Display device, binding system, and processing program

Abstract

A display device (800) has a display unit (830) capable of displaying information on a workpiece (B) that is formed by at least two objects (S) to be bound and includes an intersection (P) bound by a binding unit (6). The display device (800) has a display processing unit (810) that causes the display unit to display binding result information indicating information on the intersection (P) binding result and direction specifying information (A1-A3) specifying the direction of the workpiece (B) in an image of the workpiece (B).

Description

Display Device, Binding System and Processing Program

[0001] The present disclosure relates to a display device, a binding system, and a processing program for displaying an image of a work whose intersections are bound by binding bodies.

[0002] Conventionally, there has been known a binding system that sequentially and automatically binds intersections of intersecting reinforcing bars with wires for a work in which a plurality of reinforcing bars are assembled. In this type of binding system, the occurrence of binding defects or abnormalities is detected by monitoring the current value of a motor that serves as the driving source of a reinforcing bar binding machine that performs binding at binding points, which are a plurality of intersections of reinforcing bars (see, for example, Patent Document 1).

[0003] In addition, a binding system has also been conventionally known in which a binding machine and a camera are mounted on a robot having wheels that move on a work, and the camera detects the occurrence of an abnormality while performing binding work (see, for example, Patent Document 2).

[0004] Japanese Unexamined Patent Publication No. 2023-105967, Description of Chinese Utility Model No. 215443176

[0005] However, although the conventional techniques of Patent Documents 1 and 2 can identify and record the locations where defects or abnormalities occur in the work, when the information is displayed on a screen, there is no method to align the orientation of the work shown in the display image with the orientation of the actual work. Therefore, it has been problematic that it is difficult to grasp which location of the actual work corresponds to the location of the defect or abnormality shown in the display image. In addition, in this field, works include those used for being incorporated into reinforced concrete, so the work itself is relatively large. In contrast, the bound binding bodies are small, making it difficult to find the binding bodies. Even if the binding bodies are found, it is difficult to grasp whether the binding is normally performed without problems such as wire breakage, etc.

[0006] An object of the present disclosure is to make it possible to easily recognize the alignment of the orientation between the work displayed on the screen and the actual work.

[0007] According to exemplary embodiments of the present disclosure, the display device has a display unit capable of displaying information about a workpiece that is formed by at least two objects to be bound and includes an intersection point bound by a binding unit. Furthermore, the display device has a display processing unit that causes the display unit to display binding result information indicating information about the binding result for the intersection point, and direction identification information capable of identifying the orientation of the workpiece.

[0008] According to another exemplary aspect of the present disclosure, the bundling system comprises a bundling device having the display device and a generating unit that generates bundling result information indicating information of the bundling result for the bundling portion and the intersection. Furthermore, the display device has an acquiring unit that acquires the bundling result information.

[0009] In another exemplary aspect of the present disclosure, the processing program is configured to provide a display processing function that causes a computer that controls a display unit capable of displaying information about a workpiece including an intersection formed by at least two objects to be bound and bound by a binding unit, to display on the display unit the following: binding result information indicating the binding result for the intersection, and direction identification information that can identify the orientation of the workpiece.

[0010] According to this disclosure, it becomes possible to easily recognize the alignment of the orientation of the workpiece displayed on the screen with that of the actual workpiece.

[0011] 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 main body of the binding system. This is a side view of the binding section in the posture when performing the binding operation. This is a configuration diagram of a binding system having a terminal device and a main body. This is a schematic view of an example of a workpiece seen from above in the Z direction. This is a flowchart of the binding process executed by the control unit of the main body of the device. This is a block diagram showing the schematic control configuration of the terminal device. This is a flowchart of the display control executed by the control unit of the terminal device. This is an example of the display of the binding information display screen shown on the display unit based on the display control. This is an example of a workpiece image showing the binding status for each intersection displayed on the binding information display screen. This is an example of a workpiece image where direction identification information consisting of different colored rebar images is located at the end. This is an example of a workpiece image with direction identification information consisting of an identification unit image attached.

[0012] The embodiments of this disclosure will be described below with reference to the drawings.

[0013] [Configuration of the main body of the binding system] Figure 1 is a perspective view of the main body 10 of the binding device included in the binding system 1 according to the embodiment, Figure 2 is a block diagram showing the schematic control configuration of the main body 10 of the binding system 1, Figure 3 is a side view of the binding section 6 of the main body 10 in the position when performing the binding operation, and Figure 4 is a configuration diagram of the binding system having a terminal device 800 and the main body 10. As shown in these figures, the main body 10 of the binding system 1 binds the intersection formed when at least two reinforcing bars overlap and intersect with a workpiece B formed by arranging reinforcing bars in a predetermined shape. Specifically, the binding system 1 includes the main body 10 and a control device 7.

[0014] 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.

[0015] 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.

[0016] [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.

[0017] [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 (not shown) including distance information and image information of the intersection 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 (up and down direction) along with image information (monochrome image) in the XY plane, and outputs it to the control device 7 as measurement data. This measurement data from the first camera 31 is distance image data consisting of image information and distance information, and corresponds to three-dimensional information at the intersection P of the workpiece B.

[0018] 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. 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 like the first camera 31, but may also use 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 not be limited to detection by light, but may also use sensors using magnetism, ultrasound, X-rays, etc., such as TOF (Time of Flight) sensors. Moreover, instead of a camera, sensors such as a 3D laser scanner or LiDAR (Light Detection And Ranging) may be used.

[0019] 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.

[0020] [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 the control unit of the robot arm 4.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] [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) 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.

[0026] [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 a wire W which is a binding body, a slack forming 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 forming operation of the wire W of the slack forming unit 62 according to the operation command from the control device 7.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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".

[0033] 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.

[0034] 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.

[0035] 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.

[0036] The control unit 64 monitors the value of the drive current of the twisting motor 616 when twisting both ends of the wire W, and monitors to ensure that the twisting operation of the wire W is performed at a set current value. The current value of the twisting motor 616 is correlated with the torque, and the twisting motor 616 is driven at a current value that results in a set binding strength.

