JP2020197072A - Self-propelled reinforcement binding machine and automatic reinforcement binding program - Google Patents

Abstract

To provide a self-propelled reinforcement binding machine and an automatic reinforcement binding program capable of eliminating interference between the binding machine and obstacles when binding wires at the intersection of reinforcing bars.SOLUTION: A self-propelled reinforcement binding machine 100 has a self-propelled robot 10 and a binding machine 20 mounted on the self-propelled robot 10. The self-propelled robot 10 further includes a controller 50, and an imaging device 60 that images an intersection 130 of a first reinforcing bar 102 and a second reinforcing bar 120 that intersect with each other and an obstacle that hinders wire binding at the intersection 130. The controller 50 receives the imaging data from the imaging device 60 and detects the presence or absence of an obstacle based on the imaging data.SELECTED DRAWING: Figure 1

Description

The present invention relates to a self-propelled rebar tying machine and an automatic rebar tying program.

At the construction site, for example, work by adding reinforcing bars (strength distribution bars) to the reinforcing bars (main bars) of a deck plate with a factory-produced reinforcing bar truss (truss reinforcement member (lattice material)) so as to intersect. Reinforcing work is being carried out by a member using a commercially available binding machine or the like to bind wires at the intersection. Further, even in the normal floor slab bar arrangement, the wire is bound by the worker at the intersection of the main bar and the force distribution bar of the floor slab.
As the bar arrangement area becomes wider, the number of the above-mentioned intersections increases and the construction time is required. Therefore, a self-propelled rebar binding machine capable of automatically performing such binding work has been proposed. Specifically, it is a self-propelled rebar binding machine including a self-propelled robot, a binding machine main body mounted on the self-propelled robot, and a wire reel for supplying wires to the binding machine main body. Has a reinforcing bar detection sensor that detects the intersection of the reinforcing bars, and the binding machine main body has a tip binding means for winding a wire of a predetermined length around the intersection of the reinforcing bars and twisting the wire (for example,). See Patent Document 1).

JP-A-2019-039170

According to the self-propelled reinforcing bar binding machine described in Patent Document 1, it is possible to perform the reinforcing bar arrangement work at a relatively low cost while reducing the burden on the worker.
By the way, depending on the positional relationship between the main bar of the deck plate with the reinforcing bar truss and the force distribution bar added to the main bar, the clamp of the automatic binding machine mounted on the self-propelled reinforcing bar binding machine can be used as the lattice material or hanging material of the deck plate. Problems such as contact and physical disengagement, resulting in poor binding may occur. For example, as an example of a deck plate with a reinforcing bar truss, construction materials in which the main bar spacing is arranged at a pitch of 200 mm are often used in factory products, and at the construction site, the deck plate with a reinforcing bar truss is arranged. When the force muscles are added and distributed, the reinforcements are generally distributed at a pitch of 200 mm as in the main reinforcement. That is, most of the floor slab reinforcements are performed by arranging reinforcing bars in a grid pattern (mochi net shape) of 200 mm × 200 mm.
On the other hand, the wavy shape of the lattice material and the pitch of the hanging material of the deck plate with the reinforcing bar truss are, for example, 170 mm pitch. When the additional force distribution bars are arranged at a pitch of 200 mm with respect to the 170 mm pitch, there may be a place where the intersection of the force distribution bars approaches the wavy top of the lattice material or the vicinity of the mountain portion of the suspension material. In such a place, if the automatic binding machine mounted on the self-propelled reinforcing bar binding machine tries to bind, a binding failure may occur. If such an event that unexpectedly causes a binding failure occurs frequently, the reliability of the robot construction is impaired, which may lead to an emergency stop of the robot body or a failure of the automatic binding machine. , It may be a factor to reduce the construction efficiency.
Also, not limited to deck plates with reinforcing bar trusses, even if there are obstacles such as stud bolts near the intersection of the main reinforcement and the force distribution reinforcement of the floor slab, the automatic binding machine will bind the intersection of the reinforcing bars. When the clamp is lowered, the clamp may interfere with obstacles and the bundling work may not be possible.

An object of the present invention is to provide a self-propelled reinforcing bar binding machine and an automatic reinforcing bar binding program capable of eliminating interference between the binding machine and an obstacle when binding wires at the intersection of reinforcing bars.

In order to achieve the above object, one aspect of the self-propelled rebar binding machine according to the present invention is
With a self-propelled robot
A self-propelled rebar binding machine having a binding machine mounted on the self-propelled robot.
The self-propelled robot is further equipped with a controller and an imaging device that images the intersections of the first and second reinforcing bars that intersect with each other and obstacles that hinder wire binding at the intersections. And
The controller is characterized in that it receives imaging data from the imaging device and detects the presence or absence of the obstacle based on the imaging data.

According to this aspect, the self-propelled robot is equipped with an imaging device that images the intersection of the reinforcing bars, and the controller determines that the wire binding other than the reinforcing bars in the two directions at the intersection is an obstacle based on the imaging data. By detecting the presence or absence of the binding machine, the interference between the binding machine and the obstacle can be eliminated. Here, the self-propelled robot is formed of, for example, a traveling carriage that is driven by an actuator such as a motor and that is self-propelled by two pairs of four wheels or the like, and is, for example, one of two-way reinforcing bars in which the traveling carriages intersect with each other. It can run on one (two rows) of reinforcing bars. Further, with respect to these two pairs of four wheels, when one pair of wheels travels on the floor surface, the other pair of wheels moves to a position where they rise from the floor surface, and by repeating this alternately, the traveling direction. It may be in a form that can move on the floor surface while straddling the reinforcing bars extending in the direction orthogonal to the above.
Examples of the imaging device include a CCD camera, a digital camera, a digital video camera, and the like. The imaging device images an intersection and an obstacle in the vicinity of the intersection, and the imaging data is transmitted to the controller. By imaging the intersections and obstacles with the imaging device in this way, it becomes possible to clearly distinguish between the intersections of the reinforcing bars and other obstacles as compared with the case of, for example, a laser device. ..

