JP2024013015A - Three-sided frame installation support method and system - Google Patents

Abstract

An object of the present invention is to provide a three-sided frame attachment support method and system that can easily measure the attitude of a three-sided frame. [Solution] A three-sided frame installation support method that supports the work of attaching a three-sided frame composed of a pair of vertical frames and a horizontal frame that connects the pair of vertical frames to a sill, the method includes: Based on the photographing step of photographing the sill at the part, the photographed image of the sill, and the arrangement of the sill as seen from the three-sided frame when the three-sided frame is in an ideal position. and a posture calculation step of calculating the posture of the three-sided frame. [Selection diagram] Figure 1

Description

The present invention relates to a three-sided frame attachment support method and system.

A three-sided frame is one of the parts that make up the entrance and exit of an elevator. In the construction work of this three-sided frame, the posture of the three-sided frame is measured with respect to the reference position that serves as the reference for the mounting position and installation orientation, and it is evaluated whether the installation accuracy range is exceeded. If it is exceeded, the posture of the three-sided frame is The worker performs the installation adjustment loop. Adjusting the posture of the three-sided frame is complicated and takes a long time.

Although not related to the construction work of a three-sided frame, there is, for example, Patent Document 1 as a technique for measuring the position and orientation of equipment installed in an elevator hoistway.

Patent Document 1 describes a dimension measuring device that is installed in a hoistway, irradiates a laser onto a horizontal surface, receives reflected light from an object, and measures the distance to a feature point of the object. There is. This device measures the distance to predetermined feature points such as rail edges and sill edges, creates a two-dimensional layout map of the object, and compares it with the predetermined layout map to visualize the direction of correction. By doing so, we are able to provide work support and reduce work time.

International Publication No. 2018/154774

However, the dimension measuring device described in Patent Document 1 needs to be equipped with a laser irradiation part and a light receiving part to irradiate a laser onto a horizontal surface and receive reflected light for distance measurement. It is necessary to change the horizontal plane on which the laser is irradiated according to the height of the object.

Therefore, when trying to apply this method to measuring the posture of an object that changes in the vertical direction, such as a three-sided frame, it is necessary to align the planes each time, complicating the measurement work.

An object of the present invention is to provide a three-sided frame attachment support method and system that can easily measure the posture of a three-sided frame.

In order to solve the above problems, the three-sided frame installation support method of the present invention provides a three-sided frame installation support method that supports the work of attaching a three-sided frame, which is composed of a pair of vertical frames and a horizontal frame connecting the pair of vertical frames, to a sill. The frame installation support method includes a photographing step of photographing the sill with a photographing unit attached to the three-sided frame, a photographed image of the sill, and a photograph of the three-sided frame when the three-sided frame is in an ideal posture. and a posture calculation step of calculating the posture of the three-sided frame based on an ideal arrangement of the threshold as seen from the frame.

Further, the three-way frame installation support system of the present invention is, for example, a three-way frame installation support system that supports the work of attaching a three-way frame composed of a pair of vertical frames and a horizontal frame connecting the pair of vertical frames to a sill. a photographing unit that is attached to the three-sided frame and photographs the sill; a photographed image of the sill; and a position of the sill as seen from the three-sided frame when the three-sided frame is in an ideal posture; The apparatus further includes an attitude calculation unit that calculates an attitude of the three-sided frame based on a certain ideal arrangement.

According to the present invention, it is possible to provide a three-sided frame attachment support method and system that can easily measure the posture of a three-sided frame.

The above-mentioned problems, configurations, and effects will be made clear by the following description of the embodiments.

1 is a perspective view of a three-sided frame to which the three-sided frame attachment support system according to the first embodiment is attached; FIG. FIG. 2 is a front view of a three-sided frame to which the three-sided frame attachment support system according to Embodiment 1 is attached. It is a figure explaining the fall of a three-sided frame in the x-axis direction. It is a figure explaining the fall of a three-sided frame in the y-axis direction. It is a figure explaining rotation of a horizontal frame. FIG. 3 is a diagram showing an example of an image of a threshold taken by a photographing unit. 1 is a block diagram of a three-sided frame attachment support system according to a first embodiment; FIG. FIG. 3 is a schematic diagram of a detection mark in a pixel coordinate system. 3 is a diagram showing an example of a display of a notification section according to the first embodiment. FIG. FIG. 3 is a perspective view of a three-sided frame to which a three-sided frame attachment support system according to a second embodiment is attached. It is a figure which shows an example of the state of connection of an automatic adjustment part and a vertical frame. It is a figure which shows an example of the state of connection of an automatic adjustment part and a vertical frame. FIG. 4 is a diagram showing how the automatic adjustment unit and the vertical frame are connected as viewed from the negative direction of the x-axis. FIG. 2 is a block diagram of a three-sided frame attachment support system according to a second embodiment. 7 is a diagram illustrating an example of a procedure of an attitude adjustment process according to Embodiment 2. FIG. FIG. 7 is a perspective view of a three-sided frame to which a three-sided frame attachment support system according to Embodiment 3 is attached. FIG. 7 is a block diagram of a three-sided frame attachment support system according to a third embodiment. 7 is a diagram illustrating an example of a procedure of an attitude adjustment process according to Embodiment 3. FIG. FIG. 7 is a perspective view of a three-sided frame to which a three-sided frame attachment support system according to a fourth embodiment is attached. FIG. 7 is a perspective view of a photographing direction adjustment section and a photographing section according to Embodiment 4. FIG. 7 is a diagram illustrating adjustment of the photographing direction by the photographing direction adjustment section according to the fourth embodiment. FIG. 7 is a block diagram of a three-sided frame attachment support system according to a fourth embodiment.

Embodiments of the present invention will be described in detail below with reference to the drawings. Note that the present invention is not limited to the embodiments shown below. These embodiments are merely illustrative, and the present invention can be implemented with various modifications and improvements based on the knowledge of those skilled in the art. Note that components with the same reference numerals in this specification and the drawings indicate the same components.
(Embodiment 1)
A first embodiment of the three-sided frame attachment support system 10 will be described. FIG. 1 is a perspective view of a three-sided frame 4 to which a three-sided frame attachment support system 10 according to a first embodiment is attached. Moreover, FIG. 2 is a front view of the three-sided frame 4 to which the three-sided frame attachment support system 10 according to the first embodiment is attached. As shown in FIGS. 1 and 2, the walls 2a and 2b of the building are installed on the floor 1 of the building. A space exists between the walls 2a and 2b of the building.