[0037] Furthermore, if the drive current value of the torsion motor 616 does not reach a predetermined value, the control unit 64 determines that a binding failure has occurred due to factors such as improper wire feeding, wire breakage, or improper wrapping of the reinforcing bar S, and records the occurrence of the binding failure at the intersection P at that time. The occurrence of the binding failure is also output to the control device 7.

[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 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.

[0043] For this reason, the binding unit 6 is arranged such that the slack forming portion 62 protrudes greatly to one side (the right side of the sheet of Figure 3) in the direction Xw orthogonal to the binding machine 61 (the turning axis Zr). The slack forming portion 62 can pull out a constant amount of wire W from the reel 63 by one stroke operation of the slack forming portions 621 and 622. The control unit 64 counts the number of executions of the stroke operation by the slack forming motor 623, and can calculate the remaining amount of the wire W on the reel 63 from the count value. The control unit 64 outputs the count value of the number of executions of the stroke operation by the slack forming motor 623 to the control device 7.

[0044] Note that the second camera 51 and the illumination unit 53 of the individual photographing unit 5 are arranged on the left side of the sheet of Figure 3 with respect to the binding machine 61 of the binding unit 6.

[0045] [Control Device] As shown in Figure 2, the control device 7 is a computer that integratively controls the device main body 10 of the binding system 1. Specifically, the control device 7 includes 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 operation means for a user to perform various operations for operating the control device 7, and includes, for example, a pointing device such as a mouse and a keyboard. The display unit 73 is constituted by, for example, a liquid crystal display, an organic EL display or other displays, and displays various types of information based on display signals 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 audio output.

[0046] 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 binding condition data 762, binding target location data 763, binding result data 764, etc. Here, the control unit 77 may include a processor. The processor is composed of, for example, a CPU (Central Processing Unit). The RAM is configured as system memory, and the ROM is configured as a hard disk or flash memory. The program related to the binding method is stored in the storage memory and read out into the system memory. Based on the read program, the processor executes the operation of the binding system 1 and the main body of the device 10.

[0047] The binding target location data 763 indicates the locations where the workpiece B is scheduled to be bound with wire W. Figure 5 is a schematic diagram of an example of workpiece B viewed from above in the Z direction. In this schematic diagram, the number of reinforcing bars S on workpiece B is shown to be fewer than in Figure 1. Also, Figure 5 shows the state in which each intersection P has already been bound with wire W. The symbol O is the center position of workpiece B. Note that since there are many wire W, intersection P, and reinforcing bars S in Figure 5, only some of them are labeled with symbols.

[0048] In the work B, a plurality of reinforcing bars S along the Y direction are arranged on a plurality of reinforcing bars S along the X direction, and has a grid shape. Note that the vertical arrangement of the reinforcing bars S along the X direction and the reinforcing bars S along the Y direction may be reversed. In addition, although the plurality of reinforcing bars S along each direction are illustrated in a state of being arranged at uniform intervals, the mutual intervals between the reinforcing bars S may be non-uniform. Also, the lengths 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 intersect when viewed from the Z direction is an intersection point P, and the apparatus main body 10 can target some or all of these intersection points P for binding. When limiting binding targets to some intersection points P, an input operation may be performed via the operation unit 72 to enable selection of intersection points P to be bound. The binding target location data 763 stores position information of each intersection point P that is a binding target. The position information consists of, for example, the X-direction and Y-direction position coordinates of the intersection point P. A Z-direction position coordinate of the intersection point P may also be added to the position information. Furthermore, it is preferable that the binding target location data 763 includes the number of reinforcing bars S along the X direction and the Y direction, and position information of each reinforcing bar S may also be included.

[0049] The binding target location data 763 may consist of binding target location information obtained by capturing the work B with the first camera 31 before starting binding and obtaining the position coordinates of each intersection point P from the captured measurement data, or may consist of binding plan information indicating predetermined positions of intersection points P determined in the design stage of the work B. In other words, the binding plan information is information indicating the structure of the work B to be completed and the positions of the intersection points P in the structure. The binding target location data 763 may consist of either binding target location information or binding plan information, or separate pieces of binding target location data 763 respectively consisting of the two may be prepared individually.

[0050] Incidentally, the relative positional relationship between the workpiece B discharged outside the machine and the rail that discharges the workpiece B outside the machine, the direction in which the workpiece B is transported from the shooting area E1 to the binding area E2 by the workpiece holding unit 2 (which coincides with the direction in which the workpiece B is discharged outside the machine from the binding area E2), and the positional relationship between the workpiece B discharged outside the machine and the main body of the device 10 are known. When the control unit 77 generates the binding target location data 763, in addition to the positional information of each intersection P of the workpiece B, it includes direction identification information consisting of information on the relative positional relationship between the workpiece B and the rail, the direction in which the workpiece B is discharged, and the positional relationship between the workpiece B discharged outside the machine and the main body of the device 10. Furthermore, the control unit 77 may also include the above direction identification information when generating the binding result data 764, which will be described later. Direction identification information is information that indicates what orientation the workpiece B is facing with respect to a reference object (surrounding equipment arrangement, surrounding structures, base that holds the workpiece B, etc.), and indicates how the reference object is arranged with respect to the workpiece B. This allows us to clarify the orientation of workpiece B by comparing it with the positional relationship of the reference object.

[0051] The binding condition data 762 is binding condition information, which is data that defines the binding conditions, which are various working conditions that are set in advance for performing binding work on each intersection P of the workpiece B. The binding condition data 762 includes, for example, the type of wire W reel 63 mounted on the binding unit 6 (type of wire W), the wire diameter of the wire W, the set value of the binding strength by the binding machine 61, the outer diameter of the reinforcing bars S that make up the workpiece B, and the number of remaining bindingable items (number of bindings), which is the amount of wire W remaining on the reel 63. The number of remaining bindingable items is calculated by the control unit 77 from the stroke operation count of the slack formation motor 623 output from the control unit 64 of the binding unit 6 mentioned above. These settings can be input, for example, by operation from the operation unit 72. The parameters listed here are just examples, and information on any settings and conditions related to binding can be included in the binding condition data 762.

