JP7213147B2 - Self-propelled rebar binding machine and automatic rebar binding program - Google Patents

Description

The present invention relates to a self-propelled reinforcing bar binding machine and an automatic reinforcing bar binding program.

At the construction site, for example, the reinforcing bars (main bars) of the deck plate with factory-produced reinforcing bars (truss reinforcing members (lattice material)) are placed on top of the reinforcing bars (distribution bars) so as to intersect, and work Reinforcement work is carried out by workers using a commercially available binding machine or the like to wire-tie the intersections. Also, in the reinforcement arrangement of ordinary floor slabs, workers similarly bind wires at the intersections of the main reinforcement and the distributing reinforcement of the floor slab.
As the bar arrangement area widens, the number of crossings increases, and the construction takes time and labor. Specifically, it is a self-propelled reinforcing bar binding machine that includes a self-propelled robot, a binding machine body mounted on the self-propelled robot, and a wire reel that supplies wires to the machine body. has a reinforcing bar detection sensor that detects the intersection of reinforcing bars, and the binding machine body has a tip binding means that winds a wire of a predetermined length around the intersection of the reinforcing bars and twists the wire (for example, See Patent Document 1).

JP 2019-039170 A

According to the self-propelled reinforcing bar binding machine described in Patent Document 1, it is possible to perform bar arrangement work at a relatively low cost while reducing the burden on workers.
By the way, due to the positional relationship between the main reinforcement of the deck plate with reinforcing bar truss and the distributing reinforcement on top of the main reinforcement, the clamp of the automatic binding machine installed in the self-propelled reinforcing bar binding machine may not be attached to the lattice material and suspension material of the deck plate. A problem may arise in that they come into contact and do not physically engage, resulting in poor bundling. For example, as an example of a deck plate with a reinforcing bar truss, factory-produced construction materials in which the intervals between the main bars are arranged at a pitch of 200 mm are widely used. When reinforcing bars are added and distributed, bars are generally arranged at a pitch of 200 mm like the main bars. That is, most floor slab reinforcing bars are laid out in a 200 mm×200 mm grid pattern (mochi net pattern).
On the other hand, the corrugated shape of the lattice material of the deck plate with the reinforcing bar truss and the pitch of the suspension material are, for example, 170 mm pitch. If distributing bars are arranged at a pitch of 200 mm on top of this 170 mm pitch, there may be places where the intersections of the distributing bars come close to the crests of the corrugated lattice members and the crests of the hanging members. In such a place, if an automatic binding machine mounted on a self-propelled reinforcing bar binding machine tries to bind, there is a possibility that binding failure will occur. And if events such as this unexpectedly cause bundling failures to occur frequently, the reliability of robot construction will be impaired, and there is a risk that the robot itself will be forced to stop or the automatic bundling machine will break down. , can be a factor in lowering construction efficiency.
In addition, not only deck plates with reinforcing bar trusses, but also when there are obstacles such as stud bolts near the intersections of the main reinforcing bars and distributing bars of the floor slab, the automatic binding machine will bind the intersections of the reinforcing bars. When the clamp is lowered, there is a risk that the clamp will interfere with the obstacle and the binding operation will not be possible.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a self-propelled reinforcing bar binding machine and an automatic reinforcing bar binding program that can eliminate interference between the binding machine and obstacles when binding wires at intersections of reinforcing bars.

In order to achieve the above object, one aspect of the self-propelled reinforcing bar binding machine according to the present invention is
a self-propelled robot,
A self-propelled reinforcing bar binding machine having a binding machine mounted on the self-propelled robot,
The self-propelled robot is further equipped with a controller, an imaging device that captures images of intersections of the first reinforcing bars and second reinforcing bars that intersect each other, and obstacles obstructing wire binding at the intersections. and
The controller 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 captures an image of the intersection of the reinforcing bars, and the controller detects obstacles other than the reinforcing bars in two directions at the intersection that hinder wire bundling based on the imaging data. By detecting the presence or absence of the binding machine, interference between the binding machine and the obstacle can be eliminated. Here, the self-propelled robot is formed of a traveling carriage or the like that is self-propelled by, for example, two pairs of four wheels driven by an actuator such as a motor. It can run on one (two rows) of rebar. In addition, regarding the two pairs of four wheels, when one pair of wheels travels on the floor surface, the other pair of wheels moves to a position raised from the floor surface. It may be possible to move on the floor surface while straddling a reinforcing bar extending in a direction orthogonal to the.
Examples of the imaging device include a CCD camera, a digital camera, a digital video camera, etc. The imaging device images the intersection and the obstacles in the vicinity of the intersection, and the imaging data is transmitted to the controller. In this way, by imaging intersections and obstacles with an imaging device, it becomes possible to clearly distinguish between intersections of reinforcing bars and other obstacles, compared to, for example, a laser device. .

