JP2014136187A - Fixing member disassembling system, fixing member disassembling method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To certainly release fixing by a fixing member.SOLUTION: A fixing member disassembling system includes: a fixing member detection unit for detecting a fixing member fixing a disassembling object on the basis of a picked-up image imaging at least a part of the disassembling object, and obtaining positional information indicating a position of the detected fixing member at the disassembling object; and a fixing member disassembling unit moving a fixing releasing tool for releasing fixing by the fixing member to a position of the fixing member on the basis of the positional information detected by the fixing member detection unit, releasing fixing by the fixing member by the fixing releasing tool, and determining whether the fixing releasing tool releases the fixing by the fixing member or not.

Description

  The present invention relates to a fixing member disassembly system, a fixing member disassembly method, and a program.

In recent years, attention has been focused on recycling materials contained in electrical appliances such as televisions and personal computers. In many electrical appliances, a housing, a circuit board, and the like are fixed by a plurality of fixing members. Therefore, when disassembling, it is necessary to remove these fixing members and separate them according to recyclable members.
Moreover, since the electrical appliances to be disassembled differ in size and part fixing method for each product, it is difficult to automate the disassembly work, and each product has been dismantled manually.
For example, a method has been adopted in which a dismantling worker assigned for each work content sequentially dismantles a television to be dismantled that is transported by a transport belt (for example, see Patent Document 1).

Japanese Patent Laid-Open No. 10-263518

However, many home appliances are fixed by a plurality of fixing members, and the number of screws and the position of each home appliance are different. Furthermore, when disassembling large home appliances, it is difficult to find a fixing member due to poor visibility, and it may be difficult to dismantle because a human hand does not reach from the work position.
In addition, since many home appliances are designed so that the fixing member does not pop out, it is difficult to determine whether or not the fixing member has been released. Therefore, when the release of the fixing of the fixing member is insufficient, there is a problem that it takes time for the dismantling work.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a fixing member disassembly system, a fixing member disassembly method, and a program capable of reliably releasing the fixing by the fixing member.

The present invention has been made to solve the above-described problems, and a fixing member disassembly system according to an aspect of the present invention fixes the dismantling object based on a captured image obtained by capturing at least a part of the dismantling object. A fixing member detection unit that detects a fixing member and acquires position information indicating a position of the detected fixing member in the dismantling target; and based on the position information detected by the fixing member detection unit, Whether the fixing release tool for releasing the fixing by the fixing member is moved to a position, the fixing by the fixing member is released by the fixing release tool, and the fixing by the fixing member is released by the fixing release tool. A fixing member disassembly unit for determining whether or not.
Thus, according to the fixing member disassembly system according to the embodiment of the present invention, it is possible to release the fixing by the fixing member while determining whether the fixing by the fixing member is released. Therefore, since the object to be dismantled can be dismantled while reliably releasing the fixing by the fixing member, dismantling can be performed efficiently. In addition, since the fixing by the fixing member is insufficiently released, an operation such as releasing the fixing by the same fixing member does not occur again, so that the disassembly time can be shortened. Further, when it is determined that the fixing member is released, the next fixing member can be released quickly, so that useless time can be eliminated and disassembly time can be shortened.

Further, in the above-described fixing member disassembly system according to an aspect of the present invention, the fixing member disassembly unit is detected by the fixing member detection unit when it is determined that the fixing release tool has released the fixing by the fixing member. Further, the fixing release tool is moved to the position of the fixing member that is not determined to be released from the fixing member.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, the situation in which the fixing member that has already been released is released again, or the fixing release by the fixing member is insufficient. Therefore, it is possible to prevent the situation where the fixing by the same fixing member is released again, and to shorten the disassembly time.

  Further, in the above-described fixing member disassembly system according to one aspect of the present invention, the fixing member disassembling unit is based on a pressure of an air mechanism that presses the fixing release tool against the fixing member when releasing the fixing by the fixing member. When the pressure with which the air mechanism presses the fixing member changes, it is determined that the fixing release tool has released the fixing by the fixing member.

  Further, in the above-described fixing member disassembly system according to an aspect of the present invention, the fixing member disassembly unit is based on a moving amount of a moving mechanism that moves the fixing release tool in the vertical direction when releasing the fixing by the fixing member. When the movement change amount per unit time of the movement amount decreases, it is determined that the fixation release tool has released the fixation by the fixation member.

  The fixing member disassembly system according to an aspect of the present invention further includes a height measurement mechanism that measures the height of the fixing member, and the fixing member disassembly unit includes a vertical direction of the fixing member before disassembly processing. Based on the information indicating the height position of the fixing member, it is determined whether the height of the fixing member measured by the fixing member height measuring mechanism has changed before and after the dismantling process of the fixing member, and before and after the dismantling process Then, it is determined that the fixing release tool has released the fixing by the fixing member determined that the height of the fixing member has changed.

  Further, in the above-described fixing member dismantling system according to an aspect of the present invention, the fixing member disassembling unit is configured such that the height position differs when the fixing release tool is returned to a predetermined initial position after the disassembling process. The calibration position after the disassembly process measured by the height measurement mechanism and the height position before the disassembly process of the calibration detection unit provided at the position corresponding to the initial position The height position of the detection unit is compared, and if the height position does not match, it is determined that the initial position of the fixing release tool is shifted.

  Further, in the above-described fixing member disassembly system according to an aspect of the present invention, the fixing member disassembly unit rotates the driver bid that is the fixing release tool and releases the fixing by the screw that is the fixing member. During the disassembly process in which the bid is loosening the screw, the rotation center axis of the driver bid is moved to a position different from the rotation center axis of the screw.

  The fixing member disassembling method according to one aspect of the present invention detects a fixing member fixing the dismantling object based on a captured image obtained by imaging at least a part of the dismantling object, and detects the detected fixing member. A step of obtaining position information indicating a position in the dismantling target; and a fixing release tool for releasing the fixing by the fixing member at the position of the fixing member based on the position information detected by the fixing member detection step. A step of moving, a step of releasing fixation by the fixing member by the fixing release tool, and a step of determining whether or not the fixing release tool has released fixation by the fixing member.

  The program according to one aspect of the present invention detects, on a computer, a fixing member that fixes the dismantling target based on a captured image obtained by imaging at least a part of the dismantling target, and the detected fixing member. A procedure for obtaining position information indicating a position in the dismantling target, and a fixing release tool for releasing the fixing by the fixing member to the position of the fixing member based on the position information detected by the fixing member detection procedure And a procedure for releasing the fixing by the fixing member by the fixing release tool and a procedure for determining whether or not the fixing release tool has released the fixing by the fixing member.

  According to the present invention, the fixing by the fixing member can be reliably released.

It is a block diagram which shows an example of a structure of the fixing member disassembly system which concerns on embodiment of this invention. It is a figure for demonstrating the outline | summary of the fixing member disassembly system which concerns on embodiment of this invention. It is a figure for demonstrating the outline of the height measurement unit which concerns on embodiment of this invention. It is a figure for demonstrating the outline of the fixed member detection unit which concerns on embodiment of this invention. It is a figure which shows an example of the cross-sectional schematic of the disassembly object which concerns on embodiment of this invention. It is a figure which shows an example of the cross-sectional schematic of the disassembly object which concerns on embodiment of this invention. It is a figure which shows an example of the locus | trajectory of the motion of the camera of the fixing member detection unit which concerns on embodiment of this invention. It is a block diagram for demonstrating an example of a structure of the XZ moving mechanism and drive control part which concern on embodiment of this invention. It is a block diagram which shows an example of a structure of the fixing member detection unit which concerns on embodiment of this invention. It is a figure for demonstrating an example of the positioning guide and positioning movement mechanism which concern on embodiment of this invention. It is a reference figure for demonstrating the process by the image analysis part which concerns on embodiment of this invention. It is a figure for demonstrating the positional relationship of the lens which concerns on embodiment of this invention, and a to-be-photographed object. It is a figure for demonstrating the outline of the fixing member disassembly unit which concerns on embodiment of this invention. It is a block diagram which shows an example of a structure of the fixing member disassembly unit which concerns on embodiment of this invention. It is a figure which shows an example of the drive control part of the fixing member disassembly unit which concerns on embodiment of this invention. It is a grab which shows an example of the pressure change of an air regulator at the time of releasing fixation with screw NJ with a driver bid. It is a grab which shows an example of the movement amount change of the linear gauge at the time of releasing fixation with the screw | thread NJ with a driver bid. It is a figure for demonstrating an example of the laser displacement meter which concerns on embodiment of this invention. It is a flowchart for demonstrating an example of the processing flow by the fixing member detection unit which concerns on embodiment of this invention. It is a flowchart for demonstrating the other example of the processing flow by the fixing member detection unit which concerns on embodiment of this invention. It is a flowchart for demonstrating an example of the processing flow by the fixing member disassembly unit which concerns on embodiment of this invention. It is the schematic for demonstrating the motion of the bit front-end | tip of the fixation release tool which concerns on embodiment of this invention. It is the schematic for demonstrating the motion of the bit front-end | tip of the fixation release tool which concerns on embodiment of this invention. It is a figure for demonstrating an example of the calibration detection part which concerns on embodiment of this invention. It is a figure for demonstrating the outline of the fixed member detection unit which concerns on embodiment of this invention. It is a figure which shows an example of the some divided image imaged with the area camera of the fixing member detection unit which concerns on embodiment of this invention.

[First Embodiment]
Embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of a fixing member disassembly system 100 according to the present embodiment.
As shown in FIG. 1, the fixed member disassembly system 100 according to this embodiment includes a height measurement unit 1, a fixed member detection unit 2, a fixed member disassembly unit 3, a transport unit 4, and an overall control unit 5. Including. The overall control unit 5 comprehensively controls the height measurement unit 1, the fixed member detection unit 2, the fixed member disassembly unit 3, and the transport unit 4.
The fixing member disassembly system 100 according to the present embodiment is a system in which a fixing member detection unit 2 detects a fixing member fixed to an object to be dismantled and the detected fixing member is disassembled by a fixing member disassembly unit 3. In the present embodiment, as an object to be disassembled of the fixing member disassembly system 100, for example, a display DP cabinet that is screwed will be described below as an example. In the present embodiment, the fixing member is a screw, and hereinafter, the fixing member is referred to as a screw NJ. Furthermore, as a method for releasing the fixation of the screw NJ, an example of a method for removing the screw NJ from the cabinet of the display DP by rotating the screw NJ that has been screwed in a loosening direction using a fixing release tool, for example, a driver bid, This will be described below. However, the present invention is not limited to this example.

Next, an outline of the fixing member disassembly system 100 will be described with reference to FIG. FIG. 2 is a diagram for explaining an outline of the fixing member disassembly system 100.
As illustrated, the transport unit 4 includes a transport belt 401 and a transport roller 402, and controls the rotation of the transport roller 402 to transport the transport belt 401 in a predetermined transport direction. The transport unit 4 may be a unit whose transport speed, transport timing, and the like are controlled by the overall control unit 5.
In the vicinity of the transport unit 4, the height measurement unit 1, the fixed member detection unit 2, and the fixed member disassembly unit 3 are installed in this order from the upstream side to the downstream side in the transport direction of the transport unit 4. . A display DP to be dismantled is placed on the transport belt 401, and the transport unit 4 displays the display DP in the order of the height measurement unit 1, the fixed member detection unit 2, and the fixed member disassembly unit 3. Transport to. The display DP is placed on the transport belt 401 with the back face up, and the screw NJ is visible on the top surface of the display DP on the transport belt 401. In addition, a conveyance direction does not need to be a straight line as shown in the figure, and can be changed according to an environment in which the fixing member disassembly system 100 is installed.

