assigned to each of the multiple reinforcing bar tying robots 100A.

[0248] This concludes the process of allocating the bundling area according to this embodiment.

[0249] With the method for assigning tying areas according to the embodiment of this disclosure, as described above, the information processing device 600 assigns tying areas where the rebar tying robot 100 will perform tying at the intersections of multiple rebars (first rebar R10 and second rebar R20), so the worker does not need to assign tying areas. Therefore, the tying area assignment process according to this embodiment makes it possible to shorten the work time. In addition, by assigning tying areas for the rebar tying robot 100 by the information processing device 600, it becomes possible to assign tying areas that can efficiently complete the tying work on the rebar arrangement to be tied, thus shortening work time and improving work efficiency.

[0250] In the binding area allocation process according to this embodiment, the binding area may also be allocated based on the characteristics of the rebar binding robot 100A. The characteristics of the rebar binding robot 100A may be information such as vertical movement speed (movement speed in the Y direction), horizontal movement speed (movement speed in the X direction), and binding time.

[0251] Furthermore, the characteristics of the rebar tying robot 100A may also include information relating to the application of the rebar tying robot 100A, such as whether the rebar tying robot 100A is a rebar tying robot that travels autonomously on a rebar arrangement parallel to the ground (for example, in a direction parallel to a plane perpendicular to the vertical direction) and ties together the intersections of multiple rebars on the arrangement; or whether the rebar tying robot 100A is a wall climbing robot that climbs autonomously on a rebar arrangement installed in a direction parallel to the vertical direction and ties together the intersections of multiple rebars; or whether the robot is capable of performing any of the above tying operations.

[0252] As a result, for example, among multiple rebar tying robots 100A, the rebar tying robot 100A that ties the intersections of reinforcing bars on reinforcement arranged parallel to the ground, such as a floor, may be configured to be assigned a tying area that includes such reinforcement. Similarly, the rebar tying robot 100A that ties the intersections of reinforcing bars on reinforcement arranged vertically, such as a wall, may be configured to be assigned a tying area that includes such reinforcement. For example, in a tying work site where reinforcement arranged parallel to the floor and reinforcement arranged parallel to the wall are mixed, by performing the above-described tying area assignment process, it becomes possible to efficiently complete the tying of reinforcing bars at the tying work site.

[0253] Furthermore, as a characteristic of the rebar tying robot 100A, for example, if multiple generations of the rebar tying robot 100A are used, such as information about the model of the rebar tying robot 100A or model changes, the tying area may be assigned according to the specifications and performance of each rebar tying robot 100A corresponding to the model and generation. For example, if a relatively newer generation of rebar tying robot 100A has a greater movement speed than an older generation of rebar tying robot 100A, the relatively newer generation of rebar tying robot 100A may be assigned a tying area that ties a relatively large number of intersections. This makes it possible to complete the tying work on the reinforcement arrangement in which the tying work is performed more efficiently.

[0254] As a characteristic of the reinforcing bar bundling robot 100A, when information regarding speed is acquired, for example, when the speed at which the reinforcing bar bundling robot 100A (bundling device) moves in the first direction (Y direction) is defined as the first speed and the speed at which the reinforcing bar bundling robot 100A moves in the second direction (X direction) is defined as the second speed, an acquisition unit 610 (for example, the speed information acquisition unit 612 of the acquisition unit 610) acquires speed information regarding the respective first speeds and / or second speeds of a plurality of reinforcing bar bundling robots 100A. In this case, it may be configured such that a bundling area is assigned based on the speed information by a control unit 620 (for example, by a bundling area assignment unit 622 of the control unit 620).

[0255] For example, the faster direction between the moving speed with respect to the vertical bars (first reinforcing bars R10) and the moving speed with respect to the horizontal bars (second reinforcing bars R20) may be defined as the priority direction, and a bundling area may be assigned to the reinforcing bar bundling robot 100A along the priority direction. At this time, for example, the first speed (speed in the first direction (Y direction)) is greater than or equal to the second speed (speed in the second direction (X direction)), and the control unit 620 of the information processing device 600 may be configured to assign a bundling area along the first direction (Y direction). With such a configuration, for example, the bundling area can be assigned by a relatively simple process. Therefore, the bundling area assignment process can be reduced, and thus such an assignment process can be executed quickly.

[0256] In this embodiment, the first reinforcing bar R10 and the second reinforcing bar R20 may be arranged such that, for example, as shown in FIG. 1 described above, the first reinforcing bar R10 is positioned above Z1 with respect to the second reinforcing bar R20. At this time, the self-propelled reinforcing bar tying robot 100A that moves on the reinforcement formed by the first reinforcing bar R10 and the second reinforcing bar R20 moves by the traveling unit 121 of the moving unit 120 traveling on the first reinforcing bar R10. Therefore, in this embodiment, the first reinforcing bar R10 is the reinforcing bar that the roller portions 122 (the first roller portion 122a, the second roller portion 122b, the third roller portion 122c, the fourth roller portion 122d, etc.), which are the wheels of the traveling unit 121 of the reinforcing bar tying robot 100A, continuously contact during the movement of the reinforcing bar tying robot 100A. At this time, the first speed of the tying device (reinforcing bar tying robot 100A) is the speed at which the reinforcing bar tying robot 100A moves in the first direction (Y direction) while bringing the roller portion 122 into contact with the first reinforcing bar R10. Also, in this embodiment, the first speed is the speed at which the reinforcing bar tying robot 100A moves in the direction in which the roller portion 122, which is the wheel of the tying device (reinforcing bar tying robot 100A), rotates.

[0257] Also, with the above configuration, in the case where a plurality of reinforcing bar tying robots 100A arranged on the reinforcement before the start of the tying operation, etc. include, for example, a reinforcing bar tying robot 100A in which the vertical movement (for example, movement in the Y direction) is faster than the horizontal movement (movement in the X direction), and a reinforcing bar tying robot 100A in which the horizontal movement (for example, movement in the X direction) is faster than the vertical movement (movement in the Y direction), an area where the vertical movement is relatively large may be assigned to the reinforcing bar tying robot 100A with a relatively fast vertical movement, and an area where the horizontal movement is relatively large may be assigned to the reinforcing bar tying robot 100A with a relatively fast horizontal movement. Even with such a configuration, it is possible to efficiently complete the tying operation at the intersections on the reinforcement as a whole using a plurality of reinforcing bar tying robots 100A.