The sill 3 is installed on the floor surface 1 in a predetermined positional relationship with respect to a reference (not shown) such as a piano wire installed in the hoistway, and is fixed by welding, screwing, or the like. The threshold 3 is fixed on the floor 1 between the walls 2a and 2b of the building, as shown in FIGS. 1 and 2. Moreover, a detection mark (not shown) for detecting the position of the threshold 3 may be attached to the center of the threshold 3. The threshold 3 has a color that allows it to be distinguished from the floor surface 1 which is the background of the threshold. Furthermore, when the detection mark is attached to the sill 3, it is desirable that the detection mark has a color that allows it to be distinguished from the sill 3. The case where the detection mark is attached to the threshold 3 will be described below.

The three-sided frame 4 includes a vertical frame 4a, a vertical frame 4b, and a horizontal frame 4c. The vertical frames 4a and 4b form a pair of vertical frames, and one end of each is connected to the sill 3, as shown in FIGS. 1 and 2. For example, vertical frames 4a and 4b having the same length are used. The horizontal frame 4c connects the vertical frames 4a and 4b by connecting with the other end of each of the vertical frames 4a and 4b. In addition, in FIGS. 1 and 2, one end of each of the vertical frames 4a and 4b is in contact with the floor surface 1, but the present invention is not limited thereto.

The three-sided frame attachment support system 10 according to the present embodiment includes a photographing section 11, a calculation section 12, and a notification section 13.

The photographing unit 11 is attached to the three-sided frame 4 and photographs the threshold 3. Specifically, as shown in FIGS. 1 and 2, the photographing unit 11 is attached, for example, to the lower side of the horizontal frame 4c so that the photographing direction is downward and the sill 3 installed on the floor 1 can be photographed. , the mounting position is not limited to this. The photographing unit 11 can use, for example, a photographing device such as a camera.

The calculation section 12 is connected to the photographing section 11 via a USB cable, an Ethernet cable, wireless communication, etc., and images acquired by the photographing section 11 are transmitted thereto. The calculation unit 12 calculates the attitude of the three-sided frame 4 based on the image acquired by the imaging unit 11. For the calculation unit 12, for example, a calculation device such as a microcontroller or a PC can be used. Although the calculation unit 12 according to the present embodiment is attached above the horizontal frame 4c, the attachment position is not limited to this. Further, the function of the calculation section 12 may be provided in a terminal carried by the worker, thereby eliminating the need for attachment.

The notification section 13 is connected to the calculation section 12 by wired communication using a communication cable such as an Ethernet cable, wireless communication, etc., and the contents processed by the calculation section 12 are transmitted. As the notification unit 13, for example, a device having a display screen such as a display or a smart device can be used. Further, the notification unit 13 can also use a device that can notify the received data as audio. Alternatively, the notification unit 13 can use a device that has a display screen and can display the received data and notify the received data as audio. Although the notification unit 13 according to the present embodiment is installed, for example, above the horizontal frame 4c, the mounting position is not limited thereto. Further, the function of the notification unit 13 may be provided to a terminal carried by the worker, so that the notification unit 13 does not need to be attached.

The ideal posture of the three-sided frame 4 is such that the vertical frames 4a and 4b stand upright with respect to the floor surface 1, and the horizontal frame 4c is parallel to the sill 3. However, when installing the three-sided frame 4, as shown in FIGS. 1 and 2, the three-sided frame 4 is connected to the sill 3 only at the bottom of the vertical frames 4a and 4b, and is not fixed. In some cases, the device may fall in the x-axis direction or y-axis direction using the connection point as a fulcrum. Examples of a front view, a side view, and a top view of the three-sided frame 4 in a collapsed state are shown in FIGS. 3, 4, and 5, respectively. Note that FIGS. 3, 4, and 5 show a state in which the three-sided frame 4 is in an inclined posture, and are mutually corresponding views.

FIG. 3 is a diagram illustrating the inclination of the three-sided frame 4 in the x-axis direction (second axis direction). FIG. 3 shows the attitude of the three-sided frame 4 viewed from the negative direction of the y-axis. In FIG. 3, as an example of the configuration of the three-sided frame 4, the vertical frames 4a and 4b have the same length, the lower sides of the vertical frames 4a and 4b are connected to the sill 3, and the upper sides are connected to the horizontal frame 4c. The structure of the three-sided frame 4 shown in FIG. Further, FIG. 3 shows, as an example of the posture of the three-sided frame 4, the three-sided frame 4 in a state where the vertical frames 4a and 4b are tilted down by distances D1a and D1b, respectively, in the positive direction of the x-axis. In this embodiment, it is assumed that the vertical frames 4a and 4b can fall down independently of each other in the x-axis direction, and the fall distances D1a and D1b are not necessarily the same. When falling in the positive direction of the x-axis, the falling distances D1a and D1b are positive, and when falling in the negative direction of the x-axis, they are negative. In addition, in FIG. 4 described later, the horizontal frame 4c is shown not to be parallel to the threshold 3. The horizontal frame 4c shown in FIG. 3 is also similar to that shown in FIG. 4, but in FIG. 3, the horizontal frame 4c is shown approximately parallel to the sill 3 for ease of explanation.

FIG. 4 is a diagram illustrating the inclination of the three-sided frame in the y-axis direction (third axis direction). FIG. 4 shows the attitude of the three-sided frame 4 viewed from the positive direction of the x-axis. In FIG. 4, the vertical frame 4a is tilted in the positive direction of the y-axis by a distance D2a, and the vertical frame 4b is tilted in the positive direction of the y-axis by a distance D2b. In this embodiment, in the y-axis direction, the vertical frames 4a and 4b are allowed to fall down independently of each other, and the fall distances D2a and D2b are not necessarily the same. In FIG. 4, the vertical frames 4a and 4b both fall in the positive direction of the y-axis, but they can each fall in either the positive or negative direction, and when they fall in the positive direction of the y-axis, The falling distances D2a and D2b are positive, and are negative when falling in the negative direction of the y-axis.

FIG. 5 is a diagram illustrating the rotation of the horizontal frame 4c. FIG. 5 shows the attitude of the three-sided frame 4 viewed from the positive direction of the z-axis. In FIG. 5, the vertical frames 4a and 4b are tilted by the tilt distances D2a and D2b, respectively, in the y-axis direction, and the horizontal frame 4c is rotated by a rotation angle θ around the z-axis (first axis). When the deviation distance D2b-D2a between the tilting distances of the vertical frames 4a and 4b is positive, the horizontal frame 4c rotates counterclockwise when viewed from the positive direction of the z-axis, and the rotation angle θ is positive. If the deviation distance D2b-D2a is negative, the rotation is clockwise and the rotation angle θ is negative.

