Window installation system

Abstract

To provide a window installation system capable of saving labor in window construction by efficiently assisting workers on site.SOLUTION: A window installation system includes a car body, a reference marker, a window marker, marker detection means, and control means. The car body includes a running part and has a window holding part. The reference marker is installed so that the position of a skeleton openings can be identified. The window marker is installed so that the window position can be identified. The marker detection means detects the position of the reference marker and the position of the window marker. The control means guides the window to the skeleton opening according to the relative positional relationship between the position of the reference marker and the position of the window marker.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a window installation system that contributes to labor saving in window construction.

Background Art

[0002] In recent years, it has become common for buildings to be provided with large-opening sashes, and in some cases, even extra-large large-opening sashes are provided. The installation of such sashes naturally involves heavy labor. In addition to this, the accuracy of the work of attaching the sash based on the reference lines (see FIG. 9), which are three-dimensional standards of height, left-right, and entry / exit, is also required. On the other hand, there has been a chronic shortage of labor at construction sites, and the burden on each on-site worker has become increasingly excessive, and the situation has been serious. Under such circumstances, it has been required to efficiently assist the on-site workers.

Summary of the Invention

Problems to be Solved by the Invention

[0003] In view of the above-described circumstances, an object of the present invention is to provide a window installation system that contributes to labor saving in window construction so as to be able to efficiently assist on-site workers.

Means for Solving the Problems

[0004] The present invention includes a vehicle body, a reference marker, a window marker, a marker detection means, and a control means. The vehicle body includes a traveling section and has a window holding section. The reference marker is installed so that the position of the building opening can be specified, and the window marker is installed so that the window position can be specified. The marker detection means detects the position of the reference marker and the position of the window marker, and the control means determines the relationship between the position of the reference marker and the position of the window marker. and angle is installed so that it can be specified, and the window marker is the window position and angle is installed so that it can be specified, and the marker detection means is the position of the reference marker and angle and the position of the window marker and angle and is for detecting, and the control means is the position of the reference marker with respect to angle of the window marker relative position and angle relationship fromA window installation system that guides a window to a building opening is provided to solve the above problems.

Advantages of the Invention

[0005] It is possible to provide a window installation system that significantly reduces the heavy labor involved in installing the sash and efficiently assists on-site workers.

Brief Description of the Drawings

[0006]

Figure 1

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Figure 9

Modes for Carrying Out the Invention

[0007] (Example) Hereinafter, the description will be made with reference to the drawings. However, the following drawings are created for the purpose of explanation and may not intentionally show members that are unnecessary for understanding. Also, members may be intentionally shown larger or smaller for the purpose of explanation, and the drawings do not show the exact scale. In the following description, the same reference numerals in different drawings indicate parts having the same function, and duplicate descriptions in each drawing are omitted as appropriate.

[0008] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIGS. 1 to 2 are embodiments of a window installation system according to the present invention, and are perspective views showing a state in which a window (before the shoji is stored) is built into a building opening. FIG. 1 shows a view seen from inside the building, and FIG. 2 shows a view seen from outside the building.

[0009] As shown in FIG. 1, the window installation system 100 includes a vehicle body 1, a reference marker 21, a window marker 31, a camera 4 as a marker detection means, and a control unit 6 (not shown). With this system, the window 3 is guided and controlled to a predetermined installation position of the building opening 51 provided in the building body 5, and the heavy window 3 is stably held during the fixing work to the building opening 51.

[0010] The outline of the guidance control of the window 3 is as follows. A plurality of feature points are directly or indirectly attached to the building opening 51 and the window 3, respectively, and are linked as a positional relationship. In the present embodiment, the reference marker 21 is attached to the reference point stand 2 and is indirectly linked and associated with the position of the building opening 51. The window marker 31 is attached to the window 3 and is directly associated with the position of the window 3. By photographing these feature points with the installed camera 4, the positions of the building opening 51 and the window 3 can be observed. Specifically, the values (Pixel values) of the feature points associated with the building opening 51 and the window 3 are acquired from the image of the camera 4, and the Pixel values give position information. From these pieces of information, the deviation of the position and orientation of the window 3 with respect to the target position and orientation of the building opening 51 is calculated so that the deviation becomes 0. The control unit 6 (not shown) is implemented on a general-purpose PC, and gives a command to the vehicle body 1 to perform the above-described guidance control by communicating with the vehicle body 1 and the camera 4 via a communication unit provided in the general-purpose PC. Hereinafter, the details of the window installation system 100 will be described in the order of the vehicle body 1 constituting the window installation device as the drive mechanism unit and the control system for guiding and controlling the vehicle body 1.