Here, each configuration included in the fixed member disassembly system 100 will be briefly described from the upstream side to the downstream side in the transport direction.
The height measuring unit 1 measures the vertical length of the display DP placed on the transport belt 401, that is, the thickness of the display DP. In the present embodiment, the display DP is placed on the transport belt 401 with the back surface in the vertical direction and the display surface in the vertical direction. The height measurement unit 1 measures the vertical length of the display DP by measuring the height position of the highest portion of the display DP conveyed by the conveyance belt 401. The height measurement unit 1 outputs height information indicating the length in the vertical direction, which is a measurement result, to the fixed member detection unit 2.
In the present embodiment, in order to describe an example in which the object to be disassembled is the display DP, the height measurement unit 1 measures the thickness of the display DP as the length in the vertical direction. However, the present invention is not limited to this, and the height measuring unit 1 only needs to measure the length in the vertical direction of the object to be disassembled placed with a predetermined surface down, and the length is long in the vertical direction. It can also be applied to objects to be dismantled.

The fixing member detection unit 2 detects a screw NJ fixing the cabinet of the display DP based on an image obtained by imaging the display DP to be disassembled, and indicates the position of the detected screw NJ in the display DP Get information.
In this embodiment, the fixed member detection unit 2 is focused at a height position that is half the vertical length of the display DP based on, for example, the height information of the display DP measured by the height measurement unit 1. The display DP is imaged and the screw NJ is detected based on the captured image. This method for detecting the screw NJ is hereinafter referred to as a detection method based on single imaging.
However, the present invention is not limited to this, and the fixed member detection unit 2 is configured so that the display is focused at different positions in the thickness direction of the display DP based on the height information of the display DP measured by the height measurement unit 1. The screw NJ may be detected based on a plurality of picked-up images obtained by picking up an image of the DP and having different height positions each of which is focused in the vertical direction of the display DP. This method for detecting the screw NJ is hereinafter referred to as a detection method based on multiple imaging.
The position of the screw NJ is indicated by an XYZ coordinate value with the positioning reference position P determined in the display DP as the origin (0, 0, 0). The present invention is not limited to this, and the position of the screw NJ may be indicated by an XY coordinate value with the positioning reference position P determined in the display DP as the origin.
A three-dimensional space having the positioning reference position P as the origin (0, 0, 0) is referred to as a stage coordinate space. In this stage coordinate space, the XY plane coincides with the horizontal plane, and the Z-axis direction coincides with the vertical direction. The direction from the X axis − direction to the + direction coincides with the transport direction (that is, the direction from upstream to downstream), and the direction from the Z axis − direction to the + direction corresponds to the vertical direction (that is, the lower side in the vertical direction). To the upper side).

The fixing member detection unit 2 detects the screw NJ fixing the cabinet of the display DP, and acquires at least position information indicating the position of the detected screw NJ on the XY plane. In the present embodiment, the position information of the screw NJ is information indicating the position of the screw head where the screw hole of the screw NJ can be seen. Note that the fixed member detection unit 2 may also calculate the Z coordinate value in the stage coordinate space of the detected screw NJ.
Specifically, the fixing member detection unit 2 detects the screw NJ that is the fixing member based on the data of the captured image obtained by imaging the entire area in the horizontal plane direction of the display DP that is the object to be disassembled. The XY coordinate value of NJ is calculated. The position of the screw NJ calculated here is indicated by an XY coordinate value with respect to a predetermined positioning reference position P (0, 0, 0) in the stage coordinate space of the display DP. The positioning reference position P (0, 0, 0) is a corner of the positioned display DP, and details will be described later.

When a detection method based on multiple imaging is used, the fixed member detection unit 2 captures the entire region of the display DP, which is the object to be disassembled, at different height positions so as to be in focus. Based on the data, position information indicating the position of the screw NJ that is the fixing member in the vertical direction (that is, the Z coordinate value in the stage coordinate space) is acquired. Specifically, the fixed member detection unit 2 acquires the Z coordinate value of the screw NJ based on the focal length when the captured image that is in focus is captured most.
The present invention is not limited to this, and the fixed member detection unit 2 may calculate only the XY coordinate value of the screw NJ and transmit it to the fixed member disassembly unit 3 as position information.

Based on the positional information acquired by the fixing member detection unit 2, the fixing member disassembly unit 3 moves the tip of the driver bid, which is an unlocking tool for releasing the fixing by the screw NJ, to the position of the screw NJ in the object to be disassembled Then, the fixing with the screw NJ is released by the fixing release tool.
When a detection method based on single imaging is used, the fixed member disassembly unit 3 changes the moving speed of the driver bid based on the height information measured by the height measurement unit 1. More specifically, the fixing member disassembly unit 3 sets the speed at which the driver bid is lowered to the upper surface of the display DP when the driver bid is lowered in the vertical direction and approaches the screw NJ. Make it faster than the lowering speed from a higher position. Accordingly, the fixing member disassembly unit 3 can quickly move the tip of the driver bid to the vicinity above the screw NJ. Further, when the fixing member disassembly unit 3 releases the fixation of the screw NJ with the driver bid, the fixing member disassembly unit 3 can move the driver bid at a speed corresponding to the release.

Next, each component of the fixed member disassembly system 100 will be described in detail.
FIG. 3 is a diagram for explaining the outline of the height measuring unit 1. As shown in FIG. 3, the height measuring unit 1 includes, for example, a light emitting device 101 and a light receiving device 102.
The light emitting device 101 includes a plurality of light emitting units 101_1 to 101_n arranged in the vertical direction. The plurality of light emitting units 101_1 to 101_n are arranged at different height positions. In the present embodiment, the light emitting unit 101_1 is located at the highest position. On the other hand, the light emitting unit 101_n is located at the lowest position. The light emitting units 101_1 to 101_n emit light in the horizontal direction toward the light receiving device 102.
The light receiving device 102 includes a light receiving unit that receives light emitted from the light emitting device 101. In the present embodiment, the light receiving device 102 includes light receiving units 102_1 to 102_n that respectively receive light from the plurality of light emitting units 101_1 to 101_n. The light receiving device 102 measures the thickness (vertical length) of the display DP based on the presence or absence of light reception by the light receiving units 102_1 to 102_n.
For example, when the light from the light emitting device 101 is shielded by the display DP passing between the light emitting device 101 and the light receiving device 102, the light receiving device 102 emits light from the light emitting portions 101_1 to 101_n that are shielded. It is determined that the highest position among them corresponds to the thickness (vertical length) of the display DP. In the present embodiment, the light receiving device 102 displays the height indicating the light emission position (that is, the installation position of the light emitting unit) from the light emitting unit at the highest position among the light emitting units 101_1 to 101_n that are shielded from light. Is output to the fixed member detection unit 2 as height information indicating the length in the vertical direction.

Next, an example of the fixed member detection unit 2 will be described with reference to FIG.
FIG. 4 is a diagram for explaining the outline of the fixed member detection unit 2. As shown in FIG. 4, the fixed member detection unit 2 includes an XZ moving mechanism 202 that moves the camera 201 in the XZ space while holding the camera 201. The XZ movement mechanism 202 includes a support unit 202a that supports the camera 201, a Z movement mechanism 202z that supports the support unit 202a so as to be movable in the Z-axis direction, and a movement unit that can move the Z movement mechanism 202z in the X-axis direction. And an X moving mechanism 202x to be supported.
By operating the XZ moving mechanism 202, the camera 201 is moved horizontally along the X-axis direction, and the camera 201 images the entire area in the horizontal plane direction of the display DP to be disassembled. In the present embodiment, the camera 201 is a line sensor camera that can simultaneously image the entire horizontal direction (Y direction) of the display DP. The XZ moving mechanism 202 moves the camera 201 horizontally along the X-axis direction so as to capture the entire area of the back surface of the display DP placed on the transport belt 401. The camera 201 is horizontally moved once along the X-axis direction, so that the entire area of the back surface of the display DP can be imaged and the display DP can be imaged as a single image.

When a detection method based on single imaging is used, the XZ moving mechanism 202 uses the vertical direction (Z-axis direction) based on the height information indicating the vertical length of the display DP placed on the transport belt 401. ), The camera 201 that captures an image of the display DP is moved so as to be focused at a position that is half the vertical length of the display DP.
On the other hand, when a detection method based on multiple imaging is used, the XZ moving mechanism 202 is based on the height information indicating the vertical length of the display DP placed on the transport belt 401, in the vertical direction (Z-axis direction). ), The camera 201 that captures the display DP is moved stepwise to the reference camera position where the focus is at the highest position of the display DP and the position closer to the display DP than the reference camera position in the vertical direction. For example, the XZ moving mechanism 202 uses the reference camera position as an initial position, and moves the camera 201 from the initial camera position by a predetermined amount of descent (for example, 5 mm) so that the camera 201 approaches the display DP. .

Here, an example of the movement of the camera 201 by the XZ moving mechanism 202 when a detection method based on single imaging is used will be described with reference to FIG.
FIG. 5 shows an example of a schematic cross-sectional view of the display DP that is the object to be disassembled according to the present embodiment.
The display DP has a thickness of 50 mm, for example. Therefore, the highest position in the vertical direction of the mounted display DP is a position from the upper surface (Z coordinate value = ZL) of the transport belt 401 to the height position ZH (Z coordinate value = ZH). That is, the height position of the highest portion of the display DP in the vertical direction is a position where the Z coordinate value = 50 mm.
The XZ moving mechanism 202 positions the camera 201 so as to focus on a height position ZM (Z coordinate value = ZM) which is half of the height position of the highest portion of the display DP in the vertical direction. For example, the XZ moving mechanism 202 positions the camera 201 so that the camera 201 is focused on the subject surface at the height position ZM and the position of the X coordinate value = XA. Then, the XZ moving mechanism 202 moves the camera 201 horizontally along the + direction of the X axis direction to the position of X coordinate value = XB while keeping the focus on the subject surface at the height position ZM.

On the other hand, an example of the movement of the camera 201 by the XZ moving mechanism 202 when a detection method based on multiple imaging is used will be described with reference to FIGS.
FIG. 6 shows an example of a schematic cross-sectional view of the display DP that is the object to be disassembled according to the present embodiment.
This display DP has a thickness of 50 mm. Therefore, the highest position in the vertical direction of the mounted display DP is a position at a height position H0 = 50 mm from the upper surface of the transport belt 401. That is, the height position of the highest portion of the display DP in the vertical direction is a position where the Z coordinate value = 50 mm. Here, the height position of the highest part of the display DP in the vertical direction, that is, the position where the camera 201 is positioned so as to be focused on the position where the thickness of the display DP is the Z coordinate value is referred to as a reference camera position. .
In the vertical direction of the display DP, the camera 201 is brought closer to the transport belt 401 step by step from the reference camera position for each predetermined amount of descent of the camera 201 (for example, 5 mm). That is, the height position of the subject surface on which the camera 201 is focused changes to height positions H1, H2, H3... H10.

  As shown in FIG. 6, the fixed member detection unit 2 lowers the camera 201 by 5 mm from the reference camera position so as to focus on the subject surface at the height positions H1, H2, H3. When the camera 201 is positioned at a position that focuses on the subject surface at the height positions H0, H1, H2, H3... H10, the fixed member detection unit 2 extends along the X-axis direction at each position. The camera 201 is moved horizontally. As a result, the camera 201 captures an image of the entire rear surface of the display DP while focusing on the subject surfaces at the respective height positions H0, H1, H2, H3... H10.

An example of the movement of the camera 201 will be described with reference to FIG. FIG. 7 is a diagram illustrating an example of a movement locus of the camera 201 of the fixed member detection unit 2 according to the present embodiment. In FIG. 7, the cross-sectional view of the display DP shown in FIG. 6 is omitted.
For example, the fixed member detection unit 2 positions the camera 201 so that the camera 201 is focused on the X coordinate value = XA position on the subject surface at the height position H0. Then, the fixed member detection unit 2 moves the camera 201 horizontally along the + direction of the X-axis direction while keeping the focus on the subject surface at the height position H0. The fixed member detection unit 2 moves the camera 201 down to the position of the X coordinate value = XB, and then lowers the camera 201 along the Z-axis direction by a predetermined lowering amount (5 mm). That is, the fixed member detection unit 2 moves the camera 201 so that the camera 201 is focused on the X coordinate value = XB position on the subject surface at the height position H1.

