Three-sided jamb installation support method and system

Abstract

To provide a jamb fitting assistance method and a jamb fitting assistance system capable of easily measuring the attitude of a jamb.SOLUTION: The jamb fitting assistance method for assisting work of fitting a jamb composed of a pair of longitudinal frames and a horizontal frame connecting the longitudinal frames to a threshold comprises: a photographing step of photographing the threshold by a photographing unit fitted to the jamb; and an attitude calculation step of calculating the attitude of the jamb on the basis of an image of the photographed threshold and the ideal arrangement of the threshold seen from the jamb when the attitude of the jamb is ideal.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a jamb installation support method and system. [Background technology]

[0002] One of the components that make up an elevator entrance is the jamb. During the installation work for this jamb, workers perform an installation adjustment loop in which they measure the jamb's orientation relative to a reference position that serves as the basis for the installation position and orientation, evaluate whether it exceeds the installation accuracy range, and adjust the jamb's orientation if it does. This jamb orientation adjustment is complex and takes a long time to complete.

[0003] Although not related to the construction work of jambs, for example, Patent Document 1 discloses a technique for measuring the position and orientation of equipment installed in an elevator hoistway.

[0004] Patent Document 1 describes a dimension measuring device that is installed in an elevator shaft, irradiates a horizontal surface with a laser, receives the light reflected from the object, and measures the distance to a feature point on the object. This device measures the distance to predetermined feature points such as the edge of a rail or sill, creates a two-dimensional layout diagram of the object, and compares it with the predetermined layout diagram to visualize the correction direction, thereby providing work support and reducing work time. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2018 / 154774 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the dimension measuring device described in Patent Document 1 needs to be equipped with a laser emitting unit and a light receiving unit to emit a laser onto a horizontal plane and receive the reflected light in order to measure the distance, and also needs to change the horizontal plane onto which the laser is irradiated in accordance with the height of the feature point.

[0007] Therefore, when trying to apply this method to measuring the posture of an object that changes vertically, such as a three-sided frame, it is necessary to align the plane each time, which poses a problem of complicating the measurement process.

[0008] An object of the present invention is to provide a jamb installation support method and system that can easily measure the posture of a jamb. [Means for solving the problem]

[0009] In order to solve the above problems, the three-sided jamb installation support method of the present invention is a three-sided jamb installation support method that supports the work of installing a three-sided jamb, for example, consisting of a pair of vertical frames and a horizontal frame connecting the pair of vertical frames, to a threshold, and includes: a photographing process of photographing the threshold with a photographing unit attached to the three-sided jamb; and a posture calculation process of calculating the posture of the three-sided jamb based on the photographed image of the threshold and an ideal posture, which is the position of the threshold as seen from the three-sided jamb when the three-sided jamb is in an ideal posture.

[0010] Furthermore, the three-sided jamb installation support system of the present invention is, for example, a three-sided jamb installation support system that supports the work of installing a three-sided jamb, which is composed of a pair of vertical frames and a horizontal frame connecting the pair of vertical frames, to a threshold, and is equipped with an imaging unit that is attached to the three-sided jamb and photographs the threshold, and a posture calculation unit that calculates the posture of the three-sided jamb based on the photographed image of the threshold and an ideal position, which is the position of the threshold as seen from the three-sided jamb when the three-sided jamb is in an ideal posture. [Effects of the Invention]

[0011] According to the present invention, a jamb installation support method and system can be provided that can easily measure the posture of a jamb.

[0012] The above-mentioned problems, configurations, and effects will become clear from the following description of the embodiments. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a perspective view of a jamb to which a jamb installation support system according to a first embodiment is attached. FIG. [Figure 2] 1 is a front view of a jamb to which a jamb installation support system according to a first embodiment is attached. FIG. [Figure 3] 10A and 10B are diagrams illustrating the tilt of a frame in the x-axis direction. [Figure 4] 10A and 10B are diagrams illustrating the tilt of a frame in the y-axis direction. [Figure 5] FIG. 10 is a diagram illustrating the rotation of a horizontal frame. [Figure 6] FIG. 10 is a diagram showing an example of an image of a threshold captured by a capturing unit. [Figure 7] 1 is a block diagram of a jamb installation support system according to a first embodiment. [Figure 8] FIG. 2 is a schematic diagram of a detection mark in a pixel coordinate system. [Figure 9] FIG. 4 is a diagram showing an example of a display on a notification unit according to the first embodiment. [Figure 10] FIG. 10 is a perspective view of a jamb to which a jamb installation support system according to a second embodiment is attached. [Figure 11] 10A and 10B are diagrams illustrating an example of a state in which the automatic adjustment unit and the vertical frame are connected to each other. [Figure 12] 10A and 10B are diagrams illustrating an example of a state in which the automatic adjustment unit and the vertical frame are connected to each other. [Figure 13] FIG. 10 is a diagram showing the connection between the automatic adjustment unit and the vertical frame as viewed from the negative direction of the x-axis. [Figure 14] FIG. 10 is a block diagram of a jamb installation support system according to a second embodiment. [Figure 15] 10A and 10B are diagrams illustrating an example of a procedure of an attitude adjustment step according to the second embodiment. [Figure 16] FIG. 10 is a perspective view of a jamb to which a jamb installation support system according to a third embodiment is attached. [Figure 17] FIG. 10 is a block diagram of a jamb installation support system according to a third embodiment. [Figure 18] FIG. 11 is a diagram showing an example of the procedure of an attitude adjustment step according to the third embodiment. [Figure 19] FIG. 10 is a perspective view of a jamb to which a jamb installation support system according to a fourth embodiment is attached. [Figure 20] FIG. 10 is a perspective view of an imaging direction adjustment unit and an imaging unit according to a fourth embodiment. [Figure 21] 10A and 10B are diagrams illustrating adjustment of the imaging direction by an imaging direction adjustment unit according to the fourth embodiment. [Figure 22] FIG. 10 is a block diagram of a jamb installation support system according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments shown below. These examples are merely illustrative, and the present invention can be implemented in various forms 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 drawings indicate the same components. (Embodiment 1) A first embodiment of a jamb installation support system 10 will be described. Fig. 1 is a perspective view of a jamb 4 to which a jamb installation support system 10 according to the first embodiment is attached. Fig. 2 is a front view of the jamb 4 to which a jamb installation support system 10 according to the first embodiment is attached. As shown in Figs. 1 and 2, walls 2a and 2b of a building are installed on floor surface 1 of the building. A space exists between walls 2a and 2b of the building.

