Binding device and binding program

Abstract

The present invention makes it possible to identify an appropriate intersection point for workpieces having different forms.　Regarding a workpiece B having intersection points P1, P2 where reinforcing bars S1, S2 intersect with each other, the present invention realizes identification of the intersection points P1, P2 in a form difficult to identify in a two-dimensional image, by having a structure comprising: a binding part that binds the intersection points with a binding body W; a storage part that stores three-dimensional information of an intersection point model; a first information acquisition part that acquires the three-dimensional information from the workpiece B; and an identification part that identifies the intersection points P1, P2 from the acquired three-dimensional information of the workpiece B by referring to the three-dimensional information of the intersection point model.

Description

Binding Device and Binding Program

[0001] The present disclosure relates to a binding device and a binding program including a binding portion that binds reinforcing bars with a wire.

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

[0003] Chinese Patent No. 113264212 Japanese Patent Application Laid-Open No. 2023-105958

[0004] Conventional binding devices can obtain intersections from two-dimensional photographed images taken from above by a camera and autonomously perform binding operations for each intersection within the work area. Such a conventional binding device can appropriately identify intersections and perform binding when the work consists of reinforcing bars forming a planar grid pattern. However, in recent years, there has been a demand to bind intersections of three-dimensionally assembled reinforcing bars, such as those used in columns and beams. In the case of three-dimensionally assembled reinforcing bars, there are problems such as the appearance varying depending on the position where the intersections are provided and difficulty in distinguishing between the fixtures holding the reinforcing bars and the intersections, and it has been difficult for conventional binding devices to appropriately identify intersections and perform binding.

[0005] An object of the present disclosure is to provide a binding device and a binding program capable of appropriately identifying intersections for works with different forms.

[0006] To solve the above-described problems, the binding device of the present disclosure includes: a binding portion that binds an intersection where reinforcing bars intersect with a binding body for a work having the intersection; a storage portion in which three-dimensional information of an intersection model is stored; a first information acquisition portion that acquires three-dimensional information from the work; and a specifying portion that refers to the three-dimensional information of the intersection model and specifies an intersection from the acquired three-dimensional information of the work.

[0007] Furthermore, the binding program of this disclosure enables a computer that controls a binding device comprising a binding unit that binds the intersections of reinforcing bars with a binding body to a workpiece having intersections, a storage unit that records three-dimensional information of the intersection model, and a first information acquisition unit that acquires three-dimensional information from the workpiece, to implement the function of an identification unit that refers to the three-dimensional information of the intersection model and identifies the intersection from the acquired three-dimensional information of the workpiece.

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

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

[0010] The embodiments of this disclosure will be described below with reference to the drawings.

[0011] [Configuration of the Binding System] Figure 1 is a perspective view of the main body 10 of the binding system 1 as a binding device according to the embodiment of this disclosure, Figure 2 is a block diagram showing the schematic control configuration of the binding system 1, and Figure 3 is a side view of the binding unit 6 of the binding system 1 in the position when performing the binding operation. As shown in these figures, the binding system 1 binds the intersections where reinforcing bars intersect with a workpiece B in which reinforcing bars are assembled into a predetermined shape. Specifically, the binding system 1 comprises the main body 10 and the control device 7.

[0012] The device body 10 comprises a workpiece holding unit 2, an overall imaging unit 3, a robot arm 4, an individual imaging unit 5, and a binding unit 6. Of these, the workpiece holding unit 2 is positioned inside the frame 11 of the device body 10, while the overall imaging unit 3, robot arm 4, individual imaging unit 5, and binding unit 6 are mounted on the frame 11. In the following description, the XYZ directions refer to the orientations shown in Figure 1. The XYZ directions are orthogonal to each other, the XY plane is approximately horizontal, and the Z direction is approximately vertical.

[0013] The frame 11 is formed in the shape of a rectangular parallelepiped that is elongated in the X direction, and includes four support columns 12 erected at the four corners in the X and Y directions, and four beams 13 that span across the upper ends of the support columns 12 in the X and Y directions. Of the area inside the frame 11, approximately half of one side in the X direction (right side in Figure 1) is the shooting area E1 where shooting is performed by the overall shooting unit 3, and the other half (left side in Figure 1) is the binding area E2 where binding work is performed by the robot arm 4 and the binding unit 6.

