JP5853893B2 - Fixing member dismantling system and fixing member disassembling method - Google Patents

Description

The present invention relates to a fixing member dismantling system, and the fixed member dismantling how.

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 (see, for example, 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.

The present invention has been made in view of the above respects, improve the detection accuracy of the fixing member, the fixing member dismantling system can reduce the labor required for disassembling work of dismantling the object, and the fixing member dismantling how the The purpose is to provide.

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 is disposed above a disassembly object to be placed with a predetermined surface down. A camera and a moving mechanism for moving the camera in a horizontal direction that is horizontal to the surface to be disassembled and a vertical direction that is perpendicular to the surface, and placed with a predetermined surface down The dismantling object is focused on the highest position of the dismantling object using the moving mechanism based on the height information indicating the length in the vertical direction that is the thickness of the dismantling object measured in advance. The camera is moved in a horizontal direction at a reference camera position, and then the camera is moved in a horizontal direction with respect to the surface of the disassembly object in a state where the camera is gradually brought closer to the disassembly object than the reference camera position. Move By to obtain a plurality of captured images obtained by imaging the demolition object to focus at different height positions in a direction perpendicular to the plane of the demolition object, the plurality of captured images this obtained A fixing member that detects a fixing member that fixes the dismantling object and calculates position information indicating a position of the detected fixing member in a horizontal direction and a vertical direction with respect to the surface of the dismantling object ; A fixing unit for moving the detection unit and a fixing release tool for releasing the fixing by the fixing member to the position of the fixing member in the dismantling object based on the position information, and for releasing the fixing by the fixing member by the fixing release tool A member dismantling unit.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, the disassembly work of the dismantling target can be executed without the manual operation of the dismantling worker. Can be reduced. In addition, by capturing the dismantling object so that the dismantling object is focused at different height positions in the vertical direction of the dismantling object that is placed, the possibility that an image in which each fixing member is in focus is increased, An image obtained by capturing each fixing member more clearly can be acquired. Therefore, the detection accuracy can be improved by detecting the fixed member based on these images.

In addition , according to the fixing member disassembly system according to one embodiment of the present invention, an image that is in focus at any height position in the height direction of the disassembly target can be captured. The possibility that the fixing member is imaged increases. As a result, it is possible to prevent a useless image not including the fixing member from being captured, and to efficiently acquire an image obtained by capturing the fixing member.

In addition , according to the fixing member disassembly system according to the embodiment of the present invention, any height position in the vertical direction of the dismantling target can be easily obtained by using the height information indicating the vertical length of the dismantling target. It is possible to capture an image that is in focus. Further, by moving the camera in the horizontal direction and picking up the dismantling object in the line sensor method, it is possible to pick up an image with higher resolution.

Moreover, the above-described fixing member disassembly system according to one aspect of the present invention further includes a height measurement unit that measures the length in the vertical direction, which is the thickness of the dismantling target placed.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, by including the height measurement unit that measures the length of the disassembly target in the vertical direction, the length of each disassembly object in the vertical direction is determined. Measurement is performed for each dismantling object, and the measurement result can be provided to the fixed member detection unit.

Further, in the above-described fixing member disassembly system according to one aspect of the present invention, the fixing member detection unit is configured to capture a plurality of images of the dismantling object so that the disassembly objects are focused at different height positions in the vertical direction of the dismantling object. of the image, and it calculates a position of the fixing member in a horizontal plane on the basis of the captured image is in focus for the most fixing member, the position of the camera that captured images that focus match for the most fixing member is captured Based on this, the vertical position of the fixing member is calculated.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, when a plurality of captured images obtained by capturing the same fixing member are acquired, the focus on the fixing member most among the plurality of captured images. This fixed member can be detected by using a captured image in which the fixed member is suitable, that is, a captured image in which the fixed member is most clearly captured. Therefore, the position of the fixing member in the captured image can be detected with high accuracy. Also, most by specifying a captured image is in focus with respect to the fixed member, the focal length of the camera and the fixed member captured the captured image is determined, is possible to calculate the position in the vertical direction of the fixing member it can.

