Binding device

Abstract

The present invention comprises: a binding part (6) that uses a binding body (W) to perform binding at intersection points (P) of a to-be-bound object (S); a movement part (40) that moves the binding part (6) relative to the intersection points (P); an observation unit (31) that acquires height information of an object present in the periphery of the intersection points (P); and a determination unit (77) that determines the binding direction for the intersection points (P) on the basis of the height information.

Description

Binding Apparatus

[0001] The present disclosure relates to a binding apparatus that binds an object to be bound.

[0002] Conventionally, there has been known a binding system that automatically and sequentially binds the intersections of crossing reinforcing bars with wires for a work formed by combining a plurality of reinforcing bars. In this type of binding system, information on binding points, which are intersections of reinforcing bars, is acquired by sensors or cameras. For example, the technology described in Patent Document 1 includes a moving device that moves a binding machine to an intersection with respect to a work. When an obstacle to movement is detected by a camera attached to the binding machine, the binding operation is performed on each intersection by avoiding the surrounding area of the obstacle. Further, in the technology described in Patent Document 2, a binding machine and a camera are mounted on a robot provided with wheels that move on the work. When an obstacle to movement is detected by the camera, the robot moves around the obstacle to perform the binding operation on each intersection.

[0003] Japanese Unexamined Patent Application Publication No. 2020-504254 Japanese Unexamined Patent Application Publication No. 2019-039174

[0004] However, the conventional technologies of the above Patent Documents 1 and 2 focus on obstacle avoidance, so there is a risk that binding at intersections is avoided over a wide range. Intersections where binding has been avoided require additional manual binding work by workers separately, which leads to reduced work efficiency and increased work burden. Therefore, it has been desired to reduce the number of intersections where binding is avoided.

[0005] The present disclosure has been made in view of the above circumstances, and an object thereof is to improve workability and work efficiency in binding work.

[0006] According to an exemplary aspect of the present disclosure, the binding apparatus includes: a binding unit that binds an intersection of objects to be bound with a binding member; a moving unit that moves the binding unit relatively with respect to the intersection; an observation unit that acquires height information of an object existing around the intersection; and a determination unit that determines a binding direction of the intersection based on the height information.

[0007] According to the present disclosure, it is possible to improve workability and work efficiency in binding work.

[0008] This is a perspective view of the main body of the binding system according to an embodiment. This is a block diagram showing the schematic control configuration of the binding system. This is a side view of the binding part in the posture when performing the binding operation. This is a configuration diagram of a cloud system including the binding system and a cloud server. This is a schematic view of an example of a workpiece seen from above in the Z direction. This is a schematic view of an example of a workpiece with a protruding part that is positioned above within the observation range, seen from above in the Z direction. This is a front view of a workpiece on a holding table seen from the Y direction. This is a front view showing the vertical path for moving the binding part between two intersections P. This is a plan view showing the four binding directions (1) to (4) at the intersections indicated by arrows. This is a flowchart of the binding direction determination process. This is a plan view of a workpiece that has been bound according to the binding direction at each intersection determined by the binding direction determination process. This is a flowchart showing the procedure when the binding system performs the binding process.

[0009] The embodiments of this disclosure will be described below with reference to the drawings.

[0010] [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, 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 at least two reinforcing bars overlapping and intersecting at the intersection of a workpiece B in which reinforcing bars are assembled into a predetermined shape. Specifically, the binding system 1 comprises a main body 10 and a control device 7.

[0011] 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.

[0012] 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.

[0013] [Workpiece Holding Unit] The workpiece holding unit 2 holds the workpiece B 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 supports the holding base 21 so that it can move, 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. Support plates 211 are erected on the four sides of the holding base 21 to support a plurality of reinforcing bars S, which are objects to be bound together that constitute the workpiece B. The support plates 211 have a plurality of U-shaped grooves 211a that open upward, and the reinforcing bars S are inserted into these U-shaped grooves 211a. The plurality of reinforcing bars S are arranged in a grid pattern along the X and Y directions with their ends inserted into the U-shaped grooves 211a of the support plates 211. The rail 22 is laid along the X direction and guides the holding base 21 in the X direction. In this embodiment, the rail 22 is laid so that the holding base 21 (workpiece B) can move across at least 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 through the work processes before and after binding. The drive motor 23 is a drive source for moving the holding base 21. Based on a drive command from the control device 7, the drive motor 23 moves the holding base 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 base 21 (workpiece B) from the shooting area E1 to the binding area E2.

[0014] [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 includes three-dimensional information at the intersection point P of the workpiece B.

[0015] The first camera 31 is an example of an observation unit that acquires height information of an observation range including the intersection P of each reinforcing bar S of workpiece B according to this disclosure. The three-dimensional information (distance information) acquired by the first camera 31 corresponds to the height information of the observation range. In other words, the height information includes the image information of the intersection P in the XY plane and the distance information in the depth direction of the intersection P in the observation range, the height of the convex portion surrounding it, and its range information, that is, the distance of the convex portion in the XY plane and the distance information in the depth direction. Note that, as long as distance information of the range including the intersection P of workpiece B can be obtained, the system is not limited to sensors using passive stereo methods such as the first camera 31, but may also be sensors using optical radar, active stereo methods, optical interferometry, lens focusing methods, etc. Furthermore, as long as distance information can be obtained, the observation unit may be a sensor that uses magnetism, ultrasound, X-rays, etc., as long as distance information can be obtained, and is not limited to detection by light.