Then, the fixed member detection unit 2 moves the camera 201 horizontally along the − direction in the X axis direction while keeping the focus on the subject surface at the height position H1. The fixed member detection unit 2 moves the camera 201 down to the position of the X coordinate value = XA, and then lowers the camera 201 along the Z-axis direction by a predetermined lowering amount (5 mm). That is, the fixed member detection unit 2 moves the camera 201 so that the camera 201 is focused on the X coordinate value = XA position on the subject surface at the height position H2.
In this way, the fixed member detection unit 2 moves the camera 201 in a zigzag manner on the XZ plane. As a result, the camera 201 can capture a plurality of images that are captured so as to be focused at different height positions in the vertical direction of the display DP.
Although an example of the movement when the line sensor camera is used as the camera 201 has been described so far, the present invention is not limited to this. For example, the camera 201 uses a wide-angle area sensor camera. The moving direction may be only the Z-axis direction.

Next, an example of the XZ moving mechanism 202 and the drive control unit 204 that operates the XZ moving mechanism 202 will be described with reference to FIG. FIG. 8 is a block diagram for explaining an example of the configuration of the XZ moving mechanism 202 and the drive control unit 204.
As shown in FIG. 8, the XZ movement mechanism 202 is connected to the drive control unit 204. The drive control unit 204 provides power to the XZ movement mechanism 202 and controls the operation of the XZ movement mechanism 202.
The drive control unit 204 includes a motor control unit 241x and a motor control unit 241z for operating the X movement mechanism 202x and the Z movement mechanism 202z, a drive unit 242x and a drive unit 242z, and a motor 243x and a motor 243z, respectively. .
The motor control unit 241x and the motor control unit 241z output drive commands corresponding to the operation amounts (movement distances) of the X moving mechanism 202x and the Z moving mechanism 202z to the driving unit 242x and the driving unit 242z, respectively. The drive unit 242x and the drive unit 242z drive the motor 243x and the motor 243z, respectively, according to the input drive command. The motor 243x and the motor 243z are connected to the X moving mechanism 202x and the Z moving mechanism 202z, respectively, and are driven by the driving unit 242x and the driving unit 242z, and the X moving mechanism 202x and the Z moving mechanism 202z are respectively set to X. Move in the axial direction and the Z-axis direction.

Next, an example of the configuration of the fixed member detection unit 2 will be described with reference to FIG. FIG. 9 is a block diagram illustrating an example of the configuration of the fixed member detection unit 2.
As shown in FIG. 9, the fixed member detection unit 2 includes an XZ movement mechanism 202, an operation unit 203, a drive control unit 204, a positioning guide 205, a positioning movement mechanism 206, a drive control unit 207, and a display unit 209. And an information processing unit 210.
The fixed member detection unit 2 includes a camera 201. The camera 201 includes a lens 201a, a CCD 201b, and an A / D conversion unit 201c. The camera 201 forms an incident optical image on the photoelectric conversion surface (imaging surface) of the CCD 201b through the lens 201a. The optical image photoelectrically converted by the CCD 201b is converted into a digital signal by the A / D converter 201c. The A / D conversion unit 201c outputs the digital signal as image data captured by the camera 201.

The operation unit 203 receives an operation from the user, and outputs an operation signal indicating the content of the received operation to the information processing unit 210. For example, a keyboard or a touch panel can be used as the operation unit 203.
The drive control unit 204 operates the XZ moving mechanism 202 to move the camera 201.

  The positioning guide 205 is a member that pushes the display DP on the transport belt 401 and moves it to a position corresponding to the positioning reference position P. The positioning guide 205 includes, for example, an X guide 205x that moves in the X-axis direction and a Y guide 205y that moves in the Y-axis direction.

The positioning movement mechanism 206 holds the positioning guide 205 so as to be movable in a predetermined direction.
Note that the positioning guide 205 and the positioning movement mechanism 206 have a structure as shown in FIG. 10, for example. In FIG. 10, a support guide 208 is provided so that one corner of the display DP contacts and is fixed to the positioning reference position P. However, the present invention is not limited to this, and it is only necessary that the side surface of the display abuts on the support guide 208 and is fixed by the positioning guide 205, and a corner of the display DP may not coincide with the positioning reference position P.

  The drive control unit 207 controls the positioning movement mechanism 206 so as to position one corner of the display DP in accordance with the positioning reference position P. The drive control unit 207 moves the X guide 205x toward the positioning reference position P along the X-axis direction, and moves the Y guide 205y toward the positioning reference position P along the Y-axis direction. For example, the drive control unit 207 moves the X guide 205x and the Y guide 205y until one corner of the display DP is aligned with the positioning reference position P. The display DP pushed by the X guide 205x and the Y guide 205y comes into contact with the support guide 208 and stops. Thereby, one corner of the display DP is positioned at the positioning reference position P.

  The display unit 209 displays an icon indicating the screw NJ detected by the information processing unit 210 on the captured image captured by the camera 201. Note that the display unit 209 is not limited to the icon indicating the screw NJ, and may display a portion (for example, a circular image region) where the possibility of the screw NJ is high as an icon. The display unit 209 may be a touch panel configured integrally with the operation unit 203.

Returning to FIG. 9, the information processing unit 210 will be described in detail.
The information processing unit 210 includes a control unit 211, a recording unit 212, an image analysis unit 213, a position detection unit 214, and a transmission / reception unit 215.
The control unit 211 comprehensively controls the fixed member detection unit 2 according to the program recorded in the recording unit 212.
The recording unit 212 records various information used for the operation of the fixed member detection unit 2.

Here, the processing performed by the image analysis unit 213 will be described in detail with reference to FIG. FIG. 11 is a reference diagram for explaining processing by the image analysis unit 213.
The image analysis unit 213 detects a shape predetermined as the shape of the head of the screw NJ exposed on the surface of the display DP based on the image captured by the camera 201. The image analysis unit 213 detects the circular fixed member area Li by, for example, geometric shape pattern matching. Note that i is a number assigned to identify each screw NJ.

FIG. 11A is an example showing a part of a captured image including the fixing member areas L1 to L3 detected by the image analysis unit 213. An example of the image of the fixed member area L1 is shown in FIG.
The image analysis unit 213 calculates the average luminance value of each pixel for each of the fixed member areas L1 to L3. The image analysis unit 213 performs binarization processing on the image of the fixed member area using the calculated average of brightness values as a threshold value. For example, FIG. 11C shows an example of the luminance value of the fixed member area L1 and an image after the binarization processing of the fixed member area L1.
As shown in FIG. 11C, the luminance value of the fixed member area L1 is lower than that of the circular shape as a whole. This is because the cross-shaped screw hole portion is recessed in a concave shape. Therefore, the image analysis unit 213 can detect the image area of the cross-shaped screw hole area by executing the binarization process. That is, the image binarized by the image analysis unit 213 can clearly represent the uneven shape formed on the head of the screw NJ.

  The image analysis unit 213 detects an image area having a luminance value lower than a threshold value that is an average of luminance values as a screw hole area Ni {i = 1, 2, 3,... Information indicating the screw hole area Ni is output to the position detection unit 214. An example of the screw hole area Ni detected by the image analysis unit 213 is shown in FIG.

The position detection unit 214 calculates the coordinates of the center point Mi of the screw hole area Ni based on the information indicating the detected screw hole area Ni, and position information (Xi, Yi) indicating the position of the detected screw hole area Ni. Get as. The center point Mi is indicated by an XY coordinate value with the positioning reference position P as the origin (0, 0, 0). The position detection unit 214 outputs the acquired position information (Xi, Yi) to the transmission / reception unit 215. That is, the position detection unit 214 detects the concavo-convex shape formed on the head of the screw NJ based on the binarized image by the image analysis unit 213, and uses the feature point of the screw NJ indicated by the concavo-convex shape. A certain center point Mi is acquired as position information (Xi, Yi) indicating the position of the screw NJ.
The transmission / reception unit 215 is communicably connected to the fixed member disassembly unit 3, and can transmit input position information (Xi, Yi) to the fixed member disassembly unit 3.

Here, the positional relationship between the lens 201a and the subject will be described with reference to FIG. FIG. 12 is a diagram for explaining the positional relationship between the lens 201a and the subject.
As shown in FIG. 12, the lens 201a collects light incident from the subject and forms a subject image on the photoelectric conversion surface (imaging surface) of the CCD 201b. As shown in the figure, the distance from the subject surface to the lens 201a is called the subject distance. The distance from the lens 201a to the imaging surface of the CCD 201b is referred to as the lens distance. When an image is taken with the subject existing on the subject surface, the subject surface is focused. The position of the lens 201a at this time is referred to as a focus position. The relationship between the lens distance and the subject distance is determined in advance according to the characteristics of the lens 201a.

Further, the control unit 211 determines whether or not position information regarding the same screw hole is already recorded in the recording unit 212 based on the analysis result of the image analysis unit 213. If it is determined that the information has already been recorded, the detected information is deleted. More specifically, the control unit 211 refers to the recording unit 212 to determine whether there is a two-dimensional coordinate value (Xi, Yi) that matches within the error range. When there is a two-dimensional coordinate value (Xi, Yi) that matches within the error range, the control unit 211 determines that information has already been recorded in the recording unit 212 for the same screw hole.
It should be noted that the two-dimensional coordinate values (Xi, Yi) that coincide with each other within the error range are compared when the X coordinate values and the Y coordinate values of all the detected two-dimensional coordinate values (Xi, Yi) are respectively compared. This is a case where the difference between the X coordinate values is a predetermined range (error range) and the difference between the Y coordinate values is a predetermined range (error range).

  The transmission / reception unit 215 is communicably connected to the height measurement unit 1 and the fixed member disassembly unit 3, receives the height information acquired by the height measurement unit 1, and is acquired by the position detection unit 214. The position information (Xi, Yi) is transmitted to the fixed member disassembly unit 3.

Next, the fixing member disassembly unit 3 will be described in detail with reference to FIGS.
FIG. 13 is a diagram for explaining the outline of the fixing member disassembly unit 3. As illustrated in FIG. 13, the fixing member disassembly unit 3 rotates the XYZ moving mechanism 302 that moves to the XYZ space while holding the fixing release tool 301, and the fixing release tool 301 about a rotation axis parallel to the Z axis. And a rotational movement mechanism 303. The XYZ moving mechanism 302 includes a support portion 302a that supports the fixing release tool 301 and the rotational movement mechanism 303, a Z moving mechanism 302z that supports the support portion 302a so as to be movable in the Z-axis direction, and the Z moving mechanism 302z. X movement mechanism 302x that supports the X movement mechanism 302x so as to be movable in the X axis direction, and a Y movement mechanism 302y that supports the X movement mechanism 302x so as to be movable in the Y axis direction. The Z moving mechanism 302z includes a linear gauge 302b that measures the amount of movement of the fixation release tool 301 in the Z direction. The linear gauge 302b outputs Z-axis direction movement information that is information indicating the measured movement amount of the unlocking tool 301. In addition, about the other structure of the XYZ movement mechanism 302, what has the structure and function similar to the above-mentioned XZ movement mechanism 202 attaches | subjects the same name to each structure part, and abbreviate | omits detailed description.
The fixing release tool 301 is, for example, a driver bid that meshes with a screw hole of a screw NJ that is a fixing member. In this specification, the fixing release tool 301 is referred to as a driver bid 301. The driver bid 301 may have a tip made of a permanent magnet, and may hold a screw NJ made of a magnetic material such as iron by a magnetic force.
A collection box 320 is provided in the vicinity of the unlocking tool 301. The collection box 320 may be fixed to the Z moving mechanism 302z so as to be movable.