The fixing member disassembling method according to one aspect of the present invention may be configured such that a length in the vertical direction that is a thickness of the dismantling object measured in advance is measured with respect to a dismantling object placed with a predetermined surface facing down. Based on the height information shown, the camera is moved in the horizontal direction at the reference camera position that is in focus at the highest position of the dismantling object, and then the camera is gradually brought closer to the dismantling object than the reference camera position. By moving the camera in a horizontal direction with respect to the surface of the dismantling object in a state, the dismantling object is imaged so that the focal points are in different height positions in the vertical direction with respect to the surface of the dismantling object to obtain a plurality of captured images, based on a plurality of captured images this obtained, detecting a securing member that secures the dismantling subject, the dismantling of the detected said fixed member Calculating position information indicating a position in the horizontal and vertical directions with respect to the surface of the elephant, for releasing the fixing by the fixing member to a position of the fixing member in the dismantling subject on the basis of the position information Moving the fixing release tool, and releasing the fixing by the fixing member by the fixing release tool.

  ADVANTAGE OF THE INVENTION According to this invention, the detection accuracy of a fixing member can be improved and the labor in the dismantling operation | work of a disassembly object can be reduced.

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 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 figure for demonstrating an example of the collection | recovery method to the collection | recovery box 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 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 a figure for demonstrating the other example of the fixation release tool 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. Further, as a method for releasing the fixation of the screw NJ, an example of a method for removing the screw NJ from the display DP cabinet by rotating the screw NJ screwed in a direction to loosen it using a fixing release tool such as a driver bit, 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 it is only necessary to measure the length in the vertical direction of the dismantling object placed with a predetermined surface facing down, and for dismantling objects having a long length in the vertical direction. Is also applicable.

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 the present embodiment, the fixed member detection unit 2 images the display DP so that the display DP 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 is detected based on a plurality of picked-up images with different height positions that are in focus in the vertical direction of the display DP.
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. Note that 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 vertical direction from below). In the upward direction).

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. In addition, it is preferable that the fixed member detection unit 2 also calculates 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.
The fixed member detection unit 2 is a fixed member in the vertical direction based on data of a plurality of captured images obtained by capturing the entire region of the display DP to be disassembled so as to be focused at different height positions. Position information indicating the position of the screw NJ (that is, a 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.

  The fixing member disassembly unit 3 moves the tip of the driver bit, which is a fixing release tool for releasing the fixing by the screw NJ, to the position of the screw NJ in the object to be disassembled based on the position information acquired by the fixing member detection unit 2 Then, the fixing with the screw NJ is released by the fixing release tool.

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. Is equivalent to the thickness (vertical length) of the display DP. In the present embodiment, the light receiving device 102 indicates the height indicating the light emission position of the light emitting units 101_1 to 101_n (that is, the installation position of the light emitting units 101_1 to 10_n), and the length in the vertical direction of the display DP. It outputs to the fixed member detection unit 2 as the height information shown.

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.

Further, the XZ moving mechanism 202 is focused at the highest position of the display DP in the vertical direction (Z-axis direction) based on the height information indicating the vertical length of the display DP placed on the conveyor belt 401. The camera 201 that images the display DP is moved stepwise to the reference camera position and a position closer to the display DP than the reference camera position in the vertical direction.
In the present embodiment, the XZ movement mechanism 202 sets the reference camera position as an initial position, and moves the camera 201 closer to the display DP by a predetermined amount of descent (for example, 5 mm) from the initial camera position. Move.

Here, an example of the movement of the camera 201 by the XZ moving mechanism 202 according to the present embodiment will be described with reference to FIGS.
FIG. 5 shows an example of a schematic cross-sectional view of a display DP that is a disassembly target 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 at which the camera 201 is 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. 5, 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. 6 is a diagram illustrating an example of a movement trajectory of the camera 201 of the fixed member detection unit 2 according to the present embodiment. In FIG. 6, the cross-sectional view of the display DP shown in FIG. 5 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.
The captured images captured by the camera 201 so as to focus on the subject surface at the height positions H0, H1, H2, H3... H10 are hereinafter referred to as captured images D0, D1, D2, D3. It is called D10.

