KR20220129247A - Apparatus and method for steel reinforcement binding - Google Patents

Abstract

The present invention relates to a reinforcing bar binding apparatus and a reinforcing bar binding method. As the reinforcing bar binding apparatus binding reinforcing bars disposed to cross each other on the tunnel wall surface, the provided reinforcing bar binding apparatus comprises: a moving unit moving inside the tunnel; a photographing unit disposed on the moving unit and outputting a photographed object by photographing the tunnel wall surface; and a binding unit disposed on the moving unit and performing a binding operation with respect to the reinforcing bars on the tunnel wall surface. According to the present invention, A binding work for the reinforcing bars horizontally and vertically intersecting each other along the tunnel wall surface is continuously performed by the binding unit disposed on a movable member moving along the tunnel wall surface. Accordingly, non-uniformity of the binding work due to repetition of simple operations is prevented.

Description

Rebar binding device and method for binding reinforcing bars {Apparatus and method for steel reinforcement binding}

The present invention relates to a rebar binding device and a rebar binding method, and more particularly, to a rebar binding device and a rebar binding method for moving along a tunnel wall and binding reinforcing bars disposed on the tunnel wall.

Due to the topographical characteristics of Korea, where more than 70% of the entire country is mountainous, the construction of highways, national roads, and railroads often involves not only flat land but also mountainous areas. In particular, when constructing highways, national roads, or railroads in mountainous areas, there are many cases in which roads are opened by excavating tunnels without cutting through the mountains due to problems with the natural environment or construction cost.

In the tunnel, rebars are placed on the rock face of the tunnel excavated by blasting, etc., and then concrete is constructed and then rock bolts are buried. The construction is completed by waterproofing the surface of the concrete again and pouring the lining concrete layer.

During the construction of the tunnel as described above, reinforcing bars are respectively arranged in the horizontal and vertical directions on the tunnel wall surface, and binding is made by a predetermined metal wire at the point where the arranged rebars intersect with each other, so that the concrete frame to be constructed afterwards make up

Here, there is a problem in that the binding work of the reinforcing bars takes a lot of time because the worker moves along the tunnel and proceeds manually.

In addition, since the binding operation for the reinforcing bars arranged along the inner wall of the tunnel is a simple repetition of the operation, there is a problem in that non-uniformity of the binding work or the omission of the binding operation occurs depending on the fatigue of the operator.

In addition, since the binding operation for the rebar crossing point located on the upper part of the tunnel is performed by an operator after arranging a predetermined workbench, there is a problem in that the safety of the work is lowered.

In addition, there is a problem in that the binding work for the rebar crossing point located at the upper part of the tunnel is easily fatigued because the worker has to raise his head and look at the upper part of the tunnel.

In order to solve the above problems, Patent Registration No. 10-1940549 "Automatic rebar feeding apparatus and automatic rebar grid manufacturing apparatus applying the same" has been disclosed.

The above-mentioned prior literature relates to a technique for disposing reinforcing bars to cross each other in a separate place in a place where reinforcing bars are disposed, such as a tunnel, and manufacturing a reinforcing bar lattice network in which binding is made with respect to the intersection of the reinforcing bars. A plurality of reinforcing bar grids manufactured by the above technique may be transferred to the tunnel and disposed on the wall of the tunnel.

In the case of the above technique, the reinforcing bar grid can be manufactured in a separate place, but the reinforcing bar grid has a problem in that it is difficult to manufacture it according to the shape of the tunnel. In addition, after transferring a plurality of rebar grids to the tunnel, the arrangement and connection of the rebar grids are performed manually, so there is a problem in that existing problems exist.

The present invention is to solve the above problems, and to provide a rebar binding device and a rebar binding method for moving along a tunnel and performing bundling of reinforcing bars disposed horizontally and vertically crossing each other along the wall of the tunnel. do.

In addition, the present invention outputs a photograph by photographing reinforcing bars that are moved along the tunnel and arranged to cross each other horizontally and vertically along the wall of the tunnel, and after using the photographed material to search for and set the required location for binding the reinforcing bars, binding is required An object of the present invention is to provide a reinforcing bar binding device and a rebar binding method for performing a binding operation with respect to a position.

In order to achieve the above object, the present invention provides a reinforcing bar binding device for binding reinforcing bars disposed to cross each other on a wall surface of a tunnel, comprising: a moving part moving inside the tunnel; a photographing unit disposed on the moving unit and outputting a photographed material by photographing the tunnel wall; and a binding unit disposed on the moving unit to perform a binding operation on the reinforcing bar on the tunnel wall. It provides a reinforcing bar binding device comprising a.

The photographing unit may include a stereo vision camera.

It may further include a binding control unit that searches for and sets the position of the reinforcing bar binding required position on the photographed material, and controls the operation of the binding unit so that the binding operation is performed at the binding position required.

The binding control unit may include an image processing unit for image processing an image on the photographed object to search for and set a position for binding a reinforcing bar, and a binding unit to perform a binding operation on the position required for binding set in the image processing unit. and a binding signal output unit for outputting a binding control signal.