The fixed member disassembly unit 3 includes an air mechanism 308. The air mechanism 308 includes a pressing pressure control mechanism 308a, an air regulator 308b, and an air injection unit 308c. The air injection unit 308c is connected to the air regulator 308b via a pipe, and injects air into the air regulator 308b. The pressing pressure control mechanism 308a is injected with the adjusted air via the air regulator 308b, and presses the driver bid 301 downward with a constant pressure with the pressure of the injected air.
In the present embodiment, the air injection unit 308c injects a pressure of 0.6 MPa into the air regulator 308b. The air regulator 308b adjusts the pressure of the injected air and outputs 0.04 MPa of air to the pressing pressure control mechanism 308a. As a result, when the driver bid 301 is moved to a position in contact with the screw head of the screw NJ, the pressing pressure control mechanism 308a causes the driver bid 301 to screw the screw NJ with a constant pressure of air injected from the air regulator 308b. Press against your head. Therefore, when the tip of the driver bid 301 and the screw head of the screw NJ are firmly meshed with each other, the accuracy of removing the screw NJ is increased by rotating the driver bid 301.

  Further, a laser displacement meter 309 is attached to the support portion 302a. The laser displacement meter 309 has a configuration that emits laser light downward in the Z-axis direction and receives laser light reflected from an object. The laser displacement meter 309 outputs information regarding the emitted laser light and the received laser light. The laser displacement meter 309 is an example of a height measurement mechanism that measures the height position according to the present embodiment. This height measurement mechanism is a configuration for acquiring information indicating coordinate values in the Z-axis direction of the upper surface of the measurement object. The height measuring mechanism according to the present invention is not limited to this, and may have other configurations.

The operation of the fixed member disassembly unit 3 will be briefly described. As shown in the figure, the fixing member disassembly unit 3 moves the driver bid 301 downward from the upper side of the display DP in a state where the back surface of the display DP is directed upward to the vicinity of the screw NJ. Thereafter, the fixing member disassembly unit 3 rotates the driver bid 301 in the direction of loosening the screw NJ while slowly bringing the driver bid 301 close to the screw. At this time, the driver bit may be approached in a stopped state without rotating. When the driver bid 301 reaches a position where it comes into contact with the screw head of the screw NJ, the pressure control mechanism 308a causes the tip of the driver bid 301 to move the tip of the screw NJ to the screw head of the screw NJ by the pressure of air injected from the air regulator 308b. Press against. Thereby, the output pressure value from the air regulator 308b changes. When it is detected that the screw NJ has been removed by the driver bid 301, the Z moving mechanism 302z of the XYZ moving mechanism 302 pulls the driver bid 301 upward in the Z-axis direction.
Note that the tip of the driver bid 301 may have a magnetic force. In this case, the driver bid 301 is lifted upward in the Z-axis direction while holding the screw NJ by the magnetic force. Next, the fixing member disassembly unit 3 moves the driver bid 301 to the upper part of the collection box 320 and accommodates the removed screw NJ in the collection box 320. However, the present invention is not limited to this, and the removed screw NJ may not be recovered and may be left removed from the attached screw hole.

Next, an example of the configuration of the fixed member disassembly unit 3 will be described with reference to FIG. FIG. 14 is a block diagram illustrating an example of the configuration of the fixed member disassembly unit 3.
As shown in FIG. 14, the fixing member disassembly unit 3 includes a fixing release tool 301, an XYZ movement mechanism 302, a rotation movement mechanism 303, a drive control unit 304, a positioning guide 305, a positioning movement mechanism 306, and drive control. A unit 307, an air mechanism 308, a laser displacement meter 309, and an information processing unit 310.

  The drive control unit 304 is a control unit that controls the operation of the rotational movement mechanism 303 while controlling the operation of the XYZ movement mechanism 302. The drive control unit 304 has a configuration as shown in FIG. 15, for example. FIG. 15 is a diagram illustrating an example of the drive control unit 304.

As shown in FIG. 15, the XYZ moving mechanism 302 is connected to the drive control unit 304. The drive control unit 304 provides power to the XYZ moving mechanism 302 and controls the operation of the XYZ moving mechanism 302.
The drive control unit 304 includes a motor control unit 341x, a motor control unit 341y, and a motor control unit 341z for operating the X movement mechanism 302x, the Y movement mechanism 302y, and the Z movement mechanism 302z, a drive unit 342x, and a drive unit. 342y and a drive unit 342z, and a motor 343x, a motor 343y, and a motor 343z.
The motor control unit 341x, the motor control unit 341y, and the motor control unit 341z issue a drive command corresponding to each operation amount (movement distance) of the X moving mechanism 302x, the Y moving mechanism 302y, and the Z moving mechanism 302z to the driving unit 342x. , Output to the drive unit 342y and the drive unit 342z, respectively. The drive unit 342x, the drive unit 342y, and the drive unit 342z drive the motor 343x, the motor 343y, and the motor 343z, respectively, according to the input drive command. The motor 343x, the motor 343y, and the motor 343z are connected to the X moving mechanism 302x, the Y moving mechanism 302y, and the Z moving mechanism 302z, respectively, and are driven by the driving unit 342x, the driving unit 342y, and the driving unit 342z to move X. The mechanism 302x, the Y moving mechanism 302y, and the Z moving mechanism 302z are moved in the X axis direction, the Y axis direction, and the Z axis direction, respectively.

  The drive control unit 304 includes a motor control unit 341c for operating the rotational movement mechanism 303, a drive unit 342c, a motor 343c, and an encoder 344c. The motor control unit 341c outputs a drive command corresponding to the rotation amount of the rotary movement mechanism 303 to the drive unit 342c. The drive unit 342c drives the motor 343c according to the input drive command. An encoder 344c that detects the amount of rotation of the driver bid 301 is attached to the rotation shaft of the motor 343c. The encoder 344c detects the rotation speed (rotation angle) indicating the rotation amount of the motor 343c and the rotation speed, and outputs information indicating the rotation amount to the motor control unit 341c. The rotational movement mechanism 303 transmits the power from the motor 343 c to the driver bid 301 to rotate the driver bid 301.

  The motor control unit 341c calculates the rotational torque of the driver bid 301 based on the rotational driving force indicated by the drive command output to the driving unit 342c and the rotation amount input from the encoder 344c. Further, the motor control unit 341c determines whether or not the calculated rotational torque is equal to or greater than a predetermined threshold value. When the rotational torque is equal to or greater than the threshold, the motor control unit 341c determines that the tip of the driver bid 301 is in a state of being fitted into the screw hole. When the rotational torque changes from the threshold value to less than the threshold value, the motor control unit 341c detects that the work of loosening the screw NJ of the driver bid 301 has been completed.

The information processing unit 310 includes a control unit 311, a recording unit 312, and a transmission / reception unit 313.
The control unit 311 comprehensively controls the fixed member disassembly unit 3 according to the program recorded in the recording unit 312. The control unit 311 includes a determination unit 311a.
The recording unit 312 records various information used for the operation of the fixed member disassembly unit 3.
The transmission / reception unit 313 is communicably connected to the fixed member detection unit 2 and can receive position information (Xi, Yi) transmitted from the fixed member detection unit 2.

  Next, the control unit 311 will be described in more detail. The control unit 311 moves the driver bid 301 to the position of the screw NJ detected by the fixing member detection unit 2 based on the position information (Xi, Yi) received from the fixing member detection unit 2, and this driver bid By 301, the fixing with the screw NJ is released.

The determination unit 311a determines whether or not the driver bid 301 has been released from being fixed with the screw NJ. The determination unit 311a can use any one of the following determination methods (1) to (3).
(1) For example, the determination unit 311a determines whether the air mechanism 308 pushes the driver bid 301 based on the output pressure from the air regulator 308b of the air mechanism 308 that presses the driver bid 301 against the screw NJ when the screw NJ is fixed. When the pressure applied to the screw NJ changes, it is determined that the driver bid 301 has been released from being fixed by the screw NJ. For example, when the output pressure value from the air regulator 308b fluctuates (that is, when it is not a constant value), or when the output pressure of the air regulator 308b falls below a predetermined threshold, It is determined that the driver bid 301 is released from being fixed with the screw NJ.
FIG. 16 is a graph showing an example of the output pressure from the air regulator 308b when the screwdriver is released by the driver bid 301. In this graph, the horizontal axis indicates the elapsed time [unit: sec], and the vertical axis indicates the output pressure [unit: MPa] from the air regulator 308b. Timing t101 shown on the horizontal axis is when the tip of the driver bid 301 and the screw head of the screw NJ come into contact with each other and when the screw NJ starts to be loosened. Timing t102 shown on the horizontal axis is when the driver bid 301 completes releasing the fixation with the screw NJ, and when the screw NJ has been loosened. Timing t103 indicating the horizontal axis is when a predetermined time T1 has elapsed from timing t102.

As shown in FIG. 16, from timing t101 to timing t102, the driver bid 301 is pressed against the screw head of the screw NJ with a constant pressure by the pressing pressure control mechanism 308a. Therefore, the output pressure value from the air regulator 308b becomes substantially constant from the start until the release by the screw NJ is completed. Immediately after the driver bid 301 is pressed against the screw head of the screw NJ with a constant pressure, the output pressure value of the air regulator 308b temporarily increases to firmly engage the screwdriver bid 301 and the screw head of the screw NJ. To do. When the driver bid 301 is released from being fixed by the screw NJ, the pressing pressure control mechanism 308a does not press the driver bid 301 against the screw head of the screw NJ. For this reason, the output pressure value from the air regulator 308b varies between the original pressure value and a pressure value slightly lower than the original pressure value. Therefore, from timing t102 to t103, as shown in FIG. 16, the output pressure value of the air regulator 308b fluctuates finely. This indicates that the screw NJ is idling while being pulled out or fitted from the screw hole. Since the screw NJ that has come out of the screw hole is pushed down by the pressure from the air regulator 308b by the rotating driver bid 301, it returns to the screw hole. As a result, the output pressure of the air regulator 308b drops for a moment, so that the output pressure of the air regulator 308b varies finely by repeating the screw NJ being pulled out or fitted into the screw hole.
Therefore, the determination unit 311a is, for example, a state where the output pressure value from the air regulator 308b is fluctuating (that is, when the output pressure value of the air regulator 308b is below a predetermined threshold). Can be determined that the driver bid 301 has been released from the fixation with the screw NJ.

(2) The determination unit 311a detects, for example, a linear gauge 302b that detects the movement of the Z movement mechanism 302z of the XYZ movement mechanism 302 that moves the driver bid 301 in the vertical direction (Z-axis direction) when releasing the fixation with the screw NJ. Based on the above, when the Z moving mechanism 302z detects that the driver bid 301 is moved downward in the Z-axis direction and moved closer to the screw NJ and then moved upward in the Z-axis direction with the release of the fixing by the screw NJ, When the movement change amount per unit time in the Z-axis direction of the driver bid 301 decreases, it is determined that the driver bid 301 has been released from being fixed by the screw NJ.
FIG. 17 is a grab showing an example of the output of the linear gauge 302b when the fixing with the screw NJ is released by the driver bid 301. In this graph, the horizontal axis indicates the elapsed time [unit: sec], and the vertical axis indicates the output [unit: mm] of the linear gauge 302b. The timings t201 to t203 shown on the horizontal axis are determined in advance from the timing t202, when the timing t201 starts to loosen the screw NJ, and when the timing t202 finishes loosening the screw NJ, respectively, similarly to the above-described t101 to t103. This is when the given time T2 has elapsed.