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. 7 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. 7, 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. 8 is a block diagram illustrating an example of the configuration of the fixed member detection unit 2.
As shown in FIG. 8, the fixed member detection unit 2 includes a drive control unit 204, a positioning guide 205, a positioning movement mechanism 206, a drive control unit 207, 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 drive control unit 204 operates the XZ moving mechanism 202 to move the camera 201. In the present embodiment, as described above with reference to FIG. 6, the drive control unit 204 moves the camera 201 on the XZ plane so as to focus on the subject surface at the height positions H0, H1, H2, H3. Move to zigzag.

  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.
The positioning guide 205 and the positioning movement mechanism 206 have a structure as shown in FIG. 9, for example. In FIG. 9, a support guide 208 is provided so that one corner of the display DP contacts and is fixed to 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.

Returning to FIG. 8, 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, with reference to FIG. 10, the process by the image analysis part 213 is demonstrated in detail. FIG. 10 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, for example, by the geometry pattern matching to detect a circular fixing member area L _i. Note that i is a number assigned to identify each screw NJ.

FIG. 10A is an example showing a part of a captured image including the fixing member areas L _{1 to} L ₃ detected by the image analysis unit 213. An example of this fixing member area L ₁ of the image shown in Figure 10 (b).
The image analysis unit 213 calculates the average luminance value of each pixel for each of the fixed member areas L _{1 to} L ₃ . 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, the luminance value of the fixed member area L _1, shows an example of an image after the binarization processing of the fixed member area L ₁ in Figure 10 (c).
As shown in FIG. 10 (c), the luminance value of the fixed member area L _1, the luminance value of the cross-shaped center compared to the overall circular shape is low. 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, by binarization processing, an image region whose luminance value is lower than a threshold value that is an average of luminance values as a screw hole area N _i {i = 1, 2, 3,. outputs were information indicating the tapped hole area N _i with a position detection unit 214. An example of the image analysis unit 213 screw hole area N _i detected by FIG 10 (d).

Position detecting unit 214, based on the information indicating the detected screw hole area N _i, and calculates the coordinates of the center point M _i of the screw hole area N _i, position information indicating the detected position of the screw hole area N _i ( X _i , Y _i ). The center point _{M i} is represented by XY coordinate values to position the reference position P as the origin (0,0,0). The position detection unit 214 outputs the acquired position information (X _i , Y _i ) 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 M _i is acquired as position information (X _i , Y _i ) 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 (X _i , Y _i ) 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. 11 is a diagram for explaining the positional relationship between the lens 201a and the subject.
As shown in FIG. 11, 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 (X _i , Y _i ) that matches within the error range. When there is a two-dimensional coordinate value (X _i , Y _i ) that matches within the error range, the control unit 211 determines that information is already recorded in the recording unit 212 for the same screw hole.
The two-dimensional coordinate values (X _i , Y _i ) that match within the error range are the X coordinate values and Y coordinate values of all detected two-dimensional coordinate values (X _i , Y _i ), respectively. When compared, 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 (X _i , Y _i , Z _i ) 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. 12 is a diagram for explaining the outline of the fixing member disassembly unit 3. As illustrated in FIG. 12, 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. Note that the XYZ moving mechanism 302 has the same configuration and function as the above-described XZ moving mechanism 202, and the same names are given to the respective components, and detailed description thereof is omitted.
The fixing release tool 301 is, for example, a driver bit that meshes with a screw hole of a screw NJ that is a fixing member. This driver bit has a tip made of a permanent magnet, and can hold a screw NJ made of a magnetic material such as iron by a magnetic force.
A collection box 309 is provided in the vicinity of the unlocking tool 301. The collection box 309 may be fixed to the Z moving mechanism 302z so as to be movable.