The controller is made to recognize in advance an image of the bar arrangement state in two directions intersecting in the traveling direction of the self-propelled robot. Reinforcing bars include reinforcing bars of various diameters that intersect each other at orthogonal angles or at various angles. For example, a reinforcing bar arrangement state in which the reinforcing bars of D25 and D29 are orthogonal to each other, and a reinforcing bar arrangement state in which the reinforcing bars of D22 intersect at 60 degrees (or 120 degrees) can be mentioned. Here, the first reinforcing bar and the second reinforcing bar forming the intersection are the main reinforcing bar of the deck plate with the reinforcing bar truss and the force distribution bar added to the main bar, the main bar and the force distribution bar of the floor slab, and each other. Includes various intersecting rebars. In this way, image data related to the reinforcing bar is stored in the controller, and an object other than the reinforcing bar can be detected as an obstacle. Alternatively, in the controller, in addition to the image data related to the reinforcing bar, various image data (image data related to lattice materials, hanging materials, stud bolts, etc.) that can be obstacles other than the reinforcing bars are stored, and based on these image data. It is also possible to detect obstacles.
Image recognition by the controller includes recognizing intersections and obstacles of reinforcing bars by machine learning by the controller itself based on image information of various reinforcing bars input to the controller and image information of obstacles. Is done.

Further, in another aspect of the self-propelled rebar binding machine according to the present invention, the controller stores a threshold value regarding the separation distance between the intersection and the obstacle so that the wire can be bound. And
When the controller specifies that the separation distance in the imaging data is less than the threshold value, the binding machine is controlled so as not to perform binding.

According to this aspect, the controller compares the threshold value regarding the separation distance between the intersection and the obstacle with the separation distance in the image data transmitted from the imaging device, and when the separation distance is less than the threshold value, the binding machine is used. On the other hand, by executing the control that does not perform binding, it is possible to eliminate the occurrence of binding failure and the failure of the binding machine due to the interference between the binding machine and the obstacle. Here, "poor binding" means that the wires are bound halfway, or that the wires (binding wires) are completely stretched without being bound.
The "separation distance threshold" can change depending on the type of obstacle and the position of the obstacle with respect to the intersection. Therefore, for example, when the lattice material is an obstacle and the lattice material is on the left side of the intersection with respect to the traveling direction of the self-propelled robot, the threshold value is 10 mm, and the lattice material is on the right side of the intersection. In this case, the threshold value is 20 mm, and it is preferable that various threshold values are stored in the controller according to the type of obstacle, the arrangement position of the obstacle with respect to the intersection, and the like. Further, it is preferable that the threshold value of the separation distance is set in consideration of the type of binding machine to be applied (product type, model, etc.). Regarding such a threshold value of the separation distance, in addition to storing the threshold value of the separation distance in the controller for each type of obstacle, the position of the obstacle with respect to the intersection, and the type of the binding machine. The controller can also determine the threshold value of the separation distance by machine learning based on the type of the obstacle, the arrangement position of the obstacle with respect to the intersection, the type of the binding machine, and the like.
When the controller executes control to prevent the binding machine from binding, the self-propelled robot is controlled to pass through the unbound intersection as it is and travel to the next intersection.

Further, in another aspect of the self-propelled rebar binding machine according to the present invention, the self-propelled robot is equipped with a marker device.
The controller is characterized in that a control for causing the marker device to perform marking is executed at the intersection where binding is not performed.
According to this aspect, the controller executes the control of marking the intersection where the marker device is not bound, so that the worker can bind using the marking as a mark, and the binding can be performed. It is possible to eliminate the occurrence of intersections that have not been made. That is, according to this aspect, for an intersection where a binding failure is likely to occur, a complicated mechanism is not applied to the binding machine to force automatic binding, and instead, such a tolerance portion is used. In, when the worker binds, it becomes possible to realize the binding of all the intersections without damaging the binding machine based on the collaborative work between the worker and the self-propelled reinforcing bar binding machine. ..

Further, in another aspect of the self-propelled reinforcing bar binding machine according to the present invention, among the image data transmitted from the imaging device to the controller, image data indicating that the intersection does not exist, or the self-propelled robot. Control to stop the self-propelled robot or control to change the traveling course of the self-propelled robot in the controller when there is image data indicating that there is a traveling obstacle that hinders the traveling of the robot. Is executed.
According to this aspect, when the self-propelled rebar binding machine reaches the end of the rebar and there is no intersection and there is a rebar in the horizontal row, it moves to the rebar in the horizontal row. However, the direction of travel can be changed to automatically continue the unity of the intersection. Further, when there is a traveling obstacle, the self-propelled reinforcing bar binding machine automatically stops, so that interference with the traveling obstacle can be avoided. It should be noted that the self-propelled rebar binding machine is further equipped with an alarm device, and when it automatically stops, it is preferable to issue a buzzer or a lighting display that notifies the worker that the self-propelled rebar binding machine has automatically stopped.