[0258] Furthermore, in the tying area allocation process according to this embodiment, the arrangement of the starting positions of multiple rebar tying robots 100A may be determined. For example, the starting positions, which are the positions where each of the multiple rebar tying robots 100A (tying devices) begins to move, may be acquired by the acquisition unit 610 of the information processing device 600 according to this embodiment (for example, the starting position information acquisition unit 614 of the acquisition unit 610). Based on the acquired information regarding the starting positions, the control unit 620 may be configured to assign tying areas to the multiple rebar tying robots 100A. This makes it possible to assign areas relatively close to each of the starting positions of the rebar tying robots 100A as tying areas, and therefore, the travel distance and travel time by the rebar tying robots 100A can be shortened. For example, a rebar tying robot 100A that starts moving from a position relatively in the X1 direction may be assigned a tying area that includes the intersection of rebars relatively in the X1 direction, and a rebar tying robot 100A that starts moving from a position relatively in the X2 direction may be assigned a tying area that includes the intersection of rebars relatively in the X2 direction. This makes it possible to complete the tying work at intersections on the rebar arrangement more efficiently by using multiple rebar tying robots 100A.

[0259] In the binding area allocation process according to this embodiment, for example, the starting position of movement of the rebar binding robot 100A may be determined by acquiring information on the starting position of movement that has been previously entered by the operator, and the binding area allocation process based on the information on the starting position of movement may be executed. Alternatively, for example, the starting position of movement of the rebar binding robot 100A may be determined based on information on the position of the rebar binding robot 100A on the rebar arrangement detected by a sensor provided on the rebar binding robot 100A before the rebar binding robot 100A starts moving, or information on the position of the rebar binding robot 100A acquired by a monitoring device of another rebar binding robot 100A, etc.

[0260] Furthermore, in the bundling area allocation process according to this embodiment, the allocated bundling area may be displayed. For example, the information processing device 600 may have a display unit 630 (Figure 33, etc.) as described above, and the allocated bundling area may be displayed on the display unit 630, for example. In this case, for example, the display unit 630 may have a bundling area display unit 632, and the control unit 620 of the information processing device 600 may have a display control unit 624 having a bundling area display control unit 624a, and the bundling area display control unit 624a of the display control unit 624 controls the bundling area display unit 632 of the display unit 630 so that the allocated bundling area is displayed on the display unit 630.

[0261] In this embodiment, this configuration makes it possible, for example, for a worker to perform a verification of the assigned tying area after the tying area has been assigned and before the operation of the rebar tying robot 100A begins. Therefore, for example, it is possible to configure the system so that a worker can change the assignment of different tying areas before the operation of the rebar tying robot 100A begins. For example, a worker can change the starting position of one or more of the multiple rebar tying robots 100A. Furthermore, a worker can increase or decrease the number of rebar tying robots 100A placed on the reinforcement that is the target of the tying work.

[0262] Furthermore, in the binding area allocation process according to this embodiment, the binding pattern within the allocated binding area (for example, a binding pattern such as an all-point binding pattern or a staggered binding pattern) may be input by, for example, a binding pattern input means provided in the information processing device 600, and the binding area may be allocated based on the binding pattern input by such binding pattern input means. That is, in this embodiment, for example, the binding pattern of each binding area of ​​a plurality of rebar binding robots 100A (a plurality of binding devices) may be acquired by the acquisition unit 610 (for example, the binding pattern information acquisition unit 616 of the acquisition unit 610), and the binding area may be allocated by the control unit 620 based on the acquired binding pattern.

[0263] Furthermore, in this embodiment, the tying area may be configured to be assigned based on robot characteristic information 658, such as speed information 658s ​​of the rebar tying robot 100A. With such a configuration, for example, a rebar tying robot 100A that can perform tying operations and / or movement relatively quickly may be assigned a tying area in which the full-point tying pattern is performed, or a tying area in which the full-point tying pattern is performed relatively often, while a rebar tying robot 100A that performs tying operations and / or movement relatively slowly may be assigned a tying area in which the staggered tying pattern is performed, or a tying area in which the staggered tying pattern is performed relatively often.

[0264] Furthermore, in the binding area allocation process according to this embodiment, for example, a binding execution area, which is an area containing intersections to be bound from among all intersections, may be input via a binding execution area input means provided in the information processing device 600, and a non-binding execution area, which is an area containing intersections that will not be bound, may be input via a non-binding execution area input means provided in the information processing device 600. Based on this input information regarding the binding execution area and / or non-binding execution area, a binding area may be assigned to each of the rebar binding robots 100A. Furthermore, in this embodiment, at this time, for example, the information processing device 600's acquisition unit 610 (for example, the acquisition unit 618 of the acquisition unit 610) may acquire the binding execution areas where binding is performed from among a plurality of intersections on the reinforcement, or the acquisition unit 610 (for example, the non-binding execution area information acquisition unit 619 of the acquisition unit 610) may acquire the non-binding execution areas where binding is not performed from among a plurality of intersections on the reinforcement, and a binding area may be assigned to each of the reinforcement binding robots 100A based on the acquired information regarding the binding execution areas or the non-binding execution areas.

[0265] In this embodiment, this configuration makes it possible to exclude, for example, an area including an intersection where manual tying by an operator has already been completed from the assigned tying area. Alternatively, in addition to this, it is possible to configure the system so that areas including an intersection where tying is performed manually by an operator after the tying work of the rebar tying robot 100A is completed are not assigned as a tying area where tying is performed by the rebar tying robot 100A. Therefore, for example, it is possible to suppress the occurrence of areas where tying work by the rebar tying robot 100A and that of an operator overlap.

[0266] In this embodiment, both the bundling execution area information and the bundling non-execution area information may be acquired, and the bundling area may be assigned based on either the bundling execution area information or the bundling non-execution area information.

[0267] As described above, the bundling area allocation process according to this embodiment may be performed, for example, by executing a computer program stored in a storage device or the like provided by the information processing device 600, using a processor provided by the information processing device 600, such as the control unit 620. Furthermore, the program in this case may be a computer program that includes instructions executed by, for example, a control unit 620, and the instructions cause the information processing device 600 to perform the following actions: acquire information by the acquisition unit 610 of the information processing device 600 regarding a plurality of binding devices (a plurality of rebar binding robots 100A) that move in the first direction (Y direction) or the second direction (X direction) on a rebar arrangement in which a plurality of first reinforcing bars R10 extending in the first direction (Y direction) and a plurality of second reinforcing bars R20 extending in the second direction (X direction) intersecting the first direction (Y direction), and bind the intersections where the first reinforcing bars R10 and the second reinforcing bars R20 intersect; and, based on this information, assign a binding area to each of the plurality of binding devices (a plurality of rebar binding robots 100A) to perform binding at the intersections, by the control unit 620 of the information processing device 600.