As shown in FIG. 17, from timing t201 to timing t202, the driver bid 301 is moved upward in the Z-axis direction. Note that the driver bid 301 may be lifted upward by the Z moving mechanism 302z, or may be lifted in conjunction with the movement of the screw NJ rotating to the information in the Z-axis direction. . When the timing t202 is reached, the driver bid 301 is lifted by a length corresponding to the length below the neck of the screw NJ. FIG. 17 shows an example in which a screw NJ having a neck length of 22 mm is used. As shown in FIG. 17, from timing t202 to t203, the output value of the linear gauge 302b varies finely. This indicates that the screw NJ is idling while being pulled out or fitted into the screw hole.
Therefore, for example, the determination unit 311a determines the amount of movement change per unit time of the driver bid 301 based on the output value of the linear gauge 302b when the driver bid 301 is moving from the lower side to the upper side in the Z-axis direction. When the calming time (the time when the movement change amount per unit time has decreased) continues for a predetermined time T2 or more, it can be determined that the driver bid 301 has been released from being fixed by the screw NJ. The determination unit 311a according to the present invention is not limited to the above-described method, and the number of times that the output value per unit time of the linear gauge 302b is determined to have decreased from the previous output value is greater than or equal to a predetermined number of times. If the number of times that the change amount of the output value per unit time of the linear gauge 302b is less than or equal to a predetermined threshold is greater than or equal to the predetermined number, It may be determined that the fixing by NJ is released. The threshold value for the number of times is a setting value for determining whether or not the time T2 has elapsed.

(3) For example, when the height position of the screw head of the screw NJ changes to the upper side in the Z-axis direction before and after the dismantling process based on the output of the laser displacement meter 309, the determination unit 311a It is determined that the bid 301 has been released.
More specifically, the determination unit 311a calculates the height position of the screw head of the screw NJ based on the output of the laser displacement meter 309.
Here, an example of the laser displacement meter 309 will be described with reference to FIG. FIG. 18 is a sectional view showing an example of the laser displacement meter 309.

As shown in FIG. 18, the laser displacement meter 309 includes an irradiation unit 309a, a light receiving unit 309b, an interface 309c, and a laser displacement control unit 309d.
For example, the irradiation unit 309a irradiates this position with detection light based on position information (Xi, Yi) indicating the horizontal position of the screw NJ detected by the fixing member detection unit 2. The irradiation unit 309a irradiates, for example, laser light having a predetermined frequency as detection light.
The light receiving unit 309b is located at a position where the laser light from the irradiation unit 309a is reflected by the measurement target and incident. As shown in FIG. 18, the light receiving unit 309b receives the laser beam reflected from the head of the screw NJ.
The laser displacement control unit 309d controls the irradiation of the laser beam to the irradiation unit 309a. The laser displacement control unit 309d calculates the optical path length of the laser light from the irradiation unit 309a until it is reflected by the screw NJ and enters the light receiving unit 309b based on the output of the laser light received by the light receiving unit 309b. It outputs to 309c.
The interface 309c inputs position information (Xi, Yi) indicating the horizontal position of the screw NJ from the transmission / reception unit 313, and outputs it to the laser displacement control unit 309d. Further, the interface 309c inputs information indicating the optical path length of the laser light from the irradiation unit 309a reflected by the screw NJ and entering the light receiving unit 309b from the laser displacement control unit 309d and outputs the information to the determination unit 311a.

For example, position information (Xi, Yi) indicating the horizontal position of the screw NJ is input from the transmission / reception unit 313 to the laser displacement meter 309 via the interface 309c. The interface 309c outputs the input position information (Xi, Yi) to the laser displacement control unit 309d. Then, the laser displacement control unit 309d controls the irradiation unit 309a so as to irradiate the position indicated by the position information (Xi, Yi) with laser light. The irradiation unit 309a emits laser light. More specifically, the laser displacement meter 309 is moved by the XYZ moving mechanism 302 to the position indicated by the position information (Xi, Yi) to the position where the irradiation unit 309a emits the laser light based on the position information (Xi, Yi). Is done.
The laser beam emitted from the irradiation unit 309a is reflected at the position of the screw NJ indicated by the position information (Xi, Yi) and enters the light receiving unit 309b. The light receiving unit 309b receives the laser beam reflected from the head of the screw NJ and outputs the output of the laser beam to the laser displacement control unit 309d. Based on the output of the laser beam received by the light receiving unit 309b, the laser displacement control unit 309d calculates the optical path length of the laser light from the irradiation unit 309a until it is reflected by the screw NJ and enters the light receiving unit 309b. Output. The interface 309c outputs, to the determination unit 311a, information indicating the optical path length of the laser light reflected from the irradiation unit 309a by the screw NJ and incident on the light receiving unit 309b.
The determination unit 311a is a coordinate indicating the vertical position of the fixing member in the three-dimensional space, based on information indicating the optical path length of the laser light reflected from the irradiation unit 309a by the screw NJ and entering the light receiving unit 309b. Get the value (Zi).
In the present embodiment, the laser displacement meter 309 acquires the screw NJ coordinate value (Zi) before and after the dismantling process.

  Further, the present invention is not limited to this, and the determination unit 311a uses the height measurement mechanism using the following technique to obtain the position information in the vertical direction of the screw NJ indicated by the Z coordinate value (Zi). You may acquire. For example, a light cutting method used when creating a stereoscopic image, a spatial code method, or the like may be used. Briefly, in the state where the measurement object is imaged with a camera, the light cutting method irradiates the laser slit light from the diagonal of the measurement object, and images the place where the light hits, thereby capturing the three-dimensional object The shape is measured. By using this light cutting method, the three-dimensional shape of the screw NJ can be measured based on the three-dimensional shape of the measurement object, and the position of the screw hole center of the head of the screw NJ can be measured more accurately. Can do. In the spatial code method, a predetermined pattern of light is projected onto a measurement object using a projector or the like as a light source, the measurement object onto which the pattern light is projected is imaged, and the captured image is binarized. Based on the binarized image, the distance to the measurement object is calculated using the principle of triangulation. By using this spatial coding method, even if the screw NJ is arranged obliquely with respect to the display DP or the structure around the screw NJ is complicated, it is difficult to capture images from the camera. The value (Zi) can be acquired.

Based on the height position of the screw hole area Ni calculated based on the output of the laser displacement meter 309, the determination unit 311a determines the height position (Zi) of the screw NJ before the disassembly process and the height of the screw NJ after the disassembly process. The position (Zi) is compared, and it is determined whether or not the height position of the screw head of the screw NJ has changed before and after the removal process of the screw NJ. When the height position (Zi) of the screw NJ after the dismantling process is higher than the height position (Zi) of the screw NJ before the dismantling process by a predetermined threshold or more and above the Z-axis direction, the determination unit 311a Is determined to have been removed by the removal process of the screw NJ. This threshold value may be determined according to the neck length of the screw NJ, or a plurality of values may be set in stages. When a plurality of values are set in stages, the determination unit 311a determines that the height position (Zi) of the screw NJ after the disassembly process is at least higher than the height position (Zi) of the screw NJ before the disassembly process. When it is above any one threshold and above the Z-axis direction, the determination unit 311a may determine that the screw NJ has been removed by the removal process. Or the determination part 311a selects the threshold value predetermined according to the magnitude | size of the diameter of a screw head among several threshold values, and the height position (Zi) of the screw NJ after a disassembly process is dismantling. It may be determined that the screw NJ has been removed by the removal process when the screw NJ is higher than the height position (Zi) of the screw NJ before the processing and is above the selected threshold and in the Z-axis direction.
The height position (Zi) of the screw NJ before the dismantling process is position information (Zi) indicating the height position in the Z-axis direction (vertical direction) of the screw NJ detected by the fixing member detection unit 2. Also good.

Next, an example of a processing flow by the fixed member detection unit 2 that can be used in the detection method based on single imaging will be described with reference to FIG. FIG. 19 is a flowchart for explaining an example of a processing flow by the fixed member detection unit 2.
In the present embodiment, the thickness (vertical length) of the display DP conveyed to the fixed member detection unit 2 is measured by the height measurement unit 1 on the upstream side. The height measurement unit 1 is assumed to output height information as a measurement result to the fixed member detection unit 2.

  For example, when the display DP to be disassembled is placed on the transport belt 401 on the upstream side of the height measurement unit 1 with the display surface facing down, the overall control unit 5 controls the transport unit 4 to The display DP is conveyed to the position of the measuring unit 1. The height measuring unit 1 measures the thickness (vertical length) of the display DP that passes through the light emitting device 101 and the light receiving device 102, and outputs height information as a measurement result to the fixed member detecting unit 2. .

  Next, when the display DP is conveyed to the position of the fixed member detection unit 2, the control unit 211 instructs the drive control unit 207 to position the display DP. The drive control unit 207 operates the positioning movement mechanism 206 so that one corner of the display DP is positioned at the positioning reference position P by the positioning guide 205. Accordingly, the X guide 205x and the Y guide 205y of the positioning guide 205 push the display DP toward the positioning reference position P. For example, when it is determined that one corner of the display DP is positioned at the positioning reference position P, the drive control unit 207 ends the operation with respect to the positioning movement mechanism 206.

(Step ST101)
When the control unit 211 receives height information from the height measurement unit 1 via the transmission / reception unit 215, the control unit 211 outputs the height information to the drive control unit 204. When the drive control unit 204 receives height information from the control unit 211, the drive control unit 204 moves the camera 201 so that the camera 201 is in focus at a height position that is half the thickness (length in the vertical direction) indicated by the height information. The XZ moving mechanism 202 is controlled to do so. For example, when the thickness of the display DP is 50 mm, the XZ moving mechanism 202 positions the camera 201 so that the camera 201 is focused on the XY plane at the height position ZM of 25 mm from the upper surface of the transport belt 401. Note that the XZ moving mechanism 202 positions the camera 201 at the start position on one end side of the display DP (X = XA position described with reference to FIG. 5).

(Step ST102)
Then, the drive control unit 204 performs XZ movement so as to move the camera 201 horizontally along the + direction of the X axis while the camera 201 is positioned at a position where the XY plane at the height position ZM is in focus. The mechanism 202 is controlled. The XZ moving mechanism 202 moves the camera 201 from one end (X = XA) to the other end (X = XB) of the display DP in a state where the camera 201 is positioned so as to be focused on the XY plane at the height position ZM. An image is taken while moving horizontally along the axial direction. As a result, the camera 201 captures an image of the entire surface of the display DP with the focus on the XY plane at the height position ZM, and acquires a captured image D101.

(Step ST103)
The image analysis unit 213 performs predetermined circular pattern matching on the captured image D101, and all the circular fixed member areas Li {i = 1, 2, 3,. ..} is detected. The image analysis unit 213 assigns a unique identification number i {i = 1, 2, 3,...] For identifying the detected fixed member area Li to each fixed member area Li.

(Step ST104)
Then, the image analysis unit 213 calculates the average of the luminance values of the pixels in the fixed member area Li. The image analysis unit 213 performs binarization processing on an image including the fixed member area Li using the calculated average of luminance values as a threshold value.
Next, the image analysis unit 213 performs, for example, predetermined cross-shaped pattern matching on the binarized image data, and detects a cross-shaped screw hole area Ni.

(Step ST105)
When the image area of the cross-shaped screw hole area Ni is detected, the image analysis unit 213 acquires position information (Xi, Yi) indicating the cross-shaped center point Mi of the detected screw hole area Ni. The image analysis unit 213 records the position information (Xi, Yi) in the recording unit 212.
The image analysis unit 213 executes step ST104 and step ST105 for all the fixed member areas Li {i = 2, 3,...} Detected from the captured image D101. When the position information (Xi, Yi) {i = 2, 3...} Is acquired, the image analysis unit 213 records the acquired position information (Xi, Yi) {i = 2, 3. Recorded in the unit 212.

(Step ST106)
Then, the image analysis unit 213 outputs information indicating the image areas of the detected screw hole area Ni and fixed member area Li to the control unit 211 as a detection result. Based on the input information, the control unit 211 displays information indicating the detected image area of the screw hole area Ni and information indicating the image area of the fixing member area Li on the display unit 209. For example, the control unit 211 superimposes and displays icons indicating the detected screw hole area Ni and fixed member area Li on the captured image D101 captured by the camera 201.