Moreover, one aspect of the automatic reinforcing bar binding program according to the present invention is
The self-propelled robot, the binding machine mounted on the self-propelled robot, the controller, the intersections of the first and second reinforcing bars that intersect with each other, and obstacles that hinder wire binding at the intersections. An automatic rebar binding program that causes the controller to perform the following processing in a self-propelled rebar binding machine having an imaging device for imaging an object.
The self-propelled robot is run along the first reinforcing bar or the second reinforcing bar.
The intersection is imaged by the imaging device.
The image pickup device transmits the image pickup data to the controller, and the image pickup data is transmitted to the controller.
Let the controller detect the presence or absence of the obstacle at the intersection,
If the controller does not detect the obstacle, the binding machine is made to perform wire binding at the intersection, and if the controller detects the obstacle, the binding machine is bound to wire at the intersection. It is characterized in that it does not execute.
According to this aspect, it is possible to realize a self-propelled reinforcing bar binding machine in which interference between the binding machine and an obstacle does not occur.

As can be understood from the above description, according to the self-propelled reinforcing bar binding machine and the automatic reinforcing bar binding program of the present invention, it is possible to eliminate the interference between the binding machine and the obstacle when binding the wire at the intersection of the reinforcing bars.

It is a side view which shows an example of the self-propelled rebar binding machine which concerns on embodiment, and is the figure which made the internal structure visible by breaking a part thereof. It is a perspective view which shows an example of the deck plate with the reinforcing bar truss to which the self-propelled reinforcing bar binding machine which concerns on embodiment is applied. (A) is a photographic diagram showing an example of a tolerance portion that can be bound, and (b) is a photographic diagram showing an example of a tolerance portion that cannot be bound. It is a photographic figure which shows another example of the tolerance part which cannot be bound. It is a figure which shows an example of the hardware configuration of a controller together with peripheral devices. It is a figure which shows an example of the functional structure of a controller. Both (a) and (b) are photographic views showing an example of a separation distance that can be bound and an example of a separation distance that cannot be bound according to the separation distance between the mountain portion and the intersection of the lattice material and the hanging material. .. It is a flowchart about an example of the control flow of the self-propelled rebar tying machine by a controller, the bundling possibility judgment and the bundling possibility judgment at an intersection. It is a flowchart about an example of the control flow of the self-propelled rebar binding machine by a controller, the traveling propriety judgment of the self-propelled rebar binding machine, and the process based on the traveling propriety judgment. It is a flowchart about an example of image processing in the control flow of a self-propelled rebar binding machine by a controller.

Hereinafter, the self-propelled rebar binding machine according to the embodiment will be described with reference to the attached drawings. In the present specification and the drawings, substantially the same components may be designated by the same reference numerals to omit duplicate explanations.

[Embodiment]
<Overall configuration of self-propelled rebar binding machine>
First, an example of the self-propelled rebar binding machine according to the embodiment will be described with reference to FIG. Here, FIG. 1 is a side view showing an example of the self-propelled reinforcing bar binding machine according to the embodiment, and is a view in which a part thereof is broken so that the internal configuration thereof can be visually recognized. In the illustrated example, the force distribution bars are added to the main bars (upper end main bars) of the factory-produced deck plate with reinforced truss (lattice material) so that they intersect with each other at the construction site. An example of construction for binding to an intersection formed by bars will be described, but the self-propelled reinforcing bar binding machine according to the embodiment will be described at the intersection of the main reinforcement and the distribution reinforcement of the floor slab, or intersect with each other. It is applied to the bundling work at the intersection of various reinforcing bars.

The self-propelled reinforcing bar binding machine 100 is formed by a self-propelled robot 10, a binding machine 20, an image pickup device 60, a marker device 70, and a controller 50 mounted on the self-propelled robot 10. The self-propelled robot 10 includes, for example, a robot body 11 composed of a housing and two pairs of four wheels 12 rotatably mounted on the robot body 11 (two wheels 12 of each pair are on a drive shaft (not shown). Is attached) and has. The drive shaft connecting at least a pair of wheels 12 is driven by an actuator for drive wheels (not shown) formed by a servomotor or the like, and the actuator is supplied with electric power from a battery (not shown). It has become. Both the drive wheel actuator and the battery are mounted on the self-propelled robot 10.

The controller 50 is a computer that controls the operation of each device of the self-propelled rebar binding machine 100 described in detail below, including ON / OFF control of the actuator for the drive wheels, and each device is controlled by wire or wirelessly. It is configured to be able to send and receive signals.

FIG. 2 shows an example of a deck plate with a reinforcing bar truss to which the self-propelled reinforcing bar binding machine according to the embodiment is applied. The deck plate 110 with a reinforcing bar truss is a lattice material 104 (an example of an obstacle) composed of a corrugated plate 101 formed of a hot-dip galvanized steel plate or the like and a plurality of iron wires or the like arranged at intervals on the corrugated plate 101. ), A suspension material 103 (an example of an obstacle) composed of a plurality of iron wires or the like arranged at intervals in a manner orthogonal to the lattice material 104, and supported by the lattice material 104 or the suspension material 103. It has a plurality of upper end main bars and lower end main bars (hereinafter, both are referred to as main bars 102), and an end member 105. The end member 105 is a reinforcing bar provided at the end of the deck plate 110 with a reinforcing bar truss. On the main bar 102 (upper end main bar, an example of the "first reinforcing bar") of the deck plate 110 with the reinforcing bar truss shown in FIG. 2, the force distribution bar 120 (of the second reinforcing bar) at a predetermined pitch so as to be orthogonal to the main bar 102 By arranging the reinforcing bars (one example), the intersection 130 of the main reinforcing bars 102 and the force distributing bars 120 that are orthogonal to each other is formed as shown in FIG. The intersection 130 does not exist at the end of the end member 105 shown in FIG.

For example, the distance between the pair of wheels 12 is set to be the pitch of the force distribution muscles 120, and the left and right wheels 12 of each pair are placed on the adjacent force distribution muscles 120 with the pitch separated from each other. The running robot 10 can move on the force distribution muscle 120. The distance between the pair of wheels 12 may be set to twice the pitch of the force distribution muscle 120 or the like.