[0015] The threshold 3 is installed on the floor 1 so as to have a predetermined positional relationship with a reference (not shown) such as a piano wire installed in the elevator shaft, and is fixed thereto by welding, screws, or the like. As shown in FIGS. 1 and 2, the threshold 3 is fixed on the floor 1 between the walls 2a and 2b of the building. A detection mark (not shown) for detecting the position of the threshold 3 may also be attached to the center of the threshold 3. The threshold 3 is colored in a way that allows it to be distinguished from the floor 1 that forms the background of the threshold. If a detection mark is attached to the threshold 3, it is desirable that the detection mark be colored in a way that allows it to be distinguished from the threshold 3. The following describes the case where a detection mark is attached to the threshold 3.

[0016] The jamb 4 is composed of 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 as shown in Figures 1 and 2, one end of each is connected to the threshold 3. The vertical frames 4a and 4b may, for example, be of the same length. The horizontal frame 4c connects the vertical frames 4a and 4b by connecting to the other end of each. Note that, although one end of each of the vertical frames 4a and 4b is in contact with the floor surface 1 in Figures 1 and 2, this is not limiting.

[0017] The jamb installation support system 10 according to this embodiment includes a photographing unit 11, a calculation unit 12, and a notification unit 13.

[0018] The photographing unit 11 is attached to the three-sided frame 4 and photographs the threshold 3. Specifically, as shown in Figures 1 and 2, the photographing unit 11 is attached, for example, to the underside of the horizontal frame 4c so that it can photograph the threshold 3 placed on the floor surface 1 in a downward direction, but the attachment position is not limited to this. The photographing unit 11 can be, for example, a photographing device such as a camera.

[0019] The calculation unit 12 is connected to the photographing unit 11 via a USB cable, an Ethernet cable, wireless communication, or the like, and transmits images captured by the photographing unit 11. The calculation unit 12 calculates the orientation of the frame 4 based on the images captured by the photographing unit 11. The calculation unit 12 may be a calculation device such as a microcontroller or a PC. The calculation unit 12 according to this embodiment is attached to the upper side of the horizontal frame 4c, but the attachment position is not limited to this. Furthermore, the functions of the calculation unit 12 may be provided in a terminal carried by the worker, eliminating the need for attachment.

[0020] The notification unit 13 is connected to the calculation unit 12 via wired communication using a communication cable such as an Ethernet cable, wireless communication, or the like, and transmits the content processed by the calculation unit 12. The notification unit 13 can be, for example, a device with a display screen such as a display or a smart device. The notification unit 13 can also be a device that can notify received data as audio. Alternatively, the notification unit 13 can be a device that has a display screen and can display received data and notify received data as audio. The notification unit 13 according to this embodiment is installed, for example, on the upper side of the horizontal frame 4c, but the installation position is not limited thereto. Furthermore, the notification unit 13 function may be provided in a terminal carried by the worker, eliminating the need for installation.

[0021] The ideal position of the jamb 4 is one in which the vertical frames 4a and 4b are upright relative to the floor 1 and the horizontal frame 4c is parallel to the threshold 3. However, when the jamb 4 is installed, as shown in Figures 1 and 2, the jamb 4 is connected to the threshold 3 only at the undersides of the vertical frames 4a and 4b and is not fixed in place, so it may fall in the x-axis or y-axis direction with the connection points as a fulcrum. Figures 3, 4, and 5 show examples of a front view, side view, and top view of the jamb 4 in a fallen position, respectively. Note that Figures 3, 4, and 5 are corresponding views and show the jamb 4 in a tilted position.

[0022] FIG. 3 is a diagram illustrating the tilt of the jamb 4 in the x-axis direction (second axis direction). FIG. 3 shows the orientation of the jamb 4 as viewed from the negative direction of the y-axis. As an example of the configuration of the jamb 4, FIG. 3 illustrates a configuration in which the vertical frames 4a and 4b are the same length, and the lower sides of the vertical frames 4a and 4b are connected to the threshold 3, respectively, and the upper sides are connected to the horizontal frame 4c, respectively. Furthermore, as an example of the orientation of the jamb 4, FIG. 3 illustrates the jamb 4 in a state in which the vertical frames 4a and 4b are tilted by tilt distances D1a and D1b, respectively, in the positive direction of the x-axis. In this embodiment, the vertical frames 4a and 4b can tilt independently of each other in the x-axis direction, and the tilt distances D1a and D1b are not necessarily the same. When tilted in the positive direction of the x-axis, the tilt distances D1a and D1b are positive, and when tilted in the negative direction of the x-axis, the tilt distances are negative. In FIG. 4, which will be described later, the horizontal frame 4c is depicted as not being parallel to the threshold 3. The horizontal frame 4c shown in FIG. 3 is the same as that shown in FIG. 4, but in FIG. 3, the horizontal frame 4c is shown approximately parallel to the threshold 3 for ease of explanation.

[0023] FIG. 4 is a diagram illustrating the tilt of a frame in the y-axis direction (third axis direction). FIG. 4 shows the orientation of the frame 4 as 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 tilt distance D2a, and the vertical frame 4b is tilted in the positive direction of the y-axis by a tilt distance D2b. In this embodiment, the vertical frames 4a and 4b can tilt independently of each other in the y-axis direction, and the tilt distances D2a and D2b are not necessarily the same. Although FIG. 4 shows the case where both vertical frames 4a and 4b are tilted in the positive direction of the y-axis, they can each tilt in either a positive or negative direction. When tilting in the positive direction of the y-axis, the tilt distances D2a and D2b are positive, and when tilting in the negative direction of the y-axis, they are negative.