The binding control unit, a touch screen for setting the binding required position by displaying the photographed material output from the photographing unit and providing it to the operator, and contacting a certain point of the photographed object provided by the operator, and the binding set on the touch screen and a binding signal output unit for outputting a binding control signal to the binding unit to perform a binding operation with respect to a required position.

The moving parts are arranged at regular intervals on the ground inside the tunnel, and have first and second moving rails arranged in parallel along the inner wall of the tunnel, and an arch shape corresponding to the shape of the inner wall of the tunnel. and a first moving member moving along a second moving rail, a second moving member movably disposed on an outer circumferential surface of the first moving member, and a movement control member for controlling operations of the first and second moving members may include

The first moving member includes a first moving member body having an arcuate shape, first and second driving wheels disposed on both ends of the first moving member body, respectively, and driven on the first and second moving rails; and first driving means respectively connected to the first and second driving wheels to provide driving force to the first and second driving wheels.

It may further include a connecting member having both ends connected to both ends of the lower portion of the first moving member body, and a cradle installed on the connecting member to place the binding control unit.

The second moving member includes a first unit guide rail bent to correspond to the curvature of the outer periphery of the first moving member body and spaced apart from each other by a predetermined distance in the radial direction of the first moving member body to provide a chain slide path; A second unit guide rail, a step chain sliding along the chain slide path provided by the first unit guide rail and the second unit guide rail, and a second driving means for providing a driving force necessary for the sliding of the step chain; , disposed on both end sides of the first unit guide rail and the second unit guide rail, rotated by the driving force provided by the second driving means, and the sliding path of the step chain is determined from the first unit guide rail side. a chain sprocket configured to change toward a second unit guide rail or change from the second unit guide rail side to the first unit guide rail side; It may include a second moving member body that moves along the outer periphery of the moving member body and in which the photographing unit is disposed.

The second moving member body has a rectangular plate shape, both ends of the body plate are respectively connected to the guide rails on both sides of the first moving member body, and has a rectangular shape, and is formed on both sides of the body plate. First and second body frames are arranged parallel to each other toward the tunnel wall, and are formed in a rod shape, both ends connected to upper ends of the first and second body frames, and are parallel to the first and second body frames A binding part arrangement rod arranged to be movable in one direction; The binding portion is disposed at an end portion of the body, and may include an end effector having a variable length.

The present invention in order to achieve the above object, proceeding from one end to the other end of the tunnel in which reinforcing bars are arranged to cross each other on the wall, the steps of setting a reinforcing bar binding work zone; outputting a photographed material by photographing the wall surface on the reinforcing bar binding work area; setting a binding position through the photographed material, and outputting the set coordinates of the binding position required; calculating a movement path having a shortest distance between the binding locations; performing a reinforcing bar binding operation while moving along the moving path; And it provides a reinforcing bar binding method comprising the step of moving to the neighboring reinforcing bar binding work zone and re-performing the step of outputting the photographed material and subsequent work.

The step of setting the reinforcing bar binding work area includes the steps of setting a plurality of unit work areas at regular distance intervals while proceeding from one end of the tunnel to the other end, setting a reference point of the unit work area, and the tunnel wall It may include the step of giving a serial number starting from the reference point for each reinforcing bar disposed on the X-axis and the Y-axis.

The outputting of the photographed material may include outputting a unit photographed object by photographing at a predetermined time interval while proceeding in the X-axis direction and the Y direction from the reference point of the unit work area, and correcting the distortion of the unit photographed object; It may include the step of storing the unit shot.

The outputting of the coordinates may include inputting the unit shot to an image processing unit, searching for an image corresponding to the binding location on the unit shot input to the image processing unit, and setting it as the binding location and outputting serial numbers on the X and Y axes of the reinforcing bars that intersect at the set binding required positions, and storing the serial numbers on the X and Y axes of the reinforcing bars.

The step of outputting the coordinates includes: providing the unit shot to a user; setting the binding required position on the unit shot by the user; and the set X axis of the reinforcing bar intersecting at the set binding required position and outputting serial numbers on the Y-axis, and storing the serial numbers on the X-axis and Y-axis of the reinforcing bar.

In the present invention as described above, since the binding operation for the reinforcing bars disposed horizontally and vertically crossing each other along the wall surface of the tunnel is continuously performed by the binding part disposed on the moving member moving along the wall surface of the tunnel, it is a simple operation It has the effect of preventing the non-uniformity of the binding work due to the repetition of

In addition, the present invention searches for a location required for binding of rebar through image processing for a photograph taken by moving along the wall of the tunnel, and moves the rebar binding part to the searched position to proceed with rebar binding work. There is no position where rebar binding work is missed during the process.

In addition, in the present invention, since the reinforcing bar binding work is performed by the reinforcing bar binding unit disposed on the moving member moving along the wall of the tunnel, the safety of the worker can be ensured even when the bundling work is performed on the upper part of the wall of the tunnel.