Inside the self-propelled robot 10, a binding machine 20 is built in so as to be retractable downward from the lower surface of the self-propelled robot 10. As the binding machine 20, a commercially available portable reinforcing bar binding machine (for example, a river tire manufactured by Max Co., Ltd.) can be applied, and the binding machine main body 21, the grip 22, and the battery 26 are integrated. There is. A pair of clamps 25 are rotatably mounted on the tip (lower end in the illustrated example) of the binding machine main body 21, and the wire W sent out from the wire reel 24 built in the binding machine main body 21 is attached. A pair of clamps 25 are wound around the intersection 130. A trigger 23 for controlling the drive of the clamp 25 is attached to the base position of the grip 22 in the binding machine main body 21, and the drive of the pair of clamps 25 is controlled to be ON / OFF by operating the trigger 23. When the pair of clamps 25 are ON-controlled, the pair of clamps 25 wind the wire W of a predetermined length sent out from the wire reel 24 around the intersection 130, and further twist both ends of the wire W. Bundling is performed at the intersection 130.

The grip 22 is fixed to the piston rod 32 that constitutes the elevating cylinder 30, and the piston rod 32 moves up and down in the X4 direction with respect to the cylinder 31 that constitutes the elevating cylinder 30, so that the binding machine 20 is a self-propelled robot. It can be sunk downward from the lower surface of 10. Specifically, when binding at the intersection 130, the binding machine 20 projects downward from the lower surface of the self-propelled robot 10, and when the self-propelled robot 10 travels on the force distribution muscle 120, the binding machine 20 is self-propelled. The position of the binding machine 20 is controlled so as to be housed inside the traveling robot 10.

A trigger operating device 40 is attached to the tip of the piston rod 32, and the ON signal from the controller 50 displaces the trigger 23 in the X5 direction to push it in, and drives a pair of clamps 25 to perform automatic binding. ing.

An imaging device 60 and a marker device 70 are mounted on the front surface in the X1 direction, which is the traveling direction of the self-propelled robot 10. The image pickup apparatus 60 is held by a rod-shaped cage 61, and is configured to take an image of the intersection 130 located in the X2 direction, which is the image pickup direction, and its surroundings. The cage 61 may be a member having a constant length, or may be a member whose length can be flexibly adjusted in the X1 direction. In the illustrated example, the image pickup device 60 is attached to a cage 61 having a constant length, and when the pair of clamps 25 included in the binding machine 20 are automatically bound at the intersection 130A rearward in the traveling direction. It is set so that the intersection 130B in front of the main bar 102 two pitches and its surroundings can be imaged.

The image pickup device 60 is formed by a CCD camera, a digital camera (including a single-lens reflex camera and a high-definition camera), a digital video camera, and the like, and the image pickup data is transmitted to the controller 50.

The marker device 70 is attached at a position that does not interfere with the imaging range t of the imaging device 60, and the control signal from the controller 50 prevents automatic binding at the intersection 130 where an obstacle that hinders binding exists in the vicinity. In this case, it is a device that performs marking on the intersection 130. By marking the unbound intersection 130, the worker can reliably bind the unbound intersection 130 using the marking as a mark, and the unbound intersection 130 is generated. Can be resolved.

Although detailed illustration is omitted, the marker device 70 has various forms. For example, the control switch is turned on by receiving a control signal from the controller 50, and the electric signal is used to inject paint in the lower X3 direction for marking, or a powder such as powder chalk is weighted in the lower X3 direction. There is a form of dropping and marking, and a form of lowering the marker pen in the downward X3 direction for marking. In the form of dropping the powder by its own weight, an electromagnetic valve is attached to the nozzle below the mini hopper, and the powder can be dropped by controlling the opening of the solenoid valve. Further, in the form of lowering the marker pen, the marker pen can be attached to the tip of the electric actuator that can be raised and lowered, and the marker pen can be lowered as the electric actuator is lowered.

Due to the positional relationship between the main bar 102 of the deck plate 110 with the reinforcing bar truss and the force distribution bar 120 added to the main bar 102, the clamp 25 of the automatic binding machine 20 mounted on the self-propelled reinforcing bar binding machine 100 is a lattice material 104. And the hanging member 103 may come into contact with each other and not physically engage with each other, resulting in a problem of poor binding. For example, in the deck plate 110 with a truss shown in FIG. 2, the intervals between the main bars 102 are arranged at a pitch of 200 mm, and the force distribution bars 120 added to the main bars 102 are also arranged at a pitch of 200 mm. In some cases, the pitch of the lattice material 104 and the hanging material 103 may be, for example, a 170 mm pitch. In this way, the pitch of the lattice material 104 and the suspension material 103 is 170 mm, whereas when the force distribution bars are arranged at a pitch of 200 mm, the intersection 130 of the main bar 102 and the force distribution bar 120 is the lattice material 104 and the suspension material 103. There may be places that approach the mountain (top) of the. In such a place, if the automatic binding machine 20 mounted on the self-propelled reinforcing bar binding machine 100 tries to bind, a binding failure may occur.

For example, FIG. 3A is a photographic diagram showing an example of a binding tolerance portion. In the vicinity of the intersection 130 existing inside the circle in FIG. 3A, there are no lattice material 104 and suspension material 103 that may interfere with binding by the automatic binding machine 20, and therefore the automatic binding machine 20 Bundling is possible.

On the other hand, FIG. 3B is a photographic diagram showing an example of a tolerance portion that cannot be bound. In the vicinity of the intersection 130 existing inside the circle in FIG. 3 (b), there are a lattice material 104 and a hanging material 103 that can be obstacles when binding by the automatic binding machine 20, and therefore the automatic binding machine 20 If an attempt is made to bind the material, the material may interfere with the lattice material 104 or the hanging material 103, resulting in poor binding.

