CN103920699A - Fixing Part Disassembly System, Fixing Part Disassembly And Program - Google Patents

Abstract

The present invention provides a fixing part disassembly system for disassembling the fixing of a fixing part reliably, a fixing part disassembly and a program. The fixing part disassembly system comprises a fixing part detection unit for detecting the fixing part for fixing a disassembly object according to at least a part of shot images of the disassembly object, and obtaining the location information representing the location of the detected fixing part in the disassembly object; and a fixing part disassembly unit, according to the location information detected by the fixing part detection unit, for moving a fixing releasing tool for releasing the fixing of the fixing part to the position of the fixing part, and using the fixing releasing tool to release the fixing based on the fixing part, and determining whether the fixing releasing tool release the fixing based on the fixing part.

Description

Fixed part break-up system, fixed part disassembling method and program

Technical field

The present invention relates to a kind of fixed part break-up system, fixed part disassembling method and program.

Background technology

In recent years, in the electronic product such as TV and personal computer comprise parts recycling attract attention.The framework of most of electronic products and circuit substrate etc. are fixed by a plurality of fixed parts, while therefore disintegrating, need to dismantle these fixed parts, by each recoverable parts, classify.

And electronic product to be disintegrated, because the fixing means of its size of each product or parts is also different, is therefore difficult to realize the automation of disassembling operation, always be the manual disintegration of each product of carrying out.

For example adopt with the following method: the disassembling operation personnel that distribute by each job content are TV disintegrate successively (for example, with reference to patent documentation 1) to the disintegration object by tape transport.

Patent documentation 1: Japanese kokai publication hei 10-263518 communique

Yet most of household appliances are fixed wtih by a plurality of fixed parts, and also different by its screw number of each household appliances and position, therefore there is the time-consuming problem of disassembling operation.In addition, when large-scale household appliances are disintegrated, also exist and because identification is poor, be difficult to find fixed part, and people's hand does not reach disintegration object and the difficult situation of disintegrating from job position.

And the mode that most of household appliances do not stretch out with fixed part designs, be therefore difficult to judge whether the fixing of fixed part is disengaged.Therefore, when fully do not remove fixed part fixedly time, there is the time-consuming problem of disassembling operation.

Summary of the invention

The present invention puts in view of the above problems and completes, and its object is to provide a kind of fixing fixed part break-up system, fixed part disassembling method and the program that can remove reliably based on fixed part.

This invention completes in order to address the above problem, fixed part break-up system based on a mode of the present invention possesses: fixed part detecting unit, according to the photographed images that photographs at least a portion of disintegration object, the fixed part that detection is fixed described disintegration object, and obtain the positional information that represents this position of detected described fixed part in described disintegration object; And fixed part solution body unit, according to by the detected described positional information of described fixed part detecting unit, use moves on the position of described fixed part with the fixing fixedly releasing appliance of removing based on described fixed part, by described fixedly releasing appliance, remove fixing based on described fixed part, and judge whether described fixedly releasing appliance has removed fixing based on described fixed part.

So, related according to an embodiment of the present invention fixed part break-up system, can be in judgement the fixing whether discharged while based on fixed part, remove fixing based on fixed part.Therefore, when can remove reliably based on fixed part fixing, disintegration object is disintegrated, therefore can effectively disintegrate.And, can not occur again to remove and wait operation based on the fixing of same fixed part owing to fully not removing based on the fixing of fixed part, so can shorten removal time.In addition, when be judged to be remove based on fixed part fixedly time, can promptly carry out the releasing of next fixed part, therefore can not cause time waste, shorten removal time.

And, in above-mentioned fixed part break-up system based on a mode of the present invention, when judge described fixedly releasing appliance removed based on described fixed part fixedly time, described fixed part solution body unit moves to by not also being judged to be on the position of having removed fixing described fixed part in the detected described fixed part of described fixed part detecting unit described fixedly releasing appliance.

So, related according to an embodiment of the present invention fixed part break-up system, can prevent from again carrying out the situation of the releasing of having removed fixing fixed part or again remove the fixing situation based on same fixed part owing to fully not removing based on the fixing of fixed part, shortening removal time.

And, in above-mentioned fixed part break-up system based on a mode of the present invention, when according to remove based on described fixed part fixedly time make described fixedly releasing appliance be pressed into the pressure of the air mechanism on described fixed part, when the pressure that described fixed part is pressed by described air mechanism changes, described fixed part solution body unit judges that described fixedly releasing appliance removed fixing based on described fixed part.

And, in above-mentioned fixed part break-up system based on a mode of the present invention, when according to remove based on described fixed part fixedly time make the amount of movement of the travel mechanism that described fixedly releasing appliance moves to vertical direction, when the mobile variable quantity of the time per unit of described amount of movement reduces, the described fixedly releasing appliance of described fixed part solution body unit judgement has been removed fixing based on described fixed part.

And, above-mentioned fixed part break-up system based on a mode of the present invention also possesses the elevation measurement mechanism of the height of measuring described fixed part, the information of the height and position of the vertical direction of the described fixed part before described fixed part solution body unit is processed according to expression disintegration, whether the height of the described fixed part that judgement determines by described fixed part elevation measurement mechanism changes before and after the disintegration of described fixed part is processed, and judge that described fixedly releasing appliance removed the fixing of described fixed part that the height based on being judged to be described fixed part before and after disintegrate processing changes.

And, in above-mentioned fixed part break-up system based on a mode of the present invention, when after processing when disintegrating, described fixedly releasing appliance is got back to the initial position of predetermining, described fixed part solution body unit is to being provided with in the structure of the different difference of height of height and position, the height and position of the described calibration test section after the height and position before the disintegration that is arranged at the locational calibration test section of corresponding described initial position is processed and the disintegration determining by described elevation measurement mechanism are processed compares, when described height and position is inconsistent, the initial position of judging described fixedly releasing appliance departs from.

And, in above-mentioned fixed part break-up system based on a mode of the present invention, when rotation described fixedly releasing appliance be driver bit remove based on described fixed part be screw fixedly time, in the disintegration of being unclamped described screw by described driver bit is processed, described fixed part solution body unit moves on the position different from the rotary middle spindle of described screw the rotary middle spindle of described driver bit.

And, fixed part disassembling method based on a mode of the present invention possesses following steps: according to the photographed images that photographs at least a portion of disintegration object, the fixed part that detection is fixed described disintegration object, and obtain the positional information that represents this position of detected described fixed part in described disintegration object; According to by the detected described positional information of described fixed part detecting step, use the fixing fixedly releasing appliance to remove based on described fixed part to move on the position of described fixed part; By described fixedly releasing appliance, remove fixing based on described fixed part; And judge whether described fixedly releasing appliance has removed fixing based on described fixed part.

And, program based on a mode of the present invention is used so that computer is carried out following operation: according to the photographed images that photographs at least a portion of disintegration object, the fixed part that detection is fixed described disintegration object, and obtain the positional information that represents this position of detected described fixed part in described disintegration object; According to detecting the detected described positional information of operation by described fixed part, use the fixing fixedly releasing appliance to remove based on described fixed part to move on the position of described fixed part; By described fixedly releasing appliance, remove fixing based on described fixed part; And judge whether described fixedly releasing appliance has removed fixing based on described fixed part.

Invention effect

According to the present invention, can remove reliably fixing based on fixed part.

Accompanying drawing explanation

Fig. 1 means the block diagram of an example of the structure of the fixed part break-up system that embodiments of the present invention are related.

Fig. 2 is the figure of the summary of the fixed part break-up system that illustrates that embodiments of the present invention are related.

Fig. 3 is the figure of the summary of the elevation measurement unit that illustrates that embodiments of the present invention are related.

Fig. 4 is the figure of the summary of the fixed part detecting unit that illustrates that embodiments of the present invention are related.

Fig. 5 means the figure of an example of the section synoptic diagram of the disintegration object that embodiments of the present invention are related.

Fig. 6 means the figure of an example of the section synoptic diagram of the disintegration object that embodiments of the present invention are related.

Fig. 7 means the figure of an example of motion track of the video camera of the fixed part detecting unit that embodiments of the present invention are related.

Fig. 8 is the block diagram in order to an example of the structure of the related XZ travel mechanism of embodiments of the present invention and drive control part is described.

Fig. 9 means the block diagram of an example of the structure of the fixed part detecting unit that embodiments of the present invention are related.

Figure 10 is the figure in order to an example of the related orientation direction part of embodiments of the present invention and location travel mechanism is described.

Figure 11 is in order to the reference diagram of the processing of being undertaken by the related graphical analysis portion of embodiments of the present invention to be described.

Figure 12 is the figure that the position relationship of lens that embodiments of the present invention are related and subject is described.

Figure 13 is the figure of the summary of the fixed part solution body unit that illustrates that embodiments of the present invention are related.

Figure 14 means the block diagram of an example of the structure of the fixed part solution body unit that embodiments of the present invention are related.

Figure 15 means the figure of an example of the drive control part of the fixed part solution body unit that embodiments of the present invention are related.

Figure 16 mean by driver bit remove based on screw NJ fixedly time air regulator the chart of the example that changes of pressure.

Figure 17 mean by driver bit remove based on screw NJ fixedly time linear measuring instrument the chart of the example that changes of amount of movement.

Figure 18 is the figure in order to an example of the related laser displacement gauge of embodiments of the present invention is described.

Figure 19 is the flow chart in order to an example of the handling process of being undertaken by the related fixed part detecting unit of embodiments of the present invention is described.

Figure 20 is the flow chart in order to another example of the handling process of being undertaken by the related fixed part detecting unit of embodiments of the present invention is described.

Figure 21 is the flow chart in order to an example of the handling process of being undertaken by the related fixed part solution body unit of embodiments of the present invention is described.

Figure 22 is the synoptic diagram in order to the action of the cutter head front end of the related fixedly releasing appliance of embodiments of the present invention is described.

Figure 23 is the synoptic diagram in order to the action of the cutter head front end of the related fixedly releasing appliance of embodiments of the present invention is described.

Figure 24 is the figure in order to an example of the related calibration test section of embodiments of the present invention is described.

Figure 25 is the figure of the summary of the fixed part detecting unit that illustrates that embodiments of the present invention are related.

Figure 26 means a plurality of figure of cutting apart an example of image that take by the region video camera of the related fixed part detecting unit of embodiments of the present invention.

The specific embodiment

[the 1st embodiment]

With reference to accompanying drawing, embodiments of the present invention are elaborated.Fig. 1 means the block diagram of the structure of the fixed part break-up system 100 that present embodiment is related.

As shown in Figure 1, the related fixed part break-up system 100 of present embodiment comprises elevation measurement unit 1, fixed part detecting unit 2, fixed part solution body unit 3, supply unit 4 and central control unit 5.Central control unit 5 centralized Control elevation measurement unit 1, fixed part detecting unit 2, fixed part solution body unit 3 and supply unit 4.

The related fixed part break-up system 100 of present embodiment is to detect by fixed part detecting unit 2 system that is fixed on the fixed part on disintegration object and disintegrates by 3 pairs of detected fixed parts of fixed part solution body unit.In present embodiment, as the disintegration object of this fixed part break-up system 100, the housing of fastening display DP for example of take below describes as example.And in present embodiment, fixed part is screw, fixed part is called to screw NJ below.In addition, as the fixed solution eliminating method of screw NJ, utilize to use below fixing releasing appliance for example driver bit one example of the method that fastening screw NJ dismantles from the housing of display DP to unclamping direction rotation is described.Yet the present invention is not limited to this example.

Then, with reference to Fig. 2, the summary of this fixed part break-up system 100 is described.Fig. 2 is the figure that the summary of fixed part break-up system 100 is described.

As shown in the figure, supply unit 4 possesses conveyer belt 401 and conveying roller 402, by controlling the rotation of conveying roller 402, carries out the conveying of conveyer belt 401 to the throughput direction of predetermining.In addition, this supply unit 4 can be controlled transporting velocity or be carried timing etc. by central control unit 5.

Near supply unit 4, from the upstream side of the throughput direction of supply unit 4, along downstream, be disposed with elevation measurement unit 1, fixed part detecting unit 2 and fixed part solution body unit 3.On this conveyer belt 401, to have disintegration object be display DP to mounting, and supply unit 4 is transported to elevation measurement unit 1, fixed part detecting unit 2, fixed part solution body unit 3 with the order of elevation measurement unit 1, fixed part detecting unit 2, fixed part solution body unit 3 by display DP.This display DP loads to carry on the back supine mode on conveyer belt 401, on its upper surface of display DP on conveyer belt 401, can be observed screw NJ.In addition, throughput direction can not be straight line as shown in the figure, can change according to the environment that fixed part break-up system 100 is set.

