# US 10,864,638 B2 · Reinforcement bar joint recognition using artificial intelligence vision > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,638 B2 - Document ID: US10864638B2 - Status: Granted - Kind: B2 - Application number: 16/143,597 - Filed: 2018-09-27 - Published: 2020-04-02 - Granted: 2020-12-15 - Earliest claimed: 2018-09-27 - Assignees: Logistics and Supply Chain MultiTech R&D Centre Limited - Applicants: Logistics and Supply Chain MultiTech R&D Centre Limited - Inventors: Ka Lun Fan; Yan Nei Law; King Sau Wong; Chung Hang Leung - Web page: https://patentgrep.com/patent/US10864638B2 ## CPC - E04G 21/122: {Machines for joining reinforcing bars} - B25J 9/1697: {Vision controlled systems} - E04C 5/04: Mats ({combined with reinforcing elements protruding out of the plane of the mat E04C5/0627; three-dimensional mats E04C5/0636}; bases for plaster E04F13/04) - E04C 5/163: {the reinforcements running in one single direction} - E04C 5/166: {the reinforcements running in different directions} - G06N 3/02: Neural networks - G06N 20/00: Machine learning - G06V 10/70: using pattern recognition or machine learning (optical pattern recognition or electronic computations therefor G06V10/88) - G06V 10/82: using neural networks - G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69) - G06V 20/64: Three-dimensional [3D] objects - H04L 67/125: involving control of end-device applications over a network - G06V 2201/06: Recognition of objects for industrial automation - E04G: SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - E04C: STRUCTURAL ELEMENTS; BUILDING MATERIALS (for bridges E01D; specially designed for insulation or other protection E04B; elements used as building aids E04G; for mining E21; for tunnels E21D; structural elements with broader range of application than for building engineering F16, particularly F16S) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) ## Abstract An apparatus or system for reinforcement bar (rebar) joint recognition using artificial intelligence vision includes a rebar tying tool attached to a micro manipulator; and a macro manipulator for moving the position of the micro manipulator; wherein the macro manipulator is adapted to move the micro manipulator on a first plane; the micro manipulator is adapted to move the rebar tying tool on a second plane parallel to the first plane and at a first axis vertical to the second plane. ## Claims ### Claim 1 An apparatus for reinforcement bar (rebar) joint recognition using artificial intelligence vision comprising: a rebar tying tool attached to a micro manipulator; and a macro manipulator for moving the position of the micro manipulator; wherein the macro manipulator is adapted to move the micro manipulator on a first plane; the micro manipulator is adapted to move the rebar tying tool on a second plane parallel to the first plane and at a first axis vertical to the second plane; and wherein the macro manipulator is adapted to move along a scale larger than that of the micro manipulator. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the macro manipulator comprises a gantry axis servo for moving the micro manipulator along a second axis on the first plane. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the macro manipulator comprises a carrier axis servo for moving the micro manipulator along a third axis on the first plane, such that the second axis is orthogonal to the third axis. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the macro manipulator is adapted to move in the scale of metres. ### Claim 5 The apparatus for reinforcement bar (rebar) joint recognition using artificial intelligence vision comprising: a rebar tying tool attached to a micro manipulator; and a macro manipulator for moving the position of the micro manipulator; wherein the macro manipulator is adapted to move the micro manipulator on a first plane, the micro manipulator is adapted to move the rebar tying tool on a second plane parallel to the first plane and at a first axis vertical to the second plane; wherein the micro manipulator includes a longitudinal axis servo for moving the rebar tying tool along a fourth axis on the second plane, and a lateral axis servo for moving the rebar tying tool along a fifth axis on the second plane such that the second axis is orthogonal to the fourth axis. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the micro manipulator is adapted to move in the scale of millimetres. ### Claim 7 An apparatus for reinforcement bar (rebar) joint recognition using artificial intelligence vision comprising: a rebar tying tool attached to a micro manipulator; a macro manipulator for moving the position of the micro manipulator; and a system processor connected to one or more controllers for controlling the macro manipulator and micro manipulator, wherein the system processor includes local memory, a storage device, and a communicator; wherein the macro manipulator is adapted to move the micro manipulator on a first plane, the micro manipulator is adapted to move the rebar tying tool on a second plane parallel to the first plane and at a first axis vertical to the second plane. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein the system processor is adapted to connect to one or more the controllers through the communicator with wireless signals. ### Claim 9 (depends on 7) The apparatus of claim 7, wherein one controller is adapted to control an activation servo motor for activating the rebar tying tool. ### Claim 10 (depends on 7) The apparatus of claim 7, further comprising one or more sensors, including an image sensor or infrared sensor for capturing images of a workpiece. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the sensors are disposed on the rebar tying tool. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the system processor is adapted to send the images to a server. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the server is adapted to identify a work location on a workpiece by a pattern cognition algorithm. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the pattern cognition algorithm comprises an artificial intelligence algorithm. ### Claim 15 (depends on 14) The An apparatus of claim 14, wherein the server is adapted to calculate a relative coordinate of the work location. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the system processor is adapted to move the rebar tying tool to work location according to the relative coordinate. ### Claim 17 (depends on 16) The apparatus of claim 16, wherein the rebar tying tool is adapted to tie the workpiece with wire or welding.