[0011] (Configuration of the vehicle body as a window installation device) FIG. 3 is a view of the vehicle body 1 seen from three directions. FIG. 3(a) is a top view, FIG. 3(b) is a front view, and FIG. 3(c) is a left side view. FIG. 4 is a perspective view of the vehicle body 1 seen from the left front and slightly above. The vehicle body 1 is arranged such that its front faces the housing 5 or the housing opening 51. Also, for convenience, the X-axis, Y-axis, and Z-axis in the three-dimensional space are shown in FIG. 4.

[0012] At the bottom of the vehicle body 1, four wheels, namely a right front wheel 111, a left front wheel 112, a right rear wheel 121, and a left rear wheel 122, are arranged, constituting a running part 11. Each wheel of the running part 11 is composed of a mecanum wheel. This will be described later.

[0013] Four frames 15 stand upright upward from the bottom of the vehicle body 1, constituting a body frame. A pair of left and right arms 13, 13 are provided in parallel to these frames 15. The arm 13 is composed of an arm vertical part 131, an arm horizontal part 132 connected to the lower end of the arm vertical part 131, and a ball screw 133. The arm horizontal part 132 can be raised and lowered by the ball screw 133.

[0014] A window holding part 14 capable of holding the window 3 is connected to the upper end of the arm vertical part 131. The window 3 can be held by supporting the inner lower part of the upper side of the window frame of the window 3 in which the shoji is not stored by the horizontal plane of the window holding part 14. A protruding piece 141 is provided at the tip of the window holding part 14, contributing to preventing the window 3 from falling off and accurately positioning the holding position.

[0015] In FIGS. 3 and 4, the running wheels are depicted like ordinary tire wheels. However, actually, as shown in the lower right of FIG. 4, mecanum wheels are adopted as the running wheels. For each of the mecanum wheels, four motors are provided so that the four wheels can be independently rotationally driven, and by controlling the rotation direction of the wheels, movement in various directions becomes possible. If the four wheels are rotated in the same direction and at the same speed, simple forward and backward movement is possible. Also, if the set of the right front wheel 111 and the right rear wheel 121 and the set of the left front wheel 112 and the left rear wheel 122 are rotated in opposite directions, it is possible to turn about the center of the four points of the wheels. Further, if the set of the right front wheel 111 and the left rear wheel 122 and the set of the left front wheel 112 and the right rear wheel 121 are rotated in opposite directions, translational movement in the left - right direction becomes possible. Furthermore, by not driving some of the wheels, a total of two turning axes at the centers of the two front and rear wheels and a total of four turning axes centered on each wheel can be realized. Combining this with the turning axis centered on the above - mentioned four points of the wheels, turning is possible with a total of seven turning axes.

[0016] Instead of mecanum wheels, omni - wheels may be used. However, in order to make the control responsiveness, especially the straight - ahead responsiveness effective, when using omni - wheels, it is desirable to use four - wheel drive instead of three - wheel drive. The characteristics of these mecanum wheels and omni - wheels can reduce the loss of movement time. However, in the guidance control of the present window installation system 100, although quick responsiveness is also important, accurate position control is given higher priority. Therefore, for the attitude control about the Y - axis (vertical axis), control is performed only with one axis of the central axis of the four points of the wheels. Also, considering that only one turning axis is required, it would be possible to achieve it with a crawler. However, since translational movement in the left - right direction cannot be performed, it is necessary to compensate for this with turning movement, and the control becomes somewhat complicated. However, this does not deny the applicability of the crawler. Furthermore, it goes without saying that the type of the wheels is not limited. That is, ordinary wheels may be used. Although it will take time to turn, it does not mean that it is inapplicable.

[0017] As shown in Fig. 4, two arms 13 are erected outside the four frames 15 so that the height position of the window 3 can be controlled. The reason why the two arms 13 are provided is not only to stably hold the window 3 at two positions, but also to enable attitude control around the Z-axis (the axis in the front-rear direction). This attitude control is realized by the left-right height difference of the arms 13. Regarding this, Fig. 5 shows the state where the left arm is raised, and Fig. 6 shows the state where the right arm is raised. For the sake of understanding, the height difference is drawn large, but usually, the window is installed horizontally except for special cases such as when the window is deliberately installed obliquely for design reasons or the like, so such a large left-right height difference is not given to the arms 13.