[0268] [Display screen of the display unit] Referring to Figures 35A and 35B, an example of the display screen 610A displayed on the display unit 610 in this embodiment will be described.

[0269] Figure 35A shows the display screen 630A displayed on the display unit 630. As shown in Figure 35A, the display screen 630A includes a tying area display unit 632 and a device status display unit 634. The tying area display unit 632 may display, for example, the tying area assigned to the rebar tying robot 100A and the movement path of the rebar tying robot 100A. In addition, the tying area display unit 632 may also display the reinforcement arrangement status consisting of the first rebar R10 and the second rebar R20, the tying status regarding completion or incompleteness of tying, and the current position of the rebar tying robot 100A. For example, a movement path is displayed connecting the intersections of the first reinforcing bar R10 and the second reinforcing bar R20, and a tying area is displayed indicating the range of intersections where the reinforcing bar tying robot 100A will perform tying among all the intersections on the reinforcement arrangement. Furthermore, the tying status is displayed superimposed at each intersection on the displayed movement path, and the reinforcing bar tying robot 100A may be displayed at any of the intersections, either on or near any of the multiple intersections, or between any two intersections.

[0270] In this embodiment, as shown in Figure 35A, a grid-like frame 618 may be displayed to indicate the reinforcement status. Alternatively, instead of a grid-like frame, the reinforcement status may be displayed by arranging and displaying shapes such as circles corresponding to the intersection points of the first reinforcement bar R10 and the second reinforcement bar R20. The reinforcement status may be displayed on the display screen 610A based, for example, on the number of vertical reinforcement bars (first reinforcement bar R10) and the number of horizontal reinforcement bars (second reinforcement bar R20) that intersect with the vertical reinforcement bars (first reinforcement bar R10). In this embodiment, in addition to the number of vertical bars (first bars R10) and the number of horizontal bars (second bars R20) that intersect with the vertical bars (first bars R10), information regarding the pitch of the vertical bars (first bars R10) (the distance between adjacent first bars R10 (first bars R10 adjacent to each other in the second direction X)) and the pitch of the horizontal bars (second bars R20) (the distance between adjacent second bars R20 (second bars R20 adjacent to each other in the first direction Y)) may be included in the information regarding the reinforcement arrangement. In this case, for example, the reinforcement arrangement may be displayed on the display screen 610A with the grid-like frames or circles arranged according to the pitch of the bars.

[0271] Figure 35B shows a magnified view of a portion of the image displayed in the tying area display unit 632. In the example shown in Figure 35B, for example, the rebar tying robot 100A is moving from bottom to top on the page of Figure 35B in the order of intersections P(j,k-2), P(j,k-1), and P(j,k), and is currently at intersection P(j,k), and is moving towards intersection P(j,k+1) (j and k are natural numbers). At this time, the rebar tying robot 100A has already passed intersections P(j,k-2) and P(j,k-1) and tying work is being carried out, but for example, tying at intersection P(j,k-2) is incomplete due to an obstacle, etc., while tying at intersection P(j,k-1) is complete. In this case, intersections P(j,k-2) and P(j,k-1) may be displayed in different colors. Furthermore, the intersection P(j,k), which is the current position of the rebar tying robot 100A, may be displayed in a different manner than the intersections P(j,k-2) and P(j,k-1) that have already been passed. For example, as shown in Figure 34B, the intersections P(j,k-2), P(j,k-1), and P(j,k+1) may be represented by a single circle, while the intersection P(j,k) may be represented by a double circle. Also, the intersection P(j,k+1), which the rebar tying robot 100A has not yet reached, may be displayed in a different manner (for example, by a different color) than the intersection P(j,k-2), which the rebar tying robot 100A has already reached but where tying is not yet complete, and the intersection P(j,k-1), where tying is complete.

[0272] In this embodiment, the display is not limited to the examples given above, and may be displayed in other ways. The display of icons corresponding to intersections may be changed to indicate the tying status or the current position of the rebar tying robot 100A. For example, the tying status or the position of the rebar tying robot 100A may be displayed using multiple different shapes other than the circles and double circles exemplified above.

[0273] The intervals between each intersection (the interval I(j,k-2) between intersection P(j,k-2) and intersection P(j,k-1), the interval I(j,k-1) between intersection P(j,k-1) and intersection P(j,k), and the interval I(j,k) between intersection P(j,k+1)) may also be represented in different ways (different colors, etc.) than, for example, the intervals I(j,k-2) and I(j,k-1) that the rebar tying robot 100A has already passed through and the interval I(j,k) that the rebar tying robot 100A has not yet passed through.

[0274] In this embodiment, as shown in Figure 35B, the movement path is indicated by arranging multiple (e.g., three) partial shapes of triangles, as shown by intervals I(j,k-2), I(j,k-1), and I(j,k). However, the display method of the movement path is not limited to this. In this embodiment, for example, the movement path may be indicated by a shape (e.g., a solid line, dotted line, dashed line, or a combination thereof) that connects the intersections of multiple reinforcing bars (first reinforcing bar R10 and second reinforcing bar R20). When the movement path is indicated by a shape in which one end along the path indicates the direction, as shown in Figure 35B, it is also possible to indicate the direction of movement of the reinforcing bar tying robot 100A along the movement path. In this case, the movement path may be configured to be displayed not only by arranging multiple partial shapes of triangles as described above, but also by shapes of arrows in addition to triangles.

[0275] As shown in Figure 35A, the display screen 630A may have, for example, a binding device status display unit 634 in addition to the binding area display unit 632. The binding device status display unit 634 may display, for example, information regarding the status of one or more rebar binding robots 100A arranged on the rebar. In the example shown in Figure 35A, for example, the binding device status display unit 634 according to this embodiment is provided with eight display areas for displaying the status of each rebar binding robot 100A (display areas 634_rb1, 634_rb2, 634_rb3, 634_rb4, 634_rb5, 634_rb6, 634_rb7, and 634_rb8), and the status of eight rebar binding robots 100A can be displayed at once. In the example shown in Figure 35A, for example, two rebar tying robots 100A are placed on the reinforcement, and the status of the two rebar tying robots 100A is displayed in display areas 634_rb1 and 634_rb2.