1 is a perspective view showing the configuration of a reinforcing bar binding device according to an embodiment of the present invention.
Figure 2 is a perspective view showing an example of a state in which the reinforcing bar binding device shown in Figure 1 is disposed in the tunnel.
3 is a detailed view of part A of FIG. 2 .
Figure 4 is a perspective view showing the configuration of the second moving unit body used in the present invention.
5 is a block diagram illustrating an example of a connection relationship between a binding control unit, a photographing unit, and a binding unit used in the present invention.
6 is a block diagram showing another example of the connection relationship of the binding control unit, the photographing unit, and the binding unit used in the present invention.
7 is a flow chart showing the configuration of the reinforcing bar binding method according to the present invention.
8 is a flowchart illustrating the steps of setting a unit work area according to the present invention.
9 is a view for explaining unit work zone setting.
10 is a diagram illustrating an example of setting a reference point and assigning a single side number.
11 is a flowchart showing the configuration of a step of outputting a photographed material according to the present invention.
12 is a flowchart showing an example of the configuration of the step of outputting the coordinates of the present invention.
13 is a flowchart showing another example of the configuration of the step of outputting the coordinates of the present invention.
14 is a diagram illustrating an example of a step of calculating a movement path.
15 is a view showing a reinforcing bar binding operation is performed.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing the configuration of a reinforcing bar binding device according to an embodiment of the present invention, and FIG. 2 is a perspective view showing an example of a state in which the reinforcing bar binding device shown in FIG. 1 is disposed in a tunnel. In addition, FIG. 3 is a detailed view of part A of FIG. 2 .

1 to 3 , the rebar binding apparatus 100 according to an embodiment of the present invention includes a moving unit 1100 , a photographing unit 1200 , and a binding unit 1400 . In addition, the reinforcing bar binding apparatus 100 according to an embodiment of the present invention further includes a binding control unit 1300 .

The moving unit 1100 moves from one end to the other end of the tunnel 1 inside the tunnel 1 in which the reinforcing bar, which is the binding object, is disposed, and during the movement, the photographing unit 1200, which will be described later, moves to the wall of the tunnel 1 . It is configured to perform photographing and binding of reinforcing bars by the binding unit 1400 .

The moving unit 1100 includes first and second moving rails 1120A and 1120B, a first moving member 1130 , a second moving member 1160 , and a moving control member 1190 .

The first and second moving rails 1120A and 1120B are disposed on the ground inside the tunnel 1 , and are spaced apart from each other by a predetermined distance from one end to the other end of the tunnel 1 and disposed in parallel. As shown in the drawing, the first moving rail 1120A is disposed in parallel with the inner wall of one side of the tunnel 1, and the second moving rail 1120B is disposed in parallel with the inner wall of the other side of the tunnel 1 do. The spacing between the first and second moving rails 1120A and 1120B may be variously set according to the needs of the user.

In this embodiment, each of the first and second moving rails 1120A and 1120B is arranged in a single line, but may be arranged in a double line according to the user's needs.

The first moving member 1130 is configured to be movable along the first and second moving rails 1120A and 1120B. The first moving member 1130 has a size and a shape corresponding to the inner shape of the tunnel 1 .

As shown in the drawing, since the inner wall of the tunnel 1 has an arch shape, it is preferable that the first moving member 1130 also has an arch shape corresponding thereto.

The first moving member 1130 includes a first moving member body 1132 , and first and second driving wheels 1132A and 1132B.

The first moving member body 1132 is manufactured in an arch shape corresponding to the arch shape of the inner wall of the tunnel 1 using a predetermined metal frame. The curvature of the outer periphery of the first moving member body 1132 preferably corresponds to the curvature of the inner wall of the tunnel 1 . In addition, the outer periphery of the first moving member body 1132 and the inner wall of the tunnel 1 are preferably spaced apart from each other by a predetermined distance. A space between the outer periphery of the first moving member body 1132 and the inner wall of the tunnel 1 may be used to move the photographing unit 1200 and the binding unit 1400 to be described later.

The first and second driving wheels 1132A and 1132B are respectively disposed below both ends of the first moving member body 1132, so as to perform rolling motion on the first and second moving rails 1120A and 1120B.

The rolling motion of the first and second driving wheels 1132A and 1132B may be performed by a driving force provided by a first driving means (not shown).

On the other hand, the lower portion of the first moving member body 1132, the connecting member 1136 and the cradle 1138 is disposed.

The connecting member 1136 is in the form of a plate having a predetermined width and length, and both ends are connected to both lower sides of the first moving member body 1132 .

The cradle 1138 is disposed on the connecting member 1136 .

A binding control unit 1130 including a touch screen or an image processing unit, which will be described later, may be disposed on the cradle 1138 . In addition, a movement control member 1190 to be described later may be disposed on the cradle 1138 .

Since the cradle 1138 is connected to the first moving member body 1132, the cradle 1138 can perform a binding operation and a binding position search operation while moving together with the first moving member body 1132. In this case, a worker who performs a search operation and a binding operation on the connection member 1136 may be on board.

In addition, a tool box in which a tool for work or a binding line used for binding work of reinforcing bars is stored on the cradle 1138 may be disposed.

The second moving member 1160 is movably disposed along an outer circumferential surface of the first moving member 1130 .

A photographing unit 1200 and a binding unit 1400, which will be described later, are disposed on the second moving member 1160 to perform photographing and binding operations on the reinforcing bars disposed on the wall of the tunnel 1 .