The controller is made to perform image recognition in advance of the bar arrangement in two directions that intersect in the advancing direction of the self-propelled robot. The bar arrangement state includes bar arrangement states of reinforcing bars of various diameters that are orthogonal to each other or intersect with each other at various angles. For example, there are a bar arrangement state in which the reinforcing bars of D25 and D29 are orthogonal to each other, and a bar arrangement state in which the reinforcing bars of D22 both cross at 60 degrees (or 120 degrees). Here, the first reinforcing bar and the second reinforcing bar that form the intersection are the main reinforcing bar of the deck plate with reinforcing bar truss and the distributing bar on top of the main bar, the main bar and distributing bar of the floor slab, and the It contains various rebars that intersect. In this way, the controller stores image data relating to reinforcing bars, and can detect objects other than reinforcing bars as obstacles. Alternatively, in the controller, in addition to image data related to rebars, various image data (image data related to lattice members, hanging members, stud bolts, etc.) that can be obstacles other than rebars are stored, and based on these image data can also detect obstacles.
Image recognition by the controller includes recognizing intersections of reinforcing bars and obstacles through machine learning by the controller itself based on image information of various reinforcing bars and obstacles input to the controller. be

Further, in another aspect of the self-propelled reinforcing bar binding machine according to the present invention, the controller stores a threshold value regarding the separation distance between the intersection and the obstacle at which the wire binding is possible. and
It is characterized in that, when the controller determines that the separation distance in the imaging data is less than the threshold value, control is executed to prevent the binding machine from binding.

According to this aspect, the controller compares the threshold for the distance between the intersection and the obstacle with the distance in the image data transmitted from the imaging device, and if the distance is less than the threshold, the binding machine On the other hand, the execution of the control for not performing the binding makes it possible to eliminate the occurrence of defective binding and failure of the binding machine due to interference between the binding machine and the obstacle. Here, the term "incomplete binding" means that the wire is incompletely bound, or that the wire (binding wire) is completely stretched without being bound.
The "separation distance threshold" may vary depending on the type of obstacle and the location 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. It is preferable that the controller stores various threshold values according to the type of obstacle and the position of the obstacle with respect to the intersection, such as 20 mm for the threshold in the case. Furthermore, it is preferable that the threshold value of the separation distance is set in consideration of the type (product type, model, etc.) of the binding machine to be applied. With respect to such a separation distance threshold, in addition to storing the separation distance threshold in the controller for each type of obstacle, the arrangement position of the obstacle with respect to the intersection, and the type of binding machine, The controller can also determine the separation distance threshold value by performing machine learning based on the type of obstacle, the position of the obstacle with respect to the intersection, the type of binding machine, and the like.
When the controller controls the binding machine not to bind, the self-propelled robot is controlled to pass through the unbound intersection as it is and travel to the next intersection.

In another aspect of the self-propelled reinforcing bar binding machine according to the present invention, the self-propelled robot is equipped with a marker device,
The controller is characterized in that control is executed to cause the marker device to mark the crossing portion where the bundling is not performed.
According to this aspect, the controller controls the marker device to mark the crossing portion where no bundling is performed, so that the operator can perform bundling using the marking as a mark. It is possible to eliminate the occurrence of intersections that are not done. That is, according to this aspect, instead of forcibly performing automatic binding by applying a complicated mechanism to the binding machine for the intersection where binding failure is likely to occur, such a tolerance part In , it is possible to bind all crossings without damaging the binding machine based on the cooperative work of the worker and the self-propelled reinforcing bar binding machine by binding the workers. .