[0276] Referring to Figures 36A and 36B, examples of the status of the rebar tying robot 100A as displayed in each of the display areas 634_rb1, 634_rb2, ..., and 634_rb8 will be explained. Figures 36A and 36B show an example of the status of the rebar tying robot 100A being displayed in display area 634_rb1. Figure 36A shows the case when the rebar tying robot 100A is operating normally, and Figure 36B shows the case when a malfunction occurs in the rebar tying robot 100A and it is not operating.

[0277] As shown in Figure 36A, the display area 634_rb1 includes a name display area 634n that displays the name of the rebar tying robot 100A, a battery level display area 634b that displays the remaining battery level of the rebar tying robot 100A, a consumable status display area 634w that displays the status of consumables such as the remaining amount of wire, a communication strength display area 63i that displays the communication strength between the rebar tying robot 100A and the information processing device 600, a coordinate display area 634c that displays the position of the rebar tying robot 100A in coordinates, and a status display area 634s that displays information regarding whether the rebar tying robot 100A is operating normally or whether an abnormality has occurred and it is not operating.

[0278] In the name display area 634n, for example, the name of the steel bar tying robot 100A stored in advance in the storage unit or the like of the information processing device 600, the name of the steel bar tying robot 100A acquired from the steel bar tying robot 100A connected to the information processing device 600, etc. may be displayed.

[0279] In the battery remaining amount display area 634b, for example, as shown in FIG. 36A, the ratio of the current remaining amount to the remaining amount at full charge may be displayed as an image. Also, as shown in FIG. 36B, for example, it may be configured to display the battery remaining amount by images of a plurality of levels such as three levels.

[0280] In the consumable state display area 634w, for example, it may be configured to display the remaining amount of the wire by the size of the circle.

[0281] In the communication strength display area 563i, for example, the communication strength may be displayed by changing the number, size, amount of filling, etc. according to the strength of the communication strength.

[0282] In the coordinate display area 634c, for example, using an (x, y) coordinate system where the x coordinate indicates on which of the plurality of first steel bars R10 the steel bar tying robot 100A exists, and the y coordinate indicates on which of the plurality of second steel bars R20 the steel bar tying robot 100A exists, the position of the steel bar tying robot 100A may be displayed using coordinates.

[0283] The status display area 634s may be configured to display "Active" as shown in Figure 36A when the rebar tying robot 100A is operating normally, and "Error" as shown in Figure 36B when some abnormality occurs in the rebar tying robot 100A and it is not operating. In addition, for example, the display may be shown in different colors depending on whether it is operating normally or an abnormality has occurred. For example, the entire display area 634_rb1 or the characters displayed in the display area 634_rb1 may be displayed in green when it is operating normally and in red when an abnormality has occurred.

[0284] In this embodiment, the display screen 630A may also be provided with a list update button 636_1 to update the status of each rebar tying robot 100A displayed in the tying status display unit 634, a preparation display button 636_2 to indicate that it is the preparation stage, such as arranging multiple rebars and rebar tying robots 100A, a tying start button 636_3 to start the movement of the rebar tying robot 100A and start the tying work, and a tying interruption button 636_4 to interrupt the tying work by stopping the movement or tying operation of the rebar tying robot 100A.

[0285] Returning to Figure 35A, Figure 35A illustrates a case where multiple rebar tying robots 100A are used, specifically two rebar tying robots 100A (rebar tying robot 100A_1 and rebar tying robot 100A_2), to tie each intersection. As shown in Figure 35A, the tying area display unit 632 displays, for example, tying area Ab1 where tying of the intersection is performed by rebar tying robot 100A_1, and tying area Ab2 where tying of the intersection is performed by rebar tying robot 100A_2. Tying area Ab1 and tying area Ab2 are set to include positions Po1 and Po2 where rebar tying robot 100A_1 and rebar tying robot 100A_2 begin to move, respectively.

[0286] As shown in Figure 35A, tying area Ab1 and tying area Ab2 divide all the intersections to be tied (for example, in Figure 35A, a total of 35 points, 5 vertically and 7 horizontally) along the Y direction. Rebar tying robots 100A_1 and 100A_2 both have a Y-direction travel speed greater than their X-direction travel speed. Therefore, as shown in Figure 35A, by assigning tying area Ab1 and tying area Ab2 to divide the 35 intersections to be tied along the Y direction, the Y-direction movement of rebar tying robots 100A_1 and 100A_2 can be made relatively large, while the X-direction movement can be made relatively small. This makes it possible to improve the efficiency of the tying work, such as reducing the time required to tie all 35 intersections.

[0287] In this embodiment, as shown in the example in Figure 35A, binding areas Ab1 and Ab2 are set for the rebar tying robot 100A_1 and the rebar tying robot 100A_2, respectively, with a straight line along the Y direction (a straight line parallel to the Y direction) as the boundary. As a result, the intersections to be tied (the 35 intersections exemplified in Figure 35A) are assigned to be divided along the Y direction.

[0288] Furthermore, since tying area Ab1 and tying area Ab2 are set to include positions Po1 and Po2, respectively, where the rebar tying robots 100A_1 and 100A_2 begin moving, it is possible for the rebar tying robots 100A_1 and 100A_2 to start tying work from their starting positions. This also makes it possible to further shorten the working time for tying work using the rebar tying robots 100A_1 and 100A_2.

[0289] Furthermore, the rebar tying robots 100A_1 and 100A_2, which are exemplified by the tying areas Ab1 and Ab2 assigned to Figure 35A, may have, for example, a faster travel speed for rebar tying robot 100A_1 and / or a shorter working time for tying at each intersection than for rebar tying robot 100A_2. In this case, for example, as shown in Figure 35A, the tying area Ab1 assigned to the rebar tying robot 100A_1 is set to be larger than the tying area Ab2 assigned to the rebar tying robot 100A_2 (i.e., the tying areas Ab1 and Ab2 are assigned such that the number of intersections included in tying area Ab1 is greater than the number of intersections included in tying area Ab2). As a result, the rebar tying robot 100A_1, which can perform tying at each intersection and movement between intersections relatively quickly, is set to perform tying work at a relatively large number of intersections, making it possible to relatively shorten the time required to tie all 35 intersections.