[0016] 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.

[0017] [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 mobile unit that moves the binding unit 6 relative to the intersection point P. 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] [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 optical axis of the second camera 51 is attached to the end effector 43 of the robot arm 4 facing downwards, and the robot arm body 40 can tilt the optical axis in any direction (forward, backward, left, or right) to photograph the intersections P. The second camera 51 is also provided so as to be movable along the optical axis relative to the end effector 43. The optical axis direction of the second camera 51 is parallel to the rotation 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 high-resolution surface images of the reinforcing bars, mainly around one intersection P, and acquire detailed information. The binding system 1 can acquire detailed information with the second camera 51 and position the binding section 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 its surroundings, 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 images of at least one intersection P and its surroundings. The lifting motor 52 is a drive source for moving (lifting and lowering) the second camera 51 toward the tip (up and down direction, optical axis direction) relative to the end effector 43. The lifting motor 52 may be configured to acquire three-dimensional information of the intersection P by moving along the optical axis and cooperating with the second camera 51 to take multiple images. The lighting unit 53 is positioned somewhat in front of the second camera 51 in the shooting direction 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) capable of illuminating the object being photographed by the second camera 51 from different angles. The lighting unit 53 may be configured to irradiate patterned light from multiple directions and cooperate with the second camera 51 to acquire three-dimensional information around the intersection point P.

[0023] [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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] The binding unit 6 in Figure 3 is supported by the end effector 43 at the tip of the robot arm 4. The binding operation is performed with the pivot axis Zr of the end effector 43 parallel to the Z direction (vertical up and down direction) as the reference posture. However, it is also possible to perform the binding operation by tilting the robot arm body 40 in any direction from the reference posture (forward, backward, left, or right). Furthermore, the binding unit 6 is set so that the position where the wire W is tied to the reinforcing bar S is located on the axis of the pivot axis Zr. During binding, the robot arm 4 positions the binding unit 6 so that the intersection point P of the reinforcing bar S is on the axis of the pivot axis Zr. In addition, 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".

[0030] 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 spaced apart on both sides 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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. The first slack-forming section 621 and the second slack-forming section 622 both hold rollers over which the two wires W are stretched.

[0036] 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.

[0037] Incidentally, the two wires W are required to be fed into the inlet 611 of the binding machine 61 from a direction close to the feeding direction F (i.e., an incidence angle close to the feeding direction F). The feeding direction F is a suitable direction for deforming the wires W into an appropriate loop shape by the curl guide 613 and guide guide 614 located further along that direction of travel. In order to supply the wires W to the inlet 611 of the binding machine 61 along the feeding direction F, the slack-forming section 62 is arranged such that the path from the downstream second slack-forming section 622 to the inlet 611 of the binding machine 61 is along the feeding direction F. When passing each other, the second slack-forming section 622 moves away from the inlet 611 of the binding machine 61 along the feeding direction F.

[0038] Therefore, the binding section 6 is positioned such that the slack-forming section 62 protrudes significantly from one side (the right side of the page in Figure 3) in the direction Xw perpendicular to the binding machine 61 (rotating axis Zr). Note that if the wire W can be easily pulled out from the reel 63 and easily fed along the feeding direction F, the configuration of the slack-forming section 62 may be omitted. The second camera 51 and lighting unit 53 of the individual shooting section 5 are positioned on the left side of the page in Figure 3 relative to the binding machine 61.

[0039] [Control Device] As shown in Figure 2, the control device 7 is a computer that comprehensively controls the bundling system 1. Specifically, the control device 7 comprises an operation unit 72, a display unit 73, a storage unit 76, a control unit 77, and a communication unit 78. The operation unit 72 is an operating means for the user to perform various operations to operate the control device 7, and includes, for example, a pointing device such as a mouse or a keyboard. The display unit 73 is composed of, for example, a liquid crystal display, an organic EL display, or other display, and displays various information based on display signals from the control unit 77. The display unit 73 may also be a touch panel that serves as part of the operation unit 72, or it may provide audio output.

[0040] The storage unit 76 is a memory composed of RAM (Random Access Memory) and ROM (Read Only Memory), and stores various programs and data, as well as functioning as a workspace for the control unit 77. In this embodiment, the storage unit 76 has a binding process program 761 for executing the binding process described later pre-stored in it, as well as measurement data 764 acquired by the first camera 31, measurement data 765 acquired by the second camera 51, display image data 762 to be displayed on the display unit 73, binding feasibility data 763 used for binding, binding priority data 766, binding result data 767, etc. Here, the control unit 77 may include a processor. The processor is composed of, for example, a CPU (Central Processing Unit). RAM is configured as system memory, and ROM is configured as a hard disk or flash memory. The program related to the binding method is stored in storage memory and read into system memory. Based on the read program, the processor executes the operation of the binding system 1 and the binding device.

[0041] Measurement data 764 is three-dimensional information of intersection P of workpiece B acquired by first camera 31 during execution of a binding process described later. Measurement data 765 is two-dimensional information of intersection P of workpiece B acquired by second camera 51. However, in a configuration where the second camera 51 acquires three-dimensional information, three-dimensional information is recorded instead of two-dimensional information. Display image data 762 is data that presents information to be provided to an operator using the binding system 1 as an image.