In addition, FIG. 4 is a photographic diagram showing another example of the tolerance portion that cannot be bound. A stud bolt 108 (an example of an obstacle) exists in the vicinity of the intersection 130 existing inside the circle in FIG. 4, and therefore, when the automatic binding machine 20 tries to bind, it interferes with the stud bolt 108 and binds. Defects can occur.

Therefore, the illustrated self-propelled reinforcing bar binding machine 100 eliminates the interference between the binding machine 20 and the obstacle by detecting the presence or absence of an obstacle that hinders the binding of wires other than the bidirectional reinforcing bars at the intersection 130. It is a self-propelled rebar binding machine that makes it possible to eliminate the occurrence of binding failure due to the interference, the emergency stop of the robot body caused by the interference, and the failure of the automatic binding machine.

<Hardware configuration of controller>
Next, with reference to FIG. 5, the hardware configuration of the controller 50 included in the self-propelled reinforcing bar binding machine 100 will be described. Here, FIG. 5 is a diagram showing an example of the hardware configuration of the controller 50 together with peripheral devices. As shown in FIG. 5, the controller 50 includes a CPU (Central Processing Unit) 51, a RAM (Random Access Memory) 52, a ROM (Read Only Memory) 53, an HDD (Hard Disc Drive) 54, and an NVRAM (Non-Volatile RAM). ) 55 and the like. Each part of the control device 50 is connected to each other via a bus (not shown).

The ROM 53 stores various programs and data used by the programs. The RAM 52 is used as a storage area for loading a program and a work area of the loaded program. The CPU 51 realizes various functions by processing the program loaded in the RAM 52. The HDD 54 stores the program and various data used by the program. Various setting information and the like are stored in the NVRAM 55.

The drive wheel actuator 15, the lateral movement actuator 18, the trigger operation device 40 of the binding machine, the elevating cylinder 30 of the binding machine, the image pickup device 60, and the marker device 70 are connected to the controller 50 so as to be able to transmit and receive control signals. Has been done.

The drive wheel actuator 15 is formed by a servomotor or the like, and drives, for example, a drive shaft connecting a pair of wheels 12 based on a control signal from the controller 50 to drive the self-propelled robot 10. When the imaging device 60 images the intersection 130 of the reinforcing bars in the process of the self-propelled robot 10 traveling on the force distribution muscle 120, the imaging data is transmitted to the controller 50, and the controller 50 captures the intersection 130 in the imaging data. When specified, as shown in FIG. 1, for example, when the image pickup device 60 is located directly above the intersection 130B, the controller 50 transmits a stop signal to the drive wheel actuator 15. When the self-propelled robot 10 stops at the stage where the image pickup apparatus 60 is located directly above the intersection 130B, the binding machine 20 is positioned directly above the separate intersection 130A behind, as shown in FIG.

Returning to FIG. 5, the lateral movement actuator 18 is, for example, a case where the self-propelled reinforcing bar binding machine 100 reaches the end of the reinforcing bar and there is no intersection in the traveling direction, and the reinforcing bars are arranged in the horizontal row. Is an actuator that moves the self-propelled reinforcing bar binding machine 100 onto the reinforcing bars (two distribution bars 120) in a horizontal row when is present. Specifically, it is an actuator in which a crank is assembled with a rotary link mechanism for lifting and laterally moving the self-propelled reinforcing bar binding machine 100, an actuator by a crawler mechanism for raising and lowering, and the like.

As is clear from FIG. 1, at the stage where the binding machine 20 is positioned at the rear intersection 130A, the imaging data of the intersection 130A has already been acquired by the imaging device 60, transmitted to the controller 50, and stored. .. In the controller 50, it has already been determined whether or not there is an obstacle that may be an obstacle when binding by the binding machine 20 in the vicinity of the intersection 130A, in other words, whether or not binding by the binding machine 20 is possible at the intersection 130A.

When it is determined by the controller 50 that the binding machine 20 can bind at the intersection 130A, a control signal is transmitted from the controller 50 to the elevating cylinder 30 and the piston rod 32 is lowered in the state shown in FIG. The binding machine 20 is brought close to the intersection 130A. Next, a control signal is transmitted from the controller 50 to the trigger operating device 40, and the trigger operating device 40 is displaced so as to push the trigger 23, thereby driving the pair of clamps 25 and executing automatic binding at the intersection 130A. ..

On the other hand, when the controller 50 detects an obstacle in the vicinity of the intersection 130A and determines that the binding by the binding machine 20 is impossible, the controller 50 moves to the elevating cylinder 30 in the state shown in FIG. No control signal is transmitted, so that the binding machine 20 maintains a state of being stored inside the robot body 11.

When the imaging data of the intersection 130A is acquired by the imaging device 60 and the controller 50 that receives the imaging data determines that binding by the binding machine 20 is impossible at the intersection 130A, the controller 50 indicates a marker. A control signal is transmitted to the device 70. The marker device 70 that has received the control signal executes marking on the intersection 130A. Therefore, in the state shown in FIG. 1, in the case of the intersection where it is determined that the intersection 130A cannot be bound, the intersection 130A is marked.

As described above, before the binding machine 20 reaches the intersection 130, the controller 50 has already determined whether or not the intersection 130 is an intersection that can be bound by the binding machine 20. Execution or non-execution of binding by the binding machine 20 is realized continuously and smoothly. Then, since the binding machine 20 does not perform unreasonable binding to the intersection 130 determined to be impossible to bind by the binding machine 20, the interference between the binding machine 20 and the obstacle can be eliminated. Therefore, there are no problems such as the occurrence of binding failure due to the interference and the failure of the binding machine 20 due to the interference.