[0018] In the window installation system of this embodiment, the lifting movement of the arm horizontal part 132 is transmitted to the arm vertical part 131, and further transmitted to the window holding part 14 connected to the upper end of the arm vertical part 131, so that the lifting of the window holding part 14 is realized. The lifting of the arm horizontal part 132 is achieved by the rotation of the ball screw 133 driven by the ball screw rotation motor 1331, and backlash is hardly generated. In addition, in order not to cause deflection of the entire arm 13 and the window holding part 14 connected thereto, in addition to the ball screw 133, a linear shaft 134 is provided, and the arm is supported by two rails. However, it is not an essential matter if sufficient rigidity can be ensured by taking other means.

[0019] In this embodiment, a ball screw type arm is adopted, but the lifting movement of the arm may be realized by a slider crank mechanism or a belt pulley mechanism. Also, in addition to the lifting movement of the arm, if a rotational movement around the Z-axis (the front-rear direction axis) at the upper end portion can be realized, it is also possible to configure the arm with one piece. However, a structure that can stably support the window 3, such as bifurcating the arm tip and spreading it left and right, is required.

[0020] As described above, the window holding portion 14 is prevented from being bent, and the dimensional tolerance of the window holding portion 14 itself is also set to be high, thereby realizing high horizontality maintenance. This is greatly related to the degree of freedom required for the guidance control when installing the window 3. When representing the position and orientation in a three-dimensional space, which is the working space for aligning with the target position for installing the window 3, in a rectangular coordinate system, one degree of freedom in the X-axis direction, one degree of freedom in the Y-axis direction, one degree of freedom in the Z-axis direction, and further, one degree of freedom around the X-axis, one degree of freedom around the Y-axis, and one degree of freedom around the Z-axis are originally required, for a total of six degrees of freedom. However, considering the orientation around the X-axis, the mechanism and programming process may become overly complex. Therefore, on the premise of the high horizontality maintenance realized by the window holding portion 14, the attitude control around the X-axis is excluded, and the control is performed with five degrees of freedom as shown below. That is, the position control in the X-axis direction is controlled by the movement of the vehicle body 1, the position control in the Y-axis direction is controlled by the raising and lowering of the arm 13, the position control in the Z-axis direction is controlled by the movement of the vehicle body 1, the attitude control around the Y-axis is controlled by the movement of the vehicle body 1, and the attitude control around the Z-axis is controlled by the height difference between the left and right arms produced by the raising and lowering of the arm 13, enabling position and attitude control with five degrees of freedom. If the horizontality maintenance of the window holding portion 14 related to the orientation around the X-axis and the control accuracy for the other five degrees of freedom are insufficient, although it cannot be completely aligned with the target position and orientation, the aim of the present invention is not complete automatic window installation, but to efficiently assist the on-site workers. That is, the operator may complete the final adjustment. In short, the basic idea of the present invention is that if the heavy labor of the operator continuously supporting the heavy window 3 with his hands and arms can be reduced, it has sufficient meaning for labor-saving construction. On the other hand, if the horizontality maintenance and the position and attitude control for the five degrees of freedom are highly ensured, complete automatic installation will also be within the scope of consideration.

[0021] (Control System for Guidance Control) Next, a control system for guiding the vehicle body 1 will be described. In controlling the position and orientation of the window 3 by driving the running part 11 and the arm 13 of the vehicle body 1, the positions and orientations of the window 3 and the body 5 (more precisely, the body opening 51) must be obtained. In the window installation system 100 of the present embodiment, the relative position and orientation of the two are estimated from a reference marker 21 that gives the image feature amounts of four points of the body opening 51 obtained from the camera 4 and a window marker 31 that gives the image feature amounts of four points of the window 3, and guidance control for installing the window 3 in the body opening 51 is performed. The position and orientation in the X-axis direction, Y-axis direction, and Z-axis direction are obtained using the pixel positions of the feature points associated with the window 3 and the body opening 51 from the image of the camera 4. At this time, an appropriate estimation method may be used in combination according to the characteristics and accuracy of the marker.