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 When there is image data indicating that there is a running obstacle that obstructs the running of the robot, the controller controls to stop the self-propelled robot, or control to change the running course of the self-propelled robot. is executed.
According to this aspect, when the self-propelled reinforcing bar binding machine reaches the end of the reinforcing bar and there is no intersection and there is a reinforcing bar in the horizontal row, the machine moves to the reinforcing bar in the horizontal row. Then, the direction of travel can be changed to automatically continue the bundling of the intersection. Further, when there is a travel obstacle, the self-propelled reinforcing bar binding machine automatically stops, thereby avoiding interference with the travel obstacle. It is preferable that the self-propelled reinforcing bar binding machine is further equipped with an alarm device, and when it automatically stops, it emits a buzzer or a lighting display to notify the operator of the automatic stop.

In addition, one aspect of the automatic reinforcing bar binding program according to the present invention is
A self-propelled robot, a binding machine mounted on the self-propelled robot, a controller, an intersection of the first reinforcing bar and the second reinforcing bar that intersect each other, and an obstacle that hinders wire binding at the intersection An automatic reinforcing bar binding program that causes the controller to execute the following processes in a self-propelled reinforcing bar binding machine having an imaging device that takes an image of an object,
running the self-propelled robot along the first reinforcing bar or the second reinforcing bar;
causing the imaging device to image the intersection;
causing the imaging device to transmit imaging data to the controller;
causing the controller to detect the presence or absence of the obstacle at the intersection;
When the controller detects no obstacle, the controller causes the binding machine to perform wire binding at the intersection, and when the obstacle is detected, the controller causes the binding machine to bind wires at the intersection. is not executed.
According to this aspect, it is possible to realize a self-propelled reinforcing bar binding machine in which interference between the binding machine and the 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 interference between the binding machine and obstacles when binding wires at intersections of reinforcing bars.

It is a side view which shows an example of the self-propelled reinforcing-bar binding machine which concerns on embodiment, Comprising: It is the figure which fracture|ruptured the part and made the internal structure visible. It is a perspective view which shows an example of the deck plate with a reinforcing-bar truss to which the self-propelled reinforcing-bar binding machine which concerns on embodiment is applied. (a) is a photographic view showing an example of a tolerance portion that can be bound, and (b) is a photographic view showing an example of a tolerance portion that cannot be bound. FIG. 11 is a photograph view showing another example of a tolerance portion that cannot be bound; FIG. 2 is a diagram showing 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 diagrams showing an example of a separation distance where binding is possible and an example of a separation distance where binding is not possible according to the separation distance between peaks and intersections of a lattice member and a suspension member. . FIG. 10 is a flowchart relating to an example of a process based on determination of whether or not binding is possible at an intersection and determination of whether or not binding is possible in the control flow of the self-propelled reinforcing bar binding machine by the controller; FIG. FIG. 10 is a flow chart relating to an example of a control flow of the self-propelled reinforcing bar binding machine by the controller, which relates to determination of whether or not the self-propelled reinforcing bar binding machine can travel, and processing based on the determination of whether or not the device can travel. It is a flow chart about an example of image processing among control flows of a self-propelled rebar binding machine by a controller.

Hereinafter, a self-propelled reinforcing bar binding machine according to an embodiment will be described with reference to the accompanying drawings. In addition, in the present specification and drawings, substantially the same components may be denoted by the same reference numerals, thereby omitting duplicate descriptions.

[Embodiment]
<Overall configuration of self-propelled reinforcing bar binding machine>
First, an example of a self-propelled reinforcing bar binding machine according to an 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 cut away so that the internal configuration can be visually recognized. In the illustrated example, the main reinforcement (upper end main reinforcement) of the factory-manufactured deck plate with reinforcing steel truss (lattice material) is added so that the distribution reinforcement crosses at the construction site. A construction example of tying at intersections formed by bars will be described. Applied for tying work at intersections of various rebars.

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

The controller 50 is a computer that controls the ON/OFF control of the driving wheel actuator and the operation of each device of the self-propelled reinforcing bar binding machine 100, which will be described in detail below. 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 includes a corrugated plate 101 formed of a hot-dip galvanized steel plate or the like, and a lattice material 104 (an example of an obstacle ), a suspension member 103 (an example of an obstacle) composed of a plurality of iron wires or the like arranged at intervals in a manner perpendicular to the lattice member 104, and supported by the lattice member 104 and the suspension member 103 It has a plurality of upper end main reinforcements and lower end main reinforcements (hereinafter referred to as main reinforcements 102 ) and end members 105 . The end member 105 is a reinforcing bar provided at the end of the deck plate 110 with the reinforcing bar truss. On top of the main reinforcement 102 (an example of the upper end main reinforcement, the "first reinforcement") of the deck plate 110 with a reinforcement truss shown in FIG. example), an intersecting portion 130 of the main reinforcement 102 and the force distribution reinforcement 120 orthogonal to each other is formed as shown in FIG. Further, 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 bars 120, and the left and right wheels 12 of each pair are placed on the adjacent distribution bars 120 with the pitch therebetween. The running robot 10 can move on the power distribution muscle 120. - 特許庁In addition, the interval between the pair of wheels 12 may be set to a pitch twice that of the force distribution bars 120, or the like.