<Functional configuration of controller>
Next, an example of the functional configuration of the controller 50 included in the self-propelled reinforcing bar binding machine 100 will be described with reference to FIG. Here, FIG. 6 is a diagram showing an example of the functional configuration of the controller. As shown in FIG. 6, the controller 50 includes a drive control unit 202, an imaging data input unit 204, an intersection / obstacle determination unit 206, a binding possibility determination unit 208, a marker control unit 210, an alarm unit 212, and a storage unit 214. And has a machine learning unit 216.

The drive control unit 202 executes drive control of various actuators such as the drive wheel actuator 15, the lateral movement actuator 18, the elevating cylinder 30, and the trigger operation device 40.

The imaging data transmitted from the imaging device 60 is input to the imaging data input unit 204 at any time, and the image data is stored in the storage unit 214 at any time.

In addition to storing imaging data, various data are stored in the storage unit 214. For example, image data showing the state of bar arrangement in two directions intersecting in the traveling direction of the self-propelled robot 10 is stored. This reinforcing bar arrangement state includes reinforcement arrangement states of reinforcing bars of various diameters that intersect each other at orthogonal angles or at various angles (60 degrees, etc.). Further, the storage unit 214 stores image data related to obstacles such as the lattice material 104, the hanging material 103, and the stud bolt 108.

Further, the storage unit 214 stores a threshold value regarding the separation distance between the intersection 130 and the obstacle, which allows the wire to be bound by the binding machine 20. The threshold value of the separation distance may change depending on the type of obstacle, the position of the obstacle with respect to the intersection 130, the type of binding machine 20 to be applied (product type, model, etc.), and the like. Therefore, for example, the obstacle is the lattice material 104, the lattice material 104 is on the left side of the intersection 130 with respect to the traveling direction of the self-propelled robot 10, and the binding machine 20 is trade name: Rivertire and model: RB-399A. In the case of −B2C, the threshold value is 10 mm, and various threshold values are stored in the storage unit 214 according to the type of obstacle, the arrangement position of the obstacle with respect to the intersection 130, and the type of the binding machine 20 to be applied. Will be done.

Here, an example of storing the threshold value will be described with reference to FIGS. 7A and 7B. FIG. 7A shows a state in which the suspending material exists on the left side (right side in the figure) of the intersection of the reinforcing bars with respect to the X1 direction which is the traveling direction of the self-propelled reinforcing bar binding machine 100. In this case, when automatic binding is applied by applying a certain type of river tire, information that binding is not possible when the separation distance is 10 mm (+10 mm in the figure) and binding is possible when the separation distance is 15 mm or more is stored. Therefore, in this case, for example, 15 mm is set as the threshold value of the separation distance.

On the other hand, FIG. 7B shows a state in which the suspending material exists on the right side (left side in the figure) of the intersection of the reinforcing bars with respect to the X1 direction which is the traveling direction of the self-propelled reinforcing bar binding machine 100. There is. In this case, when automatic binding is applied by applying a certain type of river tire, information that binding is not possible up to a separation distance of 20 mm (-20 mm in the figure) and binding is possible when the separation distance is 25 mm or more is stored. To. Therefore, in this case, for example, 25 mm is set as the threshold value of the separation distance.

The machine learning unit 216 performs machine learning on intersections and obstacles of unstored reinforcing bars based on image data related to various reinforcing bars and image data related to obstacles stored in the storage unit 214, and the intersection 130 and Increase information about obstacles. Further, the machine learning unit 216 can determine the threshold value of the separation distance by machine learning based on the type of the obstacle, the arrangement position of the obstacle with respect to the intersection, the type of the binding machine, and the like. The machine learning unit 216 creates a function or the like in which various know-how information regarding reinforcing bars, obstacles, binding machine 20, etc. is machine-learned. A function obtained by machine learning the know-how information can be created by using an existing technique such as supervised learning using a neural network, but the creation method is not particularly limited.

The intersection / obstacle determination unit 206 takes in the imaging data from the storage unit 214, determines whether or not the intersection 130 exists in the imaging data, and if the intersection 130 exists, the vicinity of the intersection 130. Determine if there is an obstacle in.

When the intersection / obstacle determination unit 206 determines that an obstacle exists in the vicinity of the intersection 130, the binding possibility determination unit 208 determines the separation distance and the separation distance between the intersection 130 and the obstacle. Is compared with the threshold value of, and it is determined whether or not the separation distance is less than the threshold value. At this time, the mode of the intersection 130 (intersection angle, diameter of each intersecting reinforcing bar, etc.), the type and size of the obstacle, the type of the binding machine 20, etc. are specified by the binding possibility determination unit 208, and these are specified. The threshold value related to the separation distance according to the combination element of is read from the storage unit 214, and the binding possibility determination unit 208 executes the comparison between the threshold value read from the storage unit 214 and the separation distance. When the binding possibility determination unit 208 determines that the binding is possible, the drive control unit 202 drives and controls the elevating cylinder 30 and the trigger operation device 40, and automatic binding at the intersection 130 is executed.

The marker control unit 210 controls the marker device 70 to perform marking on the intersection 130 when the binding possibility determination unit 208 determines that the intersection 130 cannot be bound.

When it is identified by an imaging device 60 or a separate imaging device that images the front in the traveling direction (not shown) that a traveling obstacle exists in the traveling direction of the self-propelled reinforcing bar binding machine 100, the imaging data or the like is used as a controller. Transmitted to 50, the controller 50 executes control to stop the operation of the drive wheel actuator 15. In this way, by automatically stopping the self-propelled reinforcing bar binding machine 100 in front of the traveling obstacle, it is possible to avoid interference between the self-propelled reinforcing bar binding machine 100 and the traveling obstacle. Then, at this time, the alarm unit 212 operates and emits a buzzer, a lighting display, or the like notifying the worker that the alarm unit 212 is automatically stopped.