  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 bit of the fixing release tool 301 downward from the upper part of the display DP to the vicinity of the screw NJ with the back surface of the display DP facing upward. Thereafter, the fixing member disassembly unit 3 rotates the driver bit in the direction of loosening the screw NJ while slowly bringing the driver bit closer to the screw. When the screw NJ is loosened, the driver bit is lifted upward while holding the screw NJ by magnetic force. Next, the fixing member disassembly unit 3 moves the driver bit to the upper part of the collection box 309 and accommodates the removed screw in the collection box 309.

Next, an example of the configuration of the fixed member disassembly unit 3 will be described with reference to FIG. FIG. 13 is a block diagram illustrating an example of the configuration of the fixed member disassembly unit 3.
As shown in FIG. 13, the fixed member disassembly unit 3 includes a drive control unit 304, a positioning guide 305, a positioning movement mechanism 306, a drive control unit 307, 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. 14, for example. FIG. 14 is a diagram illustrating an example of the drive control unit 304.

As shown in FIG. 14, 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 bit of the fixing release tool 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 343c to the fixation release tool 301, and rotates the fixation release tool 301.

  The motor control unit 341c calculates the rotational torque of the fixing release tool 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 value, the motor control unit 341c determines that the tip of the driver bit of the fixation release tool 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 fixation release tool 301 has been completed.

Next, an example of a recovery method for the recovery box 309 will be described with reference to FIG.
FIG. 15A is a view for explaining an example in which a wall member 309 a is provided in the collection box 309. As shown in FIG. 15A, a wall member 309 a having a contact surface in the vertical direction is attached to a part of the collection box 309. The XYZ moving mechanism 302 moves the driver bit so that the screw NJ held by the driver bit is brought into contact with the contact surface from the inside of the wall member 309a. Alternatively, the collection box 309 may be moved. As a result, the screw NJ is detached from the driver bit and collected in the collection box 309.

  FIG. 15B is a diagram for explaining an example in which an electromagnet 309 b is provided in the collection box 309. As shown in FIG. 15B, an electromagnet 309 b having a contact surface in the vertical direction is attached to a part of the collection box 309. The XYZ moving mechanism 302 moves the driver bit so that the screw NJ held by the driver bit is brought into contact with the contact surface from the inside of the electromagnet 309b. Alternatively, the collection box 309 may be moved. Then, a current is passed through the electromagnet 309b to generate a magnetic force that is at least stronger than the magnetic force of the driver bit. As a result, the screw NJ is attracted to the electromagnet 309b. Then, the driver bit is moved to the original position. Next, when the current supply to the electromagnet 309b is stopped, the magnetic force of the electromagnet 309b disappears, and the screw NJ is detached from the electromagnet 309b and collected in the collection box 309.

Next, an example of a processing flow by the fixed member detection unit 2 will be described with reference to FIG. FIG. 16 is a flowchart for explaining an example of a processing flow by the fixed member detection unit 2.
In the present embodiment, the display DP transported to the fixed member detection unit 2 has the thickness (vertical length) of the display DP 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 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 one end side of the display DP (X = XA position described with reference to FIG. 5).

(Step ST102)
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 D0.

(Step ST103)
The image analysis unit 213 performs predetermined circular pattern matching on the captured image D0, and all the circular fixed member areas L _i {i = 1, 2, 3 included in the captured image D0. ... Is detected. Incidentally, the image analysis unit 213, a unique identification number i {i = 1,2,3 ···} for identifying the detected fixed member area _{L i,} assigned to each fixing member area _{L i.}

(Step ST104)
Then, the image analysis unit 213 calculates an average of luminance values of pixels of the fixed member in the area L _i. The image analysis unit 213, as a threshold the average of the calculated brightness value, performs binarization processing on an image including a fixing member area L _i.
Then, the image analysis unit 213, the image data after the binarization processing, for example, performs pattern matching of a predetermined cross shape, to detect a screw hole area N _i cross-shaped.