[0290] In the rebar tying system 10 according to this embodiment, for example, it may be configured to allow for multiple methods of allocating tying areas. The tying area allocation process that can be performed in the rebar tying system 10 will be specifically described with reference to Figures 37A and 37B. Figures 37A and 37B are schematic diagrams for illustrating the tying area allocation process.

[0291] As shown in Figure 37A, for example, if eight first reinforcing bars R10 (first reinforcing bars R11, R12, R13, R14, R15, R16, R17, and R18) are included in the reinforcement, and the intersections of these eight first reinforcing bars R10 with second reinforcing bars R20 are tied by two reinforcing bar tying robots 100A_1 and 100A_2, then for example, tying areas Ab1 and Ab2 may be assigned to each reinforcing bar tying robot 100A_1 and reinforcing bar tying robot 100A_2 along the first reinforcing bar R10. As shown in Figure 37A, tying areas Ab1 on the right X1 and Ab2 on the left X2 of a boundary parallel to the first direction (Y direction) may be assigned to each reinforcing bar tying robot 100A_1 and reinforcing bar tying robot 100A_2, respectively.

[0292] As shown in Figure 37A, for example, tying areas Ab1 and Ab2 may be assigned such that each contains the same number of four first reinforcing bars R10. In the example shown in Figure 37A, the rebar tying robot 100A_1 starts moving from position Po1 on the first reinforcing bar R11 located at the far right X1, and the rebar tying robot 100A_2 starts moving from position Po2 on the first reinforcing bar R12 located one bar to the left X2 from the first reinforcing bar R11 located at the far right X1, but the configuration according to this embodiment is not limited to this. For example, the rebar tying robot 100A_2 may be positioned to start moving from a point on the first reinforcing bar R15, which is the first reinforcing bar R10 from which the rebar tying robot 100A_2 will start tying.

[0293] Furthermore, as shown in Figure 37B, for example, if the reinforcement arrangement includes 10 first reinforcing bars R10 (first reinforcing bars R11, R12, R13, R14, R15, R16, R17, R18, R19, and R110), and the intersections of these 10 first reinforcing bars R10 with the second reinforcing bars R20 are tied by three reinforcing bar tying robots 100A_1, 100A_2, and 100A_3, then tying areas Ab1, Ab2, and Ab3 may be assigned based on the starting positions Po1, Po2, and Po3 of the reinforcing bar tying robots 100A_1, 100A_2, and 100A_3. In the example shown in Figure 37B, for example, the starting positions Po1, Po2, and Po3 of the rebar tying robots 100A_1, 100A_2, and 100A_3 are located on the first rebars R11, R12, and R13, respectively.

[0294] As shown in Figure 37B, for example, tying areas Ab1, Ab2, and Ab3 may be configured to assign four (R11, R12, R13, and R14), three (R15, R16, and R17), and three (R18, R19, and R110) first reinforcing bars, respectively, from right X1 to left X2. By assigning tying areas Ab1, Ab2, and Ab3 as described above, for example, the distance traveled (movement in the X direction) by rebar tying robots 100A_1, 100A_2, and 100A_3 to the first reinforcing bar R10 (first reinforcing bars R11, R14, and R18, respectively) to begin tying can be made relatively small. Therefore, the time required for tying the intersections of the first reinforcing bars R10 and the second reinforcing bars R20 can be relatively shortened, thereby improving the efficiency of the tying work.

[0295] In this embodiment, for example, boundaries (binding area boundaries B12 and B23 (Figure 37B)) are provided in a direction parallel to the first direction (first direction Y), and the system may be configured such that the number of binding areas equal to the number of rebar binding robots 100A placed on the reinforcement is allocated by these boundaries. In this case, the control unit 610 may be configured to set binding areas (binding areas Ab1, Ab2, and Ab3) equal to the number of binding devices (multiple rebar binding robots 100A) (for example, three units) by providing at least one binding area boundary (binding area boundary B12 and binding area boundary B23) along the first direction (Y direction) on the reinforcement, as shown in Figure 37B.

[0296] As described above with reference to Figure 37A, in this embodiment, for example, among the multiple rebar tying robots 100A_1 and rebar tying robots 100A_2, the rebar tying robot 100A_1 that starts moving from a starting position Po1 on the right X1 is assigned the tying area Ab1 on the right X1 out of the multiple tying areas Ab1 and Ab2, and the rebar tying robot 100A_2 that starts moving from a starting position Po2 on the left X2 is assigned the tying area Ab2 on the left X2 out of the multiple tying areas Ab1 and Ab2. Similarly, in the example shown in Figure 37B, in this embodiment, for example, among the multiple rebar tying robots 100A_1, 100A_2, and 100A_3, the rebar tying robot 100A_1, which starts moving from a starting position Po1 on the right X1, is assigned the right X1 tying area Ab1 out of the multiple tying areas Ab1, Ab2, and Ab3; the rebar tying robot 100A_3, which starts moving from a starting position Po3 on the left X2, is assigned the left X2 tying area Ab3 out of the multiple tying areas Ab1, Ab2, and Ab3; and the rebar tying robot 100A_2, which starts moving from a starting position Po2 in the middle in the X direction, is assigned the middle tying area Ab2 out of the multiple tying areas Ab1, Ab2, and Ab3.

[0297] In other words, in this embodiment, for example, the control unit 620 may be configured to assign binding areas (Ab1 and Ab2, or binding areas Ab1, Ab2, and Ab3) to each of the multiple binding devices (rebar binding robots 100A_1 and 100A_2, or rebar binding robots 100A_1, 100A_2, and 100A_3) such that the distance between the starting position of movement (starting positions Po1 and Po2, or starting positions Po1, Po2, and Po3) and the assigned binding area (binding areas Ab1 and Ab2, or Ab1, Ab2, and Ab3). In this embodiment, the binding areas Ab1, Ab2, and Ab3 may be assigned such that the distance between the starting positions Po1, Po2, and Po3 of each rebar binding robot 100A_1, 100A_2, and 100A_3 and the assigned binding area is minimized.