At this, from the upstream side of throughput direction side towards downstream, each structure comprising in fixed part solution body unit 100 is briefly described.

The length that 1 pair of elevation measurement unit loads the vertical direction of the display DP on conveyer belt 401 is that the thickness of display DP is measured.In present embodiment, display DP is so that by the back side, the mode towards the top of vertical direction, by display surface towards the below of vertical direction loads on conveyer belt 401.The height and position of high part of the display DP that 1 pair of elevation measurement unit is carried by conveyer belt 401 is measured, and measures thus the length of the vertical direction of display DP.Elevation measurement unit 1 represents the information of vertical-direction length to fixed part detecting unit 2 output measurement results.

In addition,, in present embodiment, in order to be that the example of display DP describes to disintegration object, the length of elevation measurement unit 1 using the thickness of display DP as vertical direction is measured.But the invention is not restricted to this, elevation measurement unit 1, as long as measure the length of the vertical direction of the disintegration object so that the ventricumbent mode of predetermining is loaded, can also be applicable to have in vertical direction the disintegration object of length.

Fixed part detecting unit 2, according to photographing the image that disintegration object is display DP, detects the screw NJ that the housing of this display DP is fixed, and obtains the positional information that represents the position of detected screw NJ in display DP.

In present embodiment, fixed part detecting unit 2 is for example according to the elevation information of the display DP being determined by elevation measurement unit 1, in the mode on half height and position of the vertical-direction length of display DP in focus, display DP is taken, according to this photographed images, detect screw NJ.Below, the detection method of this screw NJ is called to the detection method based on single shot.

But the invention is not restricted to this, fixed part detecting unit 2 can be according to the elevation information of the display DP being determined by elevation measurement unit 1, the mode being aligned in respectively with focus on the diverse location on the thickness direction of display DP is taken display DP, detects screw NJ respectively according to different a plurality of photographed images of height and position in focus in the vertical direction of display DP.Below, the detection method of this screw NJ is called to the detection method of taking based on plural number.

In addition, the position of screw NJ is to be that initial point (O, 0,0) represents with XYZ coordinate value by the positioning datum position P stipulating on display DP.The invention is not restricted to this, the position of screw NJ can also be to be that initial point represents with XY coordinate figure by the positioning datum position P stipulating on display DP.

The three dimensions that this positioning datum position P of take is initial point (O, 0,0) is called objective table coordinate space.The XY plane of this objective table coordinate space is consistent with horizontal plane, and Z-direction is consistent with vertical direction.In addition, from X-axis-direction is consistent towards the direction of+direction and throughput direction (that is, from upstream towards the direction in downstream), from Z axis-direction towards the direction of+direction and above-below direction (that is, in vertical direction the direction towards upside from downside) unanimously.

This fixed part detecting unit 2 detects the screw NJ that the housing of display DP is fixed, and at least obtains the positional information of the position in the XY plane that represents detected screw NJ.In present embodiment, the positional information of screw NJ is for representing to can be observed the information of position of screw head of the screw hole of screw NJ.In addition, fixed part detecting unit 2 can also calculate the Z coordinate figure of detected screw NJ on objective table coordinate space in the lump.

If illustrate, fixed part detecting unit 2 is the data of photographed images in the whole region of the relevant horizontal plane direction of display DP according to photographing with the object that disintegrates, and detecting fixed part is screw NJ, and calculates the XY coordinate figure of detected screw NJ.Position at the screw NJ of this calculating is the positioning datum position P(O to predetermine on objective table coordinate space with respect to display DP, 0,0) XY coordinate figure represents.In addition, this positioning datum position P(O, 0,0) be a jiao of the display DP that has been positioned, detailed content is by aftermentioned.

In addition, when utilizing the detection method of taking based on plural number, fixed part detecting unit 2 is for being the relevant whole region of display DP with disintegration object, the data of a plurality of photographed images of taking according to the mode on different height and positions that is aligned in respectively with focus, obtaining the fixed part representing in vertical direction is the positional information (that is, the Z coordinate figure on objective table coordinate space) of the position of screw NJ.If illustrate, fixed part detecting unit 2 according to photograph the most accurately focusing photographed images time focal length, obtain the Z coordinate figure of screw NJ.

In addition, the invention is not restricted to this, fixed part detecting unit 2 can only calculate the XY coordinate figure of screw NJ, sends to fixed part solution body unit 3 using this as positional information.

Fixed part solution body unit 3 is according to the positional information obtaining by fixed part detecting unit 2, use is that the front end of driver bit moves on the position of the screw NJ in disintegration object to remove fixing fixedly releasing appliance based on screw NJ, by this fixedly releasing appliance remove fixing based on screw NJ.

And, when utilize based on single shot detection method time, fixed part solution body unit 3, according to the elevation information determining by elevation measurement unit 1, changes the translational speed of driver bit.If illustrate, driver bit is vertically fallen, when the screw NJ, it is fast that fixed part solution body unit 3 makes driver bit drop to the velocity ratio speed that driver bit is fallen towards below from the extreme higher position of display DP in vertical direction of upper surface of display DP.Thus, fixed part solution body unit 3 can make the front end of driver bit promptly move near the top of screw NJ.And, by driver bit, remove screw NJ fixedly time, fixed part solution body unit 3 can make driver bit move with the speed conforming to releasing.

Then, each structure of fixed part break-up system 100 is elaborated.

Fig. 3 is the figure that the summary of elevation measurement unit 1 is described.As shown in Figure 3, elevation measurement unit 1 for example possesses light-emitting device 101 and optical pickup apparatus 102.

This light-emitting device 101 possesses a plurality of illuminating part 101_1～101_n that arrange in vertical direction.These a plurality of illuminating part 101_1～101_n are disposed at respectively on differing heights position.In present embodiment, illuminating part 101_1 is positioned on extreme higher position.On the other hand, illuminating part 101_n is positioned in extreme lower position.These illuminating parts 101_1～101_n penetrates light towards optical pickup apparatus 102 along continuous straight runs.

Optical pickup apparatus 102 possesses the light receiver that receives the light penetrating from light-emitting device 101.In present embodiment, optical pickup apparatus 102 possesses the light receiver 102_1～102_n receiving respectively from the light of a plurality of illuminating part 101_1～101_n.These optical pickup apparatus 102 bases have or not the light-receiving based on light receiver 102_1～102_n to measure the thickness (length of vertical direction) of display DP.

For example, when coming the light of selfluminous device 101 to be blocked by the display DP passing through between light-emitting device 101 and optical pickup apparatus 102, optical pickup apparatus 102 is judged to be the thickness (length of vertical direction) that extreme higher position in the outgoing position of this light that carrys out self-luminescent part 101_1～101_n blocking is equivalent to display DP.In present embodiment, optical pickup apparatus 102 is exported as the elevation information that represents the vertical-direction length of display DP the height of the outgoing position (that is, the setting position of illuminating part) of the light that carrys out the illuminating part in extreme higher position in self-luminescent part 101_1～101_n that represents to block to fixed part detecting unit 2.

Then, with reference to Fig. 4, one example of fixed part detecting unit 2 is described.

Fig. 4 is the figure that the summary of fixed part detecting unit 2 is described.As shown in Figure 4, fixed part detecting unit 2 possesses to keep the state of video camera 201 to make this video camera 201 mobile XZ travel mechanism 202 in XZ space.GaiXZ travel mechanism 202 possess support cameras 201 support portion 202a, this support portion 202a be supported for to the 202z of Z travel mechanism, the Jiang Gai Z 202z of travel mechanism that can move to Z-direction be supported for the 202x of X travel mechanism that can move to X-direction.

By the action of GaiXZ travel mechanism 202, video camera 201 is moved horizontally along X-direction, the whole region of the horizontal plane direction that is display DP by 201 pairs of disintegration objects of video camera is taken.In addition, in present embodiment, video camera 201 is for can take the linear sensor camera in horizontal (Y direction) whole region of display DP simultaneously.XZ travel mechanism 202 makes video camera 201 move horizontally along X-direction, to take the whole region at the display DP back side of mounting on conveyer belt 401.Video camera 201, by carry out the whole region that 1 sub-level moves to take the display DP back side along X-direction, can be taken into display DP an image.

And, when utilize based on single shot detection method time, XZ travel mechanism 202 is according to the information that is illustrated in the vertical-direction length of the display DP of mounting on conveyer belt 401, with (Z-direction) in the vertical direction upper focus, be aligned in the mode on half the height and position of vertical-direction length of display DP, the video camera 201 that display DP is taken is moved.

On the other hand, when utilizing the detection method of taking based on plural number, XZ travel mechanism 202 is according to the elevation information that is illustrated in the vertical-direction length of the display DP of mounting on conveyer belt 401, and video camera 201 stages that make the display DP take move in focus in the vertical direction fiducial cameras position on the extreme higher position of the display DP in (Z-direction) and in vertical direction than on the position of the more close display DP in fiducial cameras position.GaiXZ travel mechanism 202, for example using fiducial cameras position as initial position, makes video camera 201 for example, by the amount of falling of predetermining (5mm), move gradually near the mode of display DP with video camera 201 from this initial camera position at every turn.

At this, with reference to Fig. 5, an example of the action of the video camera 201 during to detection method when utilizing based on single shot based on travel mechanism 202 describes.

Fig. 5 means that the related disintegration object of present embodiment is an example of the section synoptic diagram of display DP.

This display DP for example thickness is 50mm.Therefore, the display DP of mounting extreme higher position is in vertical direction for separating height and position ZH(Z coordinate figure=ZH from the upper surface (Z coordinate figure=ZL) of conveyer belt 401) position.That is, the height and position of high part of display DP is the position of Z coordinate figure=50mm in vertical direction.

XZ travel mechanism 202 makes video camera 201 be positioned in focus half the height and position ZM(Z coordinate figure=ZM of height and position of the highest part of display DP in vertical direction) on position.For example, XZ travel mechanism 202 makes video camera 201 be arranged in video camera 201 in focus in the locational position of dignity X coordinate figure=XA being shot of height and position ZM.And, XZ travel mechanism 202 make video camera 201 with the state in the dignity being shot of height and position ZM in focus along X-direction+direction is moved horizontally on the position of X coordinate figure=XB.

On the other hand, with reference to Fig. 6, Fig. 7, an example of the action of the video camera 201 when utilizing the detection method of taking based on plural number based on XZ travel mechanism 202 describes.

Fig. 6 represents that the related disintegration object of present embodiment is an example of the section synoptic diagram of display DP.

The thickness of this display DP is 50mm.Therefore, the display DP of mounting extreme higher position is in vertical direction for separating the position of height and position H0=50mm from the upper surface of conveyer belt 401.That is, the height and position of high part of display DP is the position of Z coordinate figure=50mm in vertical direction.At this, video camera 201, by the height and position of high part of display DP in vertical direction, is called fiducial cameras position in the locational position using the thickness of display DP as Z coordinate figure in focus.

In the vertical direction of this display DP, make video camera 201 for example, by the amount of falling of the video camera 201 of predetermining (5mm) interim near conveyer belt 401 from fiducial cameras position.That is the height and position of the dignity being shot that, the focus of video camera 201 is aimed at is with H1, H2, H3 ... H10 changes.

As shown in Figure 6, fixed part detecting unit 2 makes video camera 201 fall 5mm from fiducial cameras position at every turn, so that in focus at height and position H1, H2, H3 ... in the dignity being shot of H10.When being positioned at, video camera 201 makes in focus at height and position H0, H1, H2, H3 ... in the time of in the dignity being shot of H10, this fixed part detecting unit 2 moves horizontally video camera 201 on each position along X-direction.Thus, video camera 201 makes in focus at each height and position H0, H1, H2, H3 ... the dignity being shot of H10 is taken the whole region at the display DP back side.

With reference to Fig. 7, one example of the action of video camera 201 is described.Fig. 7 means the figure of an example of movement locus of the video camera 201 of the fixed part detecting unit 2 that present embodiment is related.In addition, in Fig. 7, omitted the profile of the display DP shown in Fig. 6.