[0014] [Workpiece and Workpiece Holding Part] Here, an example of workpiece B is shown in the perspective view of Figure 4. Workpiece B is exemplified by a structure that is a rectangular prism overall, forming the framework of a column and beam. Workpiece B has main reinforcement bars S1 consisting of multiple straight reinforcing bars arranged in parallel, and multiple stirrups S2 consisting of reinforcing bars that surround the multiple main reinforcement bars S1. The direction along the main reinforcement bars S1 is defined as the longitudinal direction of workpiece B. The stirrups S2 have a roughly rectangular shape when viewed from the longitudinal direction, and multiple stirrups S2 are arranged at equal intervals in the longitudinal direction. A total of six main reinforcement bars S1 are arranged at the four corners of each stirrup S2 and at the midpoint of the long side of the stirrup S2. Each stirrup S2 is in a state where one end and the other end of the reinforcing bar that makes up the stirrup S2 are half wrapped around the main reinforcement bar S1 located at one of the corners.

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

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

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

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

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

[0020] The first camera 31 is an example of the first information acquisition unit according to this disclosure. However, as long as three-dimensional information can be obtained at the intersection P of the workpiece B, the sensor is not limited to one using a passive stereo method like the first camera 31, but may also be a sensor using, for example, an optical radar system, an active stereo system, optical interferometry, a lens focusing system, etc. Furthermore, as long as three-dimensional information can be obtained, the first information acquisition unit may not be limited to detection using light, but may also use a sensor utilizing magnetism, ultrasound, X-rays, etc.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0041] The first slack-forming section 621 and the second slack-forming section 622 then move past each other generally along the feeding direction F, thereby extending the path length of the wire W from the reel 63 to the entrance section 611 of the binding machine 61 and pulling the wire W out from the reel 63. In addition, the first slack-forming section 621 and the second slack-forming section 622 then return to their original positions after moving past each other, thereby adding slack to the wire W by the amount it was pulled out from the reel 63.

[0042] Incidentally, the two wires W are required to be fed into the inlet portion 611 of the bundling machine 61 from a direction close to the feeding direction F (i.e., an incident angle close to the feeding direction F). The feeding direction F is a direction suitable for deforming the wire W into an appropriate loop shape by the curl guide 613 and the guiding guide 614 at the front in the traveling direction thereof. In order to supply the wire W along the feeding direction F to the inlet portion 611 of the bundling machine 61, the slack forming portion 62 is arranged such that the path from the second slack forming portion 622 on the downstream side to the inlet portion 611 of the bundling machine 61 is along the feeding direction F. And, during the crossing operation, the second slack forming portion 622 moves away in a direction away from the inlet portion 611 of the bundling machine 61 along the feeding direction F.

[0043] For this reason, the bundling portion 6 is arranged such that the slack forming portion 62 protrudes greatly to one side (the right side of the paper surface in FIG. 3) in the orthogonal direction Xw with respect to the bundling machine 61 (swivel axis Zr). Note that the second camera 51 and the illumination unit 53 of the individual photographing portion 5 are arranged on the left side of the paper surface of FIG. 3 with respect to the bundling machine 61 of the bundling portion 6.

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

[0045] The storage unit 76 is a memory composed of a RAM (Random Access Memory), a ROM (Read Only Memory), etc., stores various programs and data, and also functions as a work area for the control unit 77. In the storage unit 76 of the present embodiment, a binding program 761 for executing the binding process described later, work model data 762, and intersection model data 763 are stored in advance. In addition, measurement data 764 acquired by the first camera 31 and measurement data 765 acquired by the second camera 51 are stored.

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

[0047] The work model data 762 is three-dimensional information of the entire work B based on the design information of the work B that is the work target, and includes three-dimensional position information of the intersection point P where binding is performed, and further includes orientation information. The work model data 762 is three-dimensional information of an ideal work B based on the design information. Therefore, although there may be an error between the work B held by the holding table 21, it is useful for the control device 7 to grasp the approximate position of each intersection point P. Note that the work model data 762 is not limited to the design information of the work B that is the work target, and may be, for example, three-dimensional information obtained by performing three-dimensional measurement on an existing work B.

[0048] The intersection model data 763 is three-dimensional information of the peripheral portion of the intersection of the main reinforcement S1 and the stirrup S2 that form the intersection point P of the work B that is the work target. As described above, the intersection points P included in the work B are roughly classified into two patterns: the intersection point P1 shown in FIG. 5 and the intersection point P2 shown in FIG. 6. The intersection model data 763 is prepared for each of the intersection point P1 and the intersection point P2.