[0022] As shown in FIG. 1, the window marker 31 for observing the position and orientation of the window 3 is directly attached to the four corners of the window 3, while the reference marker 21 for observing the position and orientation of the body opening 51 is attached to four locations on the reference point stand 2, and the reference point stand 2 is arranged at a predetermined setting position of the body 5. The reasons for this are as follows: (1) If the reference marker 21 is arranged near the body opening 51, when installing the window 3, the vehicle body 1 may occupy a large area within the field of view of the camera 4, and the reference marker 21 may be hidden. (2) Usually, there are multiple locations where the window 3 is attached. In the case where a plurality of openings are arranged in a relatively small area, one reference marker 21 can handle it. However, when applying it to a plurality of openings where the coordinate systems are widely separated, such as the first floor and the second floor, it is more convenient for construction to use a stand type that can be easily installed and moved. Of course, the positional relationship between the body opening 51 and the reference point stand 2 must be accurately defined, but the reference point stand 2 may be installed based on points, reference lines, etc. that can be marked at the construction site. FIG. 9 conceptually shows the attachment reference of the sash. In order to attach the sash to the building as per the construction drawings, reference in three-dimensional directions of height, offset (left and right), and entry / exit is required. As shown by the dashed-dotted line in FIG. 9, on the construction site, lines in black are drawn so that the positions of height, offset (left and right), and entry / exit can be grasped. This state is called being marked with ink or the like.

[0023] Regarding the window marker 31, in principle, position detection is possible with three points, but for improving the measurement accuracy and for convenience of attachment corresponding to the four corners of the window, detection with four points is adopted. Regarding the specific marker, from the situation setting of the work of installing the window 3 into the building opening 51 of the building body, there is no need to rotate the vehicle body 1 significantly for control, and a situation where the feature points of up, down, left, and right are interchanged does not occur. Therefore, although the measurement of the position and orientation is possible with the same and simple feature points of the red circular marker, in order to reduce the measurement error caused by the resolution problem, in the embodiment of the present invention, an AR marker is adopted. However, it is of course possible to use a simple circular marker by using a high-resolution camera or the like.

[0024] Based on such reference markers 21 and window markers 31, a system block diagram for guiding and controlling the window is shown in FIG. 7. From the image acquired by the camera 4, image feature amounts are obtained, and the positions of the window 3 in the X-axis direction, Y-axis direction, and Z-axis direction, the posture about the Y-axis, and the posture about the Z-axis are obtained. Note that the position in the Y-axis direction and the posture about the Z-axis may be complemented using the information of the encoder provided in the motor that raises and lowers the arm 13. Similarly, for the body opening 51, the positions in the X-axis direction, Y-axis direction, and Z-axis direction, the posture about the Y-axis, and the posture about the Z-axis are obtained. Then, the relative position and posture, which is the position and posture of the window 3 with respect to the position and posture of the body opening 51, is calculated, and control is performed so that it becomes the specified value to be targeted. The specified value may be "0" or other significant values. The control is given as the translational speed input in the X-axis direction of the vehicle body 1, the translational speed input in the Z-axis direction, the rotational speed input about the Y-axis, and the speed inputs to the left and right arms 13, 13. The values to be input are calculated by the control unit 6 implemented on a general-purpose PC. The vehicle body 1 is equipped with respective single-board computers (not shown) for driving and controlling the traveling unit 11 and the arm 13. They are given as speed inputs from the control unit 6, and translational and turning control of the traveling unit 11 and raising and lowering control of the left and right arms 13, 13 are performed. Note that as the camera 4, C920n manufactured by Logicool was used, and as the single-board computers of the vehicle body 1, Raspberry Pi (registered trademark) and Arduino (registered trademark) were used for controlling the traveling unit 11 and the arm 13. However, any camera or single-board computer can be used.