For example, fixed part detecting unit 2 make video camera 201 be located at video camera 201 in the dignity being shot of height and position H0 in focus in the locational position of X coordinate figure=XA.And, fixed part detecting unit 2 make video camera 201 with the state in the dignity being shot of height and position H0 in focus along X-direction+direction moves horizontally.Fixed part detecting unit 2 makes after video camera 201 moves to the position of X coordinate figure=XB, to make video camera 201 along Z-direction, fall the amount of falling (5mm) of predetermining.That is, fixed part detecting unit 2 makes video camera 201 moving in the locational mode of X coordinate figure=XB in focus with video camera 201 in the dignity being shot of height and position H1.

And, fixed part detecting unit 2 make video camera 201 keep the state in the dignity being shot of height and position H1 in focus along X-direction-direction moves horizontally.Fixed part detecting unit 2 makes after video camera 201 moves to the position of X coordinate figure=XA, to make video camera 201 along Z-direction, fall the amount of falling (5mm) of predetermining.That is, fixed part detecting unit 2 makes video camera 201 moving in the locational mode of X coordinate figure=XA in focus with video camera 201 in the dignity being shot of height and position H2.

So, fixed part detecting unit 2 moves video camera 201 on XZ face with zigzag.Thus, video camera 201 can photograph multiple with the mode on different height and position is taken respectively in the vertical direction of display DP in focus image.

In addition, one example of the action while so far video camera 201 being used to linear sensor camera is illustrated, but the invention is not restricted to this, for example, can use the area sensor video camera of corresponding wide-angle, the moving direction of video camera 201 is only made as to Z-direction.

Then,, with reference to Fig. 8, an example of the drive control part 204 that 202He Shigai XZ travel mechanism of DuiXZ travel mechanism 202 moves describes.Fig. 8 is the block diagram that the example in order to the structure of DuiXZ travel mechanism 202 and drive control part 204 describes.

As shown in Figure 8, XZ travel mechanism 202 is connected with drive control part 204.This drive control part 204Xiang XZ travel mechanism 202 provides power, and the action of Lai Dui XZ travel mechanism 202 is controlled.

Drive control part 204 possesses the 241x of motor control portion and the 241z of motor control portion, drive division 242x and drive division 242z and motor 243x and the motor 243z that make respectively the 202x of X travel mechanism and the 202z of Z travel mechanism move.

The 241x of motor control portion and the 241z of motor control portion export respectively with the 202x of X travel mechanism and the 202z of Z travel mechanism actuating quantity (displacement) separately and drive accordingly instruction to drive division 242x and drive division 242z.This drive division 242x and drive division 242z, according to the driving instruction of input, distinguish CD-ROM drive motor 243x and motor 243z.This motor 243x and motor 243z are connected with the 202x of X travel mechanism and the 202z of Z travel mechanism respectively, by drive division 242x and drive division 242z and driven, the 202x of X travel mechanism and the 202z of Z travel mechanism are moved respectively to X-direction and Z-direction.

Then,, with reference to Fig. 9, an example of the structure of fixed part detecting unit 2 is described.Fig. 9 means the block diagram of an example of the structure of fixed part detecting unit 2.

As shown in Figure 9, fixed part detecting unit 2 possesses XZ travel mechanism 202, operating portion 203, drive control part 204, orientation direction part 205, location travel mechanism 206, drive control part 207, display part 209 and information treatment part 210.

And fixed part detecting unit 2 possesses video camera 201.This video camera 201 possesses lens 201a, CCD201b and A/D converter section 201c.Video camera 201 scioptics 201a image on the photoelectric conversion surface (shooting face) of CCD201b the optical image of incident.Optical image by this CCD201b opto-electronic conversion is converted to data signal by A/D converter section 201c.This A/D converter section 201c exports this data signal as the view data photographing by video camera 201.

Operating portion 203 is accepted the operation of being undertaken by user, the operation signal of the content of operation receiving to information treatment part 210 output expressions.This operating portion 203 is such as utilizing keyboard and contact panel etc.

Drive control part 204 moves to make video camera 201 to move by ShiXZ travel mechanism 202.

Orientation direction part 205 is for to press by the display DP on conveyer belt 401 the locational parts that transport and move it corresponding positioning datum position P.The Y guiding piece 205y that this orientation direction part 205 for example possesses the X guiding piece 205x moving to X-direction and moves to Y direction.

Location travel mechanism 206 remains orientation direction part 205 can move to the direction of predetermining.

In addition, orientation direction part 205 and location travel mechanism 206 are for example the structure shown in Figure 10.In Figure 10, supporting guide part 208 arranges in a jiao of the display DP fixing mode of butt on the P of positioning datum position.The side surface of display and support guide member 208 butts and fixing by orientation direction part 205 in addition, be not limited to this, so long as can be one jiao and the inconsistent state of positioning datum position P of display DP.

207 pairs of location travel mechanisms 206 of drive control part control and use so that one jiao and the positioning datum position P positioned in alignment of display DP.This drive control part 207 makes X guiding piece 205x move towards positioning datum position P along X-direction, and Y guiding piece 205y is moved towards positioning datum position P along Y direction.This drive control part 207 for example makes X guiding piece 205x and Y guiding piece 205y move, until one jiao and the positioning datum position P aligned position of display DP.By X guiding piece 205x and Y guiding piece 205y, pressing the display DP transporting stops with support guide member 208 butts.Thus, on the P of positioning datum position, locate for one of display DP jiao.

Display part 209 shows and represents by the icon of the detected screw NJ of information treatment part 210 in the photographed images photographing by video camera 201.In addition, be not limited to represent the icon of screw NJ, display part 209 can also show with icon the higher part (for example image-region of toroidal) of possibility of screw NJ.In addition, display part 209 can be the contact panel forming with operating portion 203 one.

Get back to Fig. 9, information treatment part 210 is elaborated.

Information treatment part 210 possesses control part 211, recording unit 212, graphical analysis portion 213, position detection part 214 and receiving and transmitting part 215.

Control part 211 is according to the program being recorded in recording unit 212, centralized Control fixed part detecting unit 2.

212 pairs of various information of utilizing in the action of fixed part detecting unit 2 of recording unit are carried out record.

At this, with reference to Figure 11, the processing based on graphical analysis portion 213 is elaborated.Figure 11 is the reference diagram of the processing based on graphical analysis portion 213 in order to explanation.

The shape of predetermining as the nose shape of the screw NJ exposing on the surface of display DP, according to the image photographing by video camera 201, detects in graphical analysis portion 213.The fixed part district Li of toroidal for example detects in this graphical analysis portion 213 by geometry shape pattern match.In addition, i is the numeral of giving in order to identify each screw NJ.

(a) of Figure 11 means the example of a part that comprises the photographed images by the detected fixed part district L1～L3 of this graphical analysis portion 213.One of the image of Jiang Gai fixed part district L1 is illustrated in (b) of Figure 11.

The average brightness value of each pixel calculates in graphical analysis portion 213 by each this fixed part district L1～L3.Graphical analysis portion 213, using the average brightness value calculating as threshold value, carries out binarization processing to the image in fixed part district.For example, one of the image after the binarization of the brightness value Yu Gai fixed part district L1 of fixed part district L1 is processed (c) that is illustrated in Figure 11.

As shown in Figure 11 (c), with regard to the brightness value of fixed part district L1, to compare with round-shaped integral body, the brightness value of central cross shape is lower.This be because the screw hole part of cross shape with concave depressions.Therefore, graphical analysis portion 213 can process to detect by carrying out binarization the image-region of the screw porose area of cross shape.That is the image of, processing through binarization by graphical analysis portion 213 can clearly show the concaveconvex shape in the head formation of screw NJ.

Graphical analysis portion 213 by binarization process using brightness value lower than the image-region of the threshold value as average brightness value as screw porose area Ni{i=1,2,3 ... detect, and to position detection part 214 outputs, represent the information of detected screw porose area Ni.To by one of the detected screw porose area Ni of this graphical analysis portion 213, be illustrated in Figure 11 (d).

Position detection part 214, according to the information that represents detected screw porose area Ni, calculates the coordinate of the central point Mi of screw porose area Ni, and this is obtained as the positional information (Xi, Yi) that represents the position of detected screw porose area Ni.This central point Mi is usingd positioning datum position P is represented as the XY coordinate figure of initial point (0,0,0).Position detection part 214 is to the obtained positional information (Xi, Yi) of receiving and transmitting part 215 output.; position detection part 214 is according to the image of processing through binarization by graphical analysis portion 213; detection is at the concaveconvex shape of the head formation of screw NJ; using the characteristic point of the screw NJ being represented by this concaveconvex shape, be that central point Mi obtains as the positional information (Xi, Yi) that represents the position of screw NJ.

Receiving and transmitting part 215 connects into and can communicate with fixed part solution body unit 3, and it can send the positional information (Xi, Yi) of inputting to fixed part solution body unit 3.

At this, with reference to Figure 12, the position relationship of lens 201a and subject is described.Figure 12 is the figure that the position relationship of lens 201a and subject is described.

As shown in figure 12, lens 201a gathering makes shot object image imaging on the photoelectric conversion surface (shooting face) of CCD201b from the light of subject incident.As shown in the figure, the distance from dignity being shot to lens 201a is called to subject distance.The distance of the shooting face from lens 201a to CCD201b is called to lens distance.When the state when be present in this dignity being shot with subject on is taken, in focus in dignity being shot.The position of lens 201a is now called to focus position.In addition, the relation of lens distance and subject distance is prescribed in advance according to characteristic of lens 201a etc.

And control part 211, according to the analysis result of graphical analysis portion 213, judges whether the positional information relevant to same screw hole has been recorded in recording unit 212.When being judged to be while being recorded, delete detected information.If illustrate, control part 211 reference record portions 212 determine whether and have two-dimensional coordinate value (Xi, Yi) consistent in error range.When there is two-dimensional coordinate value (Xi, Yi) consistent in error range, the information that control part 211 is judged to be for same screw hole has been recorded in recording unit 212.

In addition, consistent two-dimensional coordinate value (Xi in error range, Yi) refer to, when to detected all two-dimensional coordinate value (Xi, when X coordinate figure Yi) and Y coordinate figure compare respectively, the situation of the difference of this X coordinate figure in the scope of predetermining (error range) and in the scope (error range) predetermined of the difference of Y coordinate figure.

Receiving and transmitting part 215 connects into and can communicate with elevation measurement unit 1 and fixed part solution body unit 3, it receives the elevation information of obtaining by elevation measurement unit 1, and send to fixed part solution body unit 3 positional information (Xi, Yi) obtaining by position detection part 214.

Then,, with reference to Figure 13～18, fixed part solution body unit 3 is elaborated.

Figure 13 is the figure that the summary of fixed part solution body unit 3 is described.As shown in figure 13, fixed part solution body unit 3 possesses the mechanism in rotary moving 303 that makes the XYZ travel mechanism 302 that fixedly releasing appliance 301 moves at XYZ space by hold mode and make 301 rotations of fixing releasing appliance centered by the rotating shaft parallel with Z axis.GaiXYZ travel mechanism 302 possesses the support portion 302a that fixedly releasing appliance 301 and mechanism in rotary moving 303 support, this support portion 302a is supported for to the 302z of Z travel mechanism, the Jiang Gai Z 302z of travel mechanism that can move to Z-direction is supported for the 302x of X travel mechanism that can move to X-direction; The Ji Jianggai X 302x of travel mechanism is supported for the 302y of Y travel mechanism that can move to Y direction.The 302z of this Z travel mechanism possesses the fixedly linear measuring instrument 302b of the amount of movement of the Z-direction of releasing appliance 301 of metering.The information of the amount of movement of the fixedly releasing appliance 301 that this linear measuring instrument 302b output expression is measured is Z-direction mobile message.In addition, about other structures of XYZ travel mechanism 302, to thering is the additional same title of each component part of the travel mechanism of the 26S Proteasome Structure and Function identical with above-mentioned XZ travel mechanism 202, and detailed.

Fixedly releasing appliance 301 is to be for example the driver bit of the screw hole engagement of screw NJ with fixed part.In this description, fixedly releasing appliance 301 is recited as driver bit 301.The front end of this driver bit 301 can consist of permanent magnet, and it can keep the screw NJ consisting of Armco magnetic irons such as iron by magnetic force.