(Step ST105)
Then, the image analysis unit 213 determines whether the image area of the tapped hole area N _i of the cross shape is detected. That is, the image analysis unit 213 determines whether a screw hole has been detected.

(Step ST106)
If the image area of the tapped hole area N _i of the cross shape was not detected one, the image analysis unit 213 excludes the captured image D0 from the detected data. Then, the image analysis unit 213 proceeds to the process of step ST110.

(Step ST107)
If the image region of the screw hole area N _i of cross-shaped detected at least one image analysis unit 213, position information (X i indicating the center point M _i of the cross-shaped detected screw hole area N _i, Y _i ) get.

(Step ST108)
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 (X _i , Y _i ) acquired by the image analysis unit 213 in step ST107 is already registered information, the control unit 211 proceeds to the process of step ST106.

(Step ST109)
When the position information (X _i , Y _i ) acquired by the image analysis unit 213 in step ST107 is new, the control unit 211 records the position information (X _i , Y _i ) in the recording unit 212.
The control unit 211 and the image analysis unit 213 execute the processing from step ST104 to step ST108 for all the fixed member areas L _i {i = 2, 3,... When the position information (X _i , Y _i ) {i = 2, 3...} Is acquired, the image analysis unit 213 acquires the acquired position information (X _i , Y _i ) {i = 2, 3,. ·} Is recorded in the recording unit 212.
Then, the image analysis unit 213, based on the height position where the focus of the camera 201 is correct, the position information indicating the center point _{M i} of the cross-shaped screw hole area _{N i (X i, Y i} ) Z -coordinate values of (Z _i ) is calculated. In the present embodiment, the captured image D0 obtained from this position information (X _i , Y _i ) is the uppermost 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 as to be in focus. That is, the focus of the camera 201 at the time of capturing the captured image D0 is on the subject surface of 50 mm vertically upward from the conveyor belt 401. Therefore, the image analysis unit 213 calculates Z coordinate value (Z _i ) = 50 mm.
The image analysis unit 213, the calculated Z coordinate value _(Z i) = a 50 mm, the position information determined to be a novel information in step ST108 _{(X i, Y} i) in combination with the cross threaded hole area _{N i} A three-dimensional coordinate value (X _i , Y _i , Z _i ) of the shape center point M _i is calculated and written in the recording unit 212.

(Step ST110)
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 ST111)
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 ST112)
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 D0, 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 ST102, 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. Thereby, 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 acquires the captured image D1.
In the present embodiment, the fixing member detection unit 2 repeats steps ST102 to ST112, and changes the height position of the focused subject surface of the camera 201 in steps of 5 mm within a range of 50 mm to 0 mm. The captured images D0 to D10 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 ST113)
Then, the control unit 211 outputs the three-dimensional coordinate values (X _i , Y _i , Z _i ) for each screw hole to the fixed member disassembly unit 3 via the transmission / reception unit 215.

Next, an example of a processing flow by the fixed member disassembly unit 3 will be described with reference to FIGS. FIG. 17 is a diagram for explaining an example of a processing flow by the fixing member disassembly unit 3. FIG. 18 is a schematic diagram for explaining the movement of the tip end of the fixing release tool 301 moved by the fixing member disassembly unit 3. In FIG. 18, the XZ coordinate value in the stage space will be described, and the description of the Y 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 (X _i , Y _i , Z _i ) {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 the position information (X _i , Y _i , Z _i ) {i = 2, 3...} From the recording unit 312 and the position information (X _i , Y _i , Z _i ). The drive control unit 304 is instructed to move the tip of the bit of the fixing release tool 301 to the position indicated by.