Referring to FIG. 3 , the second moving member 1160 includes first and second guide rails 1162A and 1162B, a step chain 1164 , a second driving means 1148 and a second moving member body 1180 . It can be seen that including

The first unit guide rail 1162A and the second unit guide rail 1162B provide a sliding path of the step chain 1164 to be described later.

The first unit guide rail 1162A and the second unit guide rail 1162B are bent to correspond to the curvature of the outer periphery of the first moving member body 1132 . Here, the first unit guide rail 1162A and the second unit guide rail 1162B are bent at the same curvature.

The first unit guide rail 1162A and the second unit guide rail 1162B are disposed to be spaced apart from each other by a predetermined distance in the radial direction of the first moving member body 1132 inside the first moving member body 1132 .

In addition, the first unit guide rail 1162A and the second unit guide rail 1162B are arranged as a pair inside the first moving member body 1132, so that the movement of the second moving member body 1180 to be described later is stable. to be done with

The step chain 1164 has a predetermined length and slides at a predetermined speed along the slide path provided by the first unit guide rail 1162A and the second unit guide rail 1162B, which will be described later. The movement of the second moving member body 1180 is made.

The chain sprocket 1166 has a predetermined diameter, and a predetermined projection engaging with the step chain 1164 protrudes along the outer periphery.

The chain sprocket 1166 is disposed on both end sides of the first unit guide rail 1162A and the second unit guide rail 1162B, respectively, through the first unit guide rail 1162A and the second unit guide rail 1162B. The moving path of the moved step chain 1164 is changed. Here, the diameter of the chain sprocket 1166 preferably corresponds to the separation distance between the first unit guide rail 1162A and the second unit guide rail 1162B.

And, the driving shaft of the second driving means 1148 is connected to the central shaft of the chain sprocket 1166 by a predetermined chain, so that the chain sprocket 1166 is rotated by the driving force provided by the second driving means 1148. .

The use of the first unit guide rail 1162A, the second unit guide rail 1162B, and the chain sprocket 1166 will be described.

The step chain 1164 may slide along the first unit guide rail 1162A and the second unit guide rail 1162B.

Here, the step chain 1164 sliding on the path on the first unit guide rail 1162A is engaged with the chain sprocket 1166, and then the sliding direction is changed by the rotation of the chain sprocket 1166, so that the second unit guide rail ( 1162B), and then slides along the path on the second unit guide rail 1162B.

In addition, the step chain 1164 sliding along the path on the second unit guide rail 1162B is engaged with the chain sprocket 1166, and then the sliding direction is changed by the rotation of the chain sprocket 1166, so that the first unit guide rail It moves on the path on 1162A, and then slides along the path on the first unit guide rail 1162A.

The second moving member body 1180 has one side connected to the step chain 1164 and moves along the outer periphery of the first moving member body 1132 according to the movement of the step chain 1164 .

A photographing unit 1200 and a binding unit 1400 to be described later are disposed on the second moving member body 1180 .

Figure 4 is a perspective view showing the configuration of the second moving unit body used in the present invention.

4, the second moving member body 1180 includes a body plate 1182, first and second body frames 1184A and 1184B, a binding portion arrangement rod 1186, and an end effector 1188. .

The body plate 1182 is formed in the form of a rectangular plate. Each of both sides of the body plate 1182 is connected to a step chain 1164 that slides along the first unit guide rail 1162A and the second unit guide rail 1162B. Accordingly, the body plate 1182 may move along the outer periphery of the first moving member body 1132 according to the sliding of the step chain 1164 .

The first and second body frames 1184A and 1184B are made of rectangular ribs having a predetermined size, and are disposed on both sides of the body plate 1182 , with the upper ends facing the wall surface of the tunnel 1 .

Here, the first and second body frames (1184A, 1184B) are made of the same size and shape as each other. Also, the first and second body frames 1184A and 1184B are disposed parallel to each other.

The binding portion arrangement rod 1186 is made in the form of a rod having a predetermined length, and both ends are movably connected to the upper ends of the first and second body frames 1184A and 1184B.

The binding part arrangement rod 1186 may move in a direction parallel to the first and second body frames 1184A and 1184B according to the user's needs. The movement of the binding portion arrangement rod 1186 is made based on a control signal output from the movement control member 1190 to be described later.

The end effector 1188 is formed in the form of a rod having a predetermined length, and is disposed on the binding portion arrangement rod 1186 . One end of the end effector 1188 is connected to the binding part arrangement rod 1186 , and the other end is disposed toward the wall surface of the tunnel 1 .

At the end of the end effector 1188, a binding part 1400 to be described later is disposed.

Here, the end effector 1188 is preferably configured to be variable in length. To this end, the end effector 1188 may include a pneumatic cylinder whose length is changed by pneumatic pressure supplied from the outside. In addition, if the length of the end effector 1188 can be changed, various components such as hydraulic pressure or LM guide may be used.

The movement control member 1190 controls the operations of the first moving member 1130 and the second moving member 1160 member.