[0024] FIG. 5 is a diagram illustrating the rotation of the horizontal frame 4c. FIG. 5 shows the posture of the jamb 4 as viewed from the positive direction of the z-axis. In FIG. 5, the vertical frames 4a and 4b are tilted in the y-axis direction by tilt distances D2a and D2b, respectively, and the horizontal frame 4c rotates by a rotation angle θ around the z-axis (first axis). When the deviation distance D2b-D2a between the tilt distances of the vertical frames 4a and 4b is positive, the horizontal frame 4c rotates counterclockwise as viewed from the positive direction of the z-axis, and the rotation angle θ is positive. When the deviation distance D2b-D2a is negative, the horizontal frame 4c rotates clockwise, and the rotation angle θ is negative.

[0025] The jamb installation support method according to this embodiment will be described using a jamb 4 that has fallen in the x- and y-axis directions as an object, as shown in Figures 3, 4, and 5. In this embodiment, a case will be described in which a jamb installation support system 10 realizes the jamb installation support method, but the present invention is not limited to this.

[0026] The three-sided jamb installation support method of this embodiment is a three-sided jamb installation support method that supports the work of installing a three-sided jamb 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 threshold 3, and includes an imaging process of photographing the threshold 3 with an imaging unit 11 attached to the three-sided jamb 4, and an attitude calculation process of calculating the attitude of the three-sided jamb 4 based on the photographed image of the threshold 3 and the ideal arrangement, which is the arrangement of the threshold 3 as seen from the three-sided jamb 4 when the three-sided jamb 4 is in the ideal attitude.

[0027] In the photographing process, the photographing unit 11 photographs the threshold 3. Figure 6 shows an example of an image of the threshold 3 photographed by the photographing unit 11. The image has a pixel size of w0 x h0 pixels, and the pixel coordinates are defined so that the upper left is (0,0) and the lower right is (w0,h0). In Figure 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. The angle between the threshold 3 in the image and the w axis is defined as the rotation angle of the threshold 3 in the image. The rotation angle of the threshold 3 in the image is defined as a clockwise angle starting from the w axis. In Figure 6, one end 21b of the threshold 3 in the positive direction of the y axis, one end 22b of the threshold 3 in the negative direction of the y axis, and a detection mark 23b attached to the threshold 3 are photographed. In the image, when the frame 4 tilts in the positive direction of the x-axis, the detection mark 23b moves in the negative direction of the w-axis (left side of the image), and when the frame 4 tilts in the negative direction of the x-axis, the detection mark 23b moves in the positive direction of the w-axis (right side of the image). When the frame 4 tilts 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 the frame 4 tilts in the negative direction of the y-axis, the detection mark 23b moves in the negative direction of the h-axis (top and bottom of the image). When the horizontal frame 4c rotates counterclockwise as viewed from the positive direction of the z-axis, the ends 21b and 22b of the sill 3 rotate clockwise in the image, and when the horizontal frame 4c rotates clockwise as viewed from the positive direction of the z-axis, the ends 21b and 22b of the sill 3 rotate counterclockwise in the image. However, in this embodiment, the rotation angle θ of the horizontal frame 4c is positive when viewed counterclockwise from the positive direction of the z axis, and the rotation angle of the threshold 3 in the image is positive when viewed clockwise from the positive direction of the z axis, so the rotation angle θ of the horizontal frame 4c and the rotation angle of the threshold 3 in the image are the same, including their signs. Therefore, hereinafter, the rotation angle of the threshold 3 in the image will also be expressed as θ.

[0028] In Figure 6, 21a and 22a are each one end of the threshold 3 as seen from the frame 4 when the frame 4 is in the ideal position, and 23a is a detection mark as seen from the frame 4 when the frame 4 is in the ideal position.

[0029] In the attitude calculation step, the calculation unit 12 calculates the attitude of the jamb 4. Figure 7 is a block diagram of the jamb installation support system 10 according to the first embodiment. As shown in Figure 7, the calculation unit 12 according to this 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, and an information communication unit 105. The attitude calculation step will be described in detail below.

[0030] The sensor information acquisition unit 101 receives data of an image captured by the image capture unit 11 .

[0031] Based on the image data received by the sensor information acquisition unit 101, the threshold area identification unit 102 detects the ends 21b and 22b of the threshold 3 and the detection mark 23b in the image captured by the image capture unit 11, as shown in FIG. 6, and identifies the area that includes the threshold 3. As described above, the threshold 3 is colored so that it can be distinguished from the floor 1, which is the background, and the detection mark 23b is colored 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, for example, by using changes in RGB values ​​in the image data received by the sensor information acquisition unit 101.

[0032] The threshold area identification unit 102 calculates the position of the threshold 3 based on the identified area information. Specifically, the threshold area identification unit 102 acquires N1 pixel coordinates (wk, hk) (k=1 to N1) at one end 21b of the threshold 3 where the color changes from the background color to the color of the threshold 3 on the upper side of the image, and calculates the slope A1 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 Calculate (A1).

[0033] Similarly, the threshold area identification unit 102 acquires N2 pixel coordinates (wk, hk) (k=1 to N2) at the bottom of the image for one end 22b of the threshold 3 where the background color changes to the color of the threshold 3, and calculates the slope A2 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 Calculate (A2).

[0034] 8 is a schematic diagram of the detection mark 23b in a 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 central coordinate (w2, h2) = ((w2a + w2b + w2c + w2d) / 4, (h2a + h2b + h2c + h2d) / 4). Here, changes in RGB values ​​are used, but other edge detection or position detection may also be used. Furthermore, while one end of the threshold 3 is used to calculate the rotation angles φ1 and φ2, the detection mark 23b may be positioned parallel to one end of the threshold 3 and one side of the detection mark 23b may be used.

[0035] In addition, 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 this is not limiting.

[0036] The orientation calculation unit 103 calculates the orientation of the 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 orientation calculation unit 103 calculates the leaning distances D1a, D1b, D2a, and D2b using the following equations, assuming that the length of the horizontal frame 4c is Lw and that this is the orientation of the frame 4.