The three-sided frame attachment support method according to the present embodiment will be described using the three-sided frame 4 shown in FIGS. 3, 4, and 5, which is tilted in the x and y axis directions, as an object. In this embodiment, a case will be described in which the three-sided frame attachment support system 10 implements the three-sided frame attachment support method, but the present invention is not limited to this.

The three-sided frame attachment support method according to the present embodiment supports the work of attaching a three-sided frame 4, which is composed of a pair of vertical frames 4a and 4b and a horizontal frame 4c connecting the pair of vertical frames 4a and 4b, to a sill 3. The frame installation support method includes a photographing process of photographing the sill 3 with a photographing unit 11 attached to the three-sided frame 4, an image of the photographed threshold 3, and a three-sided image when the three-sided frame 4 is in an ideal posture. An attitude calculation step of calculating the attitude of the three-sided frame 4 based on an ideal arrangement that is the arrangement of the sill 3 as seen from the frame 4.

In the photographing process, the photographing unit 11 photographs the threshold 3. FIG. 6 is a diagram showing an example of an image of the threshold 3 photographed by the photographing unit 11. The image has a pixel size of w0×h0 pixels, and the pixel coordinates are determined so that the upper left is (0,0) and the lower right is (w0, h0). In FIG. 6, the positive direction of the w axis and the positive direction of the x axis are the same direction, and the positive direction of the h axis and the positive direction of the y axis are opposite directions. Then, the angle formed by the sill 3 in the image and the w axis is defined as the rotation angle of the sill 3 in the image. Regarding the rotation angle of the threshold 3 in the image, a clockwise angle with the w axis as the starting point is positive. In FIG. 6, one end 21b of the sill 3 in the positive direction of the y-axis, one end 22b of the sill 3 in the negative direction of the y-axis, and the detection mark 23b attached to the sill 3 are photographed. In the image, if the three-sided frame 4 falls in the positive direction of the x-axis, the detection mark 23b will move in the negative direction of the w-axis (left side in the image), and if the three-sided frame 4 falls in the negative direction of the x-axis, The detection mark 23b moves in the positive direction of the w-axis (to the right on the image). When the three-sided frame 4 falls in the positive direction of the y-axis, the detection mark 23b moves in the positive direction of the h-axis (top and bottom of the image), and when it falls in the negative direction of the y-axis, the detection mark 23b moves in the h-axis direction. Move in the negative direction (top of the image). When the horizontal frame 4c rotates counterclockwise when viewed from the positive direction of the z-axis, one end 21b and 22b of the sill 3 will be rotated clockwise in the image, and the horizontal frame 4c will rotate counterclockwise when viewed from the positive direction of the z-axis. When the image is rotated clockwise, the ends 21b and 22b of the sill 3 are rotated counterclockwise in the image. However, in this embodiment, the rotation angle θ of the horizontal frame 4c is positive when viewed from the positive direction of the z-axis counterclockwise, and the rotation angle of the sill 3 in the image is positive when viewed from the positive direction of the z-axis. Therefore, the rotation angle θ of the horizontal frame 4c and the rotation angle of the threshold 3 in the image match, including the sign. Therefore, below, the rotation angle of the threshold 3 in the image will also be expressed by θ.

In addition, in FIG. 6, 21a and 22a are respectively one ends of the sill 3 seen from the three-sided frame 4 when the three-sided frame 4 is in the ideal posture, and 23a is the end when the three-sided frame 4 is in the ideal posture. This is a detection mark seen from the three-sided frame 4 in FIG.

In the attitude calculation step, the calculation unit 12 calculates the attitude of the three-sided frame 4. FIG. 7 is a block diagram of the three-sided frame attachment support system 10 according to the first embodiment. As shown in FIG. 7, the calculation unit 12 according to the present embodiment includes a sensor information acquisition unit 101, a threshold area identification unit 102, an attitude calculation unit 103, a threshold area recording unit 104, an information communication unit 105, Equipped with. The posture calculation process will be described in detail below.

The sensor information acquisition section 101 receives data of an image photographed by the photographing section 11.

The threshold area identification unit 102 identifies one ends 21b and 22b of the threshold 3 and the detection mark 23b in the image taken by the imaging unit 11 as shown in FIG. 6 based on the image data received by the sensor information acquisition unit 101. detect and identify the area containing the threshold 3. As described above, the color of the threshold 3 is set so that it can be distinguished from the floor surface 1 which is the background, and the color of the detection mark 23b is set so that it can be distinguished from the threshold 3. Therefore, the threshold area identification unit 102 can identify the ends 21b and 22b of the threshold 3 and the detection mark 23b using, for example, changes in RGB values in the image data received by the sensor information acquisition unit 101.

The threshold area identification unit 102 calculates the arrangement of the threshold 3 based on the identified area information. Specifically, the threshold area identification unit 102 determines N1 pixel coordinates (wk, hk) (k=1 to N1) that change from the background color to the color of the threshold 3 on the upper side of the image with respect to one end 21b of the threshold 3. is acquired, and the slope A1 is calculated by linear approximation using the least squares method in the pixel coordinate system. Note that N1 is an arbitrary integer. Then, the threshold area identification unit 102 calculates the rotation angle φ1=tan ⁻¹ (A1) in the pixel coordinates from the inclination A1.

Similarly, the threshold area identification unit 102 determines N2 pixel coordinates (wk, hk) (k=1 to N2) that change from the background color to the color of the threshold 3 at the bottom of the image with respect to one end 22b of the threshold 3. Then, the slope A2 is calculated by linear approximation using the least squares method in the pixel coordinate system. Note that N2 is an arbitrary integer. The threshold area identification unit 102 calculates the rotation angle φ2=tan ⁻¹ (A2) in pixel coordinates from the inclination A2.

FIG. 8 is a schematic diagram of the detection mark 23b in the pixel coordinate system. As shown in FIG. 8, the threshold area identification unit 102 detects the coordinates of the four corners of the detection mark 23b from changes in RGB values, and calculates the center coordinates (w2, h2)=((w2a+w2b+w2c+w2d)/4, (h2a+h2b+h2c+h2d)) /4) is calculated. Although changes in RGB values are used here, other edge detection or position detection may be used. Further, although one end of the sill 3 is used to calculate the rotation angles φ1 and φ2, the detection mark 23b may be arranged parallel to one end of the sill 3, and one side of the detection mark 23b may be used.