At this, fixedly near releasing appliance 301, possesses collection box 320.This collection box 320 can be the collection box that can be fixed on movably on the 302z of Z travel mechanism.

And fixed part solution body unit 3 possesses air mechanism 308.This air mechanism 308 possesses the controlling organization of pressing 308a, air regulator 308b and the 308c of air Injection portion.The 308c of this air Injection portion is connected with air regulator 308b by pipeline, and it injects air to this air regulator 308b.Press controlling organization 308a and be injected into the air after adjustment by air regulator 308b, it presses driver bit 301 with certain pressure to the downside of Z-direction by injecting the pressure of air.

In present embodiment, the 308c of air Injection portion injects the pressure of 0.6MPa to air regulator 308b.This air regulator 308b adjusts injecting the pressure of air, and to the air of pressing controlling organization 308a output 0.04MPa.Thus, when driver bit 301 moves to the position contacting with the head of screw of screw NJ, press the certain pressure of controlling organization 308a by the air that injects from air regulator 308b by driver bit 301 by being pressed in the head of screw of screw NJ.Thus, under the tight state meshing of head of screw by the front end at driver bit 301 and screw NJ, rotate driver bit 301, improve the accuracy of knockout screw NJ.

In addition, laser displacement gauge 309 is installed on the 302a of support portion.This laser displacement gauge 309 has the structure that penetrates laser towards the below of Z-direction and receive the laser reflecting from object.The information that laser displacement gauge 309 outputs are relevant to the laser of the laser penetrating and reception.In addition, laser displacement gauge 309 is an example of the elevation measurement mechanism of the related mensuration height and position of present embodiment.This elevation measurement mechanism is the structure of information that obtains the coordinate figure of the Z-direction that represents determination object thing upper surface.In addition, mensuration mechanism involved in the present invention is not limited to this, can be other structures.

Action to fixed part solution body unit 3 is briefly described.As shown in the figure, this fixed part solution body unit 3 makes driver bit 301 move it near screw NJ from the back side of display DP is declined towards the downside of Z-direction towards the top of the display DP of the state of top.Afterwards, when fixed part solution body unit 3 makes driver bit 301 slowly near screw, make driver bit 301 to the direction rotation that unclamps screw NJ.Now, can not make driver bit rotation but close with the state stopping.And, when driver bit 301 arrives the position contacting with the head of screw of screw NJ, by the pressure of the air from air regulator 308b injection, press controlling organization 308a by the front end of driver bit 301 by being pressed on the head of screw of screw NJ.Therefore, the output pressure value from air regulator 308b changes.And when detecting by driver bit 301 knockout screw NJ, the 302z of Z travel mechanism of XYZ travel mechanism 302 pulls on driver bit 301 to the upside of Z-direction.

In addition, driver bit 301 its front ends can be with magnetic force, and now, driver bit 301 is sling to the upside of Z-direction with the state of maintenance screw NJ by magnetic force.Then, fixed part solution body unit 3 makes driver bit 301 move to the top of collection box 320, and the screw NJ of dismounting is contained in collection box 320.But, the invention is not restricted to this, can not reclaim the screw NJ of dismounting but keep disassembly status in the screw hole being installed with.

Then,, with reference to Figure 14, an example of the structure of fixed part solution body unit 3 is described.Figure 14 means the block diagram of an example of the structure of fixed part solution body unit 3.

As shown in figure 14, fixed part solution body unit 3 possesses fixedly releasing appliance 301, XYZ travel mechanism 302, mechanism in rotary moving 303, drive control part 304, orientation direction part 305, location travel mechanism 306, drive control part 307, air mechanism 308, laser displacement gauge 309 and information treatment part 310.

Drive control part 304 is the control part of controlling the action of XYZ travel mechanism 302 and controlling the action of mechanism 303 in rotary moving.This drive control part 304 for example has structure as shown in figure 15.Figure 15 means the figure of an example of drive control part 304.

As shown in figure 15, XYZ travel mechanism 302 is connected with drive control part 304.This drive control part 304Xiang XYZ travel mechanism 302 provides power, and the action of Lai Dui XYZ travel mechanism 302 is controlled.

Drive control part 304 possesses the 341x of motor control portion, the 341y of motor control portion and the 341z of motor control portion that make respectively the 302x of X travel mechanism, the 302y of Y travel mechanism and the 302z of Z travel mechanism move; Drive division 342x, drive division 342y and drive division 342z; And motor 343x, motor 343y and motor 343z.

The 341x of motor control portion, the 341y of motor control portion and the 341z of motor control portion export respectively with the 302x of X travel mechanism, the 302y of Y travel mechanism and the 302z of Z travel mechanism actuating quantity (displacement) separately and drive accordingly instruction to drive division 342x, drive division 342y and drive division 342z.This drive division 342x, drive division 342y, drive division 342z distinguish CD-ROM drive motor 343x, motor 343y and motor 343z according to inputted driving instruction.This motor 343x, motor 343y and motor 343z are connected with the 302x of X travel mechanism, the 302y of Y travel mechanism and the 302z of Z travel mechanism respectively, by drive division 342x, drive division 342y, drive division 342z and driven, the 302x of X travel mechanism, the 302y of Y travel mechanism and the 302z of Z travel mechanism are moved respectively to X-direction, Y direction, Z-direction.

And drive control part 304 possesses to be used so that the 341c of motor control portion, drive division 342c, motor 343c and the encoder 344c of mechanism in rotary moving 303 actions.The 341c of motor control portion drives instruction accordingly to drive division 342c output and the rotation amount of mechanism 303 in rotary moving.This drive division 342c carrys out CD-ROM drive motor 343c according to inputted driving instruction.The encoder 344c of the rotation amount that detects driver bit 301 rotations is installed on the rotating shaft of motor 343c.Encoder 344c detects revolution (anglec of rotation) and the rotating speed of the rotation amount that represents motor 343c, and to the 341c of motor control portion output, represents the information of this rotation amount.The power that mechanism 303 in rotary moving transmits from motor 343c to driver bit 301 makes driver bit 301 rotations.

The 341c of motor control portion is according to outputing to the represented rotary driving force of the driving instruction of drive division 342c and from the rotation amount of encoder 344c input, calculating the rotating torques of driver bit 301.And the 341c of motor control portion judges that whether the rotating torques calculating is as more than the threshold value of predetermining.When this rotating torques is threshold value when above, the 341c of motor control portion is judged to be front end in driver bit 301 and the chimeric state of screw hole.And when rotating torques is changed into while being less than threshold value above from threshold value, the 341c of motor control portion detects already the finishing of screw NJ of unclamping driver bit 301.

Information treatment part 310 possesses control part 311, recording unit 312 and receiving and transmitting part 313.

Control part 311 is according to the program being recorded in recording unit 312, centralized Control fixed part solution body unit 3.And this control part 311 possesses detection unit 311a.

312 pairs of various information of utilizing in the action of fixed part solution body unit 3 of recording unit are carried out record.

Receiving and transmitting part 313 connects into and can communicate with fixed part detecting unit 2, and it can receive the positional information (Xi, Yi) sending from fixed part detecting unit 2.

Then, control part 311 is described in more detail.This control part 311 is according to the positional information (Xi receiving from fixed part detecting unit 2, Yi), driver bit 301 is moved to by the position of the detected screw NJ of fixed part detecting unit 2, by this driver bit 301, remove fixing based on screw NJ.

Detection unit 311a judges whether driver bit 301 has removed fixing based on screw NJ.This detection unit 311a can utilize any in decision method shown below (1)～(3).

(1) for example, according to come comfortable releasing based on screw NJ fixedly time make driver bit 301 be pressed into the output pressure of the air regulator 308b of the air mechanism 308 on screw NJ, when Dang You air mechanism 308 makes driver bit 301 be pressed into pressure on screw NJ to change, detection unit 311a judges that driver bit 301 removed fixing based on screw NJ.For example, when output pressure value change from air regulator 308b (, while being not steady state value) or the output pressure of air regulator 308b lower than predetermine threshold value time, this detection unit 311a judges that driver bit 301 removed fixing based on screw NJ.

Figure 16 mean when by driver bit 301, remove based on screw NJ fixedly time from the chart of an example of the output pressure of air regulator 308b.In this chart, transverse axis represents that elapsed time [unit: sec], the longitudinal axis represent from the output pressure of air regulator 308b [unit: MPa].The moment t101 representing on transverse axis is the moment that the front end of driver bit 301 and the head of screw of screw NJ contact, and the moment for starting to unclamp screw NJ.The moment t102 representing on transverse axis is that driver bit 301 completes the fixing moment of removing based on screw NJ, and is the moment of unclamping end of screw NJ.The moment t103 representing on transverse axis for from moment t102 through moment of the time T 1 predetermined.

As shown in figure 16, from moment t101 till moment t102, driver bit 301 by press controlling organization 308a with certain pressure by being pressed on the head of screw of screw NJ.Therefore, from the output pressure value of air regulator 308b, till having played the fixing releasing based on screw NJ when starting to remove, almost keep constant.In addition, just by certain pressure by driver bit 301 by after being pressed in the head of screw of screw NJ, because driver bit 301 and the head of screw of screw NJ closely mesh, so the output pressure value of air regulator 308b temporarily increases.And, when by driver bit 301 remove based on screw NJ fixedly time, pressing controlling organization 308a becomes and does not make driver bit 301 by the state being pressed on the head of screw of screw NJ.Therefore, from the output pressure value of air regulator 308b in former force value and change between slightly lower than the force value of former force value.Therefore, as shown in figure 16, from moment t102 to t103, there is trickle change in the output pressure value of air regulator 308b.This represents when screw NJ extracts or embeds wherein from screw hole to dally.The screw NJ extracting from screw hole is pressed with the pressure from air regulator 308b by the driver bit 301 of rotation, therefore gets back in screw hole.Thus, the output pressure of air regulator 308b can moment declines, so the output pressure of air regulator 308b trickle change occurs repeatedly because of the situation that screw NJ extracts or embeds wherein from screw hole.

Therefore, for example when the state from the output pressure value change of air regulator 308b (, the situation of steady state value) or the output pressure of air regulator 308b when above lower than the state duration T1 of the threshold value of predetermining, detection unit 311a can judge that driver bit 301 removed fixing based on screw NJ.

(2) for example, when according to remove based on screw NJ fixedly time driver bit 301 is detected to the movement of the 302z of Z travel mechanism of the mobile XYZ travel mechanism 302 of vertical direction (Z-direction) linear measuring instrument 302b, detecting the 302z of Z travel mechanism removes based on fixing of screw NJ and during to the upper side shifting of Z-direction near being accompanied by after screw NJ making driver bit 301 to the lower side shifting of Z-direction, when the mobile variable quantity of the time per unit of the Z-direction of driver bit 301 reduces, detection unit 311a judgement driver bit 301 has been removed fixing based on screw NJ.

Figure 17 mean when by driver bit 301, remove based on screw NJ fixedly time linear measuring instrument 302b the chart of an example of output.In this chart, transverse axis represents that elapsed time [unit: sec], the longitudinal axis represent the output [unit: mm] of linear measuring instrument 302b.With above-mentioned moment t101～t103 similarly, the moment t201 representing on transverse axis～t203 is as follows respectively: t201 is moment of starting to unclamp screw NJ constantly, t202 is that the moment of unclamping end, the moment t203 of screw NJ is through moment of the time T 2 predetermined from moment t202 constantly.

As shown in figure 17, from moment t201 till moment t202, driver bit 301 is to the upper side shifting of Z-direction.In addition, driver bit 301 can be sling to upside by the 302z of Z travel mechanism, and the action that can also sling to the top of Z-direction rotatably with screw NJ links and is lifted.And, when reaching moment t202, become the state that driver bit 301 is lifted the length corresponding with the nominal length (underhead length) of screw NJ.An example while using the screw NJ that nominal length is 22mm shown in Figure 17.As shown in figure 17, from moment t202 till t203, there is trickle change in the output valve of linear measuring instrument 302b.This represents when screw NJ extracts or embeds wherein from screw hole to dally.