[0052] The binding result data 764 is binding result information, indicating the binding status of the binding operation performed by the binding unit 6 at each intersection P of the workpiece B defined in the binding target location data 763. In particular, it shows binding result information that records binding target location information indicating the position (coordinates) of each intersection P, and binding error information indicating whether or not a binding defect occurred at the intersection P of the target location. The binding status is information on the binding result, and includes the coordinates at which the binding operation was performed, the binding result (success / failure), the angle at which the binding was performed relative to the intersection P, the direction in which the binding unit 6 was inserted, and other information related to the binding result. As mentioned above, whether or not a binding defect occurred at each intersection P is detected by the drive current of the torsion motor 616 of the binding unit 6. The control unit 77 monitors the drive current of the torsion motor 616 at the time of binding at each intersection P, and records the position coordinates of the intersection P and the information that a binding defect occurred for the intersection P where a binding defect was determined to have occurred. In other words, the binding result data 764 is data indicating the position of each of the intersections P that were determined to have a binding defect. Note that the determination of a binding defect is not limited to the drive current of the torsion motor 616, but may also be obtained, for example, by photographing the workpiece B after binding is completed using the first camera 31 or the second camera 51. The binding result data 764 is generated by the control unit 77 as described above. That is, the control unit 77 functions as a generation unit that generates binding result information for intersections P.

[0053] The communication unit 78 is configured with a network interface and other components, and transmits and receives data with external devices connected via the communication network N. As shown in Figure 4, the control device 7 can communicate information with an external cloud server C and terminal devices 800 such as tablets and smartphones carried by workers performing the bundling work, via the communication network N such as the Internet from the communication unit 78. The cloud server C is a server built in a cloud environment accessible via an Internet connection, and for example, it is a large-capacity server provided by a cloud service provider, and includes virtual servers used within the range of storage capacity provided via the Internet from one or more facilities.

[0054] The cloud server C can store each of the data 762 to 764 transmitted by the control unit 77 via the communication unit 78. Workers performing the bundling work can access the cloud server C from the terminal device 800 to retrieve each of the data 762 to 764 or view their contents.

[0055] As described above, the control unit 77 is composed of, for example, a CPU, and controls the operation of each part of the main body 10 of the device. Specifically, the control unit 77 operates each part of the main body 10 based on the operation content of the operation unit 72. The control unit 77 also unpacks programs pre-stored in the storage unit 76 and performs various processes in cooperation with the unpacked programs. The bundling process performed by the control unit 77 when it executes the bundling process program 761 will be explained below based on the flowchart in Figure 6.

[0056] [Bundling Process] The CPU of the control unit 77 of the control device 7 executes the following bundling process according to the bundling process program 761.

[0057] 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, which is located in the imaging area E1 of the frame 11, and acquires measurement data (step S1). If the first camera 31 takes multiple photographs of the workpiece B, the control unit 77 combines the images from each to generate measurement data consisting of an overall image of the workpiece B.

[0058] When measurement data is acquired by photographing workpiece B, the control unit 77 uses the measurement data to identify intersection points P and determines the location of each intersection point P of workpiece B (step S3). For example, the control unit 77 extracts the range of reinforcing bars S in the X and Y directions from the measurement data of the first camera 31, determines the intersecting positions of each as intersection points P, and identifies the location of each intersection point P.

[0059] Then, once the positions of each intersection P of workpiece B are identified, the control unit 77 generates binding target location data 763 (step S5). At this time, the control unit 77 also adds information about the relative position of the rail 22 and information about the direction in which workpiece B is transported to the binding target location data 763, based on the known relative positional relationship of the rail 22 with respect to workpiece B and the transport direction.

[0060] 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 S7). 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 and takes a picture of the intersection P (step S9).

[0061] The second camera 51 takes images closer to the intersection P than the first camera 31, making it possible to acquire information about the area around the intersection P with higher accuracy based on the measurement data. As a result, if there is a discrepancy in the position of the intersection P based on the measurement data of the first camera 31, the control unit 77 corrects the binding target location data 763 based on the position of the intersection P based on the measurement data of the second camera 51.

[0062] Then, the control unit 77 controls the binding unit 6 to perform a binding operation at the intersection P (step S11). At this time, the control unit 77 determines whether or not a binding error has occurred from the current value of the twist motor 616 of the binding machine 61 (step S13). If a binding error is determined, the control unit 77 records in the binding result data 764 that a binding error has occurred at the current intersection P (step S15).

[0063] If it is determined that no binding errors have occurred, or if the recording of binding errors in the binding result data 764 is completed, the control unit 77 determines whether or not the binding operation has been performed and the binding results stored for all intersections P (step S17). If the binding operation, etc., has not been completed for all intersections P, the process from steps S9 to S17 is repeated for the next intersection P.

[0064] Furthermore, if binding has been performed at all intersections P, the control unit 77 transmits the binding condition data 762, the binding target location data 763, and the binding result data 764 from the communication unit 78 to the cloud server C via the communication network N (step S19). Then, the control unit 77 terminates the binding process.

[0065] Each data entry from 762 to 764 is accompanied by information identifying the workpiece B on which the bundling operation was performed, and information indicating the date and time the bundling operation was performed. The information identifying the workpiece B is the identification number if each workpiece B is managed with an identification number; otherwise, it may include a name based on the use or purpose of the workpiece B, information indicating which number the bundling operation was performed on that day, or a combination of some or all of these, but it also includes any other information that can identify each individual workpiece B.

[0066] Furthermore, once the binding process is complete, the main body of the device 10 performs the operation of discharging the workpiece B outside the machine. Discharging the workpiece B is performed, for example, by a transport mechanism such as a rail that is installed adjacent to extend the rail 22 of the workpiece holding section 2 and is capable of moving the workpiece B in the direction from the shooting area E1 towards the binding area E2 (to the left in Figure 1).