Inside the self-propelled robot 10, a binding machine 20 is built in so as to be able to protrude downward from the lower surface of the self-propelled robot 10.例文帳に追加As the binding machine 20, a commercially available portable reinforcing bar binding machine (for example, River Tire manufactured by Max Co., Ltd.) can be applied, and has a configuration in which a binding machine main body 21, a grip 22, and a battery 26 are integrated. there is A pair of clamps 25 are rotatably attached to 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 A pair of clamps 25 are used to wind around the intersection 130 . A trigger 23 for controlling the driving of the clamps 25 is attached to the root position of the grip 22 in the binding machine main body 21, and by operating the trigger 23, the driving of the pair of clamps 25 is ON/OFF controlled. When the pair of clamps 25 are ON controlled, the wire W of a predetermined length delivered from the wire reel 24 is wound around the intersection 130 by the pair of clamps 25, and the both ends of the wire W are twisted. Binding at intersections 130 is performed.

The grip 22 is fixed to a piston rod 32 that constitutes an elevating cylinder 30. By elevating the piston rod 32 in the X4 direction with respect to a cylinder 31 that constitutes the elevating cylinder 30, the binding machine 20 is a self-propelled robot. It becomes free to project downward from the lower surface of 10 . Specifically, the binding machine 20 protrudes downward from the lower surface of the self-propelled robot 10 when binding at the intersection 130 , and the binding machine 20 is self-propelled when the self-propelled robot 10 travels on the force distribution bar 120 . The position of the binding machine 20 is controlled so that the binding machine 20 is accommodated inside the traveling robot 10 .

A trigger operating device 40 is attached to the tip of the piston rod 32, and by an ON signal from the controller 50, the trigger 23 is displaced in the X5 direction to push the trigger 23, and the pair of clamps 25 are driven to perform automatic bundling. ing.

An imaging device 60 and a marker device 70 are mounted on the front surface of the self-propelled robot 10 in the X1 direction, which is the advancing direction. The imaging device 60 is held by a rod-shaped holder 61, and is configured to capture an image of the intersection 130 located in the X2 direction, which is the imaging direction, and its surroundings. The retainer 61 may be a member with a constant length, or may be a member whose length can be adjusted so as to be stretchable in the X1 direction. The illustrated example is a form in which the imaging device 60 is attached to a retainer 61 having a constant length. , the crossing portion 130B two pitches ahead of the main reinforcement 102 and its surroundings can be imaged.

The imaging 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, or the like, and imaging 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 bundling at the intersection 130 where there is an obstacle that obstructs bundling in the vicinity. It is a device that marks the crossing portion 130 in the case of a crossing. Since the unbound intersection 130 is marked, a worker can reliably bind the unbound intersection 130 using the marking as a mark, thereby preventing the unbound intersection 130 from occurring. can be resolved.

Although detailed illustration is omitted, the marker device 70 may take various forms. For example, when a control signal is received from the controller 50, the control switch is ON-controlled, and the electric signal is used to inject paint in the downward X3 direction for marking. There is a form in which marking is performed by dropping, and a form in which marking is performed by dropping a marker pen downward in the X3 direction. 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 electromagnetic valve. Further, in the form in which the marker pen is lowered, 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 reinforcing bars 102 of the deck plate 110 with reinforcing bar trusses and the distributing bars 120 placed on the main reinforcing bars 102, the clamps 25 of the automatic binding machine 20 mounted on the self-propelled reinforcing bar binding machine 100 are held by the lattice material 104. There may arise a problem that the binding member 103 contacts with the hanging member 103 and does not physically mesh with each other, resulting in a binding failure. For example, in the deck plate 110 with a truss shown in FIG. 2, the intervals between the main reinforcements 102 are arranged at a pitch of 200 mm, and the distributing reinforcements 120 on top of the main reinforcements 102 are also arranged at intervals of 200 mm. In some cases, the pitch of the lattice members 104 and suspension members 103 may be, for example, 170 mm. In this way, when the pitch of the lattice members 104 and the suspension members 103 is 170 mm, and the distributing bars are arranged at a pitch of 200 mm, the intersections 130 of the main bars 102 and the distributing bars 120 are the lattice members 104 and the hanging members 103. There may be a point approaching the crest (top) of the . If the automatic binding machine 20 mounted on the self-propelled reinforcing bar binding machine 100 attempts to bind such a portion, there is a possibility that binding failure will occur.