(Step ST201)
First, the drive control unit 304 moves the fixing release tool 301 to a position where the position indicated by the position information (X _i , Y _i ) and the rotation axis of the bit of the fixing release tool 301 are orthogonal to each other. The X moving mechanism 302x and the Y moving mechanism 302y are operated. As a result, the tip of the bit of the fixing release tool 301 is positioned at the 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 ST202)
Next, the drive control unit 304 operates the XYZ movement mechanism 302 to lower the fixing release tool 301 to a position before the position indicated by the position information (Z _i ) (for example, 5 mm above the Z coordinate value = Z _i ). Let That is, the drive control unit 304 drives the Z movement mechanism 302z of the XYZ movement mechanism 302 so that the tip of the fixation release tool 301 is positioned at the Z coordinate value = Z _i +5 mm, and the driver bit of the fixation release tool 301 Is lowered. The drive control unit 304 performs control so that the driver bit of the fixing release tool 301 moves in the Z-axis direction at the first speed from the position P1 to the position P2.

(Step ST203)
As a result, the driver bit of the fixing release tool 301 is positioned at a position where the rotation axis thereof is orthogonal to the XY coordinate values (X _i , Y _i ), and the tip thereof is positioned at the Z coordinate value (Z _i +5 mm). Be positioned. That is, the tip of the driver bit of the fixing release tool 301 is positioned at the position P2 shown in FIG. The drive control unit 304 may temporarily stop the movement of the unlocking tool 301 when the driver bit reaches the position P2.

(Step ST204)
Then, the drive control unit 304 operates the rotational movement mechanism 303 so as to rotate the driver bit of the unlocking tool 301 at a low speed in the direction of loosening the screw NJ (for example, left rotation). Thereby, the driver bit of the fixing release tool 301 rotates at a low speed around the rotation axis parallel to the Z axis.

(Step ST205)
Next, the drive control unit 304 operates the XYZ moving mechanism 302 so that the tip of the fixation release tool 301 is lowered at a low speed to the position indicated by the position information (Z _i ) at the longest. That is, the drive control unit 304 adjusts the amount of movement of the fixation release tool 301 while determining whether or not the torque for rotating the driver bit of the fixation release tool 301 by the rotation movement mechanism 303 has increased to a rotation threshold value or more. To do. When this rotational torque is equal to or greater than the threshold value, the motor control unit 341c determines that the tip of the driver bit of the fixation release tool 301 is fitted in the screw hole, and the Z-axis direction of the fixation release tool 301 A command for instructing to stop the movement is output to the motor control unit 341z.

(Step ST206)
In addition, when the motor control unit 341c determines that the tip of the driver bit of the fixing release tool 301 is fitted in the screw hole of the screw NJ, the motor control unit 341c increases the rotation speed of the driver bit of the fixing release tool 301. The drive command is output to the drive unit 342c. Thereby, the rotational speed of the driver bit of the fixing release tool 301 is increased, and the driver bit loosens the screw NJ.
(Step ST207)
Then, the motor control unit 341z drives the drive unit 342z so as to raise the fixing release tool 301 upward, that is, move the fixing release tool 301 in a direction away from the display DP. Thereby, the driver bit of the fixing release tool 301 is lifted upward while rotating.

(Step ST208)
When the driver bit is lifted upward, the motor control unit 341c outputs a drive command to stop the rotation of the driver bit to the drive unit 342c. As a result, the rotation of the driver bit is stopped.
(Step ST209)
The motor control unit 341z lifts the driver bit of the fixing release tool 301 to the collection position. For example, the motor control unit 341z lifts the driver bit to a collection position where the tip of the driver bit of the fixing release tool 301 is positioned at a position P4 shown in FIG.
(Step ST210).
Then, the motor control unit 341x and the motor control unit 341y convey the driver bit of the fixing release tool 301 to the collection box 309 and accommodate the screw NJ in the collection box 309.

(Step ST211)
The control unit 311 compares the number of screws NJ collected in the collection box 309 with the number (i) of screws NJ whose position information has been detected by the fixed member detection unit 2.
(Step ST212)
Next, the control unit 311 determines whether or not the number of recovered screws NJ matches the number (i) of screws NJ whose position information has been detected. If not, the process returns to step ST201, and the processes of steps ST201 to 211 are repeated for the number (i) of all the screws NJ.
(Step ST213)
Then, the driver bit of the unlocking tool 301 is returned to the original position, and the process is terminated.