[0067] [Terminal Device] Figure 7 is a block diagram showing the schematic control configuration of the terminal device 800. The terminal device 800 is a display device for displaying the binding status, etc., for each intersection P of the workpiece B. As mentioned above, the terminal device 800 is a portable display device that can be held by a worker (person), such as a smartphone or tablet.

[0068] The terminal device 800 comprises a communication unit 820, a display unit 830, an input unit 840, a storage unit 860, a control unit 810, and a bus 850 connecting the units. The display unit 830 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 810. The display unit 830 may also be configured to include a speaker for audio output. The input unit 840 is an operating means for the user to perform various input operations on the terminal device 800, and specifically, is a touch sensor provided on the surface of the display unit 830. In other words, the input unit 840 and the display unit 830 work together to form a touch panel. The input unit 840 is not limited to the above configuration, and may be composed of, for example, a pointing device such as a touch pad or input buttons, or it may be configured to include a touch sensor, a keyboard, a pointing device, and input buttons all together.

[0069] The communication unit 820 is configured with a network interface and the like, and transmits and receives data with external devices connected via the communication network N. Specifically, as shown in Figure 4 above, the terminal device 800 can communicate information with an external cloud server C or the control device 7 of the main unit 10 via the communication network N from the communication unit 820.

[0070] The storage unit 860 is a memory composed of RAM, ROM, etc., which stores various programs and data, and also functions as a workspace for the control unit 810. The storage unit 860 pre-stores a processing program 861 for executing the display processing of the display unit 830, which will be described later, as well as bundling condition data 762, bundling target location data 763, bundling result data 764, bundling work data 862, guide data 863, supplier data 864, etc. Here, the control unit 810 may include a processor. The processor is composed of, for example, a CPU. RAM is configured as system memory, and ROM is configured as a hard disk or flash memory. The program related to display control is stored in storage memory and read out into system memory. Based on the read program, the processor executes display control by the terminal device 800. The binding condition data 762, binding target location data 763, and binding result data 764 are uploaded to the cloud server C by the device body 10 when the binding process for one workpiece B is completed, and the control unit 810 downloads them from the cloud server C almost simultaneously. The device body 10 may also be configured to transmit the binding condition data 762, binding target location data 763, and binding result data 764 directly to the terminal device 800 without going through the cloud server C. In this embodiment, the control unit 77 that executes the binding process according to the binding process program 761 and the control unit 810 that executes the display control according to the processing program 861 are separate control units, but insofar as the display control according to this disclosure is realized, whether the control unit 810 is separate from the control unit 77 or not is not particularly limited.

[0071] The control unit 810 performs processing on the various data stored in the storage unit 860 and controls the display of the display unit 830 based on the processing program 861. Figure 8 is a flowchart of the display control of the display unit 830, including processing on various data, performed by the control unit 810 based on the processing program 861. Figure 9 is an example of the display of the binding information display screen G1 shown on the display unit 830 based on the above display control. Figure 10 is an example of a work image D showing the binding status for each intersection P displayed on the binding information display screen G1. The various processing and control performed by the control unit 810 will be explained in detail based on Figures 8 to 10.

[0072] The control unit 810 periodically accesses the cloud server C to detect the upload of binding condition data 762, binding target location data 763, and binding result data 764 by the device body 10. Upon detecting the upload to the cloud server C, it downloads these data 762 to 764 and stores them in the storage unit 860 (step S31).

[0073] Next, the control unit 810 functions as a display processing unit and causes the display unit 830 to display the binding information display screen G1 (step S33). In this binding information display screen G1, a work image D showing the binding status is displayed in the center of the screen, and work identification information I1 that identifies work B and work date and time information I2 that indicates the date and time the binding work was performed are displayed on the upper left side of the work image D. The work date and time information may be stored automatically at the time the information is input from the input unit 840, or it may be input at the same time as the input to the input unit 840.

[0074] The control unit 810 generates a work image D from the position information of the intersection points P to be bound, recorded in the binding target location data 763, and includes an image of the work B and a dashed circle representing the intersection points P that will be bound (M), which is superimposed on the image, and displays it on the display unit 830. The work image D consists of an illustration of the work B in which multiple reinforcing bars S along the X direction and multiple reinforcing bars S along the Y direction intersect to form a grid. The illustration of the work B can be generated if the position coordinates of each intersection point P are known, but it can be formed more easily if the number of each reinforcing bar S in the X and Y directions is known. Furthermore, it can be formed even more easily if the position coordinates of each reinforcing bar S in the X and Y directions are known.

[0075] Note that in the examples in Figures 9 and 10, the number of reinforcing bars S has been reduced for simplification, but in reality, the workpiece image D displayed will match the number of reinforcing bars S present in workpiece B. Also, in Figures 9 and 10, the circles indicating the binding target locations M are not placed at all of the intersection points P detected by the control unit 77, but rather at only some of the intersection points P selected as binding targets.

[0076] Next, the control unit 810 functions as a display processing unit and displays the binding result information on the display unit 830 by including the binding target locations M and their binding results in the workpiece image D (step S35). The binding result is applied only to the binding target locations M that are determined to be poorly bound, and a poorly bound indication L consisting of a black "x" mark is displayed in the workpiece image D. Which of the multiple binding target locations M in the workpiece B are poorly bound can be read from the binding result data 764.

[0077] Furthermore, in steps S33 and S35, the control unit 810 functions as a display processing unit and includes direction identification information A1 to A3 that identifies the orientation of the workpiece B in the workpiece image D and displays it on the display unit 830. The terminal device 800, as a display device, is intended for the user to visually confirm the binding target locations M and binding defect indication L included in the workpiece image D on the binding information display screen G1, and to perform corrective work by manually binding the binding target locations M that are not properly bound. Corrective work refers to re-binding work (corrective binding work for the target intersection) for locations at the intersection P of the workpiece B where binding is required, due to obstacles, small details, or other reasons, or for locations where binding could not be done properly due to a binding error. In this example, it is intended that the worker (person) holds the terminal device 800 and performs the corrective work while checking the display on the terminal device 800. In such cases, for example, if workpiece B has a symmetrical shape in the front-to-back or left-to-right direction, it may be difficult to determine whether workpiece image D is oriented in the front-to-back or left-to-right direction. Therefore, by including direction-specific information A1 to A3, which identifies the orientation of workpiece B, in workpiece image D, it is possible to visually determine which direction workpiece B is oriented in the image.