Further, in this embodiment, the position and rotation angle of the threshold 3 in the image are calculated as the arrangement of the threshold 3, but the present invention is not limited thereto.

The posture calculation unit 103 calculates the posture of the three-sided frame 4 using the rotation angles φ1 and φ2 obtained by the threshold area identification unit 102 and the center position (w2, h2) of the detection mark. The posture calculation unit 103 calculates the falling distances D1a, D1b, D2a, and D2b using the following equations, with the length of the horizontal frame 4c being Lw and the posture of the three-sided frame 4.

Here, the rotation angle θ of the threshold 3 in the image is the average of φ1 and φ2, but it is also possible to set θ=φ1 and θ=φ2. Gw and Gh in the formula are distances per pixel in the w-axis direction and h-axis direction, respectively, and are determined by the distance between the imaging unit 11 and the threshold 3 and the angle of view of the imaging unit 11. For example, when an object with a length L is photographed vertically, the size of the object in the image is determined by the distance between the photographing section 11 and the threshold 3 and the angle of view of the photographing section 11, and the object with a length L is a pixel in the image. When the value is width wa, Gw=L/wa.

Since the rotation angle θ of the horizontal frame 4c matches the rotation angle θ of the sill 3 in the image, the rotation angle θ of the horizontal frame 4c can be found by calculating the rotation angle θ of the sill 3 in the image.

In equation (1), w1 and h1 are the center coordinates (w1, h1), which is recorded in advance in the threshold area recording unit 104 as information on the ideal arrangement of the threshold 3. In addition to the center coordinates (w1, h1) of the detection mark 23a, the threshold area recording unit 104 also contains data related to the one ends 21a and 22a of the threshold 3, including the rotation angle in each image of the one ends 21a and 22a of the threshold 3. φ10 and φ20 are recorded in advance as information on the ideal arrangement of the sill 3. In most cases, the three-sided frame 4 is installed perpendicularly to the sill 3 so as not to be twisted, so in equation (1), both rotation angles φ10 and φ20 are set to 0. If the rotation angles φ10 and φ20 are not 0, the average value of the rotation angles φ10 and φ20, or the rotation angle φ10 or the rotation angle φ20 is set as the reference rotation angle θr, and in equation (1), θ may be replaced by θ−θr.

As explained earlier, the threshold area recording unit 104 stores, as information on the ideal arrangement of the threshold 3, the center coordinates (w1 , h1) and the respective rotation angles φ10 and φ20 of one ends 21a and 22a of the threshold 3 in the image are recorded in advance. Note that when the three-sided frame 4 is in an ideal posture, an image of the threshold 3 and the detection mark 23a photographed by the photographing unit 11 attached to the three-sided frame 4, for example, an image that includes only the broken line portion in FIG. The image may be recorded in the threshold area recording unit 104 in advance. In this case, when using Equation (1), the attitude calculation unit 103 calculates the central coordinates (w1, h1) of the detection mark 23a from the image recorded in the threshold area recording unit 104, and one end 21a and one end of the threshold 3 in the image. What is necessary is to calculate the rotation angles φ10 and φ20 of 22a.

The threshold area recording unit 104 also records in advance information on mounting accuracy regarding the respective falling distances D1a, D1b, D2a, and D2b and the rotation angle θ of the horizontal frame 4c. The threshold area recording unit 104 records, as attachment accuracy, for example, the respective allowable ranges of the falling distances D1a, D1b, D2a, and D2b and the rotation angle θ of the horizontal frame 4c. In the present embodiment, the threshold area recording unit 104 sets the lower limit of the allowable range of the fall distance D1a to D11 and the upper limit to D12, sets the lower limit of the allowable range of the fall distance D2a to D21, and sets the upper limit to D22, as shown in FIG. 9 described later. , the lower limit of the allowable range of the falling distance D1b is D13, the upper limit is D14, the lower limit of the allowable range of the falling distance D2b is D23, the upper limit is D24, the lower limit of the allowable range of the rotation angle θ of the horizontal frame 4c is θ11, and the upper limit is θ12. shall be recorded.

It is desirable that the three-sided frame attachment support method according to the present embodiment further include an attitude notification step of notifying the attitude of the three-sided frame 4 after the attitude calculation step.

In this case, before the posture notification process, the information communication unit 105 calculates the falling distances D1a, D1b, D2a, and D2b calculated by the posture calculation unit 103, the rotation angle θ of the horizontal frame 4c, and the mounting accuracy of these. The notification unit 13 is notified. Further, the attitude calculation unit 103 calculates the adjustment direction and adjustment amount in which the attitude of the three-sided frame 4 should be adjusted from the calculated attitude of the three-sided frame 4, and transmits these to the notification unit 13 via the information communication unit 105. Here, the adjustment direction refers to the direction of force applied to the three-sided frame 4 necessary to bring the posture of the three-sided frame 4 within the mounting accuracy, and the adjustment amount refers to the amount of deviation between the posture of the three-sided frame 4 and the mounting accuracy, or This refers to the calculated posture of the three-sided frame 4 (in the first embodiment, the falling distances D1a, D1b, D2a, and D2b).

In the posture notification step, the notification unit 13 notifies the posture of the three-sided frame 4. FIG. 9 is a diagram illustrating an example of a display of the notification unit 13 according to the first embodiment. The notification unit 13 may notify the tilting distances D1a, D1b, D2a, and D2b, which are the postures of the three-sided frame 4, and may also notify the rotation angle θ of the horizontal frame 4c. Further, the notification unit 13 may also notify the installation accuracy. Further, the notification unit 13 may also notify the direction and amount of adjustment in which the attitude of the three-sided frame 4 should be adjusted. In FIG. 9, the posture of the three-sided frame as seen from each of the x-axis direction, y-axis direction, and z-axis direction as shown in FIGS. 3, 4, and 5 is displayed, and the adjustment direction is indicated with an arrow above it. , shows an example in which the attitude of the three-sided frame 4 is displayed as the adjustment amount. Note that in FIG. 9, the rotation angle θ of the horizontal frame 4c is displayed as the adjustment amount, but the rotation angle θ of the sill 3 in the image that matches the rotation angle θ of the horizontal frame 4c may be displayed as the adjustment amount. .

Through the above-described processing, it is possible to visualize the posture of the three-sided frame 4 during installation and to notify the operator of the installation method for an ideal posture, thereby supporting the operator's adjustment of the three-sided frame installation.