[0042] Communication unit 78 is configured by a network interface or the like, and transmits and receives data to and from an external device connected via communication network N. As shown in Fig. 4, control device 7 performs information communication from communication unit 78 via communication network N such as the Internet with an external cloud server C and a terminal device 200 such as a tablet or smartphone carried by an operator performing binding work. Cloud server C is a server constructed in a cloud environment accessible via Internet connection, for example, a large-capacity server provided by a cloud service provider, and includes a virtual server used within the range of storage capacity provided via the Internet from one or more facilities.

[0043] Each of data 762 to 767 transmitted by control unit 77 via communication unit 78 is stored in cloud server C. An operator performing binding work can access cloud server C from terminal device 200 to browse the content of each of data 762 to 767.

[0044] As described above, control unit 77 is configured by, for example, a CPU or the like, and controls the operation of each part of apparatus main body 10. Specifically, control unit 77 operates each part of apparatus main body 10 based on operation content of operation unit 72 and the like. Further, control unit 77 deploys a program stored in advance in storage unit 76, and executes various processes in cooperation with the deployed program. Hereinafter, various processes executed by control unit 77 through execution of binding process program 761 will be described.

[0045] [Determination Unit: Intersection Identification Processing] As described above, the control unit 77 controls the device main body 10 to bind an intersection P where a plurality of reinforcing bars S of a workpiece B cross each other using a wire W as a binding body. Therefore, the control unit 77 functions as a determination unit by executing the binding processing program 761 described above, and performs intersection identification processing for identifying the intersection P where the plurality of reinforcing bars S of the workpiece B cross each other.

[0046] FIG. 5 is a schematic view of an example of the workpiece B viewed from above in the Z direction. In this schematic view, the number of reinforcing bars S of the workpiece B is illustrated to be smaller than that in FIG. 1. Further, FIG. 5 illustrates a state where each intersection P has already been bound by the wire W. Since there are a large number of wires W, intersections P and reinforcing bars S in FIG. 5, only some of them are provided with reference signs. The same applies to FIG. 6, FIG. 7 and FIG. 11 described later.

[0047] The workpiece B has a plurality of reinforcing bars S arranged along the Y direction on a plurality of reinforcing bars S arranged along the X direction, and presents a lattice shape. Note that the vertical positional relationship between the reinforcing bars S along the X direction and the reinforcing bars S along the Y direction may be reversed. Further, although the plurality of reinforcing bars S along each direction are illustrated as being arranged at uniform intervals, the mutual intervals between the reinforcing bars S may be non-uniform. Also, the lengths thereof may be non-uniform. Each position where the respective center lines of the plurality of reinforcing bars S along the X direction and the plurality of reinforcing bars S along the Y direction cross each other when viewed from the Z direction serves as an intersection P, and the binding system 1 can set each of these intersections P as a binding target.

[0048] The control unit 77 identifies the height and position of each intersection P from measurement data 764 obtained by photographing the workpiece B with the first camera 31. Since the measurement data 764 of the first camera 31 includes height information in addition to image information of the XY plane, the range of each reinforcing bar S can be extracted from the height information of each pixel within the observation range.

[0049] The "observation range" refers to the range captured by the first camera 31 in a single shot when the first camera 31 captures workpiece B in one shot, and to the total range obtained from multiple shots when the first camera 31 captures workpiece B in multiple shots. In other words, when the first camera 31 captures workpiece B in one shot, the observation range shows the entire workpiece B, and when the first camera 31 captures workpiece B in multiple shots, the observation range shows a part of workpiece B.

[0050] Within the observation range, each pixel corresponding to a single reinforcing bar S falls within a certain height range and is concentrated in a band-like area. Therefore, from the measurement data 764, pixels that fall within a specific height range can be extracted, and the pixels clustered in the band-like area can be identified as reinforcing bars S.

[0051] This allows us to identify all reinforcing bars S along the X direction and all reinforcing bars S along the Y direction, determine the centerline of each reinforcing bar S, and then determine the intersection of these centerlines to identify the location (position coordinates) of the intersection point P to be tied together. Furthermore, once the location is identified, the height of intersection point P can also be determined from its height information.

[0052] The location of intersection point P may be determined by other well-known methods. For example, since the measurement data 764 includes image information in the XY plane from above, it is possible to determine the location of intersection point P by detecting a cross shape indicating intersection point P from this image information. Furthermore, the height of each intersection point P can be obtained from the height information at the location of each intersection point P. In addition, since the measurement data 764 is also three-dimensional data within the observation range, it is possible to search within this three-dimensional data for parts of the reinforcing bars S around intersection point P that approximate pre-prepared existing three-dimensional model data, and identify the detected part as intersection point P.

[0053] [Determination Unit: Protrusion Identification Process] The control unit 77 functions as a determination unit by executing the aforementioned bundling process program 761 and performs a protrusion identification process to identify the protruding portion (referred to as protrusion V) within the observation range.