Therefore, for example, when according to the output valve of linear measuring instrument 302b, the state of the side shifting that makes progress from downside in Z-direction at driver bit 301, when time T 2 that mobile the variation the stable time of quantitative change (time that the mobile variable quantity of time per unit reduces) of the time per unit of driver bit 301 continues to predetermine is above, detection unit 311a can judge that driver bit 301 removed fixing based on screw NJ.In addition, be not limited to above-mentioned method, the output valve that detection unit 311a involved in the present invention can work as the time per unit that is judged to be linear measuring instrument 302b than before the number of times that reduces of output valve be the number of times predetermined when above or be that more than the threshold value of predetermining number of times is the number of times predetermined when above when being judged to be the variable quantity of output valve of the time per unit of linear measuring instrument 302b, judgement driver bit 301 has been removed fixing based on screw NJ.In addition, the threshold value of this number of times is in order to determine whether the setting value of elapsed time T2.

(3) for example, when according to the output of laser displacement gauge 309, at the height and position of the head of screw of screw NJ, disintegrating while changing to the upside of Z-direction before and after processing, detection unit 311a judges that driver bit 301 removed fixing based on screw NJ.

If illustrate, detection unit 311a, according to the output of laser displacement gauge 309, calculates the height and position of the head of screw of screw NJ.

At this, with reference to Figure 18, an example of laser displacement gauge 309 is described.Figure 18 means the profile of an example of this laser displacement gauge 309.

As shown in figure 18, laser displacement gauge 309 comprises the 309a of irradiation portion, light receiver 309b, interface 309c and laser displacement control part 309d.

The 309a of irradiation portion is for example according to representing by the positional information (Xi, Yi) of the horizontal direction position of the detected screw NJ of fixed part detecting unit 2, to this position irradiating and detecting light.As detecting light, the 309a of irradiation portion for example irradiates the laser of the frequency of predetermining.

The laser that light receiver 309b is positioned at from the 309a of irradiation portion reflects on the position of rear incident by measuring object.As shown in figure 18, this light receiver 309b receives from the laser of the head reflection of screw NJ.

Laser displacement control part 309d controls the irradiation of laser for the 309a of irradiation portion.And laser displacement control part 309d is according to the output of the received laser of light receiver 309b, calculating is incided the optical path length of the laser of light receiver 309b reflecting from the 309a of irradiation portion till by screw NJ, and exports to interface 309c.

Interface 309c is transfused to the positional information (Xi, Yi) of the horizontal direction position that represents screw NJ from receiving and transmitting part 313, and exports to laser displacement control part 309d.And interface 309c is transfused to and represents from the 309a of irradiation portion till by the information of optical path length that incides the laser of light receiver 309b screw NJ reflection from laser displacement control part 309d, and exports to detection unit 311a.

For example, the positional information (Xi, Yi) of the horizontal direction position of expression screw NJ is input to laser displacement gauge 309 by interface 309c from receiving and transmitting part 313.The positional information (Xi, Yi) that interface 309c inputs to laser displacement control part 309d.And laser displacement control part 309d controls the 309a of irradiation portion to irradiate the mode of laser to the represented position of this positional information (Xi, Yi).The 309a of this irradiation portion irradiates laser.If describe in detail, laser displacement gauge 309, according to positional information (Xi, Yi), moves to the 309a of irradiation portion by XYZ travel mechanism 302 and to the represented position of positional information (Xi, Yi), irradiates the position of laser.

The laser penetrating from the 309a of irradiation portion incides light receiver 309b after the reflection of the position of the represented screw NJ of positional information (Xi, Yi).Light receiver 309b receives from the laser of the head reflection of screw NJ, and to the output of laser displacement control part 309d Output of laser.Laser displacement control part 309d is according to the output of the laser being received by light receiver 309b, and calculating is incided the optical path length of the laser of light receiver 309b reflecting from the 309a of irradiation portion till by screw NJ, and exports to interface 309c.Interface 309c represents from the 309a of irradiation portion till by the information of optical path length that incides the laser of light receiver 309b screw NJ reflection to detection unit 311a output.

Detection unit 311a, according to representing from the 309a of irradiation portion till by the information of optical path length that incides the laser of light receiver 309b screw NJ reflection, obtains the coordinate figure (Zi) of the vertical direction position of the described fixed part being illustrated in three dimensions.

In present embodiment, laser displacement gauge 309 is obtained the coordinate figure (Zi) of screw NJ before and after the processing of disintegrating.

In addition, the invention is not restricted to this, detection unit 311a can be used the elevation measurement mechanism that utilizes technology shown below, obtains the positional information of the vertical direction of the screw NJ representing with Z coordinate figure (Zi).The light cross-section method for example, using in the time of, can use solid figure or space encoding method etc.If simple declaration, light cross-section method is taking with video camera under the state of determination object thing, from the oblique irradiation laser slit light of determination object, and the position that pickup light touches, thus the 3D shape of determination object is carried out to method for measuring.By utilizing this light cross-section method, can measure according to the 3D shape of determination object the 3D shape of screw NJ, and the screw hole center that can measure more accurately screw NJ head.And space encoding method is using projecting apparatus etc. as light source, and the light of the pattern of predetermining is projected to determination object, and to projection the determination object of light of pattern take, and the image photographing is carried out to the method for binarization processing.The image of processing through binarization according to this, utilizes principle of triangulation to calculate the distance with determination object.By utilizing this space encoding method, though in screw NJ tilted configuration in the situation that on display DP or the complex structure of screw NJ periphery and be difficult to be taken by video camera, also can obtain Z coordinate figure (Zi).

The height and position of the screw porose area Ni that detection unit 311a calculates according to the output based on laser displacement gauge 309, height and position (Zi) to the height and position (Zi) of the screw NJ before processing that disintegrates and the screw NJ after processing that disintegrates compares, and judges whether the height and position of the head of screw of screw NJ changes before and after the dismounting of screw NJ is processed.When comparing with the height and position (Zi) of the screw NJ before processing that disintegrates, the height and position (Zi) of screw NJ after disintegration is processed is more than the threshold value of predetermining and when the upside of Z-direction, detection unit 311a is judged to be screw NJ and is processed and be disassembled by dismounting.In addition, this threshold value can be to stipulate according to the nominal length of screw NJ, and, can be also that stage is set with a plurality of values.In the situation that stage is set with a plurality of value, when comparing with the height and position (Zi) of the screw NJ before processing that disintegrates, the height and position (Zi) of screw NJ after disintegration is processed is that at least arbitrary threshold value is above and when the upside of Z-direction, detection unit 311a can be judged to be screw NJ and be processed and be disassembled by dismounting.Or, can also in a plurality of threshold values, select the threshold value of predetermining according to the diameter of head of screw, when comparing with the height and position (Zi) of the screw NJ before processing that disintegrates, the height and position (Zi) of screw NJ after disintegration is processed is more than the threshold value of selecting and when the upside of Z-direction, detection unit 311a can be judged to be screw NJ and be processed and be disassembled by dismounting.

In addition, the height and position (Zi) of the screw NJ before disintegration processing can be for expression be by the positional information (Zi) of the height and position of the Z-direction (vertical direction) of the detected screw NJ of fixed part detecting unit 2.

Then,, with reference to Figure 19, an example of the handling process that the fixed part detecting unit 2 by utilizing in the detection method based on single shot is carried out describes.Figure 19 is the flow chart in order to an example of the handling process of being undertaken by fixed part detecting unit 2 is described.

In addition, in present embodiment, the display DP that is transported to fixed part detecting unit 2 at its upstream side measures its thickness (length of vertical direction) by elevation measurement unit 1.And elevation measurement unit 1 is elevation information to fixed part detecting unit 2 output measurement results.

For example, disintegration object be on the conveyer belt 401 of display DP at the upstream side of elevation measurement unit 1 when showing that ventricumbent mode loads, by central control unit 5, control supply units 4 display DP be transported on the position of elevation measurement unit 1.And elevation measurement unit 1 is determined at the thickness (length of vertical direction) of the display DP passing through between light-emitting device 101 and optical pickup apparatus 102, and be elevation information to fixed part detecting unit 2 output measurement results.

Then,, if display DP is transported to the position of fixed part detecting unit 2, control part 211 indication drive control parts 207 carry out the localization process of display DP.This drive control part 207 makes to locate travel mechanism 206 and moves, and controls in order to make one jiao of display DP to be positioned on the P of positioning datum position by orientation direction part 205.Thus, the X guiding piece 205x of orientation direction part 205 and Y guiding piece 205y press and transport display DP towards positioning datum position P.For example, when being judged to be a jiao of display DP and having located on the P of positioning datum position, the actions that drive control part 207 finishes location travel mechanism 206.

(step ST101)

And, if control part 211 1 receives elevation information by receiving and transmitting part 215 from elevation measurement unit, to drive control part 204 these elevation informations of output.If drive control part 204 is from control part 211 input elevation informations, control XZ travel mechanism 202, so that video camera 201 moves in the mode on half height and position of the represented thickness of elevation information (length of vertical direction) in focus of video camera 201.For example, when the thickness of display DP is 50mm, XZ travel mechanism 202 makes video camera 201 be positioned at separating the XY plane of height and position ZM of height 25mm at the upper surface from conveyer belt 401 in focus of video camera 201.In addition, XZ travel mechanism 202 is positioned on the distolateral homeposition of display DP mono-(position of the X=XA illustrating with reference to Fig. 5) video camera 201.

(step ST102)

And, video camera 201 is positioned under the state of the position in the XY plane as height and position ZM in focus, drive control part 204 control XZ travel mechanisms 202 so that video camera 201 along X-axis+direction moves horizontally.Video camera 201 is positioned in focus under the state in the XY of height and position ZM plane, and XZ travel mechanism 202 makes video camera 201 take when X-direction is moved horizontally to the other end (X=XB) from one end (X=XA) of display DP.Thus, video camera 201 is taken the whole face of display DP with the state in the XY of height and position ZM plane in focus, obtains photographed images D101.

(step ST103)

The pattern match of the toroidal that graphical analysis portion 213 predetermines for this photographed images D101, detects the fixed part district Li{i=1,2,3 of all toroidals that photographed images D101 comprises ....In addition, graphical analysis portion 213 is by the intrinsic identification number i{i=1,2,3 of the fixed part district Li going out in order to recognition detection ... distribute to each fixed part district Li.

(step ST104)

And the average brightness value of the pixel in this fixed part district Li calculates in graphical analysis portion 213.This graphical analysis portion 213, using the average brightness value calculating as threshold value, carries out binarization processing to the image that comprises fixed part district Li.

Then, the pattern match of the cross shape that the view data after the 213 pairs of binarizations of graphical analysis portion are processed is for example predetermined, detects the screw porose area Ni of cross shape.

(step ST105)

When the image-region of screw porose area Ni of cross shape being detected, graphical analysis portion 213 obtains the positional information (Xi, Yi) of the central point Mi of the cross shape that represents detected screw porose area Ni.And graphical analysis portion 213 is recorded in this positional information (Xi, Yi) in recording unit 212.

213 pairs, this graphical analysis portion is from the detected all fixed parts district Li{i=2 of photographed images D101,3 ... execution step ST104 and step ST105.When obtaining positional information (Xi, Yi) { i=2,3 ... time, graphical analysis portion 213 is by obtained positional information (Xi, Yi) { i=2,3 ... be recorded in recording unit 212.

(step ST106)

And graphical analysis portion 213 outputs to control part 211 using the information that represents the image-region of detected screw porose area NiJi fixed part district Li as testing result.This control part 211, according to inputted information, shows the information of the information of the image-region that represents detected screw porose area Ni and the image-region of expression fixed part district Li in display part 209.For example, control part 211 overlapping demonstration on the photographed images D101 being photographed by video camera 201 represents the icon of detected screw porose area NiJi fixed part district Li.

(step ST107)

Then, control part 211 determines whether by operating portion 203 inputs and cancels and will by user, by the detected screw porose area NiJi fixed part district Li of graphical analysis portion 213, be set as the indication of the image-region of screw hole.

For example, when the indication of setting as the image-region of screw hole is not cancelled in input, control part 211 all determines the image-region as screw hole using the screw porose area NiJi fixed part district Li being presented in display part 209.And about the screw porose area NiJi fixed part district Li of the overlapping demonstration of icon in display part 209, the aim that control part 211 is processed the image-region as screw hole is presented in display part 209.

(step ST108)

On the other hand, when specifying screw porose area NiHuo fixed part district Li to input to cancel the indication of setting as the image-region of screw hole, control part 211 will, in the middle of the icon that represents to have detected in display part 209, for cancel the screw porose area NiJi fixed part district Li of indication by operating portion 203 inputs, remove the appointment as screw hole image.