  As described above, the position of the screw NJ that is the fixing member is detected by the fixing member detection unit 2, and the screw NJ detected by the fixing member disassembly unit 3 is removed, without the manual operation of the dismantling worker. Demolition work can be performed. Further, the display unit DP can be transported between the fixed member detection unit 2 and the fixed member disassembly unit 3 according to the order of disassembly work by the transport unit 4. Thereby, the labor required for the dismantling work can be reduced.

  Further, by imaging the display DP so that the vertical positions of the mounted display DP are focused at different height positions, the possibility of acquiring an image focused on each screw NJ is increased, and the image is more clearly displayed. An image obtained by imaging each screw NJ can be acquired. Therefore, the detection accuracy can be improved by detecting the screw NJ based on these images.

  Furthermore, by using the height information indicating the vertical length (height information) of the display DP, an image that easily focuses on the subject surface at any height position in the vertical direction of the display DP. An image can be taken.

  Further, by providing the height measuring unit 1 for measuring the length of the dismantling object in the vertical direction, the length of each dismantling object in the vertical direction is measured for each dismantling object, and the measurement result is sent to the fixed member detection unit 2. Can be provided. Therefore, the labor required for the dismantling work can be reduced.

  Furthermore, when a plurality of captured images obtained by capturing the same screw NJ are acquired, a captured image that is most focused among these captured images, that is, a captured image in which the screw NJ is captured most clearly. This screw NJ can be detected using. Therefore, the position of the screw NJ in the captured image can be detected with high accuracy. Further, by specifying the most focused image, the focal distance between the camera 201 that has captured the captured image and the screw NJ is determined, and thus the position of the screw NJ in the vertical direction can be calculated.

The fixing release tool 301 of the fixing member disassembly unit 3 according to the present invention is not limited to the above-described driver bit, and may be a member having the following configuration, for example.
Another example of the unlocking tool 301 will be described with reference to FIG. FIG. 19 shows a cross-sectional view of the screw hole.
That is, as shown in FIG. 19A, the fixing release tool 301 may include a cutting part that cuts the head of the screw NJ. Further, as shown in FIG. 19B, the fixing release tool 301 may include a cutting portion that cuts the bottom of the screw hole of the cabinet of the display DP. Further, as shown in FIG. 19C, the fixing release tool 301 may include a cutting part that cuts the upper part of the screw hole of the cabinet of the display DP. Moreover, as shown in FIG.19 (d), the fixing release tool 301 may be provided with the cutting part which cuts off all the screws NJ part of the cabinet of display DP.

As described above, as shown in FIGS. 19A to 19D, when the fixing release tool 301 using the horizontal position (XY coordinate value) of the screw NJ is used, the vertical position (Z coordinate value) of the screw NJ. ) Is not necessary. That is, the fixing member disassembly system 100 can execute the fixing release processing of the screw NJ in the fixing member disassembly unit 3 only with the position information (X _i , Y _i ) acquired by the fixing member detection unit 2. Therefore, when the fixing release tool 301 that can remove the screw NJ by using only the position (XY coordinate value) of the screw NJ in the horizontal plane as shown in FIGS. The unit 2 transmits the acquired position information (X _i , Y _i ) to the fixed member disassembly unit 3, and the fixed member disassembly unit 3 sends the fixation release tool 301 based on the position information (X _i , Y _i ). Use to remove screw NJ.

  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. 16 described above, when detecting the fixed member area L _i {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 the characteristics of a similar image from each of the divided images D1 to D9 by pattern matching, and detects a fixed member area L _i {i = 1, 2, 3. You may cut out the image which is easy to misdetect from the object. 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.