That is, when the user starts the operation of the reinforcing bar binding device 100 according to the present invention, a predetermined control signal is output from the movement control member 1190 to start the operation of the first and second driving means. Operations of the first moving member 1130 and the second moving member 1160 are started.

In addition, the control signal of the movement control member 1190 may also be output to the photographing unit 1200 to start the operation of the photographing unit 1200 .

The photographing unit 1200 is disposed on the second moving member body 1180 so that when the second moving member body 1180 moves along the wall of the tunnel 1, the photographing is performed on the wall of the tunnel 1, and the photograph is taken. print out

Here, the photographing unit 1200 includes a stereo vision camera. A stereo vision camera is a camera that measures 3D depth in real time by analyzing 2D images captured by a stereo camera like a pair of human eyes.

In the present embodiment, the photographing units 1200 are arranged as a pair, and the pair of photographing units 1200 are configured to interwork with each other. Here, the number of arrangement of the photographing units 1200 may be changed according to the needs of the user.

4, the photographing unit 1200 is disposed at one end on the first and second body frames 1184A and 1184B disposed on the second moving member body 1180, but disposed on a diagonal line with each other , its placement position can be changed according to the needs of the user.

Also, the photographed objects output by the pair of photographing units 1200 may include images of neighboring portions. In this case, predetermined areas of the photographed material output from the pair of photographing units 1200 may overlap each other.

The photographed material output from the photographing unit 1200 is output to the binding control unit 1300, which will be described later.

The binding control unit 1300 searches for a reinforcing bar binding position on the photograph output from the photographing unit 1200 and controls the operation of the binding unit 1400 to perform a binding operation on the found reinforcing bar binding position.

5 is a block diagram illustrating an example of a connection relationship between a binding control unit, a photographing unit, and a binding unit used in the present invention.

Referring to FIG. 5 , the binding controller 1300 includes an image processing unit 1320 and a binding signal output unit 1340 . Also, it can be seen that the binding control unit 1300 is connected to the photographing unit 1200 and the binding unit 1400 , respectively.

The image processing unit 1320 receives the photographed material output from the photographing unit 1200, removes noise from the photographed object, and searches for a reinforcing bar binding position using the image included in the photographed object. That is, since the reinforcing bars intersect each other at the reinforcing bar binding position, the image processing unit 1320 searches for a shape in which the reinforcing bars cross each other, for example, a '+' shape in the photograph, and sets the searched position as the binding location. Set and output the coordinates of the corresponding location. Details of the coordinates will be described later. Coordinates output from the image processing unit 1320 may be stored in the second memory 1330 .

The binding signal output unit 1340 outputs a binding control signal to the binding unit 1400 for binding operation to the binding required position set in the image processing unit 1320 .

6 is a block diagram showing another example of the configuration of the binding control unit used in the present invention.

Referring to FIG. 6 , the binding controller 1300A includes a touch screen 1320A and a binding signal output unit 1340 . Also, it can be seen that the binding control unit 1300A is connected to the photographing unit 1200 and the binding unit 1400 , respectively.

The touch screen 1320A is an input device that gives a specific command to the computer by inputting various data, such as simple contact using a finger or a pen, or drawing characters or pictures. Since the touch screen is a widely known device, a detailed description thereof will be omitted.

The touch screen 1320A displays the image output from the photographing unit 1200 and provides it to the operator. The operator may search the wall of the tunnel 1 through the image provided through the touch screen 1320A, and set a binding position.

That is, when a binding location is searched for in the image provided through the touch screen 1320A, the operator contacts the searched location with a finger or a predetermined stylus pen. The touch screen 1320A outputs a signal corresponding to the coordinates on the photographed object of the contacted portion.

Here, the signal output from the touch screen 1320A may be stored in the second memory 1330A.

The binding unit 1400 is disposed at the end of the end effector 1188 to perform a binding operation on the reinforcing bars disposed on the wall of the tunnel 1 . Since the binding unit 1400 is a widely known technique as a general rebar binding machine, a detailed description thereof will be omitted.

7 is a flow chart showing the configuration of the reinforcing bar binding method according to the present invention.

Referring to FIG. 7 , the method for binding reinforcing bars according to the present invention includes the steps of setting a rebar binding work area (ST110), outputting a photograph (ST120), outputting coordinates (ST130), and calculating a movement path. (ST140), a step of performing the reinforcing bar binding operation (ST150) and a step of re-performing the operation (ST160).

8 is a flowchart illustrating the steps of setting a unit work area according to the present invention.

Referring to FIG. 8 , the step of setting the rebar binding work area (ST110) includes the step of setting a unit work area (ST112), the step of setting a reference point (ST114), and the step of giving a serial number (ST116). .

9 is a view for explaining unit work zone setting.

Referring to FIG. 9 , it is a view showing the step of setting a unit work area of the present invention, and the step of setting the unit work area (ST112) is from one end to the other end of the tunnel 1 in which reinforcing bars are arranged crosswise on the wall surface. It can be seen that the unit work area is set in units of a certain distance.

Here, a plurality of unit work zones are set from one end to the other end of the tunnel 1 from the first unit work zone Z1 to the n-th work zone Zn in a unit of a predetermined distance, where each unit work area is each other It is desirable to have the same length.