In addition, in present embodiment, control part 211 cancels as long as no being transfused to the indication of setting as the image-region of screw hole, detected screw porose area NiJi fixed part district Li is set as the image-region of screw hole.When indication is cancelled in input, control part 211 is got rid of the screw porose area NiJi fixed part district Li of appointment from the image-region of screw hole.

But, the invention is not restricted to this, also can, in step ST107, by user, by operating portion 203, be decided the region of setting as the image-region of screw hole in detected screw porose area NiJi fixed part district Li.

Now, control part 211 is set the screw porose area NiJi fixed part district Li by user's appointment as the image-region of screw hole, overlapping display icon on the screw porose area NiJi fixed part district Li setting as the image-region of screw hole in the photographed images of the display DP in being shown in display part 209.

(step ST109)

Then, control part 211 determines whether the indication of newly being appended as the image-region of screw hole by operating portion 203 input by user.

(step ST110)

At this, in the middle of the icon that represents to have detected in display part 209, control part 211, for inputted the screw porose area Ni that appends indication by operating portion 203, appends the appointment as the image-region of screw hole.

(step ST111)

And, the relevant positional information (Xi, Yi) of each screw hole that control part 211 is specified with the image-region as screw hole to 3 outputs of fixed part solution body unit and appended by receiving and transmitting part 215.

Then,, with reference to Figure 20, an example of the handling process that the fixed part detecting unit 2 that can utilize in the detection method of taking based on plural number is carried out describes.Figure 20 is the flow chart in order to an example of the handling process of being undertaken by fixed part detecting unit 2 is described.

In addition, the display DP that is transported to the fixed part detecting unit 2 that can utilize in the detection method of taking based on plural number at its upstream side measures the thickness (length of vertical direction) of display DP by elevation measurement unit 1.And elevation measurement unit 1 is elevation information to fixed part detecting unit 2 output measurement results.

For example, disintegration object be on the conveyer belt 401 of display DP at the upstream side of elevation measurement unit 1 when showing that ventricumbent mode loads, by central control unit 5, control supply units 4 display DP be transported on the position of elevation measurement unit 1.And elevation measurement unit 1 is determined at the thickness (length of vertical direction) of the display DP passing through between light-emitting device 101 and optical pickup apparatus 102, and be elevation information to fixed part detecting unit 2 output measurement results.

Then,, if display DP is transported to the position of fixed part detecting unit 2, control part 211 indication drive control parts 207 carry out the localization process of display DP.This drive control part 207 makes to locate travel mechanism 206 and moves, and controls in order to make one jiao of display DP to be positioned on the P of positioning datum position by orientation direction part 205.Thus, the X guiding piece 205x of orientation direction part 205 and Y guiding piece 205y press and transport display DP towards positioning datum position P.For example, when being judged to be a jiao of display DP and locating on the P of positioning datum position, the actions that drive control part 207 finishes location travel mechanism 206.

[step ST201]

And, if control part 211 1 receives elevation information by receiving and transmitting part 215 from elevation measurement unit, to drive control part 204 these elevation informations of output.If drive control part 204, from control part 211 input elevation informations, is controlled XZ travel mechanism 202, so that video camera 201 moves in the mode in the dignity being shot of the represented height and position of elevation information in focus of video camera 201.For example, when the thickness (length of vertical direction) of display DP is 50mm, XZ travel mechanism 202 make video camera 201 be positioned at video camera 201 in focus the upper surface from conveyer belt 401 separate height 50mm height and position H0(fiducial cameras position) dignity being shot.In addition, XZ travel mechanism 202 is positioned on the distolateral homeposition of display DP mono-(position of the X=XA illustrating with reference to Fig. 7) video camera 201.

(step ST202)

And, video camera 201 is positioned under the state in the dignity being shot at height and position H0 in focus, drive control part 204 is controlled XZ travel mechanisms 202 so that video camera 201 along X-axis+direction moves horizontally.Thus, video camera 201 is positioned under the state in the dignity being shot at height and position H0 in focus, XZ travel mechanism 202 makes video camera 201 be moved horizontally to the other end (X=XB) from one end (X=XA) of display DP.Thus, video camera 201 is taken the whole face of display DP with the state in the dignity being shot of height and position H0 in focus, obtains photographed images D201.

(step ST203)

The pattern match of the toroidal that graphical analysis portion 213 predetermines for this photographed images D201, detects the fixed part district Li{i=1,2,3 of all toroidals that photographed images D201 comprises ....In addition, graphical analysis portion 213 is by the intrinsic identification number i{i=1,2,3 of the fixed part district Li going out in order to recognition detection ... distribute to each fixed part district Li.

(step ST204)

And the average brightness value of the pixel in this fixed part district Li calculates in graphical analysis portion 213.This graphical analysis portion 213, using the average brightness value calculating as threshold value, carries out binarization processing to the image that comprises fixed part district Li.

Then, the pattern match of the cross shape that the view data after the 213 pairs of binarizations of graphical analysis portion are processed is for example predetermined, detects the screw porose area Ni of cross shape.

(step ST205)

And graphical analysis portion 213 determines whether the image-region of the screw porose area Ni that is detected cross shape.That is, graphical analysis portion 213 determines whether and is detected screw hole.

(step ST206)

When 1 of the image-region of the screw porose area Ni of cross shape is not detected yet, photographed images D201 gets rid of from detect data in graphical analysis portion 213.And graphical analysis portion 213 transfers to the processing of step ST210.

(step ST207)

When the image-region of the screw porose area Ni of cross shape is at least detected 1, graphical analysis portion 213 obtains the positional information (Xi, Yi) of the central point Mi of the cross shape that represents detected screw porose area Ni.

(step ST208)

Then, 211 pairs of positional informations that obtain by graphical analysis portion 213 of control part are checked with the positional information being recorded in recording unit 212, take a decision as to whether the complete information (whether being in other words, new information) that records.That is, control part 211 determines whether the positional information that has a plurality of detected screw holes.When the positional information (Xi, Yi) obtaining by graphical analysis portion 213 in step ST207 is that while having recorded complete information, control part 211 is transferred to the processing of step ST206.

(step ST209)

When the positional information (Xi, Yi) obtaining by graphical analysis portion 213 in step ST207 is during for new information, control part 211 is recorded in this positional information (Xi, Yi) in recording unit 212.

213 pairs, this control part 211 and graphical analysis portion are from the detected all fixed parts district Li{i=2 of photographed images D201,3 ... perform step ST204 to the processing of step ST208.When having obtained positional information (Xi, Yi) { i=2,3 ... time, graphical analysis portion 213 is by obtained positional information (Xi, Yi) { i=2,3 ... be recorded in recording unit 212.

And, the height and position that graphical analysis portion 213 aims at according to the focus of video camera 201, the Z coordinate figure (Zi) of the positional information (Xi, Yi) of the central point Mi of the cross shape of calculating expression screw hole district Ni.In present embodiment, the photographed images D201 that has obtained this positional information (Xi, Yi) is the image so that the mode in the upper space of display DP (dignity being shot of the horizontal plane direction of the highest part in the vertical direction of the display DP that comprises mounting) is taken in focus.That is the video camera 201 when, photographed images D201 is taken in focus from conveyer belt 401 vertically above separate the dignity being shot of 50mm.Therefore, graphical analysis portion 213 is calculated as Z coordinate figure (Zi)=50mm.

Graphical analysis portion 213 is by Z coordinate figure (the Zi)=50mm calculating and the positional information (Xi that is judged to be new information in step ST208, Yi) combine, calculate the D coordinates value (Xi of central point Mi of the cross shape of screw porose area Ni, Yi, and write in recording unit 212 Zi).

(step ST210)

And 211 pairs of values that the amount of falling is obtained with falling number of times multiplying of control part and the thickness (length of vertical direction) of display DP compare.

(step ST211)

This control part 211 judges whether the value that the amount of falling is obtained with falling number of times multiplying is less than the thickness (length of vertical direction) of display DP.That is, control part 211 determines whether the shooting that will finish the interim display DP changing of height and position that the focus of video camera 201 is aimed at.

(step ST212)

In present embodiment, the amount of falling of at every turn falling is 5mm.And the thickness of display DP (length of vertical direction) is 50mm.In the stage that photographs photographed images D201, the amount of falling=0, fall number of times=0, therefore the amount of falling * fall thickness (length of the vertical direction) 50mm of number of times=0 < display DP.

Now, the value that the amount of falling is obtained with falling number of times multiplying is less than the thickness (length of vertical direction) of display DP, so control part 211 indication drive control parts 204 reduce by video camera 201 amount of falling (for example 5mm) of predetermining.

And drive control part 204 controls XZ travel mechanism 202 so that video camera 201 reduces 5mm.GaiXZ travel mechanism 202 reduces 5mm by the height and position of video camera 201.

Then, get back to step ST202, video camera 201 is positioned in focus under the locational state at the height and position H1 of 45mm, drive control part 204 is controlled XZ travel mechanisms 202 so that video camera 201 moves horizontally along a direction of X-axis.XZ travel mechanism 202 is being positioned under the locational state of the height and position H1 making in focus at 45mm, make video camera 201 from one end of display DP along X-axis-direction is moved horizontally to the other end.Thus, video camera 201 focusings are aligned in the whole face of the display DP on being shot of height and position H1 of 45mm and take, and obtain photographed images D202.

In addition, in present embodiment, fixed part detecting unit 2 repeats step ST202～212, in the scope of 50mm～0mm, the height and position of the dignity being shot that the focus of video camera 201 is aimed at carries out stage by 5mm scale and changes, and obtains photographed images D201～D211.

On the other hand, when by the amount of falling with fall number of times multiplying and the value that obtains when to be the thickness (length of vertical direction) of display DP above, control part 211 is judged to be the shooting finishing the display DP of the interim change in focal position.

(step ST213)

And control part 211 is exported the D coordinates value (Xi, Yi, Zi) relevant with each screw hole by receiving and transmitting part 215 to fixed part solution body unit 3.

Then,, with reference to Figure 21～23, an example of the handling process of being undertaken by fixed part solution body unit 3 is described.Figure 21 is the figure in order to an example of the handling process of being undertaken by fixed part solution body unit 3 is described.And Figure 22, the 23rd, in order to the synoptic diagram that the action of the front end of the driver bit 301 moving by fixed part solution body unit 3 is described.In addition, in Figure 22, the XZ coordinate figure in objective table space is described, omit the explanation to Y coordinate figure.In Figure 23, the XY coordinate figure in objective table space is described, omit the explanation to Z coordinate figure.

If the positional information based on fixed part detecting unit 2 obtains end, by central control unit 5, control supply unit 4, display DP is transported on the position of fixed part solution body unit 3.And the control part 311 indication drive control parts 307 of fixed part solution body unit 3 carry out the localization process of display DP.In addition, the localization process of being undertaken by drive control part 307 is with above-mentioned to pass through the processing that drive control part 207 carries out identical, so detailed.

Control part 311 is by positional information (Xi, the Yi) { i=2,3 receiving from fixed part detecting unit 2 ... and the information recording of shape that represents screw hole in recording unit 312.This control part 311 reads positional information (Xi, Yi) { i=2,3 successively from recording unit 312 ..., indication drive control part 304 moves on the represented position of this positional information (Xi, Yi) front end of driver bit 301.

(step ST301)

First, drive control part 304 is for the height and position of the represented position of the information of locating (Xi, Yi), and laser displacement gauge 309 is moved to the represented position of positional information (Xi, Yi).The represented screw NJ of laser displacement gauge 309 location information (Xi, Yi) irradiates laser, measures the height and position (Zi) of this screw NJ, and export to detection unit 311a according to the reverberation of the head of screw from screw NJ.

(step ST302)

Then, the 302x of X travel mechanism and the 302y of Y travel mechanism of drive control part 304Shi XYZ travel mechanism 302 move, so that driver bit 301 moves on the position of rotary middle spindle quadrature of represented position, position information (Xi, Yi) and driver bit 301.Thus, the front end of driver bit 301 is positioned on the position P1 shown in (a) of Figure 22.In addition, Z coordinate figure is now defined as fully the position away from display DP in advance.