[0078] Direction identification information A1 is an image of the rails of the transport mechanism used when the workpiece B is discharged outside the machine after the bundling process, and is displayed in the workpiece image D reflecting the relative positional relationship between the rails of the transport mechanism and the workpiece B discharged outside the machine. As mentioned above, the bundling target location data 763 includes the relative positional relationship between the rails of the transport mechanism and the workpiece B discharged outside the machine as direction identification information, as measured by the control unit 77 of the main unit 10. Therefore, the control unit 810 of the terminal device 800 can refer to the direction identification information in the bundling target location data 763 and generate and display the workpiece image D including the direction identification information A1 (rail image).

[0079] The user of the terminal device 800 can easily align the orientation of the workpiece in the workpiece image D with the orientation of the workpiece B discharged from the machine by comparing the positional relationship between the workpiece B discharged from the machine and the rail of the transport mechanism, as actually seen, with the positional relationship of the rail image in the direction identification information A1 in the workpiece image D. Therefore, it is possible to quickly recognize which intersection P of the actual workpiece B corresponds to the binding target location M and the binding defect indication L displayed in the workpiece image D.

[0080] Direction identification information A2 is an image of an arrow indicating the direction in which workpiece B is discharged outside the machine by the transport mechanism after the bundling process, and is displayed in workpiece image D reflecting the discharge direction of workpiece B after it has been discharged outside the machine. In this case as well, the bundling target location data 763 includes the discharge direction of workpiece B after it has been discharged outside the machine as direction identification information by the control unit 77 of the main unit 10, so the control unit 810 of the terminal device 800 can refer to this and generate and display workpiece image D including direction identification information A2 (arrow image).

[0081] The user of the terminal device 800 can easily align the orientation of the workpiece in the workpiece image D with the orientation of the workpiece B discharged from the machine by comparing the workpiece B discharged from the machine and its discharge direction with the discharge direction of the workpiece indicated by the arrow in the direction identification information A2 in the workpiece image D. Therefore, it is possible to quickly recognize which intersection P of the actual workpiece B corresponds to the binding target location M and the binding defect indication L displayed in the workpiece image D.

[0082] Direction identification information A3 is an image of the device body 10 positioned in the work image D, reflecting the position of the device body 10 relative to the workpiece B discharged outside the machine by the transport mechanism after the bundling process. In other words, an illustration of the device body 10 positioned upstream in the discharge direction relative to the workpiece B discharged outside the machine is displayed in the work image D. In this case as well, the bundling target location data 763 includes the discharge direction of the workpiece B discharged outside the machine as direction identification information by the control unit 77 of the device body 10, so the control unit 810 of the terminal device 800 can refer to this and generate and display the work image D including the direction identification information A3 (device body image).

[0083] The user of the terminal device 800 can easily align the orientation of the workpiece in the workpiece image D with the orientation of the workpiece B discharged from the machine by comparing the actual positional relationship between the workpiece B discharged from the machine and the main unit 10 that discharged it, with the illustration of the workpiece in the workpiece image D and the illustration of the main unit. Therefore, it is possible to quickly recognize which intersection P of the actual workpiece B corresponds to the binding target location M and the binding defect indication L displayed in the workpiece image D.

[0084] Next, the control unit 810 functions as a display processing unit and displays various binding condition information I3 included in the binding condition data 762 at the bottom of the binding information display screen G1 (step S37). As mentioned above, the binding condition data 762 records the type of wire W reel 63 mounted on the binding unit 6 (type of wire W), the wire diameter of the wire W, the set value of the binding strength by the binding machine 61, the outer diameter of the reinforcing bars S that make up the workpiece B, the number of remaining bindingable items which is the remaining amount of wire W remaining on the reel 63 (number of bindings), etc. Therefore, the control unit 810 displays the breakdown of this binding condition information as binding condition information I3 on ​​the binding information display screen G1. Since the binding unit 6 is equipped with two reels 63, the type of wire W reel 63 and the number of remaining bindingable items are displayed for each reel 63.

[0085] Furthermore, to the right of the display of the number of remaining items that can be bundled on each reel 63, which is displayed as bundling condition information I3, a purchase input unit Ib is displayed, which is used by the bundling unit 6 to purchase wire W, which is the bundling material used for bundling.

[0086] Next, the control unit 810 functions as a display processing unit and, based on the guide data 863, displays guide information I4 for corrective work on workpiece B below the binding condition information I3 in the binding information display screen G1 (step S39). For clarity, the term "corrective work" is used, but corrective work refers to binding work performed by the operator when, after binding by the device body 10, further binding work is required at the intersection P where the binding result information was acquired (the intersection P where the binding work was performed by the device body 10), for reasons such as binding errors or strengthening the binding force. Furthermore, the guide information I4 is information such as the name of equipment recommended for the operator's binding work, and shows information that can be used when the operator performs binding work, such as the model name of the recommended machine, the wire type name of the recommended wire, and binding conditions (condition settings for the recommended machine), in order to make it easier for the operator to perform binding work. Guide data 863 consists of table data that stores the correspondence between the type of wire W reel 63, the wire diameter of the wire W, the set value of the binding strength by the binding machine 61, the outer diameter of the reinforcing bars S that make up the workpiece B, and the model name of a reinforcing bar binding machine that is suitable for manual operation by an operator for these binding conditions. When the control unit 810 reads the binding conditions from the binding condition data 762, it refers to the table data in guide data 863 to identify the model name of a suitable reinforcing bar binding machine and displays it as guide information I4 on the binding information display screen G1.