(Step ST107)
Next, the control unit 211 determines whether an instruction to cancel the setting of the screw hole area Ni and the fixing member area Li detected by the image analysis unit 213 as the image region of the screw hole is input from the user via the operation unit 203. Determine whether.
For example, when the instruction to cancel the setting as the image area of the screw hole is not input, the control unit 211 uses all of the screw hole area Ni and the fixing member area Li displayed on the display unit 209 as the image area of the screw hole. decide. Then, the control unit 211 displays on the display unit 209 that the screw hole area Ni and the fixing member area Li displayed with icons superimposed on the display unit 209 are handled as image areas of screw holes.
(Step ST108)
On the other hand, when the screw hole area Ni or the fixing member area Li is designated and an instruction to cancel the setting as the image area of the screw hole is input, the control unit 211 displays an icon indicating that it has been detected on the display unit 209. Among these, the designation as the image of the screw hole is canceled with respect to the screw hole area Ni and the fixing member area Li for which the cancel instruction is input via the operation unit 203.

In the present embodiment, the control unit 211 sets all of the detected screw hole area Ni and the fixing member area Li as the screw hole image region unless a designation for canceling the setting as the screw hole image region is input. To do. When an instruction to cancel is input, the control unit 211 excludes the specified screw hole area Ni and the fixing member area Li from the image area of the screw hole.
However, the present invention is not limited to this, and in step ST107, the user determines via the operation unit 203 what is set as the image area of the screw hole among the detected screw hole area Ni and fixing member area Li. It may be.
In this case, the control unit 211 sets the screw hole area Ni and the fixing member area Li specified by the user as the image region of the screw hole, and the screw hole on the captured image of the display DP displayed on the display unit 209. The icon is superimposed and displayed on the screw hole area Ni and the fixed member area Li set as the image area.

(Step ST109)
Next, the control unit 211 determines whether or not an instruction to newly add as a screw hole image area is input from the user via the operation unit 203.
(Step ST110)
Here, the control unit 211 designates the screw hole area Ni for which an additional instruction is input via the operation unit 203 among the icons indicating the detection on the display unit 209 as the image area of the screw hole. to add.
(Step ST111)
Then, the control unit 211 outputs position information (Xi, Yi) about each screw hole designated and added as an image area of the screw hole to the fixing member disassembly unit 3 via the transmission / reception unit 215.

Next, an example of a processing flow by the fixed member detection unit 2 that can be used in a detection method based on multiple imaging will be described with reference to FIG. FIG. 20 is a flowchart for explaining an example of a processing flow by the fixed member detection unit 2.
Note that the display DP transported to the fixed member detection unit 2 that can be used for a detection method based on multiple imaging measures the thickness (vertical length) of the display DP by the height measurement unit 1 on the upstream side. ing. The height measurement unit 1 is assumed to output height information as a measurement result to the fixed member detection unit 2.

  For example, when the display DP to be disassembled is placed on the transport belt 401 on the upstream side of the height measurement unit 1 with the display surface facing down, the overall control unit 5 controls the transport unit 4 to The display DP is conveyed to the position of the measuring unit 1. The height measuring unit 1 measures the thickness (vertical length) of the display DP that passes through the light emitting device 101 and the light receiving device 102, and outputs height information as a measurement result to the fixed member detecting unit 2. .

  Next, when the display DP is conveyed to the position of the fixed member detection unit 2, the control unit 211 instructs the drive control unit 207 to position the display DP. The drive control unit 207 operates the positioning movement mechanism 206 so that one corner of the display DP is positioned at the positioning reference position P by the positioning guide 205. Accordingly, the X guide 205x and the Y guide 205y of the positioning guide 205 push the display DP toward the positioning reference position P. For example, when it is determined that one corner of the display DP is positioned at the positioning reference position P, the drive control unit 207 ends the operation with respect to the positioning movement mechanism 206.

(Step ST201)
When the control unit 211 receives height information from the height measurement unit 1 via the transmission / reception unit 215, the control unit 211 outputs the height information to the drive control unit 204. When the height information is input from the control unit 211, the drive control unit 204 controls the XZ movement mechanism 202 to move the camera 201 so that the camera 201 is focused on the subject surface at the height position indicated by the height information. . For example, when the thickness (vertical length) of the display DP is 50 mm, the XZ moving mechanism 202 is placed on the subject surface at the height position H0 (reference camera position) at a height of 50 mm from the upper surface of the transport belt 401. The camera 201 is positioned so as to be in focus. Note that the XZ moving mechanism 202 positions the camera 201 at the start position on the one end side of the display DP (X = XA position described with reference to FIG. 7).

(Step ST202)
Then, the drive control unit 204 moves the camera 201 horizontally along the + direction of the X axis in a state where the camera 201 is positioned at a position to focus on the subject surface at the height position H0. To control. As a result, the XZ moving mechanism 202 moves from one end (X = XA) to the other end (X = XB) of the display DP in a state where the camera 201 is positioned at a position to focus on the subject surface at the height position H0. The camera 201 is moved horizontally. Thereby, the camera 201 captures an image of the entire surface of the display DP in a state where the subject surface at the height position H0 is focused, and acquires a captured image D201.

(Step ST203)
The image analysis unit 213 performs predetermined circular pattern matching on the captured image D201, and all the circular fixed member areas Li {i = 1, 2, 3,. ..} is detected. The image analysis unit 213 assigns a unique identification number i {i = 1, 2, 3,...] For identifying the detected fixed member area Li to each fixed member area Li.

(Step ST204)
Then, the image analysis unit 213 calculates the average of the luminance values of the pixels in the fixed member area Li. The image analysis unit 213 performs binarization processing on an image including the fixed member area Li using the calculated average of luminance values as a threshold value.
Next, the image analysis unit 213 performs, for example, predetermined cross-shaped pattern matching on the binarized image data, and detects a cross-shaped screw hole area Ni.

(Step ST205)
Then, the image analysis unit 213 determines whether an image area of the cross-shaped screw hole area Ni is detected. That is, the image analysis unit 213 determines whether a screw hole has been detected.

(Step ST206)
When no image area of the cross-shaped screw hole area Ni is detected, the image analysis unit 213 excludes the captured image D201 from the detection data. Then, the image analysis unit 213 proceeds to the process of step ST210.

(Step ST207)
When at least one image area of the cross-shaped screw hole area Ni is detected, the image analysis unit 213 acquires position information (Xi, Yi) indicating the cross-shaped center point Mi of the detected screw hole area Ni. .

(Step ST208)
Next, the control unit 211 collates the position information acquired by the image analysis unit 213 with the position information registered in the recording unit 212, and determines whether the information is registered (in other words, is new information). Determine. That is, the control unit 211 determines whether or not there is a plurality of detected screw hole position information. When the position information (Xi, Yi) acquired by the image analysis unit 213 in step ST207 is already registered information, the control unit 211 proceeds to the process of step ST206.

(Step ST209)
When the position information (Xi, Yi) acquired by the image analysis unit 213 in step ST207 is new, the control unit 211 records the position information (Xi, Yi) in the recording unit 212.
The control unit 211 and the image analysis unit 213 execute the processing from step ST204 to step ST208 for all the fixed member areas Li {i = 2, 3,...} Detected from the captured image D201. When the position information (Xi, Yi) {i = 2, 3...} Is acquired, the image analysis unit 213 records the acquired position information (Xi, Yi) {i = 2, 3. Recorded in the unit 212.
Then, the image analysis unit 213 obtains the Z coordinate value (Zi) of the position information (Xi, Yi) indicating the cross-shaped center point Mi of the screw hole area Ni based on the height position where the camera 201 is in focus. calculate. In the present embodiment, the captured image D201 obtained from this position information (Xi, Yi) is focused on the top surface of the display DP (the subject surface in the horizontal plane including the highest portion in the vertical direction of the mounted display DP). It is the image imaged so that. That is, the focus of the camera 201 when the captured image D201 is captured is in the vertical direction upward from the conveyance belt 401 on the subject surface of 50 mm. Therefore, the image analysis unit 213 calculates Z coordinate value (Zi) = 50 mm.
The image analysis unit 213 combines the calculated Z coordinate value (Zi) = 50 mm with the position information (Xi, Yi) determined to be new information in step ST208, and the center point of the cross shape of the screw hole area Ni A three-dimensional coordinate value (Xi, Yi, Zi) of Mi is calculated and written in the recording unit 212.

(Step ST210)
Then, the control unit 211 compares the value obtained by multiplying the amount of descent and the number of descents with the thickness of the display DP (length in the vertical direction).
(Step ST211)
The control unit 211 determines whether or not a value obtained by multiplying the amount of lowering by the number of times of lowering is less than the thickness (vertical length) of the display DP. That is, the control unit 211 determines whether or not to end the imaging of the display DP in which the height position at which the camera 201 is focused is changed stepwise.

(Step ST212)
In this embodiment, the amount of descent for one descent is 5 mm. The thickness (vertical length) of the display DP is 50 mm. At the stage of capturing the captured image D201, since the amount of descending is 0 and the number of times of descending = 0, the amount of descending × the number of descending = 0 <the thickness of the display DP (length in the vertical direction) is 50 mm.
In this case, since the value obtained by multiplying the amount of descent and the number of times of descent is less than the thickness of the display DP (length in the vertical direction), the controller 211 moves the camera 201 by a predetermined amount of descent (for example, 5 mm). The drive control unit 204 is instructed to lower it.
Then, the drive control unit 204 controls the XZ moving mechanism 202 so that the camera 201 is lowered by 5 mm. The XZ moving mechanism 202 lowers the height position of the camera 201 by 5 mm.
Next, returning to step ST202, the drive control unit 204 moves the camera 201 horizontally along the − direction of the X axis in a state where the camera 201 is positioned so as to be in focus at the height position H1 of 45 mm. The XZ moving mechanism 202 is controlled. The XZ moving mechanism 202 moves the camera 201 horizontally along the − direction of the X axis from one end of the display DP to the other end in a state where the XDP moving mechanism 202 is positioned so as to be in focus at the height position H1 of 45 mm. Accordingly, the camera 201 captures an image of the entire surface of the display DP that is focused on the subject surface at the height position H1 of 45 mm, and obtains a captured image D202.
In the present embodiment, the fixing member detection unit 2 repeats steps ST202 to 212, and changes the height position of the subject surface on which the camera 201 is focused in steps of 5 mm within a range of 50 mm to 0 mm. The captured images D201 to D211 are acquired.

  On the other hand, when the value obtained by multiplying the amount of descent and the number of times of descent is equal to or greater than the thickness of the display DP (length in the vertical direction), the control unit 211 determines to end imaging of the display DP whose focal position is changed stepwise. To do.

(Step ST213)
And the control part 211 outputs the three-dimensional coordinate value (Xi, Yi, Zi) about each screw hole to the fixed member disassembly unit 3 via the transmission / reception part 215.

Next, an example of a processing flow by the fixed member disassembly unit 3 will be described with reference to FIGS. FIG. 21 is a diagram for explaining an example of a processing flow by the fixing member disassembly unit 3. 22 and 23 are schematic diagrams for explaining the movement of the tip of the driver bid 301 that is moved by the fixing member disassembly unit 3. In FIG. 22, the XZ coordinate value in the stage space will be described, and the description of the Y coordinate value will be omitted. In FIG. 23, the XY coordinate value in the stage space will be described, and the description of the Z coordinate value will be omitted.
When the acquisition of the position information by the fixed member detection unit 2 is completed, the overall control unit 5 controls the transport unit 4 to transport the display DP to the position of the fixed member disassembly unit 3. Then, the control unit 311 of the fixed member disassembly unit 3 instructs the drive control unit 307 to position the display DP. The positioning process performed by the drive control unit 307 is the same as the process performed by the drive control unit 207 described above, and thus detailed description thereof is omitted.

  The control unit 311 records the position information (Xi, Yi) {i = 2, 3...} Received from the fixed member detection unit 2 and information indicating the shape of the screw hole in the recording unit 312. The control unit 311 sequentially reads position information (Xi, Yi) {i = 2, 3,...} From the recording unit 312 and places the tip of the driver bid 301 at the position indicated by the position information (Xi, Yi). The drive control unit 304 is instructed to move.