In addition, in this embodiment, the example in which the imaging unit 11 is attached to the horizontal frame 4c has been described, but the present invention is not limited to this, and may be attached to the vertical frame 4a or 4b.

As explained above, in the three-sided frame installation support method and system according to the present embodiment, the attitude of the three-sided frame 4 is calculated based on the image photographed by the photographing unit 11 attached to the three-sided frame 4. Posture can be easily measured.
(Embodiment 2)
A second embodiment of the three-sided frame attachment support system 10 will be described. FIG. 10 is a perspective view of the three-sided frame 4 to which the three-sided frame attachment support system 10 according to the second embodiment is attached. The three-way frame installation support system 10 according to the present embodiment is the same as the three-way frame installation support system 10 according to the first embodiment, with an automatic adjustment function for the three-way frame 4 added. Hereinafter, differences from Embodiment 1 will be mainly explained. The configuration whose description is omitted is the same as that of the first embodiment.

The three-sided frame attachment support system 10 according to the present embodiment further includes automatic adjustment sections 14, 15, and 16.

In this embodiment, the notification unit 13 is used to notify the calculation unit 12 of an adjustment start command for the automatic adjustment units 14, 15, and 16. Therefore, the notification unit 13 according to the present embodiment is a device that can transmit and receive data to and from the calculation unit 12, such as a smart device, and transmits an adjustment start command from the notification unit 13 to the calculation unit 12.

As shown in FIG. 10, the automatic adjustment section 14 is connected to the vertical frame 4a while being fixed to the wall 2a. FIG. 11 is a diagram showing an example of how the automatic adjustment section 14 and the vertical frame 4a are connected. In the automatic adjustment section 14, a drive device 14a composed of a linear actuator is fixed to the wall 2a, and a connecting member 14b is attached to the tip of the drive device 14a. The connecting member 14b has an elongated hole 14c open in the x-axis direction, and is connected to the vertical frame 4a with a screw or the like via the elongated hole 14c. The drive device 14a is expandable and retractable in the y-axis direction, and the position of the vertical frame 4a in the y-axis direction can be adjusted via the connecting member 14b. Although positional adjustment in the x-axis direction by the drive device 14a is not performed, the movement of the vertical frame 4a in the x-axis direction is not inhibited by the elongated hole 14c.

As shown in FIG. 10, the automatic adjustment units 15 and 16 are connected to the vertical frame 4b while being fixed to the wall 2b, respectively. FIG. 12 is a diagram showing an example of how the automatic adjustment units 15 and 16 are connected to the vertical frame 4b. In the automatic adjustment section 15, a drive device 15a composed of a linear actuator is fixed to a wall 2b (not shown), and a connecting member 15b is attached to the tip of the drive device 15a. The connecting member 15b has a long hole 15c open in the x-axis direction, and is connected to the vertical frame 4b with a screw or the like via the long hole 15c. The drive device 15a is expandable and retractable in the y-axis direction, and the position of the vertical frame 4b in the y-axis direction can be adjusted via the connecting member 15b. Although positional adjustment in the x-axis direction by the drive device 15a is not performed, the movement of the vertical frame 4b in the x-axis direction is not inhibited by the elongated hole 15c.

In the automatic adjustment section 16, a drive device 16a composed of a linear actuator is fixed to a wall 2b, and a fixing member 16c located at the tip of a connecting member 16b is attached to the tip of the drive device 16a. FIG. 13 is a diagram showing how the automatic adjustment section 16 and the vertical frame 4b are connected as viewed from the negative direction of the x-axis. As shown in FIG. 13, the fixed member 16c has a movable range 16d such that the drive device 16a can move relatively only in the y-axis direction along the fixed member 16c. The drive device 16a is expandable and retractable in the x-axis direction, and the position of the vertical frame 4b in the x-axis direction can be adjusted via the connecting member 16b.

The automatic adjustment units 14 and 15 extend in the positive direction of the y-axis, and contract in the negative direction of the y-axis. The automatic adjustment unit 16 extends in the negative direction of the x-axis, and contracts in the positive direction of the x-axis.

FIG. 14 is a block diagram of the three-sided frame attachment support system 10 according to the second embodiment. As shown in FIG. 14, the calculation unit 12 according to this embodiment further includes an attitude adjustment control unit 106.

In the three-sided frame attachment support method according to the present embodiment, after the posture calculation process, the inclination distance (D1a, D1b) of the three-sided frame 4 in the x-axis (second axis) direction and the y-axis (third axis) are determined. x A posture adjustment step of adjusting the tilting distance (D1a, D1b) of the three-sided frame 4 in the axis (second axis) direction and the tilting distance (D2a, D2b) of the three-sided frame in the y-axis (third axis) direction. Be prepared for more. FIG. 15 is a diagram illustrating an example of the procedure of the posture adjustment process according to the second embodiment. The posture adjustment process is performed by the posture adjustment control unit 106.

The trigger for starting the automatic adjustment using the automatic adjustment units 14, 15, and 16, that is, the posture adjustment process shown in FIG. It is possible to use an adjustment start command transmitted from the notification section 13 to the calculation section 12 through a similar operation. In this case, the calculation unit 12 receives the adjustment start command from the notification unit 13 through the information communication unit 105. Then, the attitude adjustment control unit 106 receives the adjustment start command via the attitude calculation unit 103, and thereby starts the three-sided frame attitude adjustment process shown in FIG.

Note that the trigger for starting the posture adjustment process shown in FIG. 15 is not limited to the adjustment start command transmitted from the notification section 13 to the calculation section 12. For example, without using the notification unit 13, the calculation unit 12 may automatically start the attitude adjustment process using the detection that the attitude of the three-sided frame 4 is outside the mounting accuracy range as a trigger. In this case, the notification section 13 may be omitted.

Each step of the posture adjustment process shown in FIG. 15 will be described below. In addition, in FIG. 15, the adjustment completion state is abbreviated as a completion state.

In step 201, the states of automatic adjustment units 14, 15, and 16 are cleared, and the process proceeds to step 202.

In step 202, it is determined whether the falling distance D2a representing the falling state of the vertical frame 4a in the y-axis direction is within the range of mounting accuracy. If D21≦D2a≦D22 is satisfied, the process proceeds to step 203; otherwise, the process proceeds to step 204.

In step 203, the state of the automatic adjustment section 14 is set to the adjustment completed state, and the process proceeds to step 205.

In step 204, if D2a>D22, the state of the automatic adjustment unit 14 is set to an operation command in the direction of contraction, and if D2a<D21, the state of the automatic adjustment unit 14 is set to an operation command in the direction of extension, and then in step 205. move on.