[0087] Next, the control unit 810 determines whether the user of the terminal device 800 has made a corrected input to the workpiece B via the input unit 840 (step S41). Specifically, the user of the terminal device 800 confirms the location of the faulty binding point P on the workpiece B using the faulty binding indicator L displayed in the workpiece image D on the binding information display screen G1, and manually redoes the binding (correction work) using a rebar binding machine. Then, for the intersection P where the binding correction work has been completed, the user can make a corrected input by touching the faulty binding indicator L corresponding to the corrected intersection P displayed in the workpiece image D of the terminal device 800.

[0088] If the control unit 810 determines that there is no corrected input for workpiece B, it skips steps S43 and S45. On the other hand, if the control unit 810 detects a corrected input for workpiece B through the input unit 840, it switches the display of the defective binding indicator L, which has been touched, to a corrected indicator Lr with a white "x" mark.

[0089] The correction work may include binding work performed at intersection P to strengthen the binding force, or when binding could not be performed by the main unit 10 due to the influence of obstacles, etc. In this case, the terminal device 800 may perform a touch operation on intersection P other than the binding defect indicator L, and receive a corrected input indicating that correction work has been performed on that intersection P. The control unit 810 may then display some kind of indication that correction work has been performed on that intersection P. Similar to the intersection P with a binding defect, a white "X" mark indicating corrected Lr may be displayed.

[0090] Furthermore, the control unit 810 determines whether the user of the terminal device 800 has completed the corrected input for work B and performed a save input via the input unit 840 (step S43). That is, it determines via the input unit 840 whether a touch operation has been performed on the save button I5 displayed below the work image D on the binding information display screen G1. If it is determined that a save input has been performed, the control unit 810 adds to the recording contents of the binding result data 764 that a correction has been made to the intersection P which was identified as having a binding defect, and the correction date and time (work date and time information), as binding work information. If it is also input that a correction work has been performed on an intersection P that does not have a binding defect, it is preferable to add to the recording contents of the binding result data 764 that a correction has been made and the correction date and time. In this way, the control unit 810 functions as a storage processing unit that generates binding work information indicating the location where the correction work was performed, based on the input from the input unit 840, and stores it in the storage unit 860. Furthermore, the control unit 810 displays the "modification completion date and time" located below the work image D as the date on which the save input was made (step S45).

[0091] Next, the control unit 810 determines whether the user of the terminal device 800 has made an input to the purchase input unit Ib via the input unit 840 (step S47). If there is no input, the control unit 810 skips the process in step S49. On the other hand, if a touch operation to the purchase input unit Ib is detected by the input unit 840, the control unit 810 connects via the communication unit 820 to the address of the site where the wire W can be purchased, which is stored in the supplier data 864, and the display unit 830 switches to the purchase operation screen or displays a pop-up screen of the purchase operation screen, etc. The user of the terminal device 800 can purchase the wire W through the purchase operation screen (step S49).

[0092] Next, the control unit 810 determines whether the end of the display has been indicated by an end button (not shown) that signals the end of the display on the bundling information display screen G1 (step S51). If the display has not been ended, the control unit 810 repeats the process from steps S41 to S51, and if the display has been ended, it terminates the display control of the display unit 830.

[0093] [Technical Effects of the Embodiment of the Invention] As described above, the control unit 810 of the terminal device 800 in the binding system 1 of this embodiment displays the binding status of the workpiece B with respect to the intersection P as binding result information, indicating the position in the workpiece image D, using the display unit 830. At the same time, the workpiece image D is displayed with direction identification information A1 to A3 that identifies the orientation of the workpiece B. Therefore, the user of the terminal device 800 can easily reconcile the orientation of the workpiece in the workpiece image D with the orientation of the workpiece B discharged from the machine by comparing the positional relationship between the workpiece B actually seen and discharged from the machine with the direction identification information A1 to A3 in the workpiece image D. Furthermore, when the workpiece image D includes both the binding target location M and the binding defect indication L, it becomes possible to quickly recognize which intersection P of the actual workpiece B is being referred to.

[0094] Furthermore, the terminal device 800 acquires binding result data 764 from the device body 10 equipped with the binding unit 6, which includes binding result information indicating the binding status at intersection P. Therefore, it can display the binding result at intersection P as the binding status, and the terminal device 800 makes it possible for the user to easily confirm the binding result at intersection P of the workpiece B. In particular, since the binding result information includes binding error information indicating whether or not a binding defect has occurred, it is possible for the user to effectively recognize the intersection P of the binding error that is subject to correction work.

[0095] Furthermore, since the binding result information includes binding target location information indicating the position of the intersection point P to be bound, the control unit 810 of the terminal device 800 can display the binding result and the binding target location on the display unit 830 in the work image D of the binding information display screen G1, thereby enabling effective recognition of the binding result for the binding target location.

[0096] Furthermore, the terminal device 800 includes an input unit 840 for inputting the position where the worker performed a correction operation (binding operation) at the intersection where the binding result information was acquired. The control unit 810 functions as a storage processing unit, generating binding operation information indicating the position where the correction operation was performed based on the input unit 840, and storing it in the storage unit 860 by adding it to the binding result data 764. This makes it possible to keep a record of the correction operation. Moreover, since the control unit 810 adds the date and time information of the correction operation to the binding operation information, it is also possible to keep a record of the correction date and time. In other words, the binding operation information includes information on the position of the intersection where the correction operation (binding operation by the worker) was performed (specifically, relative position information between workpiece B and the intersection) and date and time information of the correction operation (specifically, date and time information of the correction operation after the correction operation was performed and the correction operation information was input).

[0097] Furthermore, the terminal device 800 may store binding target location data 763, which includes binding plan information indicating the positions of predetermined binding intersections P, in the storage unit 860. In this case, the control unit 810 can display the binding result and the binding target locations based on the binding plan information in the workpiece image D on the display unit 830. In this case as well, it is possible to effectively recognize the binding result for the binding target locations, similar to the case where the binding target location data 763 is obtained by taking images with the first or second cameras 31, 51 of the device body 10. Moreover, the process of acquiring the binding target location data 763 by taking images with the first or second cameras 31, 51 can be omitted on the device body 10 side, thereby reducing the processing burden and speeding up processing.