[0298] For example, in the example described above with reference to Figure 35A, the tying areas Ab1 and Ab2 are both assigned to include the starting positions Po1 and Po2 of the rebar tying robots 100A_1 and 100A_2, respectively. However, this embodiment is not limited to this configuration, and as explained with reference to Figures 37A and 37B, the starting positions Po1, Po2, and Po3 of the rebar tying robots 100A_1, 100A_2, and 100A_3 may be set so that they are not included in the tying areas Ab1, Ab2, and Ab3.

[0299] Furthermore, in both examples shown in Figures 37A and 37B, the starting positions Po1, Po2, and Po3 of the rebar tying robots 100A_1, 100A_2, and 100A_3 are shown to be adjacent in the X direction, and the rebar tying robots 100A_1, 100A_2, and 100A_3 are shown to be positioned on the reinforcement, but the configuration of this embodiment is not limited to this. For example, the rebar tying robots 100A_1, 100A_2, and 100A_3 may be positioned on the reinforcement such that their starting positions Po1, Po2, and Po3 are aligned in the Y direction.

[0300] In this case, the binding areas Ab1, Ab2, and Ab3 may be set such that, among the rebar binding robots 100A_1, 100A_2, and 100A_3 arranged in the Y direction, the binding area of ​​the rebar binding robot 100A furthest to the Y2 direction includes multiple first reinforcing bars R10 located furthest to the right X1, and among the rebar binding robots 100A_1, 100A_2, and 100A_3, the binding area of ​​the rebar binding robot 100A furthest to the Y1 direction includes multiple first reinforcing bars R10 located furthest to the left X2. Alternatively, among the rebar binding robots 100A_1, 100A_2, and 100A_3, the binding area of ​​the rebar binding robot 100A located in the center in the Y direction may be set to include multiple first reinforcing bars R10 located in the center in the X direction.

[0301] Alternatively, the binding areas Ab1, Ab2, and Ab3 may be configured such that, among the rebar binding robots 100A_1, 100A_2, and 100A_3 arranged in the Y direction, the binding area of ​​the rebar binding robot 100A furthest to the Y1 direction includes multiple first reinforcing bars R10 located furthest to the right X1, and among the rebar binding robots 100A_1, 100A_2, and 100A_3, the binding area of ​​the rebar binding robot 100A furthest to the Y2 direction includes multiple first reinforcing bars R10 located furthest to the left X2.

[0302] [Configuration of a rebar tying robot] Referring to Figure 33, etc., the example described is a case where the rebar tying robot 100A and the information processing device 600 are physically separate components and communicated with each other via wireless communication. However, this embodiment is not limited to this, and for example, the rebar tying robot 100A may be equipped with an acquisition unit and control unit of the information processing device, and configured to allocate a tying area for the rebar tying robot 100A. Referring to Figure 38, the rebar tying robot 100B in this case will be described. In the following, referring to Figures 29, 30, and 33, etc., components similar to those of the rebar tying robot 100A and information processing device 600 described above will be denoted by the same reference numerals, and explanations will be omitted as appropriate.

[0303] The rebar tying robot 100B according to this embodiment is a tying device (rebar tying robot 100B) comprising a rebar tying unit (rebar tying section 110) that moves along a reinforcement arrangement in which multiple rebars (first rebars R10 and second rebars R20) are arranged in an intersecting manner and can tie together the intersections where the multiple rebars (first rebars R10 and second rebars R20) intersect, an acquisition unit (acquisition section 610), and a control unit (control section 620), wherein the acquisition unit (acquisition section 610) is configured to acquire information about the tying device (rebar tying robot 100B), and the control unit (control section 620) is configured to assign a tying area to each of the multiple tying devices (multiple rebar tying robots 100B) to perform tying at intersections based on the information acquired by the acquisition unit (acquisition section 610).

[0304] Figure 38 shows the functional blocks of the rebar tying robot 100B. As shown in Figure 38, the rebar tying robot 100B, like the rebar tying robot 100A (Figure 33, etc.), comprises a rebar tying unit 110, a moving unit 120, and a storage device 198, and further comprises an acquisition unit 610, a control unit 620, and a display unit 630. The acquisition unit 610, control unit 620, and display unit 630 of the rebar tying robot 100B have the same configuration as the acquisition unit 610, control unit 620, and display unit 630 of the rebar tying robot 100A, respectively.

[0305] In the rebar tying robot 100B, the acquisition unit 610 may include a speed information acquisition unit 612, a movement start position information acquisition unit 614, a tying pattern information acquisition unit 616, a tying execution area information acquisition unit 618, and a tying non-execution area information acquisition unit 619. The control unit 620 may include a tying area allocation unit 622 and a display control unit 624. The display control unit 624 may include, for example, a tying area display control unit 624a. The display unit 630 may include a tying area display unit 632.

[0306] The rebar tying robot 100B may be configured such that the tying area, which is the work area in which the rebar tying robot 100B ties the intersections of multiple rebars (first rebar R10 and second rebar R20), is assigned by the control unit 620 based on information acquired by the acquisition unit 610.

[0307] The rebar tying robot 100B may be configured such that, for example, a liquid crystal display device or the like is pre-installed as a display unit 630 on the main unit 140, and the tying area assigned to the rebar tying robot 100B and other information related to the rebar tying robot 100B are displayed on the display unit 630. Alternatively, the rebar tying robot 100B may be configured such that an information processing terminal equipped with a display device is attached to it using a portable terminal holder or the like, and the information processing terminal is moved together with the rebar tying robot 100B. The display unit 630 of the information processing terminal, such as a display screen, may display the tying area of ​​the rebar tying robot 100B, or it may be configured to display other information related to the tying work of the rebar tying robot 100B, such as the movement path and tying status. In this case, the control unit 620 of an information processing terminal installed in a terminal holder or the like on the rebar tying robot 100B may be configured to set the tying area to be assigned to the rebar tying robot 100B by performing, for example, a tying area assignment process. The display unit 630 on the rebar tying robot 100B, and the display unit 630 of the information processing terminal installed in a terminal holder or the like on the rebar tying robot 100B, may be configured to display the above-described display screen, for example, referring to Figure 35A.

[0308] The rebar tying robot 100B shown in Figure 38 does not communicate with an external information processing device 600, etc., so for example, a communication unit 154 is not shown. However, if information about the rebar tying robot 100B used in the tying area allocation process performed by the control unit 620, or information about other rebar tying robots 100 placed on the reinforcement, etc., is obtained by accessing an external database, or if the robot accesses an external information processing device or storage medium, a communication unit 154 may be provided in the rebar tying robot 100B. Also, if computer programs etc. executed by the control unit 620, etc. of the rebar tying robot 100B are obtained by accessing an external database, a communication unit 154 may be provided.