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

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

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

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

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

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

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

[0056] As shown in Figure 7, the control unit 77 performs an intersection identification process (STEP 1) to identify intersections P1 and P2 included in the workpiece B during the bundling process. The control unit 77 that performs the intersection identification process functions as an "identification unit" that identifies intersections P1 or P2 from the three-dimensional information of the workpiece B by executing the bundling program 761.

[0057] In the intersection identification process, as shown in Figure 8, first the control unit 77 reads the work model data 762 and the intersection model data 763 (STEP 101). At this time, the control unit 77 determines the approximate position and orientation of the intersections P1 and P2 of the workpiece B on the holding table 21 from the position information of the intersections P1 and P2 indicated by the work model data 762.

[0058] Next, the control unit 77 of the control device 7 photographs the workpiece B in the shooting area E1 using the first camera 31 of the overall shooting unit 3 (STEP 102). The control unit 77 acquires measurement data 764 for the entire workpiece B using the first camera 31, which is a stereo camera, consisting of XY plane image data (monochrome image) including distance information, and stores it in the storage unit 76. If necessary, the control unit 77 controls the movement mechanism 32 to move the first camera 31 in the XY plane according to the size of the workpiece B and the field of view of the first camera 31, and photographs the entire workpiece B by dividing it into multiple parts with some overlap (for example, 2x2 division into 4 parts in each XY direction) (the drive motor 23 may also move the holding base 21). Then, the control unit 77 combines the acquired multiple images to generate an image of the entire workpiece B and stores it in the storage unit 76. Furthermore, the control unit 77 processes the measurement data 764 from the first camera 31 to convert it into 3D data in the same format as the three-dimensional information of the intersection model data 763 (STEP 103).

[0059] Then, with respect to the three-dimensional shape of workpiece B shown in the converted measurement data 764, the system searches for areas around the positions of intersections P1 and P2 shown in the workpiece model data 762 where the three-dimensional intersection model shown in the intersection model data 763 of intersections P1 and P2 roughly matches the three-dimensional shape. During the search, the system fine-tunes the position and orientation of the three-dimensional intersection model based on the intersection model data 763 and determines whether the shape matches a predetermined position on the three-dimensional shape of workpiece B shown in the measurement data 764 (STEP 104). The position and orientation of the three-dimensional intersection model based on the intersection model data 763 at the time of the match become the position and orientation of intersection P1 or P2.

[0060] The control unit 77 determines whether the position and orientation of intersection P1 or P2 have been identified based on the intersection model data 763 for all intersections P1 and P2 in the work model data 762 where bundling is planned (STEP 105).

[0061] Furthermore, depending on the orientation and placement of workpiece B on the holding base 21, it may be difficult to search for or tie some of the intersections P1 or P2 of workpiece B. For example, in the case of workpiece B placed on the holding base 21 as shown in Figure 1, it is difficult to search for and tie the intersections P1 and P2 on the bottom side. In that case, the workpiece B is flipped upside down, and the tying operation is performed in two stages, for the intersections P1 and P2 on one side and the intersections P1 and P2 on the opposite side. In this case, it is preferable to distinguish between the intersections P1 and P2 included in the workpiece model data 762 that will be tied in the tying operation before flipping and those that will be tied in the tying operation after flipping. Furthermore, if such settings are made in the work model data 762, then "all intersections P1, P2 in the work model data 762 where binding is planned" in STEP 105 means "all intersections P1, P2 that will be bound in the binding operation before reversal" or "all intersections P1, P2 that will be bound in the binding operation after reversal".

[0062] Then, in STEP 105, if any of the intersections P1 and P2 that are scheduled to be bound in the work model data 762 cannot be found by matching them with the three-dimensional intersection model shown in the intersection model data 763, the control unit 77 controls the movement mechanism 32 to move the first camera 31 a predetermined distance in a predetermined direction, thereby changing the relative position of the first camera 31 and the work B (STEP 106). Then, the process returns to STEP 102 to restart the imaging of the work B by the first camera 31 and the search for the intersection model.