[0037]

number

[0038] Here, the rotation angle θ of the sill 3 in the image is the average of φ1 and φ2, but θ = φ1 and θ = φ2 may also be used. Gw and Gh in the formula are the distances per pixel in the w-axis and h-axis directions, respectively, and are determined by the distance between the imaging unit 11 and the sill 3 and the angle of view of the imaging unit 11. For example, when an object of length L is photographed vertically, the size of the object in the image is determined by the distance between the imaging unit 11 and the sill 3 and the angle of view of the imaging unit 11. If the object of length L has a width wa as a pixel value in the image, then Gw = L / wa.

[0039] The rotation angle θ of the horizontal frame 4c coincides with the rotation angle θ of the threshold 3 in the image, so the rotation angle θ of the horizontal frame 4c can be determined by calculating the rotation angle θ of the threshold 3 in the image.

[0040] In equation (1), w1 and h1 are the center coordinates (w1, h1) of the detection mark 23a as seen from the frame 4 when the frame 4 is in an ideal position, as shown by the dashed line in Figure 6, and these are pre-recorded in the threshold area recording unit 104 as information on the ideal placement of the threshold 3. In addition to the center coordinates (w1, h1) of the detection mark 23a, the threshold area recording unit 104 also pre-records the rotation angles φ10 and φ20 in the images of the ends 21a and 22a of the threshold 3 as data related to the ends 21a and 22a of the threshold 3, as information on the ideal placement of the threshold 3. In most cases, the frame 4 is installed perpendicular to the threshold 3 so as not to twist, and therefore, in equation (1), the rotation angles φ10 and φ20 are both set to 0. When 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 θ is replaced by θ-θr in equation (1).

[0041] As explained above, the threshold area recording unit 104 pre-records, as information on the ideal position of the threshold 3, the center coordinates (w1, h1) of the detection mark 23a as seen from the frame 4 when the frame 4 is in the ideal orientation, and the respective rotation angles φ10 and φ20 of the ends 21a and 22a of the threshold 3 in the image. When the frame 4 is in the ideal orientation, an image of the threshold 3 and the detection mark 23a captured by the imaging unit 11 attached to the frame 4, such as an image including only the dashed line portion in FIG. 6, may be pre-recorded in the threshold area recording unit 104. In this case, when using equation (1), the orientation calculation unit 103 calculates the center coordinates (w1, h1) of the detection mark 23a and the rotation angles φ10 and φ20 of the ends 21a and 22a of the threshold 3 in the image from the image recorded in the threshold area recording unit 104.

[0042] The threshold area recording unit 104 also pre-records information on installation accuracy related to each of the tilt distances D1a, D1b, D2a, and D2b and the rotation angle θ of the horizontal frame 4c. For example, the threshold area recording unit 104 records the allowable ranges of the tilt distances D1a, D1b, D2a, and D2b and the rotation angle θ of the horizontal frame 4c as installation accuracy. In this embodiment, as shown in FIG. 9 (described later), the threshold area recording unit 104 records the lower limit D11 and the upper limit D12 of the allowable range of the tilt distance D1a, the lower limit D21 and the upper limit D22 of the allowable range of the tilt distance D2a, the lower limit D13 and the upper limit D14 of the allowable range of the tilt distance D1b, the lower limit D23 and the upper limit D24 of the allowable range of the tilt distance D2b, and the lower limit θ11 and the upper limit θ12 of the allowable range of the rotation angle θ of the horizontal frame 4c.

[0043] The jamb attachment support method according to this embodiment preferably further comprises an attitude notification step of notifying the attitude of the jamb 4 after the attitude calculation step.

[0044] In this case, before the attitude notification step, the information communication unit 105 notifies the notification unit 13 of the tilt distances D1a, D1b, D2a, and D2b calculated by the attitude calculation unit 103, the rotation angle θ of the horizontal frame 4c, and the installation accuracy thereof. Furthermore, the attitude calculation unit 103 calculates an adjustment direction and adjustment amount for adjusting the attitude of the three-sided frame 4 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 the force to be applied to the three-sided frame 4 necessary to bring the attitude of the three-sided frame 4 within the installation accuracy, and the adjustment amount refers to the amount of deviation between the attitude of the three-sided frame 4 and the installation accuracy or the calculated attitude of the three-sided frame 4 (the tilt distances D1a, D1b, D2a, and D2b in the first embodiment).

[0045] In the attitude notification step, the notification unit 13 notifies the attitude of the frame 4. FIG. 9 is a diagram illustrating an example of the display of the notification unit 13 according to the first embodiment. The notification unit 13 may notify the tilt distances D1a, D1b, D2a, and D2b, which are the attitude of the frame 4, as well as the rotation angle θ of the horizontal frame 4c. The notification unit 13 may also notify the installation accuracy. Furthermore, the notification unit 13 may also notify the adjustment direction and amount for adjusting the attitude of the frame 4. FIG. 9 illustrates an example in which the attitudes of the frame 4 as viewed from the x-axis, y-axis, and z-axis directions, as shown in FIGS. 3, 4, and 5, are displayed, with arrows indicating the adjustment directions above them, and the attitude of the 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 also be displayed as the adjustment amount.

[0046] The above-described processing makes it possible to visualize the posture of the frame 4 during installation and inform the worker of the installation method for achieving the ideal posture, thereby assisting the worker in adjusting the frame installation.

[0047] In this embodiment, an example in which the photographing unit 11 is attached to the horizontal frame 4c has been described, but the present invention is not limited to this, and the photographing unit 11 may be attached to the vertical frame 4a or 4b.

[0048] As described above, in the three-sided frame installation support method and system of this embodiment, the posture of the three-sided frame 4 is calculated based on an image captured by the photographing unit 11 attached to the three-sided frame 4, so that the posture of the three-sided frame can be easily measured. (Embodiment 2) A second embodiment of a three-sided jamb installation support system 10 will be described. FIG. 10 is a perspective view of a three-sided jamb 4 to which a three-sided jamb installation support system 10 according to the second embodiment is attached. The three-sided jamb installation support system 10 according to this embodiment is the three-sided jamb installation support system 10 according to the first embodiment to which an automatic adjustment function for the three-sided jamb 4 has been added. The following description will focus on the differences from the first embodiment. Configurations for which a description is omitted are the same as those of the first embodiment.

[0049] The jamb mounting support system 10 according to this embodiment further includes automatic adjustment units 14, 15 and 16.

[0050] 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 this embodiment is a device that can send and receive data to and from the calculation unit 12, such as a smart device, and sends the adjustment start command from the notification unit 13 to the calculation unit 12.

[0051] As shown in FIG. 10, the automatic adjustment unit 14 is fixed to the wall 2a and connected to the vertical frame 4a. FIG. 11 shows an example of the connection between the automatic adjustment unit 14 and the vertical frame 4a. The automatic adjustment unit 14 has a drive unit 14a, which is composed of a linear actuator, fixed to the wall 2a, and a connecting member 14b attached to the tip of the drive unit 14a. The connecting member 14b has an elongated hole 14c opening in the x-axis direction, and is connected to the vertical frame 4a via a screw or the like through the elongated hole 14c. The drive unit 14a is extendable 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 the drive unit 14a does not adjust the position in the x-axis direction, the elongated hole 14c does not interfere with the movement of the vertical frame 4a in the x-axis direction.

[0052] 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. FIG. 12 shows an example of the connection between the automatic adjustment units 15 and 16 and the vertical frame 4b. The automatic adjustment unit 15 has a drive unit 15a, which is composed of a linear actuator, fixed to the wall 2b (not shown), and a connecting member 15b attached to the tip of the drive unit 15a. The connecting member 15b has an elongated hole 15c opening in the x-axis direction, and is connected to the vertical frame 4b via the elongated hole 15c using a screw or the like. The drive unit 15a is extendable 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 the drive unit 15a does not adjust the position in the x-axis direction, the elongated hole 15c does not interfere with the movement of the vertical frame 4b in the x-axis direction.

[0053] The automatic adjustment unit 16 has a drive unit 16a, which is composed of a linear actuator, fixed to the wall 2b, and a fixed member 16c, which is located at the end of a connecting member 16b, attached to the end of the drive unit 16a. Figure 13 shows the connection between the automatic adjustment unit 16 and the vertical frame 4b as viewed from the negative direction of the x-axis. As shown in Figure 13, the fixed member 16c has a movable range 16d such that the drive unit 16a can move relative to the fixed member 16c only in the y-axis direction. The drive unit 16a is extendable 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.

[0054] The automatic adjustment units 14 and 15 extend in the positive direction of the y-axis and retract in the negative direction of the y-axis. The automatic adjustment unit 16 extends in the negative direction of the x-axis and retracts in the positive direction of the x-axis.

[0055] 14 is a block diagram of a jamb mounting support system 10 according to embodiment 2. As shown in FIG.

[0056] The jamb installation support method according to this embodiment further includes, after the posture calculation step, a posture adjustment step of adjusting the tilt distance (D1a, D1b) of the jamb 4 in the x-axis (second axis) direction and the tilt distance (D2a, D2b) of the jamb 4 in the y-axis (third axis) direction using an automatic adjustment unit (14, 15, 16) that applies force to the jamb 4 to change the posture of the jamb 4 based on the tilt distance (D1a, D1b) of the jamb 4 in the x-axis (second axis) direction and the tilt distance (D2a, D2b) of the jamb 4 in the y-axis (third axis) direction. Figure 15 is a diagram showing an example of the procedure of the posture adjustment step according to the second embodiment. The posture adjustment step is performed by the posture adjustment control unit 106.

[0057] The trigger for starting the automatic adjustment using the automatic adjustment units 14, 15, and 16, i.e., the posture adjustment process shown in Fig. 15, can be an adjustment start command sent from the notification unit 13 to the calculation unit 12 by a simple operation such as an operator pressing an operation button or operation screen of the notification unit 13 on a smart device or the like. In this case, the calculation unit 12 receives the adjustment start command from the notification unit 13 via the information communication unit 105. Then, upon receiving the adjustment start command via the posture calculation unit 103, the posture adjustment control unit 106 starts the three-side frame posture adjustment process shown in Fig. 15.

[0058] 15 is not limited to an adjustment start command sent from notification unit 13 to calculation unit 12. For example, the calculation unit 12 may automatically start the posture adjustment process when it detects that the posture of jamb 4 is outside the range of installation accuracy, without using notification unit 13. In this case, notification unit 13 may be omitted.

[0059] Below, we will explain each step of the attitude adjustment process shown in Fig. 15. In Fig. 15, the adjustment completion state is abbreviated as the completion state.

[0060] In step 201, the states of the automatic adjustment units 14, 15 and 16 are cleared, and the process proceeds to step 202.

[0061] In step 202, it is determined whether the tilting distance D2a representing the tilting state of the vertical frame 4a in the y-axis direction is within the range of the mounting accuracy. If D21≤D2a≤D22 is satisfied, proceed to step 203; if not, proceed to step 204.

[0062] In step 203, the state of the automatic adjustment unit 14 is set to the adjustment completion state, and proceed to step 205.

[0063] In step 204, when D2a>D22, the state of the automatic adjustment unit 14 is set to the operation command in the shrinking direction; when D2a<D21, the state of the automatic adjustment unit 14 is set to the operation command in the extending direction, and proceed to step 205.

[0064] In step 205, it is determined whether the tilting distance D2b representing the tilting state of the vertical frame 4b in the y-axis direction is within the range of the mounting accuracy. If D23≤D2b≤D24 is satisfied, proceed to step 206; if not, proceed to step 207.

[0065] In step 206, the state of the automatic adjustment unit 15 is set to the adjustment completion state, and proceed to step 208.

[0066] In step 207, when D2b>D24, the state of the automatic adjustment unit 15 is set to the operation command in the shrinking direction; when D2b<D23, the state of the automatic adjustment unit 15 is set to the operation command in the extending direction, and proceed to step 208.

[0067] In step 208, it is determined whether the tilting distances D1a and D1b representing the tilting states of the vertical frames 4a and 4b in the x-axis direction are within the range of the mounting accuracy. If D11≤D1a≤D12 and D13≤D1b≤D14 are satisfied, proceed to step 209; if not, proceed to step 210.

[0068] In step 209, the state of the automatic adjustment unit 16 is set to the adjustment completion state, and proceed to step 211.

[0069] In step 210, when D1a > D12 (D1b > D14), set the state of the automatic adjustment unit 16 to an operation command in the extending direction, and when D1a < D11 (D1b < D13), set the state of the automatic adjustment unit 16 to an operation command in the contracting direction, and proceed to step 211.

[0070] In step 211, if the states of all of the automatic adjustment units 14, 15, and 16 are in the adjusted complete state, proceed to step 212, and if the state of any of the automatic adjustment units 14, 15, 16 is not in the adjusted complete state, proceed to step 213.

[0071] In step 212, after sending a brake operation command to the automatic adjustment units 14, 15, and 16 and sending a notification of adjustment completion to the attitude calculation unit 103, end the attitude adjustment process.

[0072] In step 213, for each of the automatic adjustment units 14, 15, and 16, if it is in the adjusted complete state, send a brake operation command, and if it is not in the adjusted complete state, send the respective set operation commands, and proceed to step 201, and perform the attitude adjustment process shown in FIG. 15 again in the next control cycle.

[0073] The attitude calculation unit 103 visualizes the mounting attitude of the three-sided frame 4 after automatic adjustment in the same manner as in Embodiment 1, and transmits it to the notification unit 13 via the information communication unit 105, and the notification unit 13 displays the received data.

[0074] With the three-sided frame mounting support method and system according to the present embodiment, an operator can send 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 an operation screen of the notification unit 13 of a smart device or the like. And after the adjustment start command is sent, the three-sided frame 4 is automatically adjusted so as to be in an ideal attitude, and the adjustment of the three-sided frame by the operator can be supported.

[0075] Also, when the calculation unit 12 automatically starts the attitude adjustment process, the processes from the imaging process to the attitude adjustment process can also be automatically performed. (Embodiment No. 3) A third embodiment of the three-sided jamb installation support system 10 will be described. Fig. 16 is a perspective view of a three-sided jamb 4 to which a three-sided jamb installation support system 10 according to this third embodiment is attached. The three-sided jamb installation support system 10 according to this embodiment calculates the inclination angle of the three-sided jamb 4 and calculates and adjusts the posture of the three-sided jamb using the inclination angle of the three-sided jamb 4. Here, the inclination angle of the three-sided jamb 4 refers to the angle ψ of the three-sided jamb 4 around the x-axis shown in Fig. 4, with clockwise rotation considered positive when viewed from the positive direction of the x-axis.

[0076] The following description will focus on the differences from the second embodiment. The configurations for which a description is omitted are the same as those of the second embodiment.

[0077] As shown in FIG. 16, the jamb installation support system 10 according to this embodiment is installed on the horizontal frame 4c and further includes an attitude detection unit 17. The attitude detection unit 17 is connected to the calculation unit 12 via a cable such as a USB cable or a network cable. The attitude detection unit 17 can use a measurement device such as a six-axis inertial sensor composed of a three-axis acceleration sensor and a three-axis gyro sensor. The jamb installation support method according to this embodiment further includes a tilt angle calculation step that uses the attitude detection unit 17 to calculate the tilt angle ψ of the jamb 4.

[0078] The tilt angle calculation process will be described in detail below. The attitude detection unit 17 acquires acceleration information and angular velocity information.

[0079] 17 is a block diagram of the jamb mounting support system 10. The acceleration information and angular velocity information acquired by the orientation detection unit 17 are received by the sensor information acquisition unit 101. The sensor information acquisition unit 101 calculates the tilt angle ψ of the jamb 4 around the x-axis from the acceleration information and angular velocity information acquired by the orientation detection unit 17. The tilt angle calculation process involves the process up to the calculation of the tilt angle ψ.

[0080] In the orientation calculation step, the orientation calculation unit 103 calculates the tilt distances D1a and D1b and the rotation angle θ of the threshold 3 in the image using equation (1) described in embodiment 1. Since the rotation angle θ of the horizontal frame 4c coincides with the rotation angle θ of the threshold 3 in the image, the rotation angle θ of the horizontal frame 4c can be determined by calculating the rotation angle θ of the threshold 3 in the image. Note that in the tilt angle calculation step, the orientation calculation unit 103 may receive acceleration information and angular velocity information acquired by the orientation detection unit 17 instead of the sensor information acquisition unit 101, and calculate the tilt angle ψ.

[0081] Alternatively, the attitude detection unit 17 itself may calculate the tilt angle ψ. In this case, reception of acceleration information and angular velocity information by the sensor information acquisition unit 101 or the attitude calculation unit 103 and calculation of the tilt angle ψ can be omitted.

[0082] Hereinafter, an example will be described in which the sensor information acquisition unit 101 calculates the tilt angle ψ, but the invention is not limited to this.

[0083] In the jamb installation support method and jamb installation support system 10 according to this embodiment, the tilt distances D1a and D1b, the rotation angle θ of the horizontal frame 4c, and the tilt angle ψ of the jamb 4 are defined as the posture of the jamb 4. Here, in this embodiment, the rotation angle θ of the horizontal frame 4c is defined as the posture of the jamb 4, but instead of the rotation angle θ of the horizontal frame 4c, the rotation angle θ of the sill 3 in the image that matches the rotation angle θ of the horizontal frame 4c can also be defined as the posture of the jamb 4.

[0084] The threshold area recording unit 104 records a lower limit ψ11 and an upper limit ψ12 of the allowable range of the tilt angle ψ as the mounting accuracy of the tilt angle ψ of the jamb 4 around the x axis.

[0085] Before the attitude notification step, the information communication unit 105 notifies the notification unit 13 of the tilt angle ψ of the frame 4 about the x-axis calculated by the sensor information acquisition unit 101 and the mounting accuracy of the tilt angle ψ.

[0086] The posture adjustment control unit 106 acquires the tilt distances D1a and D1b and the rotation angle θ of the horizontal frame 4c from the posture calculation unit 103, and acquires the tilt angle ψ from the sensor information acquisition unit 101, and uses them to adjust the posture of the three-sided frame 4.

[0087] Fig. 18 is a diagram showing an example of the procedure of the attitude adjustment step according to embodiment 3. Note that, also in Fig. 18, the adjustment completion state is abbreviated as the completion state.

[0088] In step 231, the states of the automatic adjustment units 14, 15 and 16 are cleared.

[0089] 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; if not, the process proceeds to step 233.

[0090] In step 233, if θ>θ12 is satisfied, and if ψ≧0, the state of automatic adjustment unit 14 is set to a brake operation command, and the state of automatic adjustment unit 15 is set to a contraction direction operation command, and if ψ<0, the state of automatic adjustment unit 14 is set to an extension direction operation command, and the state of automatic adjustment unit 15 is set to a brake operation command. If θ<θ11 is satisfied, and if ψ≧0, the state of automatic adjustment unit 14 is set to a contraction direction operation command, and the state of automatic adjustment unit 15 is set to a brake operation command, and if ψ<0, the state of automatic adjustment unit 14 is set to a brake operation command, and the state of automatic adjustment unit 15 is set to an extension direction operation command. The state of automatic adjustment unit 16 is set to a brake operation command, and operation commands are sent to each automatic adjustment unit 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 to operation command setting 1.

[0091] In step 234, it is determined whether the tilt angle ψ, which represents the rotational tilt around the x-axis, is within the mounting accuracy range. If ψ11≦ψ≦ψ12 is satisfied, the process proceeds to step 236; if not, the process proceeds to step 235.

[0092] In step 235, when ψ > ψ12 is satisfied, set the operation commands for the states of the automatic adjustment units 14 and 15 to the operation commands in the shrinking direction, and when ψ < ψ11 is satisfied, set the operation commands for the states of the automatic adjustment units 14 and 15 to the operation commands in the stretching direction. Set the state of the automatic adjustment unit 16 to the braking operation command, send the operation commands to each of the automatic adjustment units 14, 15, and 16, and proceed to step 231 in the next control cycle. In FIG. 18, the operation commands set in step 235 are referred to as operation command setting 2.

[0093] In step 236, set the states of the automatic adjustment units 14 and 15 to the adjustment completion state, and proceed to step 237.

[0094] In step 237, determine whether the tilting distances D1a and D1b representing the tilting states of the vertical frames 4a and 4b in the x-axis direction are within the range of the mounting accuracy. If D11 ≤ D1a ≤ D12 and D13 ≤ D1b ≤ D14 are satisfied, proceed to step 239; if not, proceed to step 238.

[0095] In step 238, when D1a > D12 (D1b > D14), set the state of the automatic adjustment unit 16 to the operation command in the stretching direction, and when D1a < D11 (D1b < D13), set the state of the automatic adjustment unit 16 to the operation command in the shrinking direction. Send the operation command to the automatic adjustment unit 16, and since the states of the automatic adjustment units 14 and 15 are in the adjustment completion state, send the braking operation commands to the automatic adjustment units 14 and 15, and proceed to step 231 in the next control cycle. In FIG. 18, the operation commands set in step 238 are referred to as operation command setting 3.

[0096] In step 239, set the state of the automatic adjustment unit 16 to the adjustment completion state, and proceed to step 240.

[0097] In step 240, since the states of each of the automatic adjustment units 14, 15, and 16 are all in the adjustment completion state, send the braking operation commands to each of the automatic adjustment units 14, 15, and 16, and end the posture adjustment process. In FIG. 18, the operation commands set in step 240 are referred to as operation command setting 4.

[0098] In the jamb installation support method and system according to this embodiment, the jamb 4 can be installed on the threshold 3 more accurately in an ideal posture by utilizing the tilt angle ψ of the jamb 4 calculated using the posture detection unit 17, thereby supporting the worker in adjusting the jamb. In addition, the calculation load on the posture calculation unit 103 can be reduced.

[0099] It is also possible to have the operator make the adjustment through a notification from the notification unit 13, without performing the automatic adjustment. (Embodiment 4) A fourth embodiment of the three-sided jamb mounting support system 10 will now be described. Fig. 19 is a perspective view of a three-sided jamb 4 to which a three-sided jamb mounting support system 10 according to the fourth embodiment is attached. The three-sided jamb mounting support system 10 according to this embodiment further includes an imaging direction adjustment unit 18 that adjusts the imaging direction of the imaging unit 11 based on the tilt angle ψ calculated using the attitude detection unit 17. In Fig. 19, the imaging direction adjustment unit 18, which is composed of a drive device such as a servo motor that can change the rotation angle of the rotation axis, is fixed to the horizontal frame 4c, and the imaging unit 11 is installed on the imaging direction adjustment unit 18.

[0100] FIG. 20 is a perspective view of the imaging direction adjustment unit 18 and the imaging unit 11 according to the fourth embodiment. FIG. 21 is a diagram illustrating adjustment of the imaging direction by the imaging direction adjustment unit 18 according to the fourth embodiment. As shown in FIG. 20, the imaging direction adjustment unit 18 includes an imaging unit drive device 18a, such as a servo motor, fixed to the horizontal frame 4c, and an imaging unit coupling member 18b connected to the rotation shaft of the imaging unit drive device 18a. The imaging unit 11 is installed on the imaging unit coupling member 18b. When the rotation shaft of the imaging unit drive device 18a rotates, the attitude of the imaging unit coupling member 18b relative to the imaging unit drive device 18a changes, and the imaging direction of the imaging unit 11 relative to the horizontal frame 4c is changed. That is, when the three-sided frame 4 is tilted clockwise at a tilt angle ψ as viewed from the positive direction of the x-axis, as in Figure 4, the rotation axis of the imaging unit drive device 18a rotates counterclockwise as viewed from the positive direction of the x-axis by a rotation angle ψref = ψ as shown in Figure 21, thereby keeping the imaging direction of the imaging unit 11 perpendicular to the floor surface.

[0101] 22 is a block diagram of a three-sided jamb installation support system 10 according to embodiment 4. The three-sided jamb installation support system 10 according to this embodiment further includes an imaging direction control unit 107. The three-sided jamb installation support method according to this embodiment further includes an imaging direction adjustment step of adjusting the imaging direction of the imaging unit 11 based on the tilt angle ψ of the three-sided jamb 4.

[0102] Specifically, the imaging direction control unit 107 acquires the tilt angle ψ of the frame 4 around the x-axis from the sensor information acquisition unit 101, sets the rotation angle command for the rotation axis of the imaging unit drive device 18a to a rotation angle ψref=ψ, and transmits this to the imaging unit drive device 18a that constitutes the imaging direction adjustment unit 18. When the frame 4 is attached in an ideal orientation relative to the sill 3, the rotation angle command is set to a rotation angle ψref=0.

[0103] In this embodiment, the parts for which description is omitted are the same as those in embodiments 1 to 3. In addition, although the imaging direction adjustment unit 18 is installed in the horizontal frame 4c in the present invention, the same effect can be obtained even if it is installed in the vertical frame 4a or 4b.

[0104] By performing the above-described processing, the threshold area in the image can be accurately identified by photographing the threshold 3 with the photographing unit 11 using the tilt angle of the three-sided frame 4 calculated using the posture detection unit 17 and the photographing direction adjustment unit 18, and the three-sided frame 4 can be attached to the threshold 3 in an ideal posture, thereby assisting the worker in adjusting the frame. [Explanation of symbols]

[0105] 1. Floor 2a,2b...wall 3. Threshold 4a, 4b Vertical frame 4c...Horizontal frame 4. Three-sided frame 10. Three-sided frame installation support system 11. Photography Department 12... Arithmetic section 13...Notification section 14~16 Automatic adjustment section 21a, 21b, 22a, 22b... One end of the threshold 3 in the image 23a, 23b....Detection marks in images 101: Sensor information acquisition unit 102 Threshold area identification unit 103... Posture calculation section 104 Threshold area recording section 105···Ministry of Information and Communications 106 Attitude adjustment control unit 107···Shooting direction control unit 201 to 212: Steps according to the second embodiment 231 to 240: Steps according to the third embodiment

Claims

1. A three-sided jamb installation support method that supports the work of installing a three-sided jamb, which is composed of a pair of vertical jambs and a horizontal jamb connecting the pair of vertical jambs, to a threshold, a photographing step of photographing the threshold with a photographing unit attached to the three-sided frame; a posture calculation step of calculating the posture of the jamb based on the captured image of the threshold and an ideal posture, which is the posture of the threshold as seen from the jamb when the jamb is in an ideal posture; A three-sided jamb installation support method comprising:

2. In claim 1, In the posture calculation step, the position and rotation angle of the threshold in the photographed image are calculated based on the photographed image of the threshold, and the posture of the jamb is calculated based on the calculated position and rotation angle of the threshold in the image and the position and rotation angle of the threshold in the image in the ideal arrangement. A three-sided jamb installation support method.

3. In claim 2, In the orientation calculation step, a tilt distance of the jamb in a second axis direction perpendicular to a first axis that is the rotation axis of the horizontal frame and a tilt distance of the jamb in a third axis direction perpendicular to the first axis and the second axis are calculated as the orientation of the jamb based on the position and rotation angle of the threshold in the image and the position and rotation angle of the threshold in the image in the ideal arrangement. A three-sided jamb installation support method.

4. In claim 2, The method further includes a tilt angle calculation step of calculating a tilt angle of the three-sided jamb as an angle around a second axis perpendicular to a first axis that is a rotation axis of the horizontal frame, using an attitude detection unit attached to the three-sided jamb; In the posture calculation step, a tilt distance of the jamb in the second axial direction and a rotation angle of the horizontal frame are calculated based on the position and rotation angle of the threshold in the image and the position and rotation angle of the threshold in the image in the ideal arrangement, and the tilt distance of the jamb in the second axial direction, the rotation angle of the horizontal frame, and the tilt angle of the jamb are set as the posture of the jamb. A three-sided jamb installation support method.

5. In claim 1, The method further includes a posture notification step of notifying the posture of the frame after the posture calculation step. A three-sided jamb installation support method.

6. In claim 5, In the attitude notification step, an adjustment direction and an adjustment amount for adjusting the attitude of the frame are notified. A three-sided jamb installation support method.

7. In claim 1, The jamb installation support method further comprises a posture adjustment step of automatically adjusting the posture of the jamb after the posture calculation step.

8. In claim 3, After the posture calculation step, the method further includes a posture adjustment step of adjusting the tilt distance of the three-sided frame in the second axial direction and the tilt distance of the three-sided frame in the third axial direction using an automatic adjustment unit that applies force to the three-sided frame to change the posture of the three-sided frame based on the tilt distance of the three-sided frame in the second axial direction and the tilt distance of the three-sided frame in the third axial direction. A three-sided jamb installation support method.

9. In claim 4, After the posture calculation step, the method further includes a posture adjustment step of adjusting the tilt distance of the jamb in the second axial direction, the rotation angle of the horizontal frame, and the tilt angle of the three-sided jamb using an automatic adjustment unit that applies force to the three-sided jamb to change the posture of the three-sided jamb based on the tilt distance of the jamb in the second axial direction, the rotation angle of the horizontal frame, and the tilt angle of the three-sided jamb. A three-sided jamb installation support method.

10. In claim 2, In the attitude calculation step, the position and rotation angle of the threshold in the image are calculated based on a detection mark provided on the surface of the threshold. A three-sided jamb installation support method.

11. In claim 4, The method further includes a photographing direction adjustment step of adjusting the photographing direction of the photographing unit based on the tilt angle of the three-sided frame. A three-sided jamb installation support method.

12. A three-sided jamb installation support system that supports the installation of a three-sided jamb, which is composed of a pair of vertical jambs and a horizontal jamb connecting the pair of vertical jambs, to a threshold, A photographing unit attached to the three-sided frame for photographing the threshold; a posture calculation unit that calculates the posture of the jamb based on the captured image of the threshold and an ideal posture, which is the posture of the threshold as seen from the jamb when the jamb is in an ideal posture; A three-sided jamb installation support system comprising:

Images