[0054] Figure 6 is a schematic diagram of a workpiece B, viewed from above in the Z direction, showing an example of a workpiece B in which a convex portion V protruding upward is arranged within the observation range. In workpiece B, objects may be placed between or on the grid of reinforcing bars S. The control unit 77, acting as a determination unit, identifies these objects as convex portions V. Furthermore, when forming a three-dimensional structure by connecting other objects or other reinforcing bars S to the upper surface of workpiece B, some reinforcing bars S may be bent and protrude upward to serve as a connecting space. The control unit 77, acting as a determination unit, also identifies such upwardly protruding reinforcing bars S as convex portions V.

[0055] In the convex part identification process, first, a reference height h0 is identified from the measurement data 764 based on multiple intersection points P arranged in a planar manner. Since the position and height of each intersection point P have been identified by the aforementioned intersection point identification process, the reference height h0 is determined based on the heights of these intersection points P. The reference height h0 may be the average height of each intersection point P within the observation range, or it may be the height of the intersection point P with the lowest height.

[0056] Figure 7 is a front view of the workpiece B on the support base 21, viewed from the Y direction, and the support plate 211 is not shown. The control unit 77, acting as a determination unit, identifies objects other than the reinforcing bars S from the measurement data 764, that is, objects present around the intersection, and in particular identifies the convex portion V located at the highest point of the object, and determines the height of the convex portion V relative to the reference height h0 and the range of the convex portion V as viewed from above (the range occupied by the convex portion V on the X-Y plane). In Figure 7, it is shown that the height of the convex portion V located on the left side of the paper is determined to be h1, and the height of the convex portion V located on the right side of the paper is determined to be h2. The height and range of convex portions V lower than the reference height h0 are also identified.

[0057] In the binding system 1, due to the structural reasons of the robot arm 4, an upper limit working height hl from the holding base 21 is set. After identifying all protrusions V within the observation range, the control unit 77 determines whether there are any protrusions V whose height from the holding base 21 exceeds the upper limit working height hl. If there are, it stops the binding operation on the workpiece B. In this case, the control unit 77 notifies the operator by displaying on the display unit 73 that the binding operation will not be performed. Furthermore, if the workpiece holding unit 2 has a function to discharge the workpiece B outside the machine, it performs the operation to discharge the workpiece B outside the machine along with the notification.

[0058] [Determination Unit: Path Identification Processing] The control unit 77 functions as a determination unit by executing the aforementioned binding processing program 761 and performs path identification processing to determine the movement path of the binding unit 6 between each intersection P. The order in which binding is performed for each intersection P, that is, the path in a plan view, may be one row at a time along the X or Y direction. Alternatively, binding may be performed by repeatedly circling from the intersection P located at the center of the observation range to the outer perimeter, or by repeatedly circling from the intersection P on the outer perimeter to the center. Binding may also be performed in any other prescribed order. Alternatively, multiple patterns of paths in a plan view may be provided and selectable.

[0059] The control unit 77 then determines the vertical path K (height during movement) for the robot arm body 40 to move the binding portion 6 between two adjacent intersections P along the path in the plan view, provided that a path in the plan view has been determined. For example, as shown in Figure 8, when the binding portion 6 moves from two adjacent intersections P1 to intersection P2 on the path in the plan view, and there is a protrusion V with height h2 around intersection P2, the control unit 77 determines the vertical path K such that the bottom of the binding portion 6 moves at a height h2 + α, which is height h2 plus a margin α. The value of the margin α may be set arbitrarily.

[0060] Furthermore, in the path identification process, the control unit 77 uniformly sets the vertical path K to a height obtained by adding a margin α to the height of the highest intersection P among the heights of each intersection P determined in the protrusion identification process, for intersection P where there are no protrusions V around it.

[0061] [Determination Unit: Binding Feasibility Determination Process] The control unit 77 functions as a determination unit by executing the binding processing program 761 described above, and performs a binding feasibility determination process to determine whether binding is possible for each of the four binding directions at each intersection P. Here, the binding direction refers to the direction that connects the four spaces formed around the intersection and separated by the reinforcing bars via the intersection P. In other words, two reinforcing bars S intersect and overlap to form an intersection P, and four spaces are formed around the intersection P when viewed from the direction in which the reinforcing bars S overlap, and the direction that connects each space to the space on the opposite side via the intersection P is the binding direction. Figure 9 is a plan view showing the four binding directions (1) to (4) centered on the intersection P with arrows. The arrows for each binding direction (1) to (4) indicate the orientation of the binding section 6 around the pivot axis Zr, with the tip of the arrow indicating the curl guide 613 side of the binding section 6 when binding, and the trailing end of the arrow indicating the guide guide 614 side.

[0062] Binding direction (1) is the direction inclined approximately 45° clockwise when one side of the Y direction (the upper side of the paper in Figure 9) is set to 0°. Binding direction (2) is the direction inclined approximately 135° clockwise with respect to the above 0°. Binding direction (3) is the direction inclined approximately 225° clockwise with respect to the above 0°. Binding direction (4) is the direction inclined approximately 315° clockwise with respect to the above 0°. Hereafter, for convenience, binding direction (1) may be referred to as the 2 o'clock direction, binding direction (2) as the 4 o'clock direction, binding direction (3) as the 8 o'clock direction, and binding direction (4) as the 10 o'clock direction. Here, binding directions (1) and (3), which are parallel to each other, are classified as first-type binding directions, and binding directions (2) and (4), which are parallel to each other, are classified as second-type binding directions. As shown in Figure 9, the first type of binding direction and the second type of binding direction are directions that are approximately orthogonal to each other.

