JP5853894B2 - 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, and an object fixing member dismantling system can be dismantled efficiently dismantled subject, and to provide a fixing member dismantling how.

The present invention has been made to solve the above-described problems, and a fixing member disassembly system according to one aspect of the present invention has a plurality of fixing members that are placed with a predetermined surface facing downward. a height measuring unit for measuring the length of the vertical direction is the thickness of the demolition subject with the position, based on the height information indicating a length of the vertical direction in which the height measuring unit to measure, most of the demolition object A fixing member that fixes the dismantling object is detected based on a captured image obtained by capturing the dismantling object so that a focus is achieved at a height position that is half the length in the vertical direction in a portion where the thickness is large , and this detection is performed. A fixed member detection unit for calculating position information indicating the position of the fixed member in the dismantling target, and fixing by the fixing member to the position of the fixing member in the dismantling target based on the position information Move the unlocking tool for releasing, and a fixing member disassembly unit for releasing the fixation by the fixing member by the unlocking tool, the fixing member detection unit, in the demolition subject of detected said fixed member A display unit that displays a position is further provided, and among the detected fixing members, the fixing member designated via the operation unit is excluded from the fixing release target by the fixing member disassembly unit, and the fixed member excluded The position information of the fixing member other than is output to the fixing member disassembly unit.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, since the dismantling target is imaged so as to be focused at a height position that is half the vertical length of the dismantling object, the height is high. A captured image capable of detecting all the different fixing members is obtained, and positional information of the fixing member can be calculated using the captured images. Therefore, since the fixing member can be detected efficiently, the work efficiency for disassembling the object to be disassembled can be improved.

Moreover , according to the fixing member disassembly system which concerns on one Embodiment of this invention, a false detection by the fixing member detection unit 2 can be notified to a user, and a false detection can be corrected by the user.

  Further, in the above-described fixing member disassembly system according to one aspect of the present invention, the fixing member detection unit images the dismantling object so that a focus is achieved at a height position that is half the vertical length of the dismantling object. As an imaging means, a line sensor camera that captures the entire dismantling object as a single image by moving the upper surface of the dismantling object in the horizontal direction, or the entire area in the horizontal plane of the dismantling object An area camera that captures an image as an image or an area camera that captures a part of the dismantling object for each divided region obtained by dividing the entire region in the horizontal plane of the dismantling object into a plurality of regions is used.

Further, the fixing member disassembling method according to one aspect of the present invention is a vertical length that is a thickness of a disassembling target that has a plurality of fixing members placed at different height positions and is placed with a predetermined surface down. On the basis of the measured height information indicating the vertical length, and focusing is performed at a height position that is half of the vertical length in the thickest portion of the dismantling object. Detecting a fixing member that fixes the dismantling object based on a captured image obtained by imaging the dismantling object, and calculating position information indicating a position of the detected fixing member in the dismantling object; A fixing release tool for releasing the fixing by the fixing member is moved to the position of the fixing member in the dismantling object based on the position information, and the fixing member is moved by the fixing release tool. The step of releasing the fixing by the step, the step of displaying the detected position of the fixing member in the dismantling target on the display unit, and the fixing member designated via the operation unit among the detected fixing members Excluding the fixing release target by the fixing release tool, and outputting the positional information of the fixing members other than the excluded fixing member to the fixing member dismantling unit for releasing the fixing by the fixing member by the fixing release tool ; Is provided.

  According to the present invention, it is possible to efficiently dismantle a dismantling target.

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 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. 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. 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 is based on the height information of the display DP measured by the height measurement unit 1 so that the display is focused at a height position that is half the vertical length of the display DP. The DP is imaged, and the screw NJ is detected based on the captured image.
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 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.
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 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.
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 moves the driver bid down 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 speed at which it descends below the high 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. 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 half of the vertical length 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 transport belt 401. The camera 201 that captures an image of the display DP is moved so as to be focused at the position of the height.

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 FIG.
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.
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.

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. 6 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. 6, 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. 7 is a block diagram illustrating an example of the configuration of the fixed member detection unit 2.
As shown in FIG. 7, 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. In the present embodiment, as described above with reference to FIG. 5, the drive control unit 204 is in a state where the camera 201 is positioned so as to focus on a height position that is half the vertical length of the display DP. The camera 201 is moved horizontally along the X-axis direction.

  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. 8, for example. In FIG. 8, a support guide 208 is provided so that one corner of the display DP abuts 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.

  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.

Returning to FIG. 7, 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. 9, the process by the image analysis part 213 is demonstrated in detail. FIG. 9 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. 9A 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 9 (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 FIG. 9 (c).
As shown in FIG. 9 (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 9 (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). 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 transmits 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. 10 is a diagram for explaining the positional relationship between the lens 201a and the subject.
As shown in FIG. 10, 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.