The image analysis unit 213 may be intended to exclude from the detection target region as pre-fixing member area _L i above {i = 1,2,3 ···}, fixing member area _L i {i = 1, 2, 3...}, It is determined that the fixed member area L _i {i = 1, 2, 3...] Determined to be a similar image is not an image of the screw NJ. There may be.
The latter will be specifically described. After detecting the fixed member area L _i {i = 1, 2, 3...}, The image analysis unit 213 detects the fixed member area L _i {i = 1, 2, 3. ..}, It is determined whether or not there is a fixed member area L _i {i = 1, 2, 3,...} Matching a similar image similar to the screw NJ. The image analysis unit 213 determines that the fixed member area L _i {i = 1, 2, 3...] Having a feature corresponding to the feature of the similar image matches the similar image, and this fixed member. It is determined that the area L _i {i = 1, 2, 3...} Is not an image of the screw NJ. Then, the image analysis unit 213 excludes the fixed member area L _i {i = 1, 2, 3...] Determined not to be an image of the screw NJ from the position information detection targets.

  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 , 102 ... Light receiving device, 102_1 to 102_n ... Light receiving part, 201 ... Camera, 202 ... XZ moving mechanism, 204 ... Drive control part, 205 ... Positioning guide, 206 ... Positioning moving mechanism, 207 ... Drive control part, 210 ... Information processing 211, control unit, 212, recording unit, 213, image analysis unit, 214, position detection unit, 215, transmission / reception unit

Claims (4)

A camera disposed above a dismantling object to be placed with a predetermined surface down, a horizontal direction that is horizontal to the surface of the dismantling object, and a vertical direction to the surface Equipped with a moving mechanism to move vertically
Based on height information indicating the length in the vertical direction, which is the thickness of the dismantling object measured in advance, with respect to the dismantling object placed with a predetermined surface down, using the moving mechanism, The camera is moved in a horizontal direction at a reference camera position that is in focus at the highest position of the dismantling object, and then the camera is moved closer to the dismantling object than the reference camera position in a stepwise manner. By moving in a horizontal direction with respect to the surface of the dismantling object, a plurality of captured images obtained by capturing the dismantling object so as to be focused at different height positions in the vertical direction with respect to the surface of the dismantling object Then, based on the obtained plurality of captured images, a fixing member fixing the dismantling target is detected, and a horizontal direction and a vertical direction with respect to the surface of the detecting dismantling target of the fixing member are detected. A fixing member detection unit for calculating position information indicating a position in a direction,
A fixing member dismantling unit that moves a fixing releasing tool for releasing the fixing by the fixing member to the position of the fixing member in the dismantling object based on the position information, and releases the fixing by the fixing member by the fixing releasing tool; A fixing member dismantling system comprising:   The dismantling of the fixing member according to claim 1, further comprising a height measuring unit for measuring a length in a vertical direction, which is a thickness of the dismantling object placed with a predetermined surface facing down. system. The fixed member detection unit is
A horizontal plane based on a captured image that is most focused on the fixed member among a plurality of captured images obtained by capturing the disassembled object so that the disassembled object is focused at different height positions in the vertical direction with respect to the surface of the disassembled object. The position of the fixing member is calculated, and the position of the fixing member in the vertical direction is calculated based on the position of the camera from which the captured image that is most focused on the fixing member is captured. Item 3. The fixing member disassembly system according to Item 1 or 2. The highest position of the dismantling object based on height information indicating the length in the vertical direction, which is the thickness of the dismantling object measured in advance, with respect to the dismantling object placed with a predetermined surface facing down The camera is moved in the horizontal direction at the reference camera position that is in focus, and then the camera is moved closer to the dismantling object than the reference camera position in a stepwise manner with respect to the surface of the dismantling object By moving in the horizontal direction, a plurality of captured images obtained by capturing the dismantling object so as to be focused at different height positions in the vertical direction with respect to the surface of the dismantling object are obtained. Detecting a fixing member fixing the dismantling object based on the captured image of
Calculating position information indicating a position of the detected fixing member in a horizontal direction and a vertical direction with respect to the surface of the dismantling target;
Moving a fixing release tool for releasing the fixing by the fixing member to the position of the fixing member in the dismantling object based on the position information, and releasing the fixing by the fixing member by the fixing release tool;
A fixing member disassembling method comprising:

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