[0309] Furthermore, in a configuration in which, for example, an information processing terminal such as a mobile terminal holder is installed on the rebar tying robot 100B as described above, and the information processing terminal is moved together with the rebar tying robot 100B, the information processing terminal and the rebar tying robot 100B may be configured to communicate via wireless communication. In this case as well, the rebar tying robot 100B may be provided with a communication unit 154. In this configuration in which the information processing terminal is moved together with the rebar tying robot 100B, the information processing terminal and the rebar tying robot 100B are in close proximity to each other, so the information processing device and the rebar tying robot 100B may be connected by short-range wireless communication such as Bluetooth® or NFC as described above.

[0310] (modified version) In the embodiments described above, the focus has been on the method for allocating the tying area, which is the work area for tying work performed by the self-propelled rebar tying robot 100A and the rebar tying robot 100B, and on the information processing device 600, which is executed by the control unit, etc. However, the embodiments of this disclosure are not limited to these, and can also be applied to, for example, a robot arm type rebar tying device 300.

[0311] The binding device 300 according to this embodiment will be described with reference to Figure 39. Figure 39 is a view of the binding device 300 according to this embodiment from the diagonal front (diagonal front in both the +Y and +X directions).

[0312] The binding device 300 shown in Figure 39 differs from the rebar binding robots 100A and 100B, etc., in that it includes a robotic arm-type mobile unit 320, and the rebar binding unit 310 is configured to be moved by the robotic arm-type mobile unit 320. That is, the binding device 300 according to this embodiment includes a rebar binding unit 310 and a mobile unit 320, similar to the rebar binding robots 100A and 100B, etc. Furthermore, the binding device 300 may also include a sensor unit 330 and a robotic arm section 322 (first robotic arm section 322a and second robotic arm section 322b).

[0313] As shown in Figure 39, the binding device 300 may further include, for example, a base portion 340. The binding device 300 may be positioned on a steel member 10, such as an H-beam, via the base portion 340. The base portion 340 includes a robot arm support portion 342, and one end of the robot arm portion 322 (the end of the first robot arm portion 322a) is rotatably supported with respect to the robot arm support portion 342. Therefore, the rebar binding unit 310 is configured to be movable with respect to the base portion 340 by connecting one end of the robot arm portion 322 (the end of the first robot arm portion 322a) to the base portion 340 and connecting the rebar binding unit 310 to the other end of the robot arm portion 322 (the end of the second robot arm portion 322b). The robot arm portion 322 has a first robot arm portion 322a and a second robot arm portion 322b that are rotatably connected relative to each other. The rebar tying unit 310 is provided at the end of the second robot arm 322b. The sensor unit 330 is provided at the end of the second robot arm 322b (the end opposite to the connection between the first robot arm 322a and the second robot arm 322b). The sensor unit 330 is positioned between the end of the second robot arm 322b and the rebar tying unit 310.

[0314] The sensor unit 330 includes a first sensor 330a and a second sensor 330b. In the state shown in Figure 39, the first sensor 330a is provided in the +Z direction at the end of the second robot arm 322b, and the second sensor 330b is provided in the -Z direction at the end of the second robot arm 322b. As shown in Figure 39, the first sensor 330a and the second sensor 330b each include an oval-shaped imaging unit 330ac and imaging unit 330bc when viewed from the +Y direction.

[0315] In the state shown in Figure 39, the group of reinforcing bars formed by the first reinforcing bar R10 arranged along the Z direction and the second reinforcing bar R20 arranged along the Y direction is substantially upright in the Z direction. The binding device 300, equipped with a robotic arm-type mobile body 320, can perform binding operations at the intersection points c12 of the first reinforcing bar R10 and the second reinforcing bar R20, even for a group of reinforcing bars that are upright, for example, along the Z direction, as shown in Figure 39. At this time, similar to the reinforcing bar binding robot 100A and the reinforcing bar binding robot 100B, the reinforcing bar binding unit 310 may be moved by the mobile unit 320 to sequentially perform binding operations at multiple intersection points c12.

[0316] The tying device 300 may be fixed to the steel member 10, for example, but it may also be provided so as to be movable relative to the steel member 10 (for example, so as to be movable along the direction in which the steel member 10 extends) and may perform tying operations on other groups of reinforcing bars not shown. Furthermore, not limited to groups of reinforcing bars standing upright along the Z direction as shown in Figure 39, it is also possible to use the tying device 300 to tie the intersection point c12 of groups of reinforcing bars arranged parallel to the horizontal plane, for example, by moving the reinforcing bar tying unit 310 with a robot arm (robot arm section 322) to tie the intersection point c12.

[0317] For example, the binding device 300 can be used to perform binding operations at the intersection c12 of a first reinforcing bar R10 extending in the X direction and a second reinforcing bar R20 extending in the Y direction, which form a reinforcing bar surface arranged horizontally (parallel to the XY plane). For example, if reinforcing bar surfaces arranged parallel to the XY direction exist in the -Z and +Z directions of the binding device 300, the binding device 300 can be placed on a steel member 10 located between these reinforcing bar surfaces (between the Z directions) to perform binding operations on groups of reinforcing bars in the -Z and +Z directions. For example, even for groups of reinforcing bars located in the +Z direction of the binding device 300, the reinforcing bar binding unit 310 can be moved by a robotic arm-type mobile unit 320, making the binding work relatively easy.

[0318] Even when tying together the intersections of multiple reinforcing bars using multiple robotic arm-type tying devices 300, similar to the reinforcing bar tying robot 100A and the reinforcing bar tying robot 100B, an information processing device 600 (for example, Figures 30 and 33) can be used to assign tying areas to the tying devices 300 to perform tying at the intersections of multiple reinforcing bars (first reinforcing bar R10 and second reinforcing bar R20). Therefore, for the tying devices 300, for example, the operator does not need to assign tying areas, thereby shortening the work time. Furthermore, by assigning tying areas to the tying devices 300 via the information processing device 600, it becomes possible to assign tying areas that allow for efficient completion of the tying work on the reinforcing bar arrangement to be tied, thus shortening the work time and improving work efficiency.