(step ST303)

Then, drive control part 304 is the positional information using the elevation information of being obtained by elevation measurement unit 1 as screw hole (Zi=ZH) for example, and ShiXYZ travel mechanism 302 moves, so that driver bit 301 drops to the position of positional information (Zi=ZH).That is, drive control part 304 drives the 302z of Z travel mechanism of XYZ travel mechanism 302 that driver bit 301 is declined, so that the front end of driver bit 301 is positioned on the position of Z coordinate figure=ZH.In addition, drive control part 304 is controlled so that this driver bit 301 moves to P2 with the 1st speed along Z-direction from position P1.

(step ST304)

Thus, driver bit 301 its rotary middle spindles are positioned on the position with XY coordinate figure (Xi, Yi) quadrature, and its front end is positioned on the position of Z coordinate figure (ZH).That is, the front end of driver bit 301 is positioned at the position P2(shown in (a) of Figure 22 in other words, the thickness position of display DP) on.When this drive control part 304 can be worked as the front end in-position P2 of driver bit 301, the action of driver bit 301 is temporarily stopped.

(step ST305)

And, drive control part 304 make mechanism 303 in rotary moving move so that driver bit 301 for example, to direction (anticlockwise) low speed rotation of unclamping screw NJ.Thus, driver bit 301 low speed rotation centered by the rotating shaft parallel with Z axis.In addition, the invention is not restricted to this, when can make driver bit 301 low speed rotation, execution step ST303,304 processing.

(step ST306)

Then, drive control part 304Shi XYZ travel mechanism 302 moves so that driver bit 301 low speed decline.In addition, the speed that driver bit 301 is declined is than making driver bit 301 move to the 1st slow-footed the 2nd speed of P2 from position P1 along Z-direction.That is, drive control part 304, judging in order to when being made the torque of driver bit 301 rotations whether rise to more than rotation threshold value by mechanism 303 in rotary moving, is adjusted the amount of movement of driver bit 301.When this rotating torques is threshold value when above, the 341c of motor control portion is judged to be front end in driver bit 301 and the chimeric state of screw hole, and to the 341z of motor control portion output indication, stops the instruction of movement of the Z-direction of driver bit 301.The front end of the driver bit 301 when in addition, the front end of driver bit 301 and screw hole are chimeric is positioned at the position P3 shown in (a) of Figure 22.

That is, XYZ travel mechanism 302 makes fixedly releasing appliance 301 with the 1st speed, along Z-direction, move to P2 from position P1, make driver bit 301 from position P2 to move to P3 than the 1st slow-footed the 2nd speed along Z-direction.

At this, press and in controlling organization 308a, be injected with the air of adjusting by air regulator 308b.Therefore, when driver bit 301 arrives position contact with the head of screw of screw NJ, press controlling organization 308a and pass through from the pressure of the air of air regulator 308b injection, by the front end of driver bit 301 by being pressed on the head of screw of screw NJ.Therefore, when pressing controlling organization 308a and press the pressure of screw NJ and change, the 341c of motor control portion can be judged to be front end in driver bit 301 and the chimeric state of screw hole, and to the 341z of motor control portion output indication, stops the instruction of movement of the Z-direction of driver bit 301.

(step ST307)

And, when being judged to be the chimeric state of the screw hole of front end in driver bit 301 and screw NJ, the driving instruction that the 341c of motor control portion improves the rotating speed of driver bit 301 to drive division 342c output.Thus, the rotating speed of driver bit 301 is improved, and driver bit 301 can unclamp screw NJ.

So, if screw NJ is released, screw NJ can be lifted to the upside of Z-direction.

And, at driver bit 301, unclamping in the disintegration processing of described screw, drive control part 304 is controlled so that the rotary middle spindle of driver bit 301 moves to the position different from the rotary middle spindle of screw NJ.By one of this motion track, be illustrated in Figure 23.

Time point at driver bit 301 with the head of screw butt of screw NJ, the rotary middle spindle of driver bit 301 is consistent with the rotary middle spindle of screw NJ.Afterwards, driver bit 301 is to the direction rotation that unclamps screw NJ.With this, as shown in figure 23, drive control part 304 for example moves the rotary middle spindle of driver bit 301 to describe the mode of 180 ° of circular arcs.

Thus, possibility that the screw NJ unclamping topples over improves, therefore knockout screw NJ reliably.

In addition, the invention is not restricted to this, drive control part 304 also can make the rotary middle spindle traveling priority of driver bit 301 to the different position of the rotary middle spindle from screw NJ.

(step ST308)

Detection unit 311a is used any in above-mentioned decision method (1)～(3) to judge whether driver bit 301 has removed fixing based on screw NJ.

(step ST309)

When detection unit 311a judge driver bit 301 removed based on screw NJ fixedly time, the driving instruction that the 341c of motor control portion stops the rotation of driver bit 301 to drive division 342c output.Thus, the rotation of driver bit 301 can stop.And the 341z of motor control portion slings driver bit 301 to the upside of Z-direction.The 341z of this motor control portion for example slings driver bit 301 till the front end of driver bit 301 is positioned at the position of Figure 22's the position P4 shown in (b).

(step ST310)

And detection unit 311a determines whether and removes fixing by the detected all screw NJ of fixed part detecting unit 2.For example, as the processing of step ST302, this detection unit 311a can judge whether driver bit 301 has moved on the position by the detected all screw NJ of fixed part detecting unit 2, when being judged to be while making driver bit 301 move to the processing of step ST302 of position of all screw NJ, be judged to be and remove the fixing of all screw NJ.And detection unit 311a can also be to be judged to be the information of removing fixing screw NJ with reference to representing, determine whether and remove fixing by the detected all screw NJ of fixed part detecting unit 2.In addition, when detection unit 311a is judged to be while removing fixedly, using result of determination as representing to be judged to be through removing the screw NJ processing the information of removing fixing screw NJ, write in recording unit 312.

On the other hand, when being judged to be while all not removed by the detected all screw NJ of fixed part detecting unit 2 fixing, get back to the processing of step ST301, repeat the processing of step ST301～310.

In addition, when getting back to step ST301,302 time, drive control part 304 moves to by not being judged to be on the position that is disengaged fixing screw NJ in the middle of the detected screw NJ of fixed part detecting unit 2 laser displacement gauge 309 and driver bit 301.

(step ST311)

On the other hand, when judge removed by the detected all screw NJ of fixed part detecting unit 2 fixedly time, detection unit 311a makes driver bit 301 get back to original position end process.

In addition, at this, when predetermining the step of carrying out calibration, control part 311 is carried out calibration.

At this, with reference to Figure 24, an example of the related calibration of present embodiment is described.Figure 24 is the figure of an example of the calibration test section 330 that illustrates that present embodiment is related.In addition, Figure 24 (a) from top (Z-direction+side) observe the synoptic diagram of calibration test section 330.And, the synoptic diagram of the calibration test section 330 when (b) of Figure 24 cuts off the calibration test section 330 shown in Figure 24 (a) from side surface side (Y direction+side) observation with imaginary line I-I '.This calibration test section 330 for example, for to be arranged on the structure on fixed part solution body unit 3, as shown in the (a) and (b) of Figure 24, for being provided with the recess structure of the difference of height of the stepped variation of height and position.In illustrated example, Centromedian height and position H11 is minimum, and the height and position H22 in outside is the highest.In addition, the coordinate figure that height and position is Z-direction.

In illustrated example, on calibration test section 330 with helical form with difference of height, but the invention is not restricted to this, can be with the difference of height of equal height on concentric circles.

And calibration test section 330 involved in the present invention is not limited to this structure, it can be the minimum protuberance structure of Centromedian height and position height and position the highest, outside.

This calibration test section 330 is for example got back under the state of initial position at driver bit 301, is arranged at the laser of laser displacement gauge 309 on the position of the downside irradiation of Z-direction.For example, in calibration test section 330, the minimum position H11 of height and position is arranged on the position of coordinate figure=0 of Z axis.

After the releasing that finishes all screw NJ is processed, when driver bit 301 is got back to the initial position of predetermining, the height and position of the calibration test section 330 after the height and position before the disintegration of 311 pairs of calibration test sections 330 of control part is processed and the disintegration determining by laser displacement gauge 309 are processed compares, when two height and positions are inconsistent, judge that the initial position of driver bit 301 departs from.In addition, calibration test section 330 is arranged on should the position of initial position.

If illustrate, control part 311, before the disintegration of screw NJ is processed, measures calibration test section 330 in advance at the height and position of initial position.And control part 311 writes metering result in recording unit 312.Afterwards, after the disintegration that finishes all screw NJ is processed, when driver bit 301 is got back to initial position, control part 311, according to the optical path length to the light of calibration test section 330 back reflections by the Ear Mucosa Treated by He Ne Laser Irradiation of laser displacement gauge 309, detects the height and position of the correct detection portion 330 of illuminated laser.

Suppose to have predetermined: at initial position, according to the laser that is irradiated to calibration test section 330, detect coordinate figure=0 of Z axis.When driver bit 301 turns back to initial position, if coordinate figure=0 of the Z axis calculating according to the laser that is irradiated to calibration test section 330, the detection unit 311a of control part 311 judges that the initial position of driver bit 301 does not depart from, and is judged to be without the position correction of carrying out driver bit 301.When be false in coordinate figure=0 of Z axis, the detection unit 311a of control part 311 judges that the initial position of driver bit 301 departs from, and is judged to be and need to carries out the position correction of driver bit 301.

When being judged to be need to carry out the position correction of driver bit 301 time, control part 311 moves on the position of coordinate figure=0 of Z axis driver bit 301.Thus, the position deviation of adjusting screw cutter head 301.

Thereby recoverable is because repeating disintegrate to process departing from and the position deviation of the initial point in the residing XYZ coordinate of display DP space and the XYZ space origin while being controlled by 311 pairs of laser displacement gauges 309 of control part and driver bit 301 of the initial position that occurs.Therefore, can improve the disintegration accuracy of screw NJ.

As mentioned above, related according to an embodiment of the present invention fixed part break-up system, can judge whether to remove based in screw NJ fixing, removes fixing based on screw NJ.Thus, when can remove reliably based on screw NJ fixing, disintegration object is disintegrated, therefore can effectively disintegrate.And, can remove reliably fixing based on screw NJ.In addition, can not occur again to remove and wait operation based on the fixing of identical screw NJ owing to fully not removing based on the fixing of screw NJ, so can shorten removal time.In addition, when be judged to be remove based on screw NJ fixedly time, can promptly carry out the releasing of next screw NJ, therefore can not cause time waste, can shorten removal time.

And, can prevent from again carrying out the situation of the releasing of having removed fixing screw NJ and again remove the fixing situation based on same screw NJ owing to fully not carrying out the fixing releasing based on screw NJ, thereby shortening removal time.

And, above-mentioned in, the fixed part break-up system 100 of take possesses elevation measurement unit 1, fixed part detecting unit 2 and fixed part solution body unit 3 respectively the structure of 1 and is illustrated as example.But, the invention is not restricted to this, can these unit be possessed respectively a plurality of side by side.

And, in the step ST103 shown in above-mentioned Figure 19 etc., detecting fixed part district Li{i=1,2,3 ... time, the image (hereinafter referred to as similar image) of the shape similar to screw NJ and easy error detection can also be got rid of by graphical analysis portion 213.In addition, similar image is defined as with screw NJ similar but be not the image of screw NJ in advance.

As this similar image, such as predetermining terminal hole on the back side that is arranged at display DP, action button, through the passage of mesh processing or " 0(digital zero) " or " O, Q(English alphabet) " etc.

The image-region with similar characteristics of image for example can detect from each photographed images in graphical analysis portion 213 by pattern match, from fixed part district Li{i=1,2,3 ... detected object in intercept the image of easy error detection.Thus, can reduce the possibility of error detection screw NJ image in addition, and improve the detection accuracy of screw NJ image.

As mentioned above, this graphical analysis portion 213 can be in advance from fixed part district Li{i=1,2,3 ... detected object region get rid of, also can detect fixed part district Li{i=1,2,3 ... the fixed part district Li{i=1,2,3 of similar image will be judged to be afterwards ... be judged to be the image that is not screw NJ.