The step of setting the reference point ( ST114 ) is a step of setting the reference point on the wall surface of each unit work area.

Here, the reference point is the starting position of the photographing and subsequent reinforcing bar binding work for the search for the required position for binding the reinforcing bars.

10 is a view showing an example of setting a reference point and assigning a single side number, it can be seen that the reference point S is set at the lower end of the inner wall of the first unit work zone Z1 set for the tunnel 1 .

Here, the reference point S is set at the lower end of the inner wall of the first unit work zone Z1, but the reference point S may be changed according to the needs of the user.

In addition, the reference point S may be set at the same position in each of the unit work areas, but may be set at different positions for each unit work area in consideration of the continuity of the bundling work in a state moving to the neighboring unit work area. That is, if the reference point S is set at the lower end of the inner wall of the tunnel of the first unit work zone Z1, in the second unit work zone Z2, considering the continuity of the binding operation of the first unit work zone Z1, The reference point may be set at various locations according to the user's needs, such as being set at the top of the inner wall of the tunnel.

The step of assigning a serial number (ST116) is a step of assigning a serial number to the reinforcing bars arranged at regular distance intervals on the X-axis and the Y-axis on the inner wall of the first unit work zone Z1.

As shown in FIG. 10, with respect to the reinforcing bar 2 disposed on the inner wall of the first unit work zone Z1, the reinforcing bar 2 is horizontally disposed from the lower end of the wall of the tunnel 1 to the upper end. Serial numbers of X1 to Xn are given, and serial numbers of Y1 to Yn are given to reinforcing bars arranged vertically from one end of the wall of the tunnel 1 to the other end.

The serial number assigned to the reinforcing bar is used to set the coordinates of the binding position in the coordinate output step to be described later.

The step of outputting the recorded material ( ST120 ) is a step of outputting the photographed material obtained by photographing the wall of the tunnel 1 .

11 is a flowchart showing the configuration of a step of outputting a photographed material according to the present invention.

Referring to FIG. 11 , the step of outputting the photographed object ( ST120 ) includes outputting a unit photographed object ( ST122 ), correcting the distortion ( ST124 ), and storing the unit photographed object ( ST126 ).

In the step of outputting the unit shot (ST122), the first moving member 1130 and the second moving member 1160 are moved in the X-axis direction and the Y direction from the reference point S of the set first unit work zone Z1, and , is a step of outputting a photograph taken at a predetermined time interval on the wall of the tunnel 1 by the photographing unit 1200 disposed on the second moving member 1160 .

That is, when the operation of the reinforcing bar binding device 100 according to the present invention is started by the user, when the first and second driving means operate, the first moving member 1130 and the second moving member 1160 move .

In addition, the photographing unit 1200 also starts photographing and outputs photographed objects at regular time intervals.

Here, since the photographing unit 1200 includes a pair of stereo vision cameras, a pair of photographed objects photographed at different positions with respect to the same position may be output.

The step of correcting the distortion ( ST124 ) is a step of correcting the distortion of the image displayed on the photographed object.

Since the photograph output from the photographing unit 1200 is an image of the wall of the tunnel 1 made of a curved surface, at the edge of the photographed object, the spacing between the reinforcing bars may appear different from reality, or a straight reinforcing bar may be displayed as a curve, Correction may be performed, such as correcting the spacing of the reinforcing bars or straightening the reinforcing bars on the photographed material. In addition, the operation of removing noise included in the recording is also performed at the same time. In addition, when combining images output from a pair of stereo vision cameras, it is preferable to perform various corrections, such as making the size of the same object on the recording match each other.

The distortion correction and noise removal functions of the photographed object may be mounted on the photographing unit 1200 itself, or a separate image processing PC (not shown) may be used.

In the step of storing the unit shot (ST126), the distortion-corrected shot is stored in the first memory 1220 so that it can be used in a subsequent step.

The step of outputting the coordinates (ST) is a step of setting the required position for binding the reinforcing bar through the photograph output from the photographing unit 1200, and outputting the coordinates of the set binding position.

12 is a flowchart showing an example of the configuration of the step of outputting the coordinates of the present invention.

Referring to FIG. 12 , the step of outputting the coordinates of the present invention (ST130) includes inputting a unit shot (ST132), searching for an image, and setting a binding position (ST134), and outputting a serial number and (ST136) storing the serial number (ST137).

The step of inputting the unit photograph ( ST132 ) is a step of inputting the photographed material output from the photographing unit 1200 and corrected to the image processing unit 1320 .

The step of setting the binding position to the required binding position ( ST134 ) is a process in which the image processing unit 1320 searches for an image corresponding to the need for binding the reinforcing bar through a predetermined image processing process for the inputted photograph, and sets the binding position. That is, for example, since the reinforcing bars intersect each other at the reinforcing bar binding position, the image processing unit 1320 searches for an image corresponding to a shape in which the reinforcing bars intersect each other, for example, a '+' shape from the photographed material and binds them. It can be set to the required position.

The step of outputting the serial number ( ST136 ) is a step of outputting, by the image processing unit 1320 , the serial numbers on the X-axis and the Y-axis that intersect each other at the site set as the binding required position.