In step 205, it is determined whether the falling distance D2b representing the falling state of the vertical frame 4b in the y-axis direction is within the range of mounting accuracy. If D23≦D2b≦D24 is satisfied, the process proceeds to step 206; otherwise, the process proceeds to step 207.

In step 206, the automatic adjustment section 15 is brought into an adjustment completed state, and the process proceeds to step 208.

In step 207, if D2b>D24, the state of the automatic adjustment unit 15 is set to an operation command in the direction of contraction, and if D2b<D23, the state of the automatic adjustment unit 15 is set to an operation command in the direction of extension, and then in step 208. move on.

In step 208, it is determined whether the falling distances D1a and D1b representing the falling state of the vertical frames 4a and 4b in the x-axis direction are within the range of mounting accuracy. If D11≦D1a≦D12 and D13≦D1b≦D14 are satisfied, the process proceeds to step 209; otherwise, the process proceeds to step 210.

In step 209, the automatic adjustment section 16 is brought into an adjustment completed state, and the process proceeds to step 211.

In step 210, when D1a>D12 (D1b>D14), the state of the automatic adjustment section 16 is set as an operation command in the extending direction, and when D1a<D11 (D1b<D13), the state of the automatic adjustment section 16 is set in the direction of contraction. is set to the operation command, and the process proceeds to step 211.

In step 211, if the automatic adjustment units 14, 15, and 16 are all in the adjustment completed state, the process advances to step 212; if any of the automatic adjustment units 14, 15, and 16 is not in the adjustment completed state, step 213 Proceed to.

In step 212, a brake operation command is sent to the automatic adjustment units 14, 15, and 16, and an adjustment completion notification is sent to the attitude calculation unit 103, and then the attitude adjustment process is ended.

In step 213, a brake operation command is sent to each of the automatic adjustment units 14, 15, and 16 if the adjustment is completed, and if the adjustment is not completed, each set operation command is sent to each of the automatic adjustment units 14, 15, and 16, and step 201 Then, the attitude adjustment process shown in FIG. 15 is performed again in the next control cycle.

The posture calculation section 103 visualizes the mounting posture of the three-sided frame 4 after automatic adjustment in the same way as in the first embodiment, and transmits it to the notification section 13 via the information communication section 105, and the notification section 13 displays the received data. do.

With the three-sided frame installation support method and system according to the present embodiment, a worker can issue an adjustment start command from the notification unit 13 to the calculation unit 12 by a simple operation such as pressing an operation button or operation screen on the notification unit 13 of a smart device, etc. Can be sent. After the adjustment start command is sent, the three-sided frame 4 is automatically adjusted to an ideal posture, thereby supporting the worker's adjustment of the three-sided frame.

Furthermore, when the calculation unit 12 automatically starts the posture adjustment step, the steps from the photographing step to the posture adjustment step can also be performed automatically.
(Embodiment 3)
A third embodiment of the three-sided frame attachment support system 10 will be described. FIG. 16 is a perspective view of the three-sided frame 4 to which the three-sided frame attachment support system 10 according to the third embodiment is attached. The three-sided frame attachment support system 10 according to the present embodiment calculates the inclination angle of the three-sided frame 4 and uses the inclination angle of the three-sided frame 4 to calculate and adjust the posture of the three-sided frame. Here, the inclination angle of the three-sided frame 4 refers to the angle ψ of the three-sided frame 4 around the x-axis shown in FIG. 4, and clockwise rotation when viewed from the positive direction of the x-axis is positive.

Hereinafter, the differences from the second embodiment will be mainly explained. The configuration whose description is omitted is the same as that of the second embodiment.

As shown in FIG. 16, the three-sided frame attachment support system 10 according to the present embodiment is installed on the horizontal frame 4c, and further includes an attitude detection section 17. The attitude detection section 17 is connected to the calculation section 12 through cables such as a USB cable and a network cable. The attitude detection unit 17 can use a measurement device such as a 6-axis inertial sensor configured with a 3-axis acceleration sensor and a 3-axis gyro sensor. The three-sided frame attachment support method according to the present embodiment further includes an inclination angle calculation step of calculating the inclination angle ψ of the three-sided frame 4 using the posture detection unit 17.

The inclination angle calculation process will be described in detail below. The attitude detection unit 17 acquires acceleration information and angular velocity information.

FIG. 17 is a block diagram of the three-sided frame attachment support system 10. The acceleration information and angular velocity information acquired by the posture detection section 17 are received by the sensor information acquisition section 101. The sensor information acquisition unit 101 calculates the inclination angle ψ of the three-sided frame 4 around the x-axis from the acceleration information and angular velocity information acquired by the posture detection unit 17. The process up to calculating the tilt angle ψ is the tilt angle calculation step.

In the posture calculation step, the posture calculation unit 103 calculates the falling distances D1a and D1b and the rotation angle θ of the sill 3 in the image using equation (1) described in the first embodiment. Since the rotation angle θ of the horizontal frame 4c matches the rotation angle θ of the sill 3 in the image, the rotation angle θ of the horizontal frame 4c can be found by calculating the rotation angle θ of the sill 3 in the image. Note that, instead of the sensor information acquisition section 101, the posture calculation section 103 may receive the acceleration information and angular velocity information acquired by the posture detection section 17 in the tilt angle calculation step, and calculate the tilt angle ψ.

Alternatively, the posture detection unit 17 itself may calculate the inclination angle ψ. In this case, reception of acceleration information and angular velocity information and calculation of the inclination angle ψ by the sensor information acquisition unit 101 or the posture calculation unit 103 can be omitted.

An example in which the sensor information acquisition unit 101 calculates the inclination angle ψ will be described below, but the invention is not limited thereto.

In the three-sided frame installation support method and three-sided frame installation support system 10 according to the present embodiment, the posture of the three-sided frame 4 is set to the tilting distances D1a and D1b, the rotation angle θ of the horizontal frame 4c, and the tilting angle ψ of the three-sided frame 4. Here, in this embodiment, the rotation angle θ of the horizontal frame 4c is set as the attitude of the three-sided frame 4, but instead of the rotation angle θ of the horizontal frame 4c, the sill 3 in the image that matches the rotation angle θ of the horizontal frame 4c The rotation angle θ can also be set as the attitude of the three-sided frame 4.

The threshold area recording unit 104 records the lower limit ψ11 and upper limit ψ12 of the allowable range of the inclination angle ψ as the mounting accuracy of the inclination angle ψ of the three-sided frame 4 around the x-axis.