[0098] Furthermore, the control unit 810 of the terminal device 800 displays the binding condition information I3, which defines the conditions for the binding operation for intersection P included in the binding condition data 762, on the display unit 830 as part of the binding information display screen G1. Therefore, it is possible to make the user of the terminal device 800 aware of the details of the binding operation conditions.

[0099] Furthermore, the control unit 810 also displays guide information I4, which indicates recommended equipment for tying work, as part of the tying information display screen G1 on the display unit 830 for the intersection P where tying result information has been acquired. As a result, the user of the terminal device 800 can find out which rebar tying machine is the recommended equipment suitable for the conditions of the tying work, and can perform the correction work using the suitable rebar tying machine, thereby enabling more appropriate correction of the tying.

[0100] Furthermore, since the terminal device 800 is portable, users can use the terminal device 800 while carrying it and view various types of information included in the binding information display screen G1 displayed on the display unit 830. Therefore, it becomes possible to effectively utilize the terminal device 800 while engaging in various tasks.

[0101] Furthermore, the binding condition data 762, which includes binding condition information acquired by the terminal device 800 from the main unit 10, includes the remaining number of bindings that can be performed according to the remaining amount of wire W used by the binding unit 6 for binding. By displaying this, the user of the terminal device 800 can grasp the remaining amount of wire W in the binding unit 6 of the main unit 10 and take appropriate action such as replenishing. In addition, the binding information display screen G1 displayed on the display unit 830 of the terminal device 800 displays the purchase input unit Ib for purchasing wire W, and works in cooperation with the input unit 840 to enable the purchase of wire W. As a result, when the user of the terminal device 800 grasps the remaining amount of wire W in the binding unit 6 of the main unit 10 and needs to replenish it, they can obtain wire W quickly and conveniently.

[0102] Furthermore, the binding system 1 comprises the terminal device 800 and the main body 10, and the control unit 77 of the main body 10 functions as a generation unit that generates binding result information for the intersection P. Therefore, the binding system 1 allows the binding result for the intersection P generated by the main body 10 to be recognized on the terminal device 800 side, and enables a variety of operations to be freely performed using the information that allows recognition of the binding result for the intersection P, without being constrained by the main body 10.

[0103] Furthermore, the processing program 861 enables the control unit 810 (computer) of the terminal device 800 to display the bundling result information and direction identification information A1 to A3 on the display unit 830. In this way, the processing program 861 makes it possible to easily implement the functionality of a display device in a general-purpose information processing device.

[0104] [Other aspects of direction identification information (1)] Direction identification information is not limited to the aspects of direction identification information A1 to A3 described above. For example, the workpiece B itself may be given a visual characteristic for identifying its direction (orientation), and the control unit 810, which is the display processing unit of the terminal device 800, may display an image on the display unit 830 that includes the visual characteristic for identifying the direction (orientation) of the workpiece B as direction identification information.

[0105] More specifically, a portion of the reinforcing bars S that make up workpiece B is given a characteristic that makes it visually distinguishable from the other reinforcing bars S. For example, by including a reinforcing bar S of a different color, the control unit 77 of the device body 10 includes information indicating the position of the reinforcing bar S of a different color within workpiece B in the tying target location data 763 and the tying result data 764. Here, we illustrate the case where one reinforcing bar S located at the end (lower end) of workpiece B is a reinforcing bar of a different color.

[0106] In response, the control unit 810 of the terminal device 800 reads direction identification information indicating the location of the differently colored reinforcing bars S from the acquired binding target location data 763 or binding result data 764, and displays the work image including the differently colored reinforcing bars S on the display unit 830. Figure 11 shows an example of displaying a work image D1 in which the direction identification information Ac, consisting of images of differently colored reinforcing bars, is located at the end (lower end in the figure).

[0107] The user of the terminal device 800 can easily match the orientation of the workpiece in workpiece image D1 with the orientation of workpiece B discharged from the machine by comparing the position of the differently colored reinforcing bars S of workpiece B discharged from the machine with the orientation identification information Ac consisting of the differently colored reinforcing bar images in workpiece image D1. Therefore, it is possible to more quickly and accurately recognize which intersection P of the actual workpiece B corresponds to the binding target location M and the binding defect indication L displayed in workpiece image D1.

[0108] [Other aspects of direction identification information (2)] Another aspect of direction identification information is to provide an identification unit at a predetermined position on workpiece B, and to provide a detection unit that can detect the identification unit on the terminal device 800. The identification unit indicates individual information of each workpiece, and the individual information is used to identify which workpiece it is. In this case, the identification unit is preferably a code that can hold a certain amount of information (for example, a barcode or a QR code (registered trademark)).

[0109] Preferably, the identification unit records information indicating its location (a specific location) within the workpiece B, in addition to individual information, as direction identification information. The information indicating its location within the workpiece B is, for example, a position coordinate indicating the location of the identification unit within the workpiece B, based on the same coordinate system as the coordinate system that indicates the intersection P and defective locations in the binding target location data 763 and the binding result data 764.

[0110] Furthermore, it is more preferable that the identification unit records any or all of the information of the bundling condition data 762, the bundling target location data 763, and the bundling result data 764. The terminal device 800 is further configured to include an imaging device such as a camera or a code reader as a detection unit that can detect and read the identification unit.

[0111] In this case, the control unit 810, acting as a display processing unit, detects the identification unit of the workpiece B discharged outside the machine through the detection unit and reads the information of a specific position recorded in the identification unit. The control unit 810 then displays the workpiece image D2, which has direction identification information Aq consisting of the identification unit image attached to it, on the display unit 830 in an arrangement corresponding to the specific position recorded in the identification unit. Figure 12 shows an example of the display of the workpiece image D2 with direction identification information Aq consisting of the identification unit image attached.

[0112] The user of the terminal device 800 can easily match the orientation of the workpiece in the workpiece image D2 with the orientation of the workpiece B discharged from the machine by comparing the position of the identification unit discharged from the machine with the orientation identification information Aq, which consists of the identification unit image in the workpiece image D2. Therefore, it is possible to more quickly and accurately recognize which intersection P of the actual workpiece B corresponds to the binding target location M and the binding defect indication L displayed in the workpiece image D2.