<Control flow of self-propelled rebar binding machine by controller>
Next, the control flow of the self-propelled rebar binding machine by the controller will be described with reference to FIGS. 8 to 10. Here, FIG. 8 is a flowchart relating to an example of processing based on the binding possibility determination and the binding possibility determination at the intersection in the control flow of the self-propelled reinforcing bar binding machine by the controller. Further, FIG. 9 is a flowchart relating to an example of the control flow of the self-propelled reinforcing bar binding machine by the controller, which is based on the traveling propriety determination and the traveling propriety determination of the self-propelled reinforcing bar binding machine. Further, FIG. 10 is a flowchart relating to an example of image processing in the control flow of the self-propelled reinforcing bar binding machine by the controller.

First, with reference to FIG. 8, an example of the binding possibility judgment and the processing based on the binding possibility judgment at the intersection will be described.

In step S300, the controller 50 executes the traveling control of the self-propelled reinforcing bar binding machine 100 along the force distribution bar 120 added to the main reinforcing bar 102 of the deck plate 110 with the reinforcing bar truss.

In step S302, when the controller 50 receives the imaging data transmitted from the imaging device 60 and the controller 50 recognizes that the intersection 130 exists in the imaging data, the self-propelled reinforcing bar binding machine 100 Travel stop control is executed.

After the self-propelled reinforcing bar binding machine 100 is stopped, in step S304, the imaging device 60 executes imaging of the intersection 130 and its surroundings, and the transmitted imaging data is transmitted to the controller 50.

The controller 50 determines the presence or absence of an obstacle that may interfere with automatic binding in the vicinity of the intersection 130 in the received imaging data. Then, when it is determined that an obstacle exists, in step S306, the separation distance between the intersection 130 and the obstacle is specified, and this separation distance and the intersection 130 and the obstacle stored in the storage unit 214 are specified. The threshold value regarding the separation distance between them (the threshold value regarding the separation distance at which the wire can be bound by the binding machine 20) is compared, and it is determined whether or not the separation distance is equal to or greater than the threshold value, that is, whether or not binding is possible.

If, as a result of the determination, it is determined that automatic binding is possible, in step S308, information indicating that the intersection 130 can be bound is stored in the storage unit 214. On the other hand, if it is determined that automatic binding is impossible as a result of the determination, a control signal is transmitted from the controller 50 to the marker device 70 in step S310, and marking is executed at the intersection 130. As described above, steps S304 to S310 are processes executed based on transmission / reception of control signals between the image pickup device 60 and the marker device 70 and the controller 50 in front of the self-propelled rebar binding machine 100 in FIG. Although different from the control by the controller 50, the marking intersection 130 is bound by the worker in step S320. In FIG. 8, since step S320 is not controlled by the controller 50, it is shown by a dotted line.

On the other hand, after the self-propelled reinforcing bar binding machine 100 is stopped, in step S312, the information stored in the storage unit 214 of the controller 50, and the binding possibility determination result already obtained is referred to. Then, when it is determined that the target intersection 130 can be bound, in step S314, the elevating cylinder 30, the trigger operation device 40, and the binding machine 20 are operated under the control of the controller 50 to operate the intersection 130. Automatic binding is performed in. On the other hand, when it is determined that the target intersection 130 cannot be bound, the operation control of the binding machine 20 by the controller 50 is not executed in step S316, and the automatic binding at the intersection 130 is not executed (binding). Not executed). As described above, steps S312 to S316 are executed based on the transmission / reception of the control signal between the elevating cylinder 30, the trigger operating device 40, and the binding machine 20 and the controller 50 in the center of the self-propelled reinforcing bar binding machine 100 in FIG. It is a process to be performed.

By repeatedly executing the above processing flow according to the traveling of the self-propelled reinforcing bar binding machine 100, automatic binding is executed at the intersection 130 that can be bound to the continuous intersection 130, and the binding is impossible. Marking is performed on the intersection 130.

Each process may be executed by installing a program including a series of control flows shown in FIG. 8 on the controller 50, which is a computer.

Next, with reference to FIG. 9, an example of the travelability determination and the processing based on the travelability determination of the self-propelled reinforcing bar binding machine will be described.

In step S300, the controller 50 executes the traveling control of the self-propelled reinforcing bar binding machine 100 along the force distribution bar 120 added to the main reinforcing bar 102 of the deck plate 110 with the reinforcing bar truss.

In step S330, the controller 50 receives the imaging data transmitted from the imaging device 60, and the controller 50 determines whether or not the intersection 130 is present in the imaging data.

When it is determined in the controller 50 that the intersection 130 exists, then in step S332, the controller 50 receives the imaging data transmitted from the imaging device 60 or another imaging device that images the front in the traveling direction. In the controller 50, it is determined whether or not there is a traveling obstacle in the imaging data or the like.

When it is determined that there is no traveling obstacle in the traveling path, a series of processing based on the binding possibility determination and the binding possibility determination at the intersection is executed as shown in FIG. On the other hand, when it is determined that a traveling obstacle exists in the traveling path, the controller 50 executes the traveling stop of the self-propelled reinforcing bar binding machine 100 in step S342. By automatically stopping the self-propelled reinforcing bar binding machine 100 in this way, it is possible to avoid interference with traveling obstacles. Then, after the self-propelled reinforcing bar binding machine 100 is automatically stopped, in step S344, the self-propelled reinforcing bar binding machine 100 executes an alarm such as a buzzer or a lighting display for notifying the worker that the self-propelled reinforcing bar binding machine 100 is automatically stopped. ..