For example, FIG. 3(a) is a photograph showing an example of a tolerance portion that can be bound. In the vicinity of the intersecting portion 130 existing inside the circle in FIG. It is possible to bind by

On the other hand, FIG. 3(b) is a photograph showing an example of a tolerance portion that cannot be bound. In the vicinity of the intersecting portion 130 existing inside the circle in FIG. Attempting to bind them may interfere with the lattice member 104 and the hanging member 103, resulting in binding failure.

In addition, FIG. 4 is a photographic view showing another example of a 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. Defects may occur.

Therefore, the illustrated self-propelled reinforcing bar binding machine 100 eliminates interference between the binding machine 20 and the obstacle by detecting the presence or absence of obstacles that hinder wire binding other than the two-directional reinforcing bars at the intersection 130. It is a self-propelled reinforcing bar binding machine that can solve the occurrence of binding failure caused by the interference, the emergency stop of the robot main body and the failure of the automatic binding machine caused by the interference.

<Hardware configuration of the controller>
Next, the hardware configuration of the controller 50 included in the self-propelled reinforcing bar binding machine 100 will be described with reference to FIG. 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, a HDD (Hard Disc Drive) 54, and an NVRAM (Non-Volatile RAM). ) 55 and the like. Each part of the control device 50 is interconnected via a bus (not shown).

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

The driving wheel actuator 15, the lateral movement actuator 18, the binding machine trigger operating device 40, the binding machine elevating cylinder 30, the imaging device 60, and the marker device 70 are connected to the controller 50 so that control signals can be transmitted and received. It is

The drive wheel actuator 15 is formed by a servomotor or the like, and drives a drive shaft that connects, for example, a pair of wheels 12 based on a control signal from the controller 50 to cause the self-propelled robot 10 to travel. When the imaging device 60 captures an image of the crossing portion 130 of the reinforcing bar while the self-propelled robot 10 is traveling on the force distribution bar 120, the imaged data is transmitted to the controller 50, and the controller 50 detects the crossing portion 130 in the imaged data. Specifically, as shown in FIG. 1, for example, when the imaging device 60 is positioned 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 when the imaging device 60 is positioned directly above the intersection 130B, the binding machine 20 is positioned directly above the separate rear intersection 130A, as shown in FIG.

Returning to FIG. 5, the lateral movement actuator 18 is used, for example, when the self-propelled reinforcing bar binding machine 100 reaches the end of a reinforcing bar and there is no intersection in the traveling direction, and the horizontal row of reinforcing bars is an actuator that moves the self-propelled reinforcing bar binding machine 100 over the horizontal row of reinforcing bars (two force distribution bars 120) when there is a . Specifically, it is an actuator that combines a rotary link mechanism and a crank for lifting and laterally moving the self-propelled reinforcing bar binding machine 100, an actuator that uses a crawler mechanism that moves up and down, and the like.

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

When the controller 50 determines that the binding by the binding machine 20 is possible at the intersection 130A, in the state shown in FIG. to bring the binding machine 20 close to the intersection 130A. Next, a control signal is transmitted from the controller 50 to the trigger operation device 40, and the trigger operation device 40 is displaced so as to push the trigger 23, thereby driving the pair of clamps 25 and performing automatic bundling at the intersection 130A. .

On the other hand, when the controller 50 detects an obstacle in the vicinity of the crossing portion 130A and determines that the binding by the binding machine 20 is impossible, the controller 50 controls the lift cylinder 30 in the state shown in FIG. , no control signal is sent, and therefore the binding machine 20 remains stored inside the robot body 11 .