[0063] In principle, the intersection P can be tied from four directions (1) to (4), provided there are no obstructions such as protrusions V. However, in the following cases (A) and (B), it may not be possible to tie some or all of the tying directions (1) to (4): (A) When there are protrusions V around the intersection P that may interfere with the tying section 6. (B) When there is no space to insert the curl guide 613 or guide guide 614 from above due to the protrusions V. Note that "there are protrusions around the intersection P" means, for example, that there are protrusions V at the cross-shaped corners of the reinforcing bars S that form the intersection P.

[0064] The control unit 77, acting as a determination unit, determines for each of the binding directions (1) to (4) at all intersections P in the observation range whether (A) there is interference between the binding portion 6 and the protrusion V, and whether (B) there is space for inserting the curl guide 613 or the guidance guide 614. These determinations are made considering the height and range of the protrusion V within the observation range, which were determined based on the measurement data 764 in the aforementioned protrusion identification process.

[0065] When determining (A), the control unit 77 prepares three-dimensional model data for the area corresponding to the entire body of the binding unit 6, positions the pivot axis Zr of the three-dimensional model data at the intersection P, and virtually places it at the height at which the binding operation will be performed. Then, when the three-dimensional model data is positioned with the pivot axis Zr facing each binding direction (1) to (4), the control unit 77 compares it with the height and range information of the protrusion V identified in the aforementioned protrusion identification process and determines whether or not interference occurs in each of the binding directions (1) to (4).

[0066] For example, the binding portion 6x shown by the dashed line in Figure 6 represents three-dimensional model data of a state where it is oriented in the binding direction (2) at the intersection Px, and interference occurs with the convex portion V surrounding the intersection Px. Interference also occurs in the binding directions (1), (3), and (4).

[0067] Furthermore, the binding portion 6a shown by the dashed line in Figure 6 illustrates the three-dimensional model data in a state where it is oriented in the binding direction (3) at the intersection Pa, and interference occurs with the convex portion V surrounding the intersection Pa. Interference also occurs in the case of binding direction (1). However, in the case of intersection Pa, interference with the convex portion V can be avoided in the cases of binding directions (2) and (4).

[0068] Furthermore, the determination of (A) can be made more simply by checking, without using three-dimensional model data, whether the plan view range of the convex portion V that protrudes above the intersection point P overlaps with the plan view range of the binding portion 6 when viewed from above.

[0069] Furthermore, when determining (B), the control unit 77 prepares three-dimensional model data for the range corresponding to the curl guide 613 and guidance guide 614 of the binding unit 6, positions the pivot axis Zr of the three-dimensional model data at the intersection P, and virtually places it at the height at which the binding operation is performed. Then, when the three-dimensional model data is positioned with the pivot axis Zr facing each binding direction (1) to (4), the control unit 77 compares it with the height and range information of the protrusion V identified in the aforementioned protrusion identification process and determines whether or not interference occurs in each of the binding directions (1) to (4).

[0070] For example, the protrusions V around the intersection Px are close to the two reinforcing bars S that form the intersection Px, and interference occurs with the protrusions V when three-dimensional model data corresponding to the curl guide 613 and the guide 614 are placed in the binding direction (1)(3).

[0071] Furthermore, the protrusions V around the intersection Pa are spaced apart from the two reinforcing bars S that form the intersection Pa, and in any of the binding directions (1) to (4), the three-dimensional model data corresponding to the curl guide 613 and the guide 614 can be placed without interference with the protrusions V.

[0072] In addition, even in the case of determination (B), instead of using three-dimensional model data, it is possible to more easily determine the size of the gap in plan view between the reinforcing bar S and the protrusion V that form the target intersection P, and to determine whether or not there is an insertion space from that size.

[0073] For each intersection P, the control unit 77 writes only the binding directions that are deemed possible to bind from among the binding directions (1) to (4) based on both the determination of (A) and the determination of (B) as candidates for binding directions, into the binding feasibility data 763, which is binding feasibility information, and stores it in the storage unit 76.

[0074] Furthermore, the above-mentioned determination of whether or not binding is possible does not need to be performed for all intersection points P within the observation range. For example, two determinations, (A) and (B), may be made only for intersection points P where a convex part V is adjacent to the surrounding area, and for all other intersection points P, it may be determined that binding is possible in all binding directions (1) to (4).

[0075] [Determination Unit: Binding Direction Determination Process] The control unit 77 functions as a determination unit by executing the binding processing program 761 described above, and performs a binding direction determination process to determine the binding direction at each intersection P to be one of the binding directions (1) to (4).

[0076] The binding system 1 has binding priority data 766 in its storage unit 76, which is binding priority information that defines a predetermined binding direction at each intersection P of the workpiece B. This binding priority data 766 does not take into account the influence of the protrusions V, but rather determines the binding direction that should be directed at each intersection P from a different perspective. The control unit 77 considers both the binding priority data 766 and the candidate binding directions (1) to (4) at each intersection P obtained in the binding feasibility determination process, and determines the binding direction in which the binding operation should be performed for each intersection P.