Before the posture notification step, the information communication unit 105 notifies the notification unit 13 of the inclination angle ψ of the three-sided frame 4 around the x-axis and the mounting accuracy of the inclination angle ψ calculated by the sensor information acquisition unit 101.

The attitude adjustment control unit 106 acquires the inclination distances D1a and D1b and the rotation angle θ of the horizontal frame 4c from the attitude calculation unit 103, acquires the inclination angle ψ from the sensor information acquisition unit 101, and adjusts the attitude of the three-sided frame 4. used for

FIG. 18 is a diagram illustrating an example of the procedure of the posture adjustment process according to the third embodiment. In addition, also in FIG. 18, the adjustment completion state is abbreviated as a completion state.

In step 231, the states of automatic adjustment units 14, 15, and 16 are cleared.

In step 232, it is determined whether the rotation angle θ of the horizontal frame 4c is within the mounting accuracy range. If θ11≦θ≦θ12 is satisfied, the process proceeds to step 234; otherwise, the process proceeds to step 233.

In step 233, when θ>θ12 is satisfied, when ψ≧0, the state of the automatic adjustment unit 14 is set as a brake operation command, the state of the automatic adjustment unit 15 is set as a brake operation command, and when ψ<0, the state of the automatic adjustment unit 15 is set as a brake operation command. sets the state of the automatic adjustment section 14 to an operation command for increasing the state, and sets the state of the automatic adjustment section 15 to a brake operation command. In the case where θ<θ11 is satisfied, when ψ≧0, the state of the automatic adjustment unit 14 is set as an operation command in the direction of contraction, the state of the automatic adjustment unit 15 is set as a brake operation command, and when ψ<0, the automatic adjustment unit 14 is set as an operation command in the direction of contraction. The state is set as a brake operation command, and the state of the automatic adjustment section 15 is set as an operation command in the extending direction. The state of the automatic adjustment section 16 is set to a brake operation command, the operation command is transmitted to each automatic adjustment section 14, 15, and 16, and the process proceeds to step 231 in the next control cycle. In FIG. 18, the operation command set in step 233 is set as operation command setting 1.

In step 234, it is determined whether the inclination angle ψ representing rotational inclination around the x-axis is within the mounting accuracy range. If ψ11≦ψ≦ψ12 is satisfied, the process proceeds to step 236; otherwise, the process proceeds to step 235.

In step 235, if ψ>ψ12 is satisfied, the state of the automatic adjustment units 14 and 15 is set to an operation command in the direction of contraction, and if ψ<ψ11 is satisfied, the state of the automatic adjustment units 14 and 15 is set to an operation command in the direction of extension. do. The state of the automatic adjustment section 16 is set to a brake operation command, the operation command is transmitted to each automatic adjustment section 14, 15, and 16, and the process proceeds to step 231 in the next control cycle. In FIG. 18, the operation command set in step 235 is set as operation command setting 2.

In step 236, the automatic adjustment sections 14 and 15 are brought into an adjustment completed state, and the process proceeds to step 237.

In step 237, it is determined whether the falling distances D1a and D1b representing the falling state of the vertical frames 4a and 4b in the x-axis direction are within the range of mounting accuracy. If D11≦D1a≦D12 and D13≦D1b≦D14 are satisfied, the process proceeds to step 239; otherwise, the process proceeds to step 238.

In step 238, when D1a>D12 (D1b>D14), the state of the automatic adjustment section 16 is set as an operation command in the extending direction, and when D1a<D11 (D1b<D13), the state of the automatic adjustment section 16 is set in the direction of contraction. and sends the operation command to the automatic adjustment section 16. Since the automatic adjustment sections 14 and 15 are in the adjustment completed state, the brake operation command is sent to the automatic adjustment sections 14 and 15. The process then proceeds to step 231 in the next control cycle. In FIG. 18, the operation command set in step 238 is set as operation command setting 3.

In step 239, the automatic adjustment section 16 is brought into an adjustment completed state, and the process proceeds to step 240.

In step 240, since the automatic adjustment units 14, 15, and 16 are all in the adjustment completed state, a brake operation command is sent to each automatic adjustment unit 14, 15, and 16, and the attitude adjustment process is completed. do. In FIG. 18, the operation command set in step 240 is set as operation command setting 4.

In the three-sided frame attachment support method and system according to the present embodiment, by utilizing the inclination angle ψ of the three-sided frame 4 calculated using the posture detection unit 17, the three-sided frame 4 can be more accurately positioned at the sill 3 in an ideal posture. It can be attached to the machine to assist workers in adjusting the three-sided frame. Further, the calculation load on the posture calculation unit 103 can also be reduced.

Note that the automatic adjustment may not be performed, and the adjustment may be made by the operator via a notification from the notification unit 13.
(Embodiment 4)
A fourth embodiment of the three-sided frame attachment support system 10 will be described. FIG. 19 is a perspective view of the three-sided frame 4 to which the three-sided frame attachment support system 10 according to the fourth embodiment is attached. The three-sided frame attachment support system 10 according to the present embodiment further includes a photographing direction adjusting section 18 that adjusts the photographing direction of the photographing section 11 based on the inclination angle ψ calculated using the posture detecting section 17. In FIG. 19, a photographing direction adjusting section 18 constituted by a drive device such as a servo motor capable of changing the rotation angle of a rotation axis is fixed to the horizontal frame 4c, and the photographing section 11 is installed in the photographing direction adjusting section 18.

FIG. 20 is a perspective view of the photographing direction adjustment section 18 and the photographing section 11 according to the fourth embodiment. FIG. 21 is a diagram illustrating adjustment of the photographing direction by the photographing direction adjustment section 18 according to the fourth embodiment. As shown in FIG. 20, the photographing direction adjustment section 18 includes a photographing section drive device 18a such as a servo motor fixed to the horizontal frame 4c, and a photographing section coupling connected to a rotating shaft of the photographing section drive device 18a. The member 18b is provided. The photographing section 11 is installed on the photographing section connecting member 18b. Since the rotation axis of the imaging unit drive device 18a changes the attitude of the imaging unit coupling member 18b with respect to the imaging unit drive device 18a, the imaging direction of the imaging unit 11 with respect to the horizontal frame 4c is changed. That is, when the three-sided frame 4 is tilted clockwise at the tilt angle ψ when viewed from the positive direction of the x-axis as in FIG. 4, the rotation axis of the imaging unit drive device 18a is aligned with the By rotating counterclockwise by the rotation angle ψref=ψ when viewed from the positive direction, the shooting direction of the shooting unit 11 is kept perpendicular to the floor surface.