[0319] Furthermore, the information processing device 600 and the binding area allocation process performed by the information processing device 600 according to this embodiment can be applied not only when binding work is performed using multiple robotic arm-type binding devices 300, but also, as described above, when binding work is performed using a combination of a self-propelled rebar binding robot 100 such as the rebar binding robot 100A or the rebar binding robot 100B and a robotic arm-type rebar binding robot (binding device 300). For example, even in a binding work site where rebars arranged parallel to the floor or ground and rebars arranged parallel to the walls are mixed, the information processing device 600 and the binding area allocation process performed by the information processing device 600 according to this embodiment can be applied.

[0320] In reinforcement arrangements consisting of multiple reinforcing bars arranged in a relatively complex manner, the tying work can be performed using multiple types of tying devices. In this case, since tying areas are assigned based on a relatively large amount of complex information, the efficiency of the tying area assignment process can be improved compared to, for example, when workers assign tying areas to each tying device. Therefore, even in such tying work sites, it becomes possible to complete the tying of reinforcing bars efficiently.

[0321] Furthermore, when applying the information processing device 600 according to this embodiment to the allocation of tying areas for a robotic arm type rebar tying device (tying device 300) illustrated in Figure 39, the tying area of ​​the tying device 300 may be allocated, for example, by determining which of the intersections of multiple rebars (first rebar R10 and second rebar R20) is to be tied. Also, when the tying area is allocated by the intersections of multiple rebars (first rebar R10 and second rebar R20), for example, the movement path of the tying device 300 may use information corresponding to the order of the intersections of multiple rebars (first rebar R10 and second rebar R20) that are tied by the rebar tying unit 310, which is moved by the robotic arm type movement unit 320 in the tying device 300.

[0322] Furthermore, when applying the information processing device 600 according to this embodiment to the allocation of a binding area for a robot arm type binding device 300 illustrated in Figure 39, similar to the rebar binding robot 100B (Figure 38, etc.), for example, an acquisition unit 610 and a control unit 620, and a display unit 630 such as a liquid crystal display device may be pre-installed on, for example, the base unit 340 or the robot arm unit 322, and the binding area may be allocated by the control unit 620 based on the information acquired by the acquisition unit 610. In this case, the display unit 630 may be configured to display the binding area allocated to the binding device 300 and other information related to the binding device 300. Alternatively, the bundling device 300 may be configured to have an information processing terminal equipped with a control device and a display device, such as a mobile terminal holder, installed on it, and the information processing terminal may be moved together with the bundling device 300. The information processing terminal may be configured to allocate a bundling area using an acquisition unit 610 or a control unit 620, and the bundling area allocated by the control unit 620 may be displayed on the display unit 630.

[0323] The embodiments have been described above with reference to specific examples. However, this disclosure is not limited to these specific examples. Modifications made to these specific examples by those skilled in the art are also included within the scope of this disclosure, as long as they retain the features of this disclosure. The elements and their arrangement, conditions, shapes, etc., of each of the aforementioned specific examples are not limited to those exemplified and can be modified as appropriate. The elements of each of the aforementioned specific examples can be combined in different ways as appropriate, as long as no technical inconsistencies arise. [Explanation of Symbols]

[0324] 100, 100A, 100B, 300 Rebar Tying Robot (Tying Device) 110 Rebar tying unit (rebar tying section, tying unit) 120 Mobile Unit (Moving Section) 152 Judgment section 154 Communications Department 600 Information Processing Equipment (Control Device) 610 Acquisition unit 620 Control Unit 630 Display Unit NE Network R10 1st Reinforcement Bar R20 Second Reinforcement Bar

Claims

1. An acquisition unit that moves in the first or second direction along a reinforcement arrangement in which a plurality of first reinforcing bars extending in a first direction and a plurality of second reinforcing bars extending in a second direction intersecting the first direction are arranged in a manner that intersects with each other, and acquires information about a plurality of binding devices capable of binding the intersections where the first reinforcing bars and the second reinforcing bars intersect, Based on the above information, a control unit assigns a binding area to each of the multiple binding devices for performing binding at the intersection, An information processing device equipped with the following features.

2. When the speed at which the binding device moves in the first direction is defined as the first speed, and the speed at which the binding device moves in the second direction is defined as the second speed, The acquisition unit acquires speed information relating to the first speed and / or second speed of each of the plurality of binding devices. The control unit allocates the bundling area based on the speed information. The information processing apparatus according to claim 1.

3. The first speed is greater than or equal to the second speed. The control unit is configured to allocate the bundling area along the first direction, The information processing apparatus according to claim 2.

4. The control unit sets up the number of binding areas corresponding to the number of binding devices by providing at least one binding area boundary along the first direction in the reinforcement arrangement. The information processing apparatus according to claim 3.

5. The acquisition unit acquires the starting position of movement, which is the position at which each of the multiple binding devices begins to move. The control unit allocates the binding area based on the starting position of movement. The information processing apparatus according to claim 1.

6. The control unit assigns the binding area to each of the plurality of binding devices such that the distance between the starting position and the assigned binding area becomes small. The information processing apparatus according to claim 5.

7. The device includes a display unit that displays the bundling area of ​​multiple bundling devices, The control unit causes the bundling area to be displayed on the display unit. The information processing apparatus according to claim 1.

8. The acquisition unit acquires the bundling pattern of each of the bundling areas of the plurality of bundling devices. The control unit allocates the bundling area based on the bundling pattern. The information processing apparatus according to claim 2.

9. The aforementioned bundling pattern includes a first bundling pattern that bundles all of the multiple intersections located within the assigned bundling area, and a second bundling pattern that bundles at least every other intersection. The information processing apparatus according to claim 8.

10. The acquisition unit is, Of the multiple intersections on the reinforcement arrangement, the binding execution area where the binding is performed is, Of the multiple intersections on the reinforcement bar, the area where the binding is not performed is the binding non-execution area, Obtain at least one of the following: The control unit allocates the bundling area based on at least one of the bundling execution area and the bundling non-execution area. The information processing apparatus according to claim 1.

11. Multiple binding devices that can move in the first or second direction along a reinforcement arrangement in which multiple first reinforcing bars extending in a first direction and multiple second reinforcing bars extending in a second direction intersecting the first direction are arranged in a manner that intersects with each other, and can bind together the intersections where the first and second reinforcing bars intersect. A control device that assigns a binding area to each of the multiple binding devices for performing binding at the intersection, A binding system equipped with these features.

Images