[0063] On the other hand, if a location is found that matches the three-dimensional intersection model shown in the intersection model data 763 for all intersections P1 and P2 where binding is planned in the work model data 762, the position and orientation of all intersections P1 and P2 are determined (STEP 107). The position of intersection P1 or P2 identified here is more accurate than the position of intersections P1 and P2 shown in the work model data 762. This is because the work model data 762 specifies the position of intersection P1 or P2 derived from the design conditions of work B, and errors may occur in work B on the holding base 21.

[0064] Furthermore, since the intersection model data 763 for intersections P1 and P2 includes insertion direction information, the appropriate insertion direction for the binding operation for the identified intersection P1 or P2 can be determined from the orientation of the identified intersection P1 or P2 (STEP 108). Once the position, orientation, and insertion direction of all intersections P1 or P2 have been determined, the intersection identification process is completed, and the control unit 77 proceeds to STEP 2 in Figure 7.

[0065] The control unit 77 drives the drive motor 23 of the workpiece holding unit 2 to operate the holding table 21 and move the workpiece B to the binding area E2 (STEP 2). Furthermore, the control unit 77 sequentially starts the binding operation for the identified intersections P1 and P2 of the workpiece B. That is, in the binding area E2, the control unit 77 moves the second camera 51 of the individual imaging unit 5 mounted on the robot arm 4 closer to either intersection P1 or P2 (STEP 3). Here, the control unit 77 controls the operation of the robot arm 4 based on the position, orientation and insertion direction of the intersection P1 or P2 identified in the intersection identification process, and moves the second camera 51 to a position in front of the insertion direction of intersection P1 or P2. Then, the control unit 77 controls the operation of the lifting motor 52 to move the second camera 51 closer to a predetermined distance from intersection P1 or P2. As a result, either intersection point P1 or P2 is positioned directly in front of the second camera 51, and one of the intersection points P1 or P2 is within the field of view of the second camera 51.

[0066] Next, the control unit 77 uses the second camera 51, which was brought close in STEP 3, to photograph the intersection point P1 or P2, acquires the measurement data 765, and stores it in the storage unit 76 (STEP 4). The measurement data 765 from the second camera 51 includes color image data with a higher resolution than that from the first camera 31. When the second camera 51 is taking pictures, the control unit 77 may control the lighting unit 53 to photograph the intersection point P1 or P2 with multiple different lighting patterns. This allows for the generation of a three-dimensional image based on changes in the patterns of projected and reflected light, and the acquisition of distance information.

[0067] Next, the control unit 77 calculates the position of intersection point P1 or P2 based on the image data acquired in STEP 4 (STEP 5). That is, the control unit 77 detects the contours (edges) of the main reinforcement bar S1 and the stirrup bar S2 from the image data of the main reinforcement bar S1 and the stirrup bar S2. The control unit 77 determines the position of intersection point P1 or P2 with even greater precision than the position obtained in the intersection point identification process described above, based on the contours of the main reinforcement bar S1 and the stirrup bar S2. In addition, it calculates the wire length required for tying by determining the outer diameters of the main reinforcement bar S1 and the stirrup bar S2, and determines the angle of the tying unit 6 around the pivot axis Zr when performing the tying operation based on the direction along the contour of the main reinforcement bar S1 and the direction along the contour of the stirrup bar S2. Furthermore, the control unit 77 determines the appropriateness of the insertion direction of the tying unit 6 based on the possibility of interference between the tying unit 6 and other reinforcing bars S or jigs, etc. (STEP 6).

[0068] If it is determined that the current insertion direction is not appropriate, another insertion direction recorded in the intersection model data 763 for intersection P1 or P2 is selected according to priority (STEP 7). In this case, the process returns to STEP 3, and the approach to intersection P1 or P2 from the other insertion direction and the imaging by the second camera 51 are repeated.

[0069] On the other hand, if the insertion direction of the binding portion 6 is correct, the control unit 77 moves the binding portion 6 closer to intersection P1 or P2 (STEP 8). Here, the control unit 77 controls the movement of the robot arm 4 and moves the binding portion 6 mounted on the end effector 43 closer to intersection P1 or P2, instead of the second camera 51. At this time, based on the more accurate position information of intersection P1 or P2 obtained in STEP 7, the control unit 77 can position the binding position of the binding portion 6 opposite intersection P1 or P2 with high positional accuracy.