FIG. 22 is a block diagram of the three-sided frame attachment support system 10 according to the fourth embodiment. The three-sided frame attachment support system 10 according to the present embodiment further includes a photographing direction control section 107. The three-sided frame attachment support method according to the present embodiment further includes a photographing direction adjustment step of adjusting the photographing direction of the photographing unit 11 based on the inclination angle ψ of the three-sided frame 4.

Specifically, the imaging direction control unit 107 acquires the inclination angle ψ of the three-sided frame 4 around the x-axis from the sensor information acquisition unit 101, and sets the rotation angle command of the rotation axis of the imaging unit drive device 18a to the rotation angle ψref. = ψ, and transmits it to the photographing section drive device 18a that constitutes the photographing direction adjustment section 18. When the three-sided frame 4 is attached to the sill 3 in an ideal posture, the rotation angle command is set to the rotation angle ψref=0.

In this embodiment, the parts whose explanation is omitted are the same as in Embodiments 1 to 3. Further, in the present invention, the photographing direction adjustment section 18 is installed in the horizontal frame 4c, but the same effect can be obtained even if it is installed in the vertical frame 4a or 4b.

Through the above processing, the threshold area in the image is accurately identified by photographing the threshold 3 with the photographing section 11 using the inclination angle of the three-sided frame 4 calculated using the posture detection section 17 and the photographing direction adjustment section 18. The three-sided frame 4 can be attached to the sill 3 in an ideal posture, and the frame adjustment by the worker can be supported.

1... Floor surfaces 2a, 2b... Wall 3... Thresholds 4a, 4b... Vertical frame 4c... Horizontal frame 4... Three-sided frame 10... Three-sided frame installation support system 11...・Photography unit 12...Calculation unit 13...Notification units 14 to 16...Automatic adjustment units 21a, 21b, 22a, 22b...One end 23a, 23b of the threshold 3 in the image...For detection in the image Mark 101... Sensor information acquisition section 102... Threshold area identification section 103... Attitude calculation section 104... Threshold area recording section 105... Information communication section 106... Attitude adjustment control section 107... - Photographing direction control unit 201 to 212...Steps 231 to 240 according to the second embodiment...Steps according to the third embodiment

Claims (12)

A three-sided frame installation support method that supports the work of attaching a three-sided frame to a sill, which is composed of a pair of vertical frames and a horizontal frame that connects the pair of vertical frames, the method comprising:
a photographing step of photographing the threshold with a photographing unit attached to the three-sided frame;
A posture in which the posture of the three-sided frame is calculated based on a photographed image of the threshold and an ideal arrangement that is the placement of the threshold as seen from the three-sided frame when the three-sided frame is in an ideal posture. calculation process,
A three-sided frame mounting support method comprising: In claim 1,
In the posture calculation step, the position and rotation angle of the sill in the image are calculated based on the photographed image of the sill, and the calculated position and rotation angle of the sill in the image and the ideal arrangement are calculated. A three-sided frame installation support method, characterized in that the attitude of the three-sided frame is calculated based on the position and rotation angle of the sill in the image. In claim 2,
In the posture calculation step, the rotation of the horizontal frame is determined as the posture of the three-sided frame based on the position and rotation angle of the sill in the image, and the position and rotation angle of the sill in the image in the ideal arrangement. A tilting distance of the three-sided frame in the second axis direction perpendicular to the first axis, and a tilting distance of the three-sided frame in the third axis direction perpendicular to the first axis and the second axis. A method for supporting installation of a three-sided frame, characterized by calculating a falling distance of the frame. In claim 2,
A tilt angle of the three-sided frame is calculated as an angle around a second axis perpendicular to a first axis, which is a rotation axis of the horizontal frame, using a posture detection unit attached to the three-sided frame. Further includes an angle calculation process,
In the posture calculation step, the position and rotation angle of the sill in the image and the position and rotation angle of the sill in the image in the ideal arrangement are used to calculate the orientation of the three-sided frame in the second axis direction. The inclination distance and the rotation angle of the horizontal frame are calculated, and the inclination distance of the three-sided frame in the second axis direction, the rotation angle of the horizontal frame, and the inclination angle of the three-sided frame are determined based on the posture of the three-sided frame. A three-sided frame mounting support method characterized by: In claim 1,
The three-sided frame installation support method further comprises a posture notification step of notifying the posture of the three-sided frame after the posture calculation step. In claim 5,
A three-sided frame installation support method, characterized in that, in the posture notification step, an adjustment direction and an adjustment amount in which the posture of the three-sided frame should be adjusted are notified. In claim 1,
The three-sided frame mounting support method further comprises an attitude adjustment step of automatically adjusting the attitude of the three-sided frame after the attitude calculation step. In claim 3,
After the attitude calculation step, a force is applied to the three-sided frame based on the tilting distance of the three-sided frame in the second axis direction and the tilting distance of the three-sided frame in the third axis direction. Attitude adjustment that adjusts an inclination distance of the three-sided frame in the second axis direction and an inclination distance of the three-sided frame in the third axis direction using an automatic adjustment unit that changes the attitude of the three-sided frame by A three-sided frame installation support method, further comprising a step. In claim 4,
After the attitude calculation step, a force is applied to the three-sided frame based on the inclination distance of the three-sided frame in the second axial direction, the rotation angle of the horizontal frame, and the inclination angle of the three-sided frame. Attitude adjustment that adjusts a tilting distance of the three-sided frame in the second axis direction, a rotation angle of the horizontal frame, and an inclination angle of the three-sided frame using an automatic adjustment unit that changes the posture of the three-sided frame by A three-sided frame installation support method, further comprising a step. In claim 2,
A three-sided frame installation support method characterized in that, in the posture calculation step, the position and rotation angle of the sill in the image are calculated based on detection marks provided on the surface of the sill. In claim 4,
The three-sided frame mounting support method further comprises a photographing direction adjustment step of adjusting the photographing direction of the photographing unit based on the inclination angle of the three-sided frame. A three-sided frame installation support system that supports the work of attaching a three-sided frame, which is composed of a pair of vertical frames and a horizontal frame connecting the pair of vertical frames, to a sill,
a photographing unit attached to the three-sided frame and photographing the threshold;
A posture in which the posture of the three-sided frame is calculated based on a photographed image of the threshold and an ideal arrangement that is an arrangement of the sill as seen from the three-sided frame when the three-sided frame is in an ideal posture. A calculation section,
A three-sided frame mounting support system characterized by comprising:

Images