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 ) is transmitted to the fixed member disassembly unit 3.

Next, the fixed member disassembly unit 3 will be described in detail with reference to FIGS.
FIG. 11 is a diagram for explaining the outline of the fixing member disassembly unit 3. As shown in FIG. 11, 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 around 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 with the back surface of the display DP facing upward to the vicinity of the screw NJ. 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. 12 is a block diagram illustrating an example of the configuration of the fixed member disassembly unit 3.
As shown in FIG. 12, 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 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. 13, for example. FIG. 13 is a diagram illustrating an example of the drive control unit 304.

As shown in FIG. 13, 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 collection method for the collection box 309 will be described with reference to FIG.
FIG. 14A is a view for explaining an example in which the wall member 309a is provided in the collection box 309. FIG. As shown in FIG. 14A, 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. 14B is a diagram for describing an example in which an electromagnet 309 b is provided in the collection box 309. As shown in FIG. 14B, 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. 15 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. Thereby, the camera 201 captures an image of the entire surface of the display DP in a state in which the camera 201 is focused on the XY plane at the height position ZM, and acquires a captured image D1.

(Step ST103)
The image analysis unit 213 performs predetermined circular pattern matching on the captured image D1, and all the circular fixed member areas L _i {i = 1, 2, 3 included in the captured image D1. ... 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)
If the image area of the tapped hole area N _i of the cross shape is detected, the image analysis unit 213, position information indicating the center point M _i of the cross-shaped detected screw hole area _{N i (X i, Y i} ) the get. Then, the image analysis unit 213 records the position information (X _i , Y _i ) in the recording unit 212.
This image analysis unit 213 executes step ST104 and step ST105 for all the fixed member areas L _i {i = 2, 3,...} Detected from the captured image D1. 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.

(Step ST106)
Then, the image analysis unit 213, the detection result, and outputs information indicating the image area of the detected screw hole area N _i and the fixing member area L _i to the control unit 211. The control unit 211, based on the inputted information is displayed on the display unit 209 information indicating the information and image area of the fixing member area L _i indicating the image area of the detected screw hole area N _i. For example, the control unit 211 on the captured image D1 by the camera 201 is captured, and displays by overlapping an icon indicating the detected screw hole area N _i and the fixing member area L _i.

(Step ST107)
Then, the control unit 211 via the operation unit 203, a screw hole area N _i and the fixing member area L _i detected by the image analysis unit 213 from the user cancel the setting of an image region of the screw hole indication is input It is determined whether or not.
For example, when an instruction to cancel the setting of an image region of the screw holes is not inputted, the control unit 211, all screw hole area N _i and the fixing member area L _i displayed on the display unit 209, an image of the threaded hole Determine as an area. Then, the control unit 211, for threaded hole area N _i and the fixing member area L _i icon on the display unit 209 is displayed superimposed on the display unit 209 the fact handled as the image area of the screw holes.
(Step ST108)
On the other hand, when the screw hole area N _i or the fixing member area L _i is designated and an instruction to cancel the setting as the image area of the screw hole is input, the control unit 211 indicates that the display unit 209 has detected it. Among the icons, the designation as a screw hole image is canceled for the screw hole area N _i and the fixing member area L _i for which a cancel instruction has been input via the operation unit 203.

In the present embodiment, the control unit 211, unless specified to cancel the setting of an image region of the screw holes is not input, the detected image area of the screw holes all screw holes area N _i and the fixing member area L _i was Set as. If the specified cancel is input, the control unit 211 excludes the designated tapped hole area N _i and the fixing member area L _i from the image area of the screw holes.
However, the present invention is not limited to this, in step ST 107, among the detected screw hole area N _i and the fixing member area L _i, what is set as the image area of the screw holes user via the operation unit 203 determines You may do.
In the case, the control unit 211, a screw hole area N _i and the fixing member area L _i specified by the user is set as an image region of the screw hole, on the captured image of the display DP displayed on the display unit 209 superimposed to display the icon on the screw hole area is set as the image area N _i and the fixing member areas L _i of the screw holes.

(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, among the icon indicating that it has been detected on the display unit 209, the screw hole area N _i additional instruction is input via the operation unit 203, designated as an image area of the screw holes Add
(Step ST111)
Then, the control unit 211 outputs position information (X _i , Y _i ) about each screw hole designated and added as an image region of the 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. 16 is a diagram for explaining an example of a processing flow by the fixing member disassembly unit 3. FIG. 17 is a schematic diagram for explaining the movement of the tip of the bit of the unlocking tool 301 moved by the fixing member disassembly unit 3. In FