Components Positioning System for Guide Rails Installation Based on Plumb Lines Detection and Posture Estimation

The installation of guide rails that handles heavy components in high workplaces and narrow spaces is psychologically and physically demanding for the workers. Therefore, we aim to replace human installation work with general-purpose robots and the components mounting arm. It is a little difficult to output the hanging operation arm machine's position and to position components on the wall precisely based on plumb lines in the hoist way. The proposed system is able to position and fix the operation arm machine by four posture holding devices, derive the posture and position of the work arm based on plumb lines detection and posture estimation, and perform positioning work on the wall. The proposed system involves a dual wide-angle camera linkage measuring system which has a wide-field detection function to counter the position change of robot unit caused by swaying. The proposed system will detect two parallel plumb lines first. Then, estimate the position and posture by the proposed camera linkage measurement system, adjust the robot unit position based on the estimated information, and create a command for a general-purpose robot and the components mounting arm. It is possible to position the components of the guide rail on the wall surface in the hoist way where there are no landmarks. The effectiveness of the proposed system was verified by testing in the hoist way. The results of the evaluation show that the proposed system is able to position the component within ±2 mm for the target position.