If the latter is specifically described, fixed part district Li{i=1,2,3 is detecting in graphical analysis portion 213 ... afterwards, Cong Gai fixed part district Li{i=1,2,3 ... in determine whether the fixed part district Li{i=1,2,3 with the similar images match of similar screw NJ ....Graphical analysis portion 213 is by the fixed part district Li{i=1,2,3 having with the feature characteristic of correspondence of this similar image ... be judged to be and similar images match Jiang Gai fixed part district Li{i=1,2,3 ... be judged to be the image that is not screw NJ.And the fixed part district Li{i=1,2,3 that is judged to be the image that is not screw NJ gets rid of from the detected object of positional information in graphical analysis portion 213 ....

And, the invention is not restricted to above-mentioned embodiment.

For example, in present embodiment, with regard to fixed part detecting unit 2, with reference to video camera 201 in focus time by XZ travel mechanism 202, change the Z-direction position of video cameras 201 embodiment be illustrated.But, the invention is not restricted to this, fixed part detecting unit 2 can possess AF function, utilizes this AF function to adjust focal position.

In addition, as mentioned above, the related video camera 201 of present embodiment be take the video camera of linear transducer mode and is illustrated as example, but the invention is not restricted to this, can also be region video camera.Below, video camera 201 is described for the situation of region video camera 2010.

With reference to Figure 25, an example that replaces video camera 201 to possess the fixed part detecting unit 2_2 of region video camera 2010 is described.

Figure 25 is the figure that the summary of fixed part detecting unit 2_2 is described.As shown in figure 25, fixed part detecting unit 2_2 possesses the XYZ travel mechanism 2020 that makes this region video camera 2010 move in XYZ space under the state of retaining zone video camera 2010.GaiXYZ travel mechanism 2020 possess supporting zone video camera 2010 support portion 2020a, this support portion 2020a is supported for to the 2020z of Z travel mechanism, the Jiang Gai Z 2020z of travel mechanism that can move to Z-direction is supported for the 2020x of X travel mechanism, the Ji Jianggai X 2020x of travel mechanism that can move to X-direction and is supported for the 2020y of Y travel mechanism that can move to Y direction.In addition, same title detailed, for having the structure of the identical function of YuXYZ travel mechanism 302, are therefore added by XYZ travel mechanism 2020.And, with fixed part detecting unit 2 similarly, fixed part detecting unit 2_2 possesses operating portion 203, drive control part 204, orientation direction part 205, location travel mechanism 206, drive control part 207, display part 209 and information treatment part 210.Describe in detail and will omit.

And, on region video camera 2010, be for example equipped with to illuminate the high-frequency florescent lamp 2030 by the region of region video camera 2010 shootings.

Region video camera 2010 for example becomes a plurality of regions to take the whole Region Segmentation at the display DP back side.Its Segmentation Number (comprising ameristic situation) is prescribed in advance according to the size of disintegration object or the performance that is equipped on the charge-coupled image sensor (CCD:Charge Coupled Device Image Sensor) on region video camera 2010.In addition, there is the situation of situation that display DP is less, region video camera 2010 corresponding wide-angle lenses and need not cut apart the situation that just can take the whole region of display DP 1 time.Now, region video camera 2010 is taken the whole region of display DP as 1 image.That is, Segmentation Number=1.

At this, with reference to Figure 26, an example of the image at the display DP back side of taking by region video camera 2010 is described.Figure 26 means a plurality of figure of cutting apart an example of image that take by region video camera 2010.In addition, as shown in figure 26, when the position on being confined to XY plane describes,, as take coordinate information that positioning datum position P is benchmark while only using X, Y coordinate figure not to use Z coordinate figure, be sometimes expressed as the coordinate figure (0,0) of positioning datum position P.

As shown in figure 26, the whole back side of display DP is for example hypothetically divided into 9 cut zone as region to be taken, and by respectively these cut zone being taken to the image D1～D9 of cutting apart obtaining, represents.In addition, with regard to cutting apart image D1～D9, take positioning datum position P as initial point (0,0), by the XY coordinate figure on objective table coordinate space, predetermine the position at the whole back side of display DP.For example, cut apart image D1 for by positioning datum position P(0,0), other 3 points (xa, 0), (0, ya), (xa, ya) region of representing.And this Segmentation Number of cutting apart image is prescribed in advance by the size of display DP or the performance of region video camera 2010.The resolution ratio of region video camera 2010 is for example 60～80 μ m.

Fixed part district Li and screw porose area Ni, according to the image of cutting apart photographing by this region video camera 2010, detect in graphical analysis portion 213, calculate the positional information of the position that represents screw hole according to this testing result.

So, when being cut apart by the back side of 2010 couples of display DP of region video camera while taking, can make in the region of shooting, to comprise in focus on half the position of height and position of the highest part of display DP.

In addition, can be recorded in computer-readable recording medium in order to realize the program of the operation of being undertaken by fixed part break-up system 100, make the computer system also program of executive logging in this recording medium of reading in carry out processing.In addition in this said " computer system ", can be the system that comprises the hardware such as operating system (OS:Operating System) or ancillary equipment.

And when utilizing WWW system, " computer system " also comprises homepage provides environment (or display environment).And " computer-readable recording medium " refers to that floppy disk, photomagneto disk, ROM, flash memory etc. can write the portable mediums such as nonvolatile memory, CD-ROM, be built in the tape decks such as hard disk in computer system.

In addition, " computer readable recording medium storing program for performing " comprises becomes the volatile memory (such as dynamic RAM (DRAM:Dynamic Random Access Memory)) of the inside computer system of server or client etc. and program is kept to the recording medium of certain hour while sending program by the communication line such as the networks such as internet or telephone line.

And above-mentioned program can be transmitted to other computer systems by transmission medium or by the transmission wave in transmission medium from the computer system this program being stored in tape deck etc.At this, " transmission medium " of transmission procedure refers to that communication lines (order wire) such as the networks such as internet (communication network) or telephone line etc. have the medium of the function of transmission information.

And said procedure can be in order to realize the program of a part of aforementioned function.In addition, can also be for can be by combining to realize the program of aforementioned function, so-called differential file (difference program) with the program in computer system of being recorded in.

Symbol description

1-elevation measurement unit, 2-fixed part detecting unit, 3-fixed part solution body unit, 4-supply unit, 5-central control unit, 100-fixed part break-up system, 101-light-emitting device, 101_1～101_n-illuminating part, 102-optical pickup apparatus, 102_1～102_n-light receiver, 201-video camera, 202-XZ travel mechanism, 203-operating portion, 204-drive control part, 205-orientation direction part, 206-locates travel mechanism, 207-drive control part, 209-display part, 210-information treatment part, 211-control part, 212-recording unit, 213-graphical analysis portion, 214-position detection part, 215-receiving and transmitting part, 301-is releasing appliance fixedly, 302-XYZ travel mechanism, 303-mechanism in rotary moving, 304-drive control part, 305-orientation direction part, 306-Locating driver mechanism, 307-drive control part, 308-air mechanism, 308a-presses controlling organization, 308b-air regulator, 308c-air Injection portion, 309-laser displacement gauge, 310-information treatment part, 311-control part, 311a-detection unit, 312-recording unit, 313-receiving and transmitting part.

Claims (13)

1. a fixed part break-up system, is characterized in that, possesses:

Fixed part detecting unit, according to the photographed images that photographs at least a portion of disintegration object, the fixed part that detection is fixed described disintegration object, and obtain the positional information that represents this position of detected described fixed part in described disintegration object; And

Fixed part solution body unit, according to by the detected described positional information of described fixed part detecting unit, use moves on the position of described fixed part with the fixing fixedly releasing appliance of removing based on described fixed part, by described fixedly releasing appliance, remove fixing based on described fixed part, and judge whether described fixedly releasing appliance has removed fixing based on described fixed part.

2. fixed part break-up system according to claim 1, is characterized in that,

When judge described fixedly releasing appliance removed based on described fixed part fixedly time, described fixed part solution body unit moves to by not also being judged to be on the position of having removed fixing described fixed part in the detected described fixed part of described fixed part detecting unit described fixedly releasing appliance.

3. fixed part break-up system according to claim 1 and 2, is characterized in that,

When according to remove based on described fixed part fixedly time make described fixedly releasing appliance be pressed into the pressure of the air mechanism on described fixed part, when the pressure that described fixed part is pressed by described air mechanism changes, described fixed part solution body unit judges that described fixedly releasing appliance removed fixing based on described fixed part.

4. fixed part break-up system according to claim 1 and 2, is characterized in that,

When according to remove based on described fixed part fixedly time make the amount of movement of the travel mechanism that described fixedly releasing appliance moves to vertical direction, when the mobile variable quantity of the time per unit of described amount of movement reduces, the described fixedly releasing appliance of described fixed part solution body unit judgement has been removed fixing based on described fixed part.

5. fixed part break-up system according to claim 1 and 2, is characterized in that,

Described fixed part break-up system also possesses the elevation measurement mechanism of the height of measuring described fixed part,

The information of the height and position of the vertical direction of the described fixed part before described fixed part solution body unit is processed according to expression disintegration, whether the height of the described fixed part that the elevation measurement mechanism of judgement by described fixed part determines changes before and after the disintegration of described fixed part is processed, judge described fixedly releasing appliance removed based on be judged to be disintegrate process before and after the described fixed part that changes of the height of described fixed part fixing.

6. fixed part break-up system according to claim 5, is characterized in that,

When after processing when disintegrating, described fixedly releasing appliance is got back to the initial position of predetermining, described fixed part solution body unit is to being provided with in the structure of the different difference of height of height and position, the height and position of the described calibration test section after the height and position before the disintegration that is arranged at the locational calibration test section of corresponding described initial position is processed and the disintegration determining by described elevation measurement mechanism are processed compares, when described height and position is inconsistent, judge that the initial position of described fixedly releasing appliance departs from.

7. fixed part break-up system according to claim 1 and 2, is characterized in that,

When rotation as the driver bit of described fixedly releasing appliance remove screw based on as described fixed part fixedly time, in the disintegration of being unclamped described screw by described driver bit is processed, described fixed part solution body unit moves on the position different from the rotary middle spindle of described screw the rotary middle spindle of described driver bit.

8. fixed part break-up system according to claim 3, is characterized in that,

When rotation as the driver bit of described fixedly releasing appliance remove screw based on as described fixed part fixedly time, in the disintegration of being unclamped described screw by described driver bit is processed, described fixed part solution body unit moves on the position different from the rotary middle spindle of described screw the rotary middle spindle of described driver bit.

9. fixed part break-up system according to claim 4, is characterized in that,

When rotation as the driver bit of described fixedly releasing appliance remove screw based on as described fixed part fixedly time, in the disintegration of being unclamped described screw by described driver bit is processed, described fixed part solution body unit moves on the position different from the rotary middle spindle of described screw the rotary middle spindle of described driver bit.

10. fixed part break-up system according to claim 5, is characterized in that,

When rotation as the driver bit of described fixedly releasing appliance remove screw based on as described fixed part fixedly time, in the disintegration of being unclamped described screw by described driver bit is processed, described fixed part solution body unit moves on the position different from the rotary middle spindle of described screw the rotary middle spindle of described driver bit.

11. fixed part break-up systems according to claim 6, is characterized in that,

When rotation as the driver bit of described fixedly releasing appliance remove screw based on as described fixed part fixedly time, in the disintegration of being unclamped described screw by described driver bit is processed, described fixed part solution body unit moves on the position different from the rotary middle spindle of described screw the rotary middle spindle of described driver bit.

12. 1 kinds of fixed part disassembling methods, is characterized in that possessing following steps:

According to the photographed images that photographs at least a portion of disintegration object, detect the fixed part that described disintegration object is fixed, and obtain the positional information that represents this position of detected described fixed part in described disintegration object;

According to by the detected described positional information of described fixed part detecting step, use the fixing fixedly releasing appliance to remove based on described fixed part to move on the position of described fixed part;

By described fixedly releasing appliance, remove fixing based on described fixed part; And

Judge whether described fixedly releasing appliance has removed fixing based on described fixed part.

13. 1 kinds of programs, it is with so that computer is carried out following operation:

According to the photographed images that photographs at least a portion of disintegration object, detect the fixed part that described disintegration object is fixed, and obtain the positional information that represents this position of detected described fixed part in described disintegration object;

According to detecting the detected described positional information of operation by described fixed part, use the fixing fixedly releasing appliance to remove based on described fixed part to move on the position of described fixed part;

By described fixedly releasing appliance, remove fixing based on described fixed part; And

Judge whether described fixedly releasing appliance has removed fixing based on described fixed part.