When the imaging device 60 acquires imaging data of the intersection 130A and the controller 50 that has received the imaging data determines that the binding by the binding machine 20 is impossible at the intersection 130A, the controller 50 sends the marker A control signal is sent to the device 70 . Upon receiving the control signal, the marker device 70 marks the intersection 130A. Therefore, in the state shown in FIG. 1, the crossing portion 130A is marked if it is determined that the crossing portion 130A cannot be bound.

As described above, before the binding machine 20 reaches the intersection 130, the controller 50 has already determined whether or not the intersection 130 can be bound by the binding machine 20. Execution or non-execution of binding by the binding machine 20 is realized continuously and smoothly. Since the binding machine 20 does not forcibly bind the crossing portion 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, problems such as the occurrence of binding failure due to the interference and the failure of the binding machine 20 due to the interference do not occur.

<Functional configuration of the 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. 6 . 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, a storage unit 214, and 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 operating 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.

The storage unit 214 stores various data in addition to the imaging data. For example, image data indicating the state of bar arrangement in two directions intersecting in the traveling direction of the self-propelled robot 10 is stored. The bar arrangement state includes bar arrangement states of reinforcing bars of various diameters that are orthogonal to each other or intersect at various angles (eg, 60 degrees). Further, the storage unit 214 stores image data related to obstacles such as the lattice member 104, the suspension members 103, the stud bolts 108, and the like.

Further, the storage unit 214 stores a threshold value for the separation distance between the crossing portion 130 and the obstacle at which the wire binding can be performed by the binding machine 20 . The threshold value of the clearance may vary 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 (type of product, 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 a product name: River Tire and a model: RB-399A. - Various thresholds are stored in the storage unit 214 according to the types of obstacles, the position of the obstacles with respect to the intersection 130, and the type of the binding machine 20 to be applied, for example, the threshold is 10 mm in the case of B2C. be done.

Here, an example of threshold storage will be described with reference to FIGS. FIG. 7(a) shows a state in which a hanger 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. FIG. In this case, information is stored indicating that when a certain type of river tire is applied and automatic binding is performed, binding is not possible when the separation distance is 10 mm (+10 mm in the figure), and that binding is possible when the separation distance is 15 mm or more. Therefore, in this case, for example, 15 mm is taken as the threshold for the separation distance.

On the other hand, FIG. 7(b) shows a state in which a hanger 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 a certain type of river tire is used for automatic bundling, information is stored indicating that bundling is not possible when the separation distance is up to 20 mm (-20 mm in the figure), but is possible when the separation distance is 25 mm or more. be. Therefore, in this case, for example, 25 mm is taken as the threshold for the separation distance.

The machine learning unit 216 performs machine learning on the intersections of reinforcing bars and obstacles that are not stored based on the image data on various reinforcing bars and the image data on obstacles stored in the storage unit 214, and performs machine learning on intersections 130 and Increase information about obstacles. Further, the machine learning unit 216 can determine the separation distance threshold by the controller performing machine learning based on the type of obstacle, the 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 by machine-learning various know-how information related to reinforcing bars, obstacles, the binding machine 20, and the like. A function obtained by subjecting know-how information to machine learning can be created 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 fetches the imaged data from the storage unit 214, determines whether or not the intersection 130 exists in the imaged data, and determines whether or not the intersection 130 exists. determines whether or not there is an obstacle in the

When the intersection/obstacle determination unit 206 determines that an obstacle exists in the vicinity of the intersection 130, the bundling possibility determination unit 208 determines the separation distance between the intersection 130 and the obstacle. is compared with a threshold to determine whether or not the separation distance is less than the threshold. At this time, the mode of the crossing portion 130 (crossing angle, diameter of each crossing reinforcing bar, etc.), the type and size of the obstacle, the type of the binding machine 20, etc. are specified by the binding availability determination unit 208, and these specified is read from the storage unit 214, and the unity determination unit 208 compares the threshold read from the storage unit 214 with the separation distance. When the bundling availability determination unit 208 determines that bundling is possible, the drive control unit 202 drives and controls the lifting cylinder 30 and the trigger operating device 40, and automatic bundling at the intersection 130 is executed.

The marker control unit 210 controls the marker device 70 to mark the crossing portion 130 when the bundling possibility determining unit 208 determines that the crossing portion 130 cannot be tied.