Since the photographing unit 1200 is moved by the first moving member 1130 and the second moving member 1160 that move at a constant speed, the image processing unit 1320 includes the first moving member 1130 and the second moving member. After calculating the distance between the reference point S and the binding location using the moving speed of 1160, the coordinates of the binding location can be calculated.

In addition, the image processing unit 1320 starts from the reference point S, counts the reinforcing bar coefficients on the X and Y axes whenever the reinforcing bars cross each other, and calculates the coordinates of the binding location. .

In addition to the above method, the serial number output of the reinforcing bar at the binding position may be made in various ways.

The step of storing the serial number (ST138) is a step of storing, in the second memory 1330, the coordinates of the binding location indicated by the serial number output in the step of outputting the serial number (ST136).

13 is a flowchart showing another example of the configuration of the step of outputting the coordinates of the present invention.

Referring to FIG. 13 , the step of outputting the coordinates of the present invention (ST130A) includes the step of providing a unit photographed product to the user (ST132A), the step of setting the position required for binding (ST134A), and the step of outputting a serial number ( ST136A) and storing the serial number (ST138A).

A detailed description of the same configuration as in the previous step will be omitted, and only the configuration with a difference will be described.

The step (ST132A) of providing the unit photographed material to the user is a step of providing the corrected photographic material output from the photographing unit 1200 to the user through the touch screen 1320A.

The step (ST134A) of setting the binding required position is a step in which the user directly sets the binding required position through the photograph provided to the user through the touch screen 1320A. That is, when the user searches for a position requiring binding of the reinforcing bar while watching the photograph provided through the touch screen 1320A, and performing a screen touch on the retrieved position, the coordinates of the touched position may be set as the position required for binding.

The step of calculating the movement path (ST140) is a step of calculating and outputting a distance at which the sum of the binding times for the binding required positions indicated by the coordinates output in the outputting the coordinates (ST130) (ST130A) can be minimized.

14 is a diagram illustrating an example of a step of calculating a movement path.

Referring to FIG. 14 , the binding unit 1400 moves in the X-axis direction along a plurality of binding positions at a predetermined reference point S. When the binding unit 1400 proceeds to the other end of the first unit work zone Z1, the binding unit 1400 is moved by a predetermined distance in the Y-axis direction, and then the reference point at the other end of the first unit work zone Z1. A movement path advancing in the (S) direction can be calculated.

Here, when calculating the movement path of the first unit work zone (Z1), it is preferable that the starting point of the movement path is the reference point of the first unit work zone (Z1), and the end point of the movement path is the neighboring second unit work area ( Z2) is preferably a reference point.

In the step of performing the reinforcing bar binding operation (ST150), when the binding unit 1400 reaches the binding required position by the first moving member 1130 and the second moving member 1160, the binding unit in the binding signal output unit 1340 Outputs a binding control signal to (1400).

15 is a view showing a reinforcing bar binding operation is performed.

Referring to FIG. 15 , when the binding control signal is output from the binding signal output unit 1340 , the length of the end effector 1188 is extended, and the binding unit 1400 reaches a binding position on the wall of the tunnel 1 . Thereafter, the binding operation is performed by the binding unit 1400 .

The re-performing step (ST160) is performed from the step (ST120) of outputting a photograph after the reinforcing bar binding work for the predetermined unit work area is completed, the first moving member 1130 is moved to the neighboring unit work area is a step to

In the present invention configured as described above, since the binding operation for the reinforcing bars arranged to cross each other horizontally and vertically along the wall surface of the tunnel is continuously performed by the binding part disposed on the moving member moving along the wall surface of the tunnel, it is simple The non-uniformity of the binding work due to the repetition of the work is prevented, and the location where the binding of the rebar is required is searched through image processing of the photograph taken by moving along the wall of the tunnel, and the binding part of the reinforcing bar is moved to the searched location. Since the binding work is carried out, the position where the reinforcing bar binding work is omitted does not occur when the rebar binding work is in progress. In addition, in the present invention, since the reinforcing bar binding work is performed by the reinforcing bar binding unit disposed on the moving member moving along the wall of the tunnel, the safety of the worker can be ensured even when the bundling work is performed on the upper part of the wall of the tunnel.

Although the present invention has been described with reference to the embodiment shown in the drawings, which is merely exemplary, it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be defined by the technical spirit of the appended claims.

100: rebar binding device
1100: moving unit
1200: shooting department
1300: binding control unit
1400: binding unit

Claims (15)