[0077] Figure 5 illustrates the binding direction at each intersection P based on the binding priority data 766. The binding direction shown here, based on the binding priority data 766, is set at each intersection P to one of the binding directions (1) to (4) closest to the direction radiating outwards from the center O of the holding base 21 along the X-Y plane. The center O approximately coincides with the position of the axis of the pivot axis on the base portion 41 of the robot arm body 40, which is positioned above the holding base 21. In this case, if the binding direction at each intersection P approximates the direction along the radial line, the amount of movement of each joint 44 of the robot arm body 40 can be minimized or sufficiently reduced when performing the binding operation while rotating each arm 42 on the base portion 41, making it possible to proceed with continuous binding operations smoothly and quickly. In other words, the example in Figure 5 can be said to be a binding priority direction condition that satisfies the condition of reducing the amount of movement.

[0078] Note that the binding direction of each intersection P based on the binding priority data 766 as binding priority information shown in Figure 5 is just an example and is not limited thereto. The binding direction of each intersection P based on the binding priority data 766 as binding priority information may also be defined to satisfy conditions for reducing the amount of movement of the binding unit 6 or improving accuracy. For example, a binding direction condition may be defined such that binding is performed in the same binding direction for one row of intersection P toward one direction of the X (or Y) direction, and then in the next row, binding is performed in the opposite binding direction for one row of intersection P toward the other direction of the X direction, and this is repeated. In this case, since the orientation of the binding unit 6 is kept constant for each row, it can be said that this is a binding priority direction condition that suppresses the effect of the rotational movement of the binding unit 6 and satisfies the accuracy improvement condition.

[0079] Here, the binding direction determination process performed by the control unit 77 will be explained based on the flowchart in Figure 10. The control unit 77 selects an intersection P within the observation range (step S1). The order in which the intersection P is selected may be the same as the order in which the binding is performed. Then, the control unit 77 determines whether the binding direction indicated by the binding priority data 766 at the intersection P matches or is included in the candidate binding directions obtained in the binding feasibility determination process (step S3).

[0080] As a result, if the binding direction of the binding priority data 766 matches or is included in the candidate binding direction, the binding direction of the binding priority data 766 is determined for the intersection P (step S5). On the other hand, if the binding direction of the binding priority data 766 is not included in the candidate binding direction, the control unit 77 determines whether there is only one candidate binding direction determined in the binding feasibility determination process (step S7).

[0081] As a result, if there is only one candidate binding direction, the binding direction for that intersection P is determined to be the sole candidate (step S9). On the other hand, if there are multiple candidate binding directions, the control unit 77 compares the number of intersections P that are the first type of binding direction with the number of intersections P that are the second type of binding direction from the binding directions of each intersection P that have already been determined, and selects and determines the binding direction for the intersection P whose binding direction is currently being determined to be the binding direction with fewer numbers of the first type and the second type (step S11). In other words, the control unit 77 selects the binding direction for each intersection P so that the number of intersections P belonging to the first type of binding direction and the number of intersections P belonging to the second type of binding direction are brought closer to being equal. In other words, multiple intersections are intersections that are bound to one binding direction and the other binding direction, and the binding direction for each intersection P is selected so that the number of intersections in one binding direction and the number of intersections in the other binding direction are brought closer to being equal.

[0082] Next, the control unit 77 determines whether or not the binding direction has been determined for all intersections P (step S13), and repeats the process from steps S1 to S13 until the binding direction has been determined for all intersections P. As a result, the binding direction is determined for all intersections P.

[0083] Figure 11 is a plan view of workpiece B after it has been bound according to the binding direction at each intersection P determined by the binding direction determination process. As shown in the figure, at intersection Px, the binding feasibility determination process determined that binding was not possible for any of the binding directions (1) to (4), and therefore no binding was performed. At intersection Pa, the binding direction (1) determined by the binding priority data 766 does not match the candidate binding directions (2) and (4) determined by the binding feasibility determination process, so a decision was made to change the binding direction to (2) or (4), and the binding process was performed according to that decision.

[0084] [Operation of the Binding System] Next, the operation of the binding system 1 will be explained. Figure 12 is a flowchart showing the procedure when the binding system 1 performs the binding process. The CPU of the control unit 77 of the control device 7 performs the following binding process according to the binding process program 761.

[0085] Upon execution of the bundling process program 761, the control unit 77 uses the first camera 31 of the overall imaging unit 3 to photograph the workpiece B on the holding table 21 of the workpiece holding unit 2 located in the imaging area E1 of the frame 11, and acquires measurement data 764 (step S21).

[0086] When measurement data 764 is acquired by photographing workpiece B, the control unit 77 performs intersection identification processing using the measurement data 764 to identify the position and height of each intersection P of workpiece B (step S23). Furthermore, the control unit 77 performs convex part identification processing to detect convex parts V within the observation range from the measurement data 764 and identify the height and range of each convex part V (step S25).

[0087] When the protrusion identification process detects a protrusion V on the workpiece B, the control unit 77 determines whether there is a protrusion V that exceeds the upper limit working height hl (step S27). If there is a protrusion V that exceeds the upper limit working height hl, the control unit 77 notifies the user of this fact through the display unit 73 (step S29) and terminates the bundling process.