When the presence of a traveling obstacle in the traveling direction of the self-propelled reinforcing bar binding machine 100 is specified by the imaging device 60 or a separate imaging device (not shown) that takes an image of the front in the traveling direction, the imaging data and the like are sent to the controller. 50 , and the controller 50 executes control to stop the operation of the driving wheel actuator 15 . In this way, the self-propelled reinforcing bar binding machine 100 automatically stops in front of the traveling obstacle, thereby avoiding interference between the self-propelled reinforcing bar binding machine 100 and the traveling obstacle. At this time, the alarm unit 212 is activated to emit a buzzer, a lighting display, or the like to notify the operator of the automatic stop.

<Control flow of self-propelled rebar binding machine by controller>
Next, the control flow of the self-propelled reinforcing bar binding machine by the controller will be described with reference to FIGS. 8 to 10. FIG. Here, FIG. 8 is a flowchart relating to an example of processing based on determination of whether or not binding is possible at an intersection and determination of whether or not binding is possible 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 process based on the travel propriety determination of the self-propelled reinforcing bar binding machine and the travel propriety judgment in the control flow of the self-propelled reinforcing bar binding machine by the controller. Furthermore, 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 a bundling permission/inhibition determination at an intersection and a process based on the bundling permission/inhibition determination will be described.

In step S<b>300 , the controller 50 controls the self-propelled reinforcing bar binding machine 100 to travel along the distributing bars 120 placed on the main bars 102 of the deck plate 110 with reinforcing bar trusses.

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

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

The controller 50 determines whether or not there is an obstacle in the vicinity of the crossing portion 130 in the received imaging data that may hinder the automatic bundling. If it is determined that an obstacle exists, then in step S306 the distance between the intersection 130 and the obstacle is specified, and this distance and the distance between the intersection 130 and the obstacle stored in the storage unit 214 are determined. A threshold value for the separation distance between the wires (threshold value for the separation distance at which the wires can be bound by the binding machine 20) is compared, and it is determined whether the separation distance is equal to or greater than the threshold value, that is, whether binding is possible.

As a result of the determination, if it is determined that automatic bundling is possible, information indicating that the intersection 130 can be tied is stored in the storage unit 214 in step S308. On the other hand, if it is determined that automatic bundling is impossible as a result of the determination, the controller 50 transmits a control signal to the marker device 70 in step S310 to mark the intersection 130 in question. As described above, steps S304 to S310 are processes executed based on the transmission and reception of control signals between the controller 50 and the imaging device 60 and the marker device 70 located in front of the self-propelled reinforcing bar binding machine 100 in FIG. Although different from the control by the controller 50, the marked 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 indicated by a dotted line.

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

As the self-propelled reinforcing bar binding machine 100 travels, the processing flow described above is repeatedly executed, so that automatic binding is executed for the continuous intersections 130 that can be bound, and for those that cannot be bound. A marking is performed at the intersection 130 .

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

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

In step S<b>300 , the controller 50 controls the self-propelled reinforcing bar binding machine 100 to travel along the distributing bars 120 placed on the main bars 102 of the deck plate 110 with reinforcing bar trusses.

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

If the controller 50 determines that the intersection 130 exists, then in step S332, the controller 50 receives imaging data transmitted from the imaging device 60 or a separate imaging device that captures an image of the front in the traveling direction. , the controller 50 determines whether or not there is a running obstacle in the imaging data or the like.

When it is determined that there is no traveling obstacle in the travel route, a series of processing based on the bundling availability determination at the intersection and the bundling availability determination is executed as shown in FIG. On the other hand, when it is determined that there is a traveling obstacle in the traveling route, the controller 50 stops traveling 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 manner, interference with traveling obstacles can be avoided. Then, after the self-propelled reinforcing bar binding machine 100 automatically stops, in step S344, the self-propelled reinforcing bar binding machine 100 issues an alarm such as a buzzer or a lighting display to notify the worker of the automatic stop. .

In step S330, it is determined whether or not the intersection 130 exists in the imaging data. If the controller 50 determines that the intersection 130 does not exist, the controller 50 controls the self-propelled reinforcing bar binding in step S334. A stop of the machine 100 is executed. After the self-propelled reinforcing bar binding machine 100 automatically stops, the controller 50 receives imaging data transmitted from the imaging device 60 or a separate imaging device capable of imaging 360 degrees. It is determined whether or not there is another distributing muscle 120 next to the two rows of distributing muscle 120 that have traveled up to.