In step S330, it is determined whether or not the intersection 130 is present in the imaged data, and if the controller 50 determines that the intersection 130 does not exist, in step S334, the controller 50 binds the self-propelled reinforcing bars. The running stop of the machine 100 is executed. Then, after the self-propelled reinforcing bar binding machine 100 is automatically stopped, the controller 50 receives the imaging data transmitted from the imaging device 60 or another imaging device capable of imaging the 360-degree direction, and the controller 50 receives the imaging data. It is determined whether or not there is another force distribution bar 120 next to the two rows of force distribution bars 120 that have traveled up to.

When it is determined in the controller 50 that there is a separate force distribution bar 120 on the side, in step S338, the controller 50 operates the lateral movement actuator 18, and the self-propelled reinforcing bar binding machine 100 is oriented in that direction ( The direction of travel) is reversed, and two pairs of wheels 12 are placed on two rows of load distribution bars 120 on the side. After that, the self-propelled reinforcing bar binding machine 100 starts running on the newly placed two rows of force distribution bars 120, and is based on the binding possibility judgment and the binding possibility judgment at the intersection as shown in FIG. A series of processes are executed.

On the other hand, when it is determined in the controller 50 that there is no separate force distribution bar 120 on the side, the self-propelled reinforcing bar binding machine 100 cannot continue the subsequent progress, so that it is stopped in step S340. Execute alarms such as buzzers and lighting displays to notify workers.

Each process may be executed by installing a program including a series of control flows shown in FIGS. 8 and 9 on the controller 50, which is a computer.

Next, an example of image processing will be described with reference to FIG. Note that FIG. 10 is a flow chart in which the image processing between steps S304 and S306 in FIG. 8 is described in detail.

In step S304, the imaging device 60 executes imaging of the intersection 130 and its surroundings, and the transmitted imaging data is transmitted to the controller 50.

The controller 50 smoothes the received imaging data in step S362, and repeats the contraction / expansion process in step S364 to cut noise. Then, edge detection is performed in step S366, line segments are detected in step S368, linear parameterization is performed in step S370, and line segments in image data are narrowed down in step S372. By these series of processes, for example, the center line of the force distribution bar 120 and the center line of the suspension member 103 are specified. Then, by performing the calculation of the intersection in step S374, for example, the separation distance between the force distribution bar 120 and the suspension member 103 is calculated. If the calculated separation distance is less than the threshold value, it is determined that the target intersection 130 cannot be bound, and if the separation distance is greater than or equal to the threshold value, the target intersection 130 is determined to be able to bind.

Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and there are design changes and the like within a range not deviating from the gist of the present invention. However, they are included in the present invention.

10: Self-propelled robot, 11: Robot body, 12: Wheels, 15: Drive actuator, 18: Lateral movement actuator, 20: Binding machine (automatic binding machine), 21: Binding machine body, 22: Grip, 23 : Trigger, 24: Wire reel, 25: Clamp, 26: Battery, 30: Elevating cylinder, 31: Cylinder, 32: Piston rod, 40: Trigger operating device, 50: Controller, 60: Imaging device, 61: Cage, 70: Marker device, 100: Self-propelled rebar binding machine, 101: Corrugated plate, 102: Main rebar (first rebar), 103: Suspension material (obstacle), 104: Lattice material (obstacle), 105: End member , 110: Deck plate with reinforcing bar truss, 120: Reinforcing bar (second reinforcing bar), 130, 10A, 130B: Intersection, 202: Drive control unit, 204: Imaging data input unit, 206: Intersection / obstacle determination Unit, 208: Bundling possibility judgment unit, 210: Marker control unit, 212: Alarm unit, 214: Storage unit, 216: Machine learning unit, W: Wire

Claims (5)

With a self-propelled robot
A self-propelled rebar binding machine having a binding machine mounted on the self-propelled robot.
The self-propelled robot is further equipped with a controller and an imaging device that images the intersections of the first and second reinforcing bars that intersect with each other and obstacles that hinder wire binding at the intersections. And
The controller is a self-propelled reinforcing bar binding machine, which receives imaging data from the imaging device and detects the presence or absence of the obstacle based on the imaging data. The controller stores a threshold value for the separation distance at which the wire can be bound with respect to the separation distance between the intersection and the obstacle.
The first aspect of the present invention is characterized in that, when the controller specifies that the separation distance in the imaging data is less than the threshold value, control for preventing the binding machine from binding is executed. The self-propelled rebar binding machine described. The self-propelled robot is equipped with a marker device.
The self-propelled reinforcing bar binding machine according to claim 2, wherein in the controller, a control for causing the marker device to perform marking is executed at the intersection where binding is not performed. Of the image data transmitted from the imaging device to the controller, image data indicating that the intersection does not exist, or image data indicating that there is a traveling obstacle that hinders the traveling of the self-propelled robot. The second or third aspect of the present invention, wherein the controller executes a control for stopping the self-propelled robot or a control for changing the traveling course of the self-propelled robot. Self-propelled reinforcing bar binding machine. The self-propelled robot, the binding machine mounted on the self-propelled robot, the controller, the intersections of the first and second reinforcing bars that intersect with each other, and obstacles that hinder wire binding at the intersections. An automatic rebar binding program that causes the controller to perform the following processing in a self-propelled rebar binding machine having an imaging device for imaging an object.
The self-propelled robot is run along the first reinforcing bar or the second reinforcing bar.
The intersection is imaged by the imaging device.
The image pickup device transmits the image pickup data to the controller, and the image pickup data is transmitted to the controller.
Let the controller detect the presence or absence of the obstacle at the intersection,
If the controller does not detect the obstacle, the binding machine is made to perform wire binding at the intersection, and if the controller detects the obstacle, the binding machine is bound to wire at the intersection. An automatic rebar binding program that does not allow the execution of.