[0070] Next, the control unit 77 operates the binding unit 6 to bind intersection P1 or P2 with wire W (STEP 9). Next, the control unit 77 determines whether or not to terminate the binding process (STEP 10). If it determines not to terminate the process (STEP 10; No), it proceeds to STEP 3 described above. As a result, processes STEP 3 to S10 are repeated until, for example, all necessary intersections P are bound. In other words, the selection of the next intersection P1 or P2 to be bound, the photography of the intersection P1 or P2, and the binding are performed sequentially. Then, in STEP 10, if it determines, for example, that all necessary intersections P have been bound (STEP 10; Yes), the control unit 77 terminates the binding process.

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

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

[0073] Furthermore, the memory unit 76 of the binding system 1 stores insertion direction information, which includes multiple different insertion directions, in the form of intersection model data 763. Therefore, if the binding unit 6 becomes unable to perform the binding operation from a specific insertion direction due to the risk of interference with the workpiece B or other structures, it is possible to quickly obtain a candidate for the next insertion direction, enabling stable and smooth binding operations to continue. In particular, since the insertion direction information includes a priority order for multiple different insertion directions, it is possible to immediately determine which insertion direction should be used for the binding operation, enabling quick and appropriate binding operations.

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

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

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

[0077] Furthermore, the control unit 77, which functions as a specific unit, performs the acquisition of measurement data 764 by the first camera 31 (STEP 102) and the identification of intersections P1 and P2 by the control unit 77 as a specific unit (STEP 104) in the intersection identification process shown in Figure 8 above. Based on predetermined conditions, it changes the relative position of the first camera 31 and the workpiece B (STEP 106) and then retries the acquisition of measurement data 764 by the first camera 31 (STEP 102) and the identification of intersections P1 and P2 (STEP 104). This makes it possible to identify the position and orientation of intersections P1 and P2 with greater accuracy based on the more appropriately acquired measurement data 764.

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

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

[0080] [Other Examples of Work Model Data and Intersection Model Data] The aforementioned work model data 762 exemplifies the three-dimensional information of the entire workpiece B based on design information that includes the three-dimensional positional information of intersection P. This work model data 762 is data that shows a three-dimensional structure faithful to the external shape of workpiece B shown in Figure 4. However, the work model data 762 required for the binding system 1 does not have to be data that shows a three-dimensional structure faithful to the external shape of workpiece B, as long as it is possible to identify the intersections P1 and P2 where binding is performed, and some information can be omitted. For example, as has already been stated, the detailed surface shape of the main reinforcement S1 and stirrups S2 of workpiece B can be omitted, but information showing the outer diameter of the main reinforcement S1 and stirrups S2 of workpiece B can also be omitted. For example, the work model data 762 may be such that each main reinforcement S1 and each stirrup S2 is identified by a line without thickness (a line with no defined outer diameter), as shown in Figure 9. In this case, the work model data 762 only needs to include information indicating the length of each main reinforcement S1 and each tie reinforcement S2 line, the direction of the lines, and their relative arrangement to one another.

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

[0082] [Other examples of intersection identification processing] In the intersection identification processing shown in Figure 8, which is executed by the control unit 77, the conditions for retrying the acquisition of measurement data 764 by the first camera 31 (STEP 102) and the identification of intersections P1 and P2 (STEP 104) are: (1) the position and orientation of all intersections P1 and P2 that are scheduled to be bundled in the work model data 762 have not been identified (STEP 105) and (2) the relative position of the first camera 31 and work B has been changed (STEP 106). However, either or both of the conditions (1) and (2) for executing the retry may be omitted. That is, regardless of whether the position and orientation of all intersections P1 and P2 where binding is planned in the work model data 762 have been identified, the relative position of the first camera 31 and the work B, the acquisition of measurement data 764 by the first camera 31, and the identification of intersections P1 and P2 may be repeated multiple times to finally determine the position and orientation of intersections P1 and P2. Alternatively, if the position and orientation of all intersections P1 and P2 where binding is planned in the work model data 762 have not been identified, the acquisition of measurement data 764 by the first camera 31 and the identification of intersections P1 and P2 may be retried without changing the relative position of the first camera 31 and the work B. Furthermore, regardless of whether the position and orientation of all intersections P1 and P2 where binding is planned in the work model data 762 have been identified, the acquisition of measurement data 764 by the first camera 31 and the identification of intersections P1 and P2 may be repeated multiple times without changing the relative position of the first camera 31 and the work B, thereby finally determining the position and orientation of intersections P1 and P2.