[0025] (Window construction procedure) The construction procedure of the window 3 according to the present invention will be described. First, the inner lower part of the upper side of the window 3 (before the shoji is stored) is loaded onto the window holding part 14 of the window installation device. At that time, the window is accurately abutted against the protruding piece 141 provided at the tip of the window holding part 14 for positioning. Next, start the window installation system 100. Under its control, the vehicle body 1 is guided to the target position, and automatically, the window 3 is guided to the temporary installation position of the body opening 51. Due to the limitations of the control system, a certain degree of residual deviation will inevitably occur. In response to this, after temporarily fixing the window 3 to the body opening 51, the same adjustment work as that during the installation for final fixing is carried out. For example, if there is still a deviation in the X-axis direction or Z-axis direction, the window 3 is slid on the window holding part 14 for adjustment. During this period, since the vehicle body 1 stably supports the heavy window 3, a significant labor saving is achieved compared to the conventional method where on-site workers support it. For the deviation in the Y-axis direction, if there are self-weight receiving bolts or the like, the bolts are rotated for height adjustment and the like. The effect of the present invention that the window 3 can be semi-automatically built into the body opening 51 is a remarkable one worthy of note. Along with this, it should be correctly understood that the fact that the heavy window 3 can be continuously held from after being built into the temporary position until the operator completes the adjustment work greatly contributes to the labor saving in window implementation.

[0026] (Alternative embodiment) The embodiment of the present invention is premised on the final adjustment being performed manually by the operator, that is, on the premise that manual adjustment is performed during the fixing operation within the range where the window 3 can be moved with respect to the window holding part 14. However, it is also possible to perform the adjustment by operating the traveling part 11 and the arm 13. FIG. 8 shows a system block diagram of a window installation system provided with an operation input part 7 to enable this. For manual adjustment, it is common to rotate the self-weight receiving bolt that can set the height position with respect to the opening for corresponding adjustment. However, when there is a deviation exceeding the adjustment margin, adjustment can also be performed by operating through the operation input part 7. Also, when a situation occurs where a residual deviation in the guidance control remains, it can be effectively dealt with by making it operable.

[0027] As described above, the simple structure of the embodiment according to the present invention has been described in detail with reference to the drawings, and its structure has been explained. However, the specific configuration is not limited to these embodiments, and design changes and the like within the scope not departing from the gist of the present invention are also included in the present invention. For example, when the size of the window 3 is not larger than the size of the vehicle body 1 and the window marker 31 is hidden by the vehicle body 1, the window marker 31 may be attached to the vehicle body 1. The positions in the X-axis direction and the Z-axis direction can be calculated based on the dimensions of each part constituting the vehicle body 1. The position in the Y-axis direction and the posture around the Z-axis can be obtained from the information of the encoder provided in the motor that raises and lowers the arm 13. In addition, if a high-resolution camera 4 can be prepared, it is possible to detect the outlines of the vehicle body 1 and the window 3 by image recognition and extract them as feature amounts. In addition to this, as shown in FIG. 9, it is also possible to recognize the drawn black line (reference line), so that the error between the reference line and the actual construction position can be measured and recorded, and it is also possible to use the reference line itself instead of the reference marker. Furthermore, although the window holding part 14 is supposed to support the inner lower part of the upper side of the window frame, if it is below a certain weight, it is also possible to hold the window glass part of the window 3 in which the shoji and the window glass are stored by a suction cup. Along with such a suction cup holding mode, it is also possible to mount a six-degree-of-freedom vertical articulated robot arm on the vehicle body 1. As can be understood from these explanations, if the drive mechanism is not limited to that of the embodiment of the present invention, it does not mean that the window cannot be built in for the sake of construction savings. If it is premised on having a camera and a vehicle body, the significance of the present invention lies in that the window can be guided to the body opening by controlling the relative position and posture between the position of the reference marker and the position of the window marker to be the target specified value. And the present invention can control the window building position according to the number of degrees of freedom.

Explanation of Reference Numerals

[0028] 100 Window installation system 1 Vehicle body (window installation device) 11 Running gear 111 Right front wheel 112 Left front wheel 121 Right rear wheel 122 Left rear wheel 13 Arm 131 Arm vertical part 132 Arm horizontal part 133 Ball screw 1331 Ball screw rotation motor 14 Window holding part 141 Protruding piece 15 Frame 2 Reference point stand 21 Reference marker 3 Window 31 Window marker 4 Camera (marker detection means) 5 Body 51 Body opening 6 Control unit (control means)

Claims

【Claim 1】 A window installation system comprising a vehicle body, a reference marker, a window marker, marker detection means, and control means, wherein the vehicle body includes a running part and has a window holding part, the reference marker is installed so that the position and angle of the body opening can be specified, the window marker is installed so that the window position and angle can be specified, the marker detection means detects the position and angle of the reference marker and the position and angle of the window marker, and the control means guides the window to the body opening from the relationship between the relative position and angle of the window marker with respect to the position and angle of the reference marker. ​

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