[0088] On the other hand, if there are no protrusions V with a height exceeding the upper limit working height hl, the control unit 77 performs a path identification process to determine a plan view path for binding to each intersection P. Furthermore, taking into account the height and range of each protrusion V, the control unit 77 identifies the vertical path K (height during movement) between two adjacent intersections P according to the order of the path in the plan view for all intersections P (step S31).

[0089] Next, the control unit 77 performs a binding feasibility determination process and, for each intersection P, takes into account the height and range of each protrusion V to identify candidate binding directions from among binding directions (1) to (4) in which binding is possible (step S33). Furthermore, the control unit 77 performs a binding direction determination process and, for each intersection P, narrows down the binding directions based on the candidate binding directions identified in the binding feasibility determination process and the binding directions defined in the binding priority data 766, adjusts the number of intersection P belonging to the first type binding direction and the second type binding direction respectively, and determines the binding direction for each intersection P (step S35).

[0090] Next, the control unit 77 drives the drive motor 23 of the workpiece holding unit 2 to move the holding table 21 and the workpiece B to the binding area E2 (step S37). While the workpiece B is moving, the robot arm body 40 is controlled so that the bottom of the binding unit 6 is at a height exceeding the upper limit working height hl. Then, the control unit 77 controls the robot arm body 40 to position the second camera 51 at the position where the first binding will be performed at the intersection P, and moves the second camera 51 closer to the intersection P by driving the lifting motor 52 (step S39). Furthermore, the control unit 77 performs photography of the intersection P with the second camera 51 (step S41). By photographing the intersection P from closer to the intersection P than the first camera 31, the second camera 51 can acquire information about the area around the intersection P with higher accuracy based on the measurement data 765.

[0091] Therefore, the control unit 77 detects the position of the intersection point P and the position and range of the surrounding protrusions V from the measurement data 765 from the second camera 51, and reconfirms whether or not binding is possible according to the binding direction determined in the binding direction determination process (step S43). If it is determined that binding is not possible as a result, the control unit 77 determines whether or not binding is possible according to another binding direction (step S45).

[0092] Then, if it is determined that binding is possible in the binding direction determined by the binding direction determination process, the binding unit 6 performs a binding operation at the intersection P in that binding direction. If it is determined that binding is possible in another binding direction, the binding unit 6 performs a binding operation at the intersection P in that other binding direction (step S47). Then, the control unit 77 writes the binding direction in which binding was performed at the intersection P to the binding result data 767 as binding result information, and stores the binding result data 767 in the storage unit 76 (step S49).

[0093] Furthermore, if step S45 determines that binding in any other direction is also impossible, the control unit 77 writes to the binding result data 767 that binding was impossible at the intersection P, and stores the binding result data 767 in the storage unit 76 (step S49).

[0094] Next, the control unit 77 determines whether the binding operation has been performed and the binding results stored for all intersections P (step S51). If the binding operation has not been completed for all intersections P, the process returns to step S39, and the second camera 51 and binding unit 6 are moved to the next intersection P to perform photography. At this time, the control unit 77 controls the robot arm body 40 to move the second camera 51 and binding unit 6 at the height of the vertical path K defined in the path identification process. If the binding operation has been completed and the binding results stored for all intersections P, the control unit 77 transmits the binding result data 767 from the communication unit 78 to the cloud server C via the communication network N (step S53). Then, the control unit 77 terminates the binding process.

[0095] [Technical Effects of the Embodiment of the Invention] As described above, in the binding system 1 of this embodiment, the control unit 77, as a determination unit, determines the binding direction of the intersection P based on measurement data 764 including height information of objects present around the intersection obtained by the first camera 31. Therefore, the binding direction of the intersection P can be selected by taking into account the height difference around the intersection that affects whether or not binding is possible at the intersection P. As a result, the opportunities to avoid binding are reduced, and it is possible to improve the efficiency of binding work and reduce the workload.

[0096] Furthermore, the control unit 77 identifies the protrusions of objects surrounding the intersection point from the measurement data 764, which includes height information. This effectively suppresses the influence of the protrusions V within the working range, which are particularly likely to affect the binding process, thereby enabling proper binding work, further improving the efficiency of the binding process, and further reducing the workload.

[0097] Furthermore, the control unit 77 determines whether or not binding is possible for four binding directions (1) to (4) centered on the intersection point P based on the height information, thereby effectively reducing the need to avoid binding.

[0098] Furthermore, the control unit 77 determines the binding direction for the intersection point P based on the feasibility of binding in the four binding directions (1) to (4) through a binding direction determination process. Since any of the four binding directions (1) to (4) can achieve proper binding at the intersection point P if binding is possible, it is possible to effectively reduce the avoidance of binding while performing proper binding.

[0099] Furthermore, the control unit 77 stores the binding feasibility data 763, which includes the binding direction of the determined intersection point P, in the storage unit 76. This makes it easy to use the binding feasibility data 763 and to verify its contents.

[0100] Furthermore, the control unit 77 stores the binding result data 767, which includes the binding direction in which the binding was performed at each intersection P, in the storage unit 76, making it possible to finally confirm the result of the binding direction performed at each intersection P. In addition, by comparing the binding feasibility data 763 with the binding result data 767, it becomes possible to confirm the validity of the judgment used to generate the binding feasibility data 763.