As a reinforcing bar binding device for binding reinforcing bars disposed to cross each other on the wall of a tunnel,
a moving part moving inside the tunnel;
a photographing unit disposed on the moving unit and outputting a photographed material by photographing the tunnel wall;
a binding unit disposed on the moving unit to perform a binding operation on the reinforcing bar on the tunnel wall; Rebar binding device comprising a. According to claim 1,
The photographing unit,
A rebar binding device comprising a stereo vision camera. According to claim 1,
Reinforcing bar binding apparatus further comprising a binding control unit for performing a search and setting the position of the reinforcing bar binding required position on the photographed material, and controlling the operation of the binding unit so that the binding operation is made at the binding position required. 4. The method of claim 3,
The binding control unit,
An image processing unit for image processing an image on the photographed object to search for a position required for binding reinforcing bars and set a position;
and a binding signal output unit for outputting a binding control signal to the binding unit so that a binding operation is performed with respect to the binding required position set in the image processing unit. 4. The method of claim 3,
The binding control unit,
A touch screen that displays the photographed material output from the photographing unit and provides it to the operator, and the operator sets the binding required position by contacting a predetermined point of the provided photographic object;
and a binding signal output unit for outputting a binding control signal to the binding unit so that a binding operation is performed with respect to the binding required position set on the touch screen. 4. The method of claim 3,
The moving unit,
first and second moving rails arranged at regular intervals on the ground inside the tunnel and arranged in parallel along the inner wall of the tunnel;
a first moving member having an arch shape corresponding to the shape of the inner wall of the tunnel and moving along the first and second moving rails;
a second moving member movably disposed on the outer circumferential surface of the first moving member;
Reinforcing bar binding device comprising a movement control member for controlling the operation of the first and second moving members. 7. The method of claim 6,
The first moving member,
A first moving member body formed in an arc shape, and
first and second driving wheels respectively disposed at both ends of the first moving member body and driven on the first and second moving rails;
and a first driving means respectively connected to the first and second driving wheels to provide driving force to the first and second driving wheels. 8. The method of claim 7,
a connecting member having both ends connected to both lower ends of the first moving member body;
Reinforcing bar binding device further comprising a cradle installed on the connection member and on which the binding control unit is disposed. 8. The method of claim 7,
The second moving member,
A first unit guide rail and a second unit guide rail bent to correspond to the curvature of the outer periphery of the first moving member body and arranged to be spaced apart from each other by a predetermined distance in the radial direction of the first moving member body to provide a chain slide path;
a step chain sliding along the chain slide path provided by the first unit guide rail and the second unit guide rail;
a second driving means for providing a driving force necessary for sliding of the step chain;
It is disposed on both end sides of the first unit guide rail and the second unit guide rail, rotates by the driving force provided by the second driving means, and the slide path of the step chain moves from the first unit guide rail side to the second unit guide rail. a chain sprocket configured to change toward the second unit guide rail or change from the second unit guide rail side to the first unit guide rail side;
Reinforcing bar binding device including a second moving member body disposed on the step chain, moving along the outer periphery of the first moving member body according to the sliding of the step chain, the photographing unit is disposed. 10. The method of claim 9,
The second moving member body,
a body plate in the form of a rectangular plate, both ends of which are respectively connected to the guide rails on both sides of the first moving member body;
First and second body frames formed in a rectangular shape and disposed parallel to each other toward the tunnel wall surface on both upper portions of the body plate,
a binding part arrangement rod made in the form of a rod, both ends connected to the upper ends of the first and second body frames, and movably disposed in a direction parallel to the first and second body frames;
a binding part holder arranged to be reciprocally movable from one end of the binding part arrangement rod to the other end;
Doedoe disposed on the binding part holder, the binding part is disposed at an end that is disposed toward the tunnel wall surface, the reinforcing bar binding device comprising an end effector having a variable length. Proceeding from one end of a tunnel in which reinforcing bars are arranged to cross each other on the wall to the other end, setting a rebar binding work zone;
outputting a photographed material by photographing the wall surface on the reinforcing bar binding work area;
setting a binding position through the photographed material, and outputting the set coordinates of the binding position required;
calculating a movement path having a shortest distance between the binding locations;
performing a reinforcing bar binding operation while moving along the moving path; and
Reinforcing bar binding method comprising the step of moving to the neighboring rebar binding work zone, outputting the photographed material and re-performing the subsequent work. 12. The method of claim 11,
The step of setting the rebar binding work zone,
Proceeding from one end of the tunnel to the other end and setting a plurality of unit work zones at regular distance intervals;
setting a reference point of the unit work area;
and assigning serial numbers starting from the reference point to the reinforcing bars respectively disposed on the X-axis and the Y-axis on the tunnel wall. 13. The method of claim 12,
The step of outputting the photographed material is
Proceeding in the X-axis direction and the Y-direction from the reference point of the unit work area, and outputting a unit photographed product by photographing at a predetermined time interval;
correcting the distortion of the unit shot;
Rebar binding method comprising the step of storing the unit photographed. 14. The method of claim 13,
The step of outputting the coordinates is
inputting the unit shot to an image processing unit;
Searching for an image corresponding to the binding required position on the unit photograph inputted to the image processing unit, and setting the image to the binding required position;
Outputting the serial numbers on the X-axis and Y-axis of the reinforcing bar that intersect at the set binding required position;
Reinforcement binding method comprising the step of storing the serial number on the X-axis and the Y-axis of the reinforcement. 14. The method of claim 13,
The step of outputting the coordinates is
providing the unit shot to a user;
setting the binding required position on the unit shot by the user;
Outputting the serial numbers on the X-axis and Y-axis of the reinforcing bar that intersect at the set binding required position;
Reinforcement binding method comprising the step of storing the serial number on the X-axis and the Y-axis of the reinforcement.

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