[0113] Furthermore, if the identification unit contains any or all of the information regarding the bundling condition data 762, the bundling target location data 763, and the bundling result data 764, it becomes possible to eliminate the need for processing or communication environments to acquire that data.

[0114] [Regarding other configurations] The terminal device, which serves as a display device, may be equipped with a camera capable of photographing the workpiece B discharged outside the machine, and the control unit 810, which serves as a display processing unit, may be configured to enable the display unit 830 to process the data of the image captured by the camera to detect the intersection point P. In that case, the control unit 810 may detect the position of the rails, the discharge direction, and the relative positional relationship with the main body of the device 10, corresponding to the aforementioned direction identification information A1 to A3, by photographing the workpiece B with the camera. Alternatively, it may detect reinforcing bars of different colors corresponding to direction identification information Ac or identification parts corresponding to direction identification information Aq. By detecting these, the control unit 810 can determine the orientation of the workpiece B from the captured image, thus eliminating the need to receive direction identification information from the main body of the device 10.

[0115] Furthermore, since the control unit 810 recognizes the orientation of the workpiece B in the captured image, it may display the captured image of the workpiece B by the camera (actual image) on the display unit 830, and at a specific intersection P in the captured image of the workpiece B, it may also overlay a virtual image consisting of a display indicating the binding target location based on the binding target location data 763 (a display corresponding to the binding target location M in Figure 10) and a display indicating the binding result based on the binding result data 764 (a display corresponding to the binding defect display L in Figure 10). When overlaying the display indicating the binding target location and the display indicating the binding result at a predetermined position in the image captured by the camera, it is preferable to use a well-known display technology known as AR (Augmented Reality).

[0116] In addition, while the configuration shown in Figure 4 above illustrates a configuration using a so-called internet communication network N and a cloud server C, the configuration is not limited to this, and a configuration using a local area network and a local server may also be used.

[0117] 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.

[0118] This application is based on Japanese Patent Application No. 2025-055003 filed on March 28, 2025, and its contents are incorporated herein by reference.

[0119] 1 Binding System 2 Workpiece Holding Unit 21 Holding Stand 22 Rail 3 Overall Imaging Unit 31 First Camera (Observation Unit) 4 Robot Arm 40 Robot Arm Body (Movement Unit) 5 Individual Imaging Unit 51 Second Camera 6 Binding Unit 61 Rebar Binding Machine 63 Reel 64 Control Unit 7 Control Device 76 Memory Unit 761 Binding Processing Program 762 Binding Condition Data 763 Binding Target Location Data 764 Binding Result Data (Binding Work Information) 77 Control Unit (Generation Unit) 78 Communication Unit 800 Terminal Device (Display Device) 810 Control Unit (Display Processing Unit, Memory Processing Unit) 820 Communication Unit 830 Display Unit 840 Input Unit 860 Memory Unit 861 Processing Program 862 Binding Work Data 863 Guide Data 864 Supplier Data 10 Device body (binding device) A1-A3 Direction identification information D, D1, D2 Work image B Work C Cloud server E1 Shooting area E2 Binding area G1 Binding information display screen I1 Work identification information I2 Work date and time information I3 Binding condition information I4 Guide information I5 Save button Ib Purchase input section L Binding defect display Lr Corrected M Binding target location N Communication network P Intersection S Reinforcement (object to be bound) W Wire (binding body)

Claims

1. A display device having a display unit capable of displaying information about a workpiece that is formed by at least two objects to be bound together and includes an intersection point bound by a binding unit, the display device having a display processing unit that causes the display unit to display binding result information indicating information about the binding result for the intersection point and direction identification information that can identify the orientation of the workpiece.

2. The display device according to claim 1, which acquires the binding result information from the binding section.

3. The display device according to claim 2, wherein the binding result information includes binding error information indicating whether or not a binding defect has occurred.

4. The display device according to claim 3, wherein the binding result information includes binding target location information indicating the position of the intersection to be bound.

5. The display device according to claim 4, comprising: an input unit for inputting the position where a worker performed the binding work relative to the intersection where the binding result information was obtained; and a storage processing unit for generating binding work information indicating the position where a worker performed the binding work based on the input from the input unit and storing it in a storage unit.

6. The display device according to claim 5, wherein the storage processing unit stores together the binding work information with the date and time information of the work performed by the worker.

7. The display device according to claim 3, comprising a storage unit for storing binding plan information indicating predetermined positions of the intersections to be bound, wherein the display processing unit causes the binding plan information to be displayed on the display unit.

8. The display device according to claim 2, wherein the display processing unit causes the display unit to display information indicating the binding conditions.

9. The display device according to claim 8, wherein the display processing unit causes the display unit to display guide information indicating recommended equipment for the binding work at the intersection where the binding result information has been acquired.

10. The display device according to claim 8, which is portable and can be held by an operator.

11. The display device according to claim 10, wherein the bundling condition information includes the remaining number of bundling possibilities corresponding to the remaining amount of bundling material used by the bundling unit for bundling.

12. The display device according to claim 11, further comprising a purchase input unit for performing the purchase operation of the bundled body.

13. The display device according to claim 10, wherein the workpiece has an identification unit that indicates individual information, and the display device further comprises a detection unit that detects the identification unit.

14. The display device according to claim 13, wherein the display processing unit switches the display of the display unit based on the identification unit.

15. A binding system comprising: a display device according to claim 1; a binding unit; and a binding device having a binding unit and a generating unit that generates binding result information indicating information of the binding result for the intersection, wherein the display device has an acquisition unit that acquires the binding result information.

16. A processing program that enables a computer to control a display unit having a display unit capable of displaying information about a workpiece that includes an intersection formed by at least two objects to be bound and bound by a binding unit, to display on the display unit the binding result information indicating the binding result for the intersection and the orientation identification information that can identify the orientation of the workpiece.

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