[0101] Furthermore, the control unit 77 determines the vertical path K, which is the height at which the binding unit 6 is moved by the robot arm 4 between two adjacent intersection points P, from the measurement data 764 which includes height information. This makes it possible to move the binding unit 6 at an appropriate height and achieve stable binding operation. It also prevents the binding unit 6 from being moved higher than necessary, making it possible to achieve good and rapid binding operation.

[0102] Furthermore, the control unit 77 determines the binding direction at intersection P based on binding priority data 766 which defines the binding priority direction and measurement data 764 which includes height information around the intersection. This makes it possible to perform the binding work in a binding direction that not only reduces the influence of height differences around the intersection but also aims to improve other aspects. In particular, by making the binding priority data 766 include at least one of the conditions for reducing the amount of movement and the condition for improving accuracy, it becomes possible to make the operation in the binding work smoother, more stable, faster, and more accurate.

[0103] Furthermore, the control unit 77, through the binding direction determination process, selects the binding direction of the intersections so that the number of intersections P belonging to the first binding direction and the second binding direction becomes as equal as possible. This suppresses the bias of the binding force that the workpiece B receives from the wires W at each intersection P in a certain direction, making it easy to maintain the original shape of the workpiece B and enabling binding of the workpiece B that is less prone to deformation due to binding.

[0104] Furthermore, the binding system 1 takes photographs of the workpiece B using the first camera 31 in the shooting area E1 and performs the binding operation in the binding area E2. Therefore, during the period when the workpiece B moves from the shooting area E1 to the binding area E2, various processes such as intersection identification, protrusion identification, path identification, binding feasibility determination, and binding direction determination can be performed on the measurement data 764 from the first camera 31, thereby suppressing waiting time for processing and enabling efficient binding work.

[0105] [Regarding other configurations] The arrangement of the first camera 31 of the binding system 1 is an example, and it does not have to be arranged to photograph the workpiece B from above. Also, if the second camera 51 can acquire height information of the workpiece B, the photography of the workpiece B and the binding work may be performed on the binding area E2 side. In that case, it is possible to omit the configuration of moving the holding stand 21 in the workpiece holding unit 2 and the configuration of the overall photography unit 3.

[0106] 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.

[0107] Conversely, if the binding system 1 can capture images of the observation range including the workpiece B with high precision using the first camera 31, the second camera 51 does not need to be provided.

[0108] Furthermore, the binding system 1 is equipped with a robot arm 4 as a movable part that displaces the binding part 6 relative to the workpiece B, but is not limited to this. For example, the binding part 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 the intersection P while displacing the workpiece B relative to the binding part 6. Alternatively, in addition to the robot arm 4 that displaces the binding part 6, another robot arm may be added that holds the workpiece B and displaces it relative to the binding part 6, and the control unit 77 may control the two robot arms to perform the binding work.

[0109] 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.

[0110] This application is based on Japanese Patent Application No. 2025-055002 filed on March 28, 2025, and its contents are incorporated herein by reference.

[0111] 1 Binding system 2 Workpiece holding unit 21 Holding stand 3 Overall shooting unit 31 First camera (observation unit) 4 Robot arm 40 Robot arm body (movement unit) 5 Individual shooting unit 51 Second camera 6, 6a, 6x Binding unit 61 Rebar binding machine 7 Control device 73 Display unit 76 Storage unit 761 Binding processing program 762 Display image data 763 Binding feasibility data 764, 765 Measurement data 766 Binding priority data 767 Binding result data 77 Control unit (determination unit) 78 Communication unit 10 Device body 200 Terminal device B Workpiece C Cloud server E1 Shooting area E2 Binding area K Route N Communication network P, P1, P2, Pa, Px Intersection S Rebar (object to be bound) V Protrusion W Wire (Bundling material)

Claims

1. A binding device comprising: a binding unit that binds the intersections of objects to be bound with a binding body; a moving unit that moves the binding unit relative to the intersections; an observation unit that acquires height information of objects present around the intersections; and a determination unit that determines the binding direction of the intersections based on the height information.

2. The binding device according to claim 1, wherein the determination unit identifies the protruding portion of the object from the height information.

3. The binding device according to claim 2, wherein the determination unit determines whether or not binding is possible for four binding directions centered on the intersection point based on the height information.

4. The binding device according to claim 3, wherein the determination unit determines the binding direction relative to the intersection based on whether or not binding is possible.

5. The binding device according to claim 1, wherein the determination unit stores binding feasibility information, including the binding direction of the determined intersection, in the storage unit.

6. The binding device according to claim 5, wherein the determination unit stores binding result information including the binding direction in which binding was performed relative to the intersection in the storage unit.

7. The binding device according to claim 2, wherein the determination unit determines the relative height of the binding portion by the moving portion between two adjacent intersection points based on the height information.

8. The binding device according to claim 1, wherein the determination unit determines the binding direction of the intersection based on the binding priority information that defines the binding priority direction and the height information.

9. The bundling device according to claim 8, wherein the bundling priority information includes at least one of the conditions for reducing the amount of operation and the conditions for improving accuracy.

10. The binding device according to claim 1, wherein a plurality of the intersections are bound in one binding direction and the other binding direction, and the determination unit selects the binding direction of the intersections such that the number of intersections bound in one binding direction and the number of intersections bound in the other binding direction are made to be as equal as possible.

Images