(Step ST301)
First, the drive control unit 304 moves the laser displacement meter 309 to the position indicated by the position information (Xi, Yi) in order to measure the height position of the position indicated by the position information (Xi, Yi). The laser displacement meter 309 irradiates the screw NJ indicated by the position information (Xi, Yi) with laser light, and measures the height position (Zi) of the screw NJ based on the reflected light from the screw head of the screw NJ. To the determination unit 311a.
(Step ST302)
Next, the drive control unit 304 includes an X movement mechanism 302x of the XYZ movement mechanism 302 so as to move the driver bid 301 to a position where the position indicated by the position information (Xi, Yi) and the rotation center axis of the driver bid 301 are orthogonal to each other. The Y moving mechanism 302y is operated. As a result, the tip of the driver bid 301 is positioned at a position P1 shown in FIG. Note that the Z coordinate value at this time is determined in advance as a position sufficiently away from the display DP.

(Step ST303)
Next, the drive control unit 304 uses, for example, the height information acquired by the height measurement unit 1 as the screw hole position information (Zi = ZH) so as to lower the driver bid 301 to the position information (Zi = ZH). The XYZ moving mechanism 302 is operated. That is, the drive control unit 304 drives the Z moving mechanism 302z of the XYZ moving mechanism 302 to lower the driver bid 301 so that the tip of the driver bid 301 is at the position of Z coordinate value = ZH. The drive control unit 304 controls the driver bid 301 to move from the position P1 to the position P2 in the Z-axis direction at the first speed.

(Step ST304)
Accordingly, the driver bid 301 is positioned at a position where the rotation center axis is orthogonal to the XY coordinate values (Xi, Yi), and the tip thereof is positioned at the Z coordinate value (ZH). That is, the tip of the driver bid 301 is positioned at a position P2 (in other words, a thickness position of the display DP) shown in FIG. The drive control unit 304 may temporarily stop the movement of the driver bid 301 when the tip of the driver bid 301 reaches the position P2.

(Step ST305)
Then, the drive control unit 304 operates the rotational movement mechanism 303 so as to rotate the driver bid 301 at a low speed in the direction of loosening the screw NJ (for example, left rotation). Accordingly, the driver bid 301 rotates at a low speed around a rotation axis parallel to the Z axis. Note that the present invention is not limited to this, and the processes of steps ST303 and 304 may be executed while rotating the driver bid 301 at a low speed.

(Step ST306)
Next, the drive control unit 304 operates the XYZ moving mechanism 302 so as to lower the driver bid 301 at a low speed. The speed at which the driver bid 301 is lowered is a second speed that is slower than the first speed at which the driver bid 301 is moved in the Z-axis direction from position P1 to P2. That is, the drive control unit 304 adjusts the amount of movement of the driver bid 301 while determining whether or not the torque for the rotational movement mechanism 303 to rotate the driver bid 301 has increased to a rotation threshold value or more. When this rotational torque is equal to or greater than the threshold, the motor control unit 341c determines that the tip of the driver bid 301 is in a state of being fitted into the screw hole, and stops the movement of the driver bid 301 in the Z-axis direction. A command instructing this is output to the motor control unit 341z. Note that the tip of the driver bid 301 when the tip of the driver bid 301 is fitted in the screw hole is located at a position P3 shown in FIG.
That is, the XYZ moving mechanism 302 moves the fixing release tool 301 in the Z-axis direction from the position P1 to P2 at the first speed, and the driver bid 301 from the position P2 to P3 at the second speed slower than the first speed. Is moved in the Z-axis direction.

  Here, air adjusted by an air regulator 308b is injected into the pressing pressure control mechanism 308a. Therefore, when the driver bid 301 reaches a position where it comes into contact with the screw head of the screw NJ, the pressure control mechanism 308a causes the tip of the driver bid 301 to move the tip of the screw NJ by the pressure of air injected from the air regulator 308b. Press against. Therefore, the motor control unit 341c determines that the tip of the driver bid 301 is fitted to the screw hole when the pressure at which the pressing pressure control mechanism 308a presses the screw NJ changes, and the Z of the driver bid 301 is determined. A command for instructing to stop the movement in the axial direction may be output to the motor control unit 341z.

(Step ST307)
In addition, when the motor control unit 341c determines that the tip of the driver bid 301 is in a state of being fitted into the screw hole of the screw NJ, the motor control unit 341c sends a drive command to increase the rotation speed of the driver bid 301 to the drive unit 342c. Output. Thereby, the rotational speed of the driver bid 301 increases, and the driver bid 301 loosens the screw NJ.
In this manner, when the screw NJ is loosened, the screw NJ is lifted upward in the Z-axis direction.
Further, during the dismantling process in which the screw is loosened by the driver bid, the drive control unit 304 performs control so that the rotation center axis of the driver bid 301 is moved to a position different from the rotation center axis of the screw NJ. An example of this movement trajectory is shown in FIG.
When the driver bid 301 comes into contact with the screw head of the screw NJ, the rotation center axis of the driver bid 301 coincides with the rotation center axis of the screw NJ. Thereafter, the driver bid 301 is rotated in the direction of loosening the screw NJ. Accordingly, the drive control unit 304 moves the rotation center axis of the driver bid 301 so as to draw an arc of 180 °, for example, as shown in FIG.
Thereby, since the loosened screw NJ has a high possibility of falling, the screw NJ can be reliably removed.
The present invention is not limited to this, and the drive control unit 304 may linearly move the rotation center axis of the driver bid 301 to a position different from the rotation center axis of the screw NJ.

(Step ST308)
The determination unit 311a determines whether the driver bid 301 has been released from being fixed by the screw NJ using any one of the determination methods (1) to (3) described above.
(Step ST309)
When the determination unit 311a determines that the driver bid 301 is released from being fixed by the screw NJ, the motor control unit 341c outputs a drive command to stop the rotation of the driver bid 301 to the drive unit 342c. As a result, the rotation of the driver bid 301 stops. In addition, the motor control unit 341z lifts the driver bid 301 upward in the Z-axis direction. For example, the motor control unit 341z lifts the driver bid 301 to a position where the tip of the driver bid 301 is positioned at a position P4 shown in FIG.

(Step ST310)
Then, the determination unit 311a determines whether or not the fixing of all the screws NJ detected by the fixing member detection unit 2 has been released. For example, as a process in step ST302, the determination unit 311a determines whether or not the driver bid 301 has been moved to the positions of all the screws NJ detected by the fixing member detection unit 2, and the positions of all the screws NJ are determined. If it is determined that the process of step ST302 for moving the driver bid 301 has been performed, it may be determined that all the screws NJ have been released. In addition, the determination unit 311a refers to the information indicating that the screw NJ is determined to have been released, and whether or not the fixation of all the screws NJ detected by the fixing member detection unit 2 has been released May be determined. When the determination unit 311a determines that the fixing has been released, the determination unit 311a uses the determination result as information indicating that the screw NJ that has been disassembled is the screw NJ that has been determined to have been released. Write to 312.

On the other hand, if it is determined that all the screws NJ detected by the fixing member detection unit 2 have not been released, the process returns to step ST301 and repeats the processes of steps ST301 to ST310.
Note that when returning to steps ST301 and ST302, the drive control unit 304 moves the laser displacement meter 309 and the screw NJ to the position of the screw NJ that has not been determined to be released among the screws NJ detected by the fixing member detection unit 2. The driver bid 301 is moved.

(Step ST311)
On the other hand, when the determination unit 311a determines that all the screws NJ detected by the fixing member detection unit 2 have been released, the driver bid 301 is returned to the original position and the process is terminated.
Here, when it is determined in advance that the calibration is to be executed, the control unit 311 executes the calibration.

Here, an example of calibration according to the present embodiment will be described with reference to FIG. FIG. 24 is a diagram for explaining an example of the calibration detection unit 330 according to the present embodiment. FIG. 24A is a schematic view of the calibration detection unit 330 as viewed from above (+ side in the Z-axis direction). FIG. 24B shows the calibration detection unit 330 when the calibration detection unit 330 shown in FIG. 24A is cut along the imaginary line II ′ from the side surface side (the + side in the Y-axis direction). FIG. The calibration detection unit 330 has a structure provided in the fixed member disassembly unit 3. For example, as shown in FIGS. It is. In the illustrated example, the middle height position H11 is the lowest and the outer height position H22 is the highest. The height position is a coordinate value in the Z-axis direction.
In the illustrated example, the calibration detection unit 330 is provided with a step in a spiral shape, but the present invention is not limited to this, and a step having the same height on a concentric circle may be provided. .
Further, the calibration detection unit 330 according to the present invention is not limited to this configuration, and may be a convex structure having the highest middle height position and the lowest outer height position.
For example, the calibration detection unit 330 is provided at a position where the laser light of the laser displacement meter 309 is irradiated downward in the Z-axis direction in a state where the driver bid 301 is returned to the initial position. For example, the position H11 having the lowest height position in the calibration detection unit 330 is provided at a position where the coordinate value of the Z axis = 0.

When the driver bid 301 is returned to the predetermined initial position after the disassembly processing of all the screws NJ is completed, the control unit 311 determines the height position of the calibration detection unit 330 before the disassembly processing and the laser displacement. The height position of the calibration detection unit 330 after the dismantling process measured by the total 309 is compared. If the height positions do not match, it is determined that the initial position of the driver bid 301 is shifted. . The calibration detection unit 330 is provided at a position corresponding to this initial position.
Specifically, the control unit 311 measures the height position of the calibration detection unit 330 at the initial position in advance before the screw NJ disassembly process. Then, the control unit 311 writes the measurement result in the recording unit 312. Thereafter, after the disassembly processing of all the screws NJ is completed, when the driver bid 301 is returned to the initial position, the control unit 311 irradiates the laser beam from the laser displacement meter 309 to the calibration detection unit 330 and reflects it. Based on the optical path length of the light, the height position of the calibration detector 330 irradiated with the laser light is detected.

It is assumed that it is determined in advance that the coordinate value = 0 of the Z axis is detected based on the laser light irradiated to the calibration detection unit 330 at the initial position. When the driver bid 301 is returned to the initial position, the determination unit 311a of the control unit 311 determines that if the Z-axis coordinate value calculated based on the laser light applied to the calibration detection unit 330 is 0, the driver bid 301 It is determined that the initial position is not shifted, and it is determined that the position correction of the driver bid 301 is not necessary. When the coordinate value of the Z axis is not 0, the determination unit 311a of the control unit 311 determines that the initial position of the driver bid 301 is shifted, and determines that the position correction of the driver bid 301 is necessary.
When it is determined that the position correction of the driver bid 301 is necessary, the control unit 311 moves the driver bid 301 to a position where the coordinate value of the Z axis = 0. Thereby, the positional deviation of the driver bid 301 is corrected.
Therefore, by repeating the dismantling process, the initial position is shifted, the origin of the XYZ coordinate space where the display DP is located, and the XYZ coordinate space when the control unit 311 controls the laser displacement meter 309 and the driver bid 301. The positional deviation from the origin is corrected. Therefore, the dismantling system of the screw NJ can be enhanced.

As described above, according to the fixing member disassembly system according to the embodiment of the present invention, it is possible to release the fixation with the screw NJ while determining whether the fixing with the screw NJ is released. Therefore, since the object to be dismantled can be dismantled while reliably releasing the fixing with the screw NJ, dismantling can be performed efficiently. Further, the fixing with the screw NJ can be reliably released. Furthermore, since the fixing with the screw NJ is not sufficiently released, the work such as releasing the fixing with the same screw NJ does not occur again, so that the disassembly time can be shortened. Furthermore, when it is determined that the fixing with the screw NJ is released, the next screw NJ can be quickly released, so that useless time can be eliminated and the disassembly time can be shortened.
In addition, it is possible to prevent the situation in which the screw NJ that has already been released is released again, or the situation in which the fixation by the same screw NJ is released again because the release by the screw NJ is insufficient. And dismantling time can be shortened.