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

[0084] Furthermore, the bundling system 1 can also identify intersection P1 or P2 by searching for a portion that approximates the three-dimensional shape indicated by intersection P1 or P2, as shown by intersection model data 763, based on measurement data 764 acquired by photographing workpiece B with the first camera 31, without using workpiece model data 762. However, in this case, since the search is performed over the entire workpiece B, which is a wide area, the processing burden of the search may increase and the processing may take longer compared to the case where workpiece model data 762 is available.

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

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

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

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

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

[0090] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to these examples. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. Furthermore, the components of the above embodiments may be combined in any way without departing from the spirit of the invention.

[0091] This application is based on a Japanese patent application (JP 2024-230470) filed on December 26, 2024, the contents of which are incorporated by reference within this application.

[0092] This disclosure has the effect of enabling the identification of appropriate intersection points for workpieces of different shapes, and is useful for binding devices and the like.

[0093] 1 Binding system 2 Workpiece holding unit 21 Holding stand 3 Overall shooting unit 31 First camera (first information acquisition unit) 32 Movement mechanism 33 Y-direction slider 4 Robot arm (displacement mechanism) 40 Robot arm body 46 Movement mechanism 461 Y-direction slider 49 Controller 5 Individual shooting unit 51 Second camera 6 Binding unit 61 Rebar binding machine 7 Control device 76 Memory unit 761 Binding program 762 Workpiece model data (overall three-dimensional information of the rebar in the workpiece) 763 Intersection model data (three-dimensional information of the intersection model) 764 Measurement data 765 Measurement data 77 Control unit (specific unit) 10 Device body B Workpiece I11-I13, I21-I23 Insertion direction information P Intersection P1, P2 Intersection S Rebar S1 Main reinforcement S2 Tie Reinforcement W Wire (Bundling)

Claims

1. A binding device comprising: a binding unit for binding intersections of reinforcing bars with a binding body for a workpiece having intersections of reinforcing bars; a storage unit storing three-dimensional information of an intersection model; a first information acquisition unit for acquiring three-dimensional information from the workpiece; and an identification unit that refers to the three-dimensional information of the intersection model and identifies the intersection from the acquired three-dimensional information of the workpiece.

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

3. The fastening device according to claim 2, wherein the memory unit records insertion direction information that includes a plurality of different directions for the insertion direction of the fastening portion with respect to the intersection model.

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

5. The fastening device according to claim 2, wherein the insertion angle of the fastening portion relative to the intersection model is recorded in the insertion direction information, and the insertion angle is a three-dimensional angle including the X axis, Y axis, and Z axis.

6. The fastening device according to claim 5, wherein the memory unit records insertion direction information that includes a plurality of insertion angles that are different from each other for the same intersection.

7. The binding device according to claim 1, comprising: a displacement mechanism for displacing the binding portion and the workpiece relative to each other; and a control unit for controlling the displacement mechanism.

8. The binding device according to claim 7, wherein the displacement mechanism displaces the binding portion.

9. The binding device according to claim 7, wherein the displacement mechanism displaces the workpiece.

10. The bundling device according to claim 1, wherein the memory unit stores the three-dimensional information of a plurality of intersection models.

11. The bundling device according to claim 1, wherein the storage unit stores the three-dimensional information of the intersection model, which is composed of lines whose outer diameter is not defined.

12. The binding device according to claim 1, wherein the storage unit stores the three-dimensional information of the overall reinforcing bars of the workpiece.

13. The bundling device according to claim 12, wherein, after the acquisition of the three-dimensional information from the workpiece by the first information acquisition unit and the identification of the intersection point from the acquired three-dimensional information of the workpiece by the identification unit, the acquisition of the three-dimensional information from the workpiece by the first information acquisition unit and the identification of the intersection point from the acquired three-dimensional information of the workpiece by the identification unit are performed again.

14. The bundling device according to claim 1, further comprising a second information acquisition unit capable of observing at least one intersection of the workpieces.

15. A binding program for a computer that controls a binding device having intersections where reinforcing bars intersect, the device comprising a binding unit for binding the intersections with a binding body, a storage unit for which three-dimensional information of the intersection model is recorded, and a first information acquisition unit for acquiring three-dimensional information from the workpiece, wherein the computer implements the function of an identification unit that refers to the three-dimensional information of the intersection model and identifies the intersections from the acquired three-dimensional information of the workpiece.

Images