If the controller 50 determines that there is a separate force distributing bar 120 on the side, then in step S338 the controller 50 operates the lateral movement actuator 18 so that the self-propelled rebar binding machine 100 moves in that direction ( The direction of travel) is reversed, and two pairs of wheels 12 are placed on two rows of lateral force bars 120 . After that, the self-propelled reinforcing bar binding machine 100 starts running on the newly placed two rows of distributing bars 120, and as shown in FIG. A series of processes are executed.

On the other hand, when the controller 50 determines that there is no additional force distributing bar 120 on the side, the self-propelled reinforcing bar binding machine 100 cannot continue to proceed thereafter. Execute alarms such as buzzer and lighting display to notify workers.

Each process may be executed by installing a program including the series of control flows shown in FIGS. 8 and 9 in 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 flowchart illustrating in detail the image processing between steps S304 and S306 in FIG.

In step S<b>304 , the imaging device 60 captures an image 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 contraction/expansion processing in step S364 to cut noise. Edge detection is performed in step S366, line segments are detected in step S368, straight lines are parameterized in step S370, and line segments in the image data are narrowed down in step S372. Through a series of these processes, for example, the centerline of the distributing bar 120 and the centerline of the suspension members 103 are specified. Then, by calculating the intersection point in step S374, for example, the distance between the distributing bar 120 and the hanging member 103 is calculated. If the calculated separation distance is less than the threshold, it is determined that the target intersection 130 cannot be bound, and if the separation distance is equal to or greater than the threshold, it is determined that the target intersection 130 can be bound.

Although the embodiments of the present invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments, and design changes and the like may be made without departing from the gist of the present invention. However, they are included in the present invention.

10: self-propelled robot, 11: robot body, 12: wheel, 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: retainer, 70: Marker device, 100: Self-propelled rebar binding machine, 101: Corrugated plate, 102: Main bar (first reinforcing bar), 103: Hanging material (obstacle), 104: Lattice material (obstacle), 105: End member , 110: deck plate with reinforcing bar truss, 120: distributing bar (second reinforcing bar), 130, 10A, 130B: intersection, 202: drive control unit, 204: imaging data input unit, 206: intersection/obstacle determination Unit, 208: Binding availability determination unit, 210: Marker control unit, 212: Alarm unit, 214: Storage unit, 216: Machine learning unit, W: Wire

Claims (4)

a self-propelled robot,
A self-propelled reinforcing bar binding machine having a binding machine and a marker device mounted on the self-propelled robot,
The self-propelled robot is further equipped with a controller, an imaging device that captures images of intersections of the first reinforcing bars and second reinforcing bars that intersect each other, and obstacles obstructing wire binding at the intersections. and
The controller receives imaging data from the imaging device, detects the presence or absence of the obstacle based on the imaging data, and controls the marker device to mark the crossing portion where binding is not performed. A self-propelled rebar binding machine characterized by executing The controller stores a threshold value for the separation distance between the intersection and the obstacle at which the wire bundling is possible,
2. The apparatus according to claim 1, wherein when the controller determines that the separation distance in the imaging data is less than the threshold value, the binding machine is controlled not to bind. Self-propelled rebar binding machine described. Among 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 a traveling obstacle that hinders traveling of the self-propelled robot exists. 3. The controller according to claim 1 or 2 , wherein when there is a self-propelled rebar binding machine. A self-propelled robot, a binding machine and a marker device mounted on the self-propelled robot, a controller, an intersection of the first reinforcing bar and the second reinforcing bar that intersect each other, and an obstacle in the wire binding at the intersection An automatic reinforcing bar binding program that causes the controller to execute the following processing in a self-propelled reinforcing bar binding machine having an imaging device that images an obstacle that becomes
running the self-propelled robot along the first reinforcing bar or the second reinforcing bar;
causing the imaging device to image the intersection;
causing the imaging device to transmit imaging data to the controller;
causing the controller to detect the presence or absence of the obstacle at the intersection;
When the controller detects no obstacle, the controller causes the binding machine to perform wire binding at the intersection, and when the obstacle is detected, the controller causes the binding machine to bind wires at the intersection. and causing the marker device to mark the intersections where tying is not performed .

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