  Further, in the above description, the fixing member disassembly system 100 has been described by taking as an example a configuration including the height measurement unit 1, the fixing member detection unit 2, and the fixing member disassembly unit 3 one by one. However, the present invention is not limited to this, and a plurality of them may be provided in parallel.

In step ST103 shown in FIG. 19 and the like described above, when detecting the fixed member area Li {i = 1, 2, 3,...}, The image analysis unit 213 has a shape similar to the screw NJ. Thus, an image that is likely to be erroneously detected (hereinafter referred to as a similar image) may be excluded. The similar image is determined in advance as an image similar to the screw NJ but not the screw NJ.
As this similar image, for example, a terminal hole, an operation button, a meshed ventilation hole provided on the back surface of the display DP, or “0 (number zero)” or “O, Q (alphabet O, Queue) ”etc. are predetermined.
For example, the image analysis unit 213 detects an image region having a feature of a similar image by pattern matching from each of the captured images, and erroneously detects the detection target of the fixed member area Li {i = 1, 2, 3,. The image which is easy to do may be cut out. As a result, it is possible to reduce the possibility that an image other than the screw NJ is erroneously detected, and to increase the detection accuracy of the image of the screw NJ.

As described above, the image analysis unit 213 may exclude the fixed member area Li {i = 1, 2, 3,...} From the detection target region in advance, and the fixed member area Li {i = 1. , 2, 3...}, Even if it is determined that the fixed member area Li {i = 1, 2, 3. Good.
The latter will be specifically described. The image analysis unit 213 detects the fixed member area Li {i = 1, 2, 3...}, And then detects the fixed member area Li {i = 1, 2, 3,. .} Is determined whether there is a fixed member area Li {i = 1, 2, 3,...} Matching a similar image similar to the screw NJ. The image analysis unit 213 determines that the fixed member area Li {i = 1, 2, 3,...} Having a feature corresponding to the feature of the similar image matches the similar image, and this fixed member area. It is determined that Li {i = 1, 2, 3,...} Is not an image of the screw NJ. Then, the image analysis unit 213 excludes the fixing member area Li {i = 1, 2, 3,...] Determined not to be an image of the screw NJ from the position information detection target.

The present invention is not limited to the above embodiment.
For example, in the present embodiment, the fixed member detection unit 2 has been described with reference to an example in which the position of the camera 201 in the Z-axis direction is changed by the XZ movement mechanism 202 when the camera 201 is focused. However, the present invention is not limited to this, and the fixed member detection unit 2 may include an AF function, and the focus position may be adjusted using the AF function.

  Furthermore, as described above, the camera 201 according to the present embodiment has been described using a licensor camera as an example, but the present invention is not limited to this, and may be an area camera. A case where the camera 201 is the area camera 2010 will be described below.

With reference to FIG. 25, an example of the fixed member detection unit 2_2 including the area camera 2010 instead of the camera 201 will be described.
FIG. 25 is a diagram for explaining the outline of the fixed member detection unit 2_2. As shown in FIG. 25, the fixed member detection unit 2_2 includes an XYZ moving mechanism 2020 that moves the area camera 2010 in the XYZ space while holding the area camera 2010. The XYZ moving mechanism 2020 includes a support portion 2020a that supports the area camera 2010, a Z moving mechanism 2020z that supports the supporting portion 2020a so as to be movable in the Z-axis direction, and the Z moving mechanism 2020z that is movable in the X-axis direction. And an X movement mechanism 2020x that supports the X movement mechanism 2020x so as to be movable in the Y-axis direction. Note that the XYZ moving mechanism 2020 has the same function as that of the XYZ moving mechanism 302, and thus the same name is assigned and detailed description is omitted. Similarly to the fixed member detection unit 2, the fixed member detection unit 2_2 includes an operation unit 203, a drive control unit 204, a positioning guide 205, a positioning movement mechanism 206, a drive control unit 207, and a display unit 209. And an information processing unit 210. Detailed description is omitted.

  Further, the area camera 2010 is equipped with, for example, a high-frequency fluorescent lamp 2030 for illuminating a region imaged by the area camera 2010.

  For example, the area camera 2010 captures an image by dividing the entire area of the back surface of the display DP into a plurality of areas. The number of divisions (including the case where no division is performed) is determined in advance according to the size of a disassembly target and the performance of a CCD (Charge Coupled Device Image Sensor) mounted on the area camera 2010. When the display DP is small, or when the area camera 2010 is compatible with a wide-angle lens, there are cases where the entire area of the display DP can be imaged at one time without being divided. In this case, the area camera 2010 captures the entire area of the display DP as one image. That is, the number of divisions = 1.

Here, with reference to FIG. 26, an example of an image on the back surface of the display DP captured by the area camera 2010 will be described. FIG. 26 is a diagram illustrating an example of a plurality of divided images captured by the area camera 2010. As shown in FIG. 26, when only the position on the XY plane is described, that is, when only the X and Y coordinate values are used as the coordinate information based on the positioning reference position P, and the Z coordinate value is not used, the positioning is performed. The coordinate value (0, 0) of the reference position P may be indicated.
As shown in FIG. 26, the entire rear surface of the display DP is, for example, virtually divided into nine divided areas as imaged areas, and is represented by divided images D1 to D9 obtained by imaging each of these divided areas. The positions of the divided images D1 to D9 are determined in advance on the entire rear surface of the display DP based on the XY coordinate values in the stage coordinate space with the positioning reference position P as the origin (0, 0). For example, the divided image D1 is an area indicated by the positioning reference position P (0, 0) and the other three points (xa, 0), (0, ya), (xa, ya). Further, the number of divisions of this divided image is determined in advance according to the size of the display DP and the performance of the area camera 2010. The resolution of the area camera 2010 is, for example, 60 to 80 μm.
The image analysis unit 213 detects the fixing member area L1 and the screw hole area Ni based on the divided image captured by the area camera 2010, and calculates position information indicating the position of the screw hole based on the detection result.

  As described above, when the area camera 2010 divides and captures the back surface of the display DP, the half of the height position including the highest part of the display DP may be focused in the imaging region.

  The program for realizing the procedure by the fixing member disassembly system 100 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into the computer system and executed, thereby executing the processing. May be performed. Here, the “computer system” may include hardware such as an OS (Operating System) and peripheral devices.

  Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used. The “computer-readable recording medium” means a flexible disk, a magneto-optical disk, a ROM, a writable nonvolatile memory such as a flash memory, a portable medium such as a CD-ROM, and a hard disk built in a computer system. It refers to the recording device.

Further, the “computer-readable recording medium” refers to a volatile memory (for example, DRAM (DRAM) in a computer system that becomes a server or a client when a program is transmitted through a network such as the Internet or a communication line such as a telephone line. Dynamic Random Access Memory)) that holds a program for a certain period of time is also included.
The program may be transmitted from a computer system storing the program in a recording device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
The program may be for realizing a part of the functions described above.
Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  DESCRIPTION OF SYMBOLS 1 ... Height measuring unit, 2 ... Fixed member detection unit, 3 ... Fixed member disassembly unit, 4 ... Conveyance unit, 5 ... General control unit, 100 ... Fixed member disassembly system, 101 ... Light-emitting device, 101_1-101_n ... Light-emitting part DESCRIPTION OF SYMBOLS 102 ... Light-receiving device 102_1-102_n ... Light-receiving part 201 ... Camera, 202 ... XZ movement mechanism, 203 ... Operation part, 204 ... Drive control part, 205 ... Positioning guide, 206 ... Positioning movement mechanism, 207 ... Drive control part 209, display unit, 210, information processing unit, 211, control unit, 212, recording unit, 213, image analysis unit, 214, position detection unit, 215, transmission / reception unit, 301, fixing release tool, 302, XYZ movement mechanism , 303 ... Rotation movement mechanism, 304 ... Drive control unit, 305 ... Positioning guide, 306 ... Positioning drive mechanism, 307 ... Drive 308 ... Air mechanism, 308a ... Pressure control mechanism, 308b ... Air regulator, 308c ... Air injection unit, 309 ... Laser displacement meter, 310 ... Information processing unit, 311 ... Control unit, 311a ... Determination unit, 312 ... Recording unit, 313 ... transmission / reception unit

Claims (9)

A fixing member that detects a fixing member that fixes the dismantling object based on a captured image obtained by imaging at least a part of the dismantling object, and acquires position information indicating a position of the detected fixing member in the dismantling object A detection unit;
Based on the position information detected by the fixing member detection unit, the fixing release tool for releasing the fixing by the fixing member is moved to the position of the fixing member, and the fixing member is fixed by the fixing release tool. A fixing member dismantling unit that determines whether or not the fixing release tool has released the fixing by the fixing member,
A fixing member dismantling system comprising: The fixing member disassembly unit is
When it is determined that the fixing release tool has released the fixing by the fixing member, among the fixing members detected by the fixing member detection unit, the fixing member that has not been determined to be released is fixed to the position of the fixing member. The fixing member disassembly system according to claim 1, wherein the fixing release tool is moved. The fixing member disassembly unit is
When the pressure by which the air mechanism presses the fixing member changes based on the pressure of the air mechanism that presses the fixing release tool against the fixing member when releasing the fixing by the fixing member, the fixing release tool is The fixing member disassembly system according to claim 1, wherein it is determined that the fixing by the fixing member has been released. The fixing member disassembly unit is
When the movement change amount per unit time of the movement amount decreases based on the movement amount of the movement mechanism that moves the fixation release tool in the vertical direction when releasing the fixation by the fixation member, the fixation release tool is The fixing member disassembly system according to claim 1, wherein it is determined that the fixing by the fixing member has been released. A height measuring mechanism for measuring the height of the fixing member;
The fixing member disassembly unit is
Whether the height of the fixing member measured by the fixing member height measuring mechanism has changed before and after the disassembling process of the fixing member based on the information indicating the vertical height position of the fixing member before the dismantling process It is determined whether or not, and it is determined that the fixing release tool has released the fixing by the fixing member that has been determined that the height of the fixing member has changed before and after the dismantling process. The fixing member dismantling system described in 1. The fixing member disassembly unit is
After the dismantling process, when the unlocking tool is returned to a predetermined initial position, a calibration detection is provided at a position corresponding to the initial position, with a structure in which a step having a different height position is provided. When the height position before the dismantling process of the part is compared with the height position of the calibration detection part after the dismantling process measured by the height measurement mechanism, the height position does not match, 6. The fixing member disassembly system according to claim 5, wherein it is determined that an initial position of the unlocking tool is shifted. The fixing member disassembly unit is
In the case of releasing the fixation by the screw that is the fixing member by rotating the driver bid that is the fixing release tool, during the dismantling process in which the screwdriver loosens the screw, the rotation center axis of the driver bid is set to the screw The fixed member disassembly system according to any one of claims 1 to 6, wherein the fixed member disassembly system is moved to a position different from the rotation center axis. Detecting a fixing member that fixes the dismantling object based on a captured image obtained by imaging at least a part of the dismantling object, and acquiring position information indicating a position of the detected fixing member in the dismantling object; ,
Moving a fixation release tool for releasing the fixation by the fixation member to the position of the fixation member based on the position information detected by the fixation member detection step;
Releasing the fixing by the fixing member by the fixing release tool;
Determining whether the fixation release tool has released the fixation by the fixation member; and
A fixing member disassembling method comprising: On the computer,
A procedure for detecting a fixing member that fixes the dismantling object based on a captured image obtained by imaging at least a part of the dismantling object, and acquiring position information indicating a position of the detected fixing member in the dismantling object;
A procedure for moving a fixing release tool for releasing the fixing by the fixing member to the position of the fixing member based on the position information detected by the fixing member detection procedure;
A procedure for releasing the fixing by the fixing member by the fixing release tool;
A procedure for determining whether or not the fixation release tool has released the fixation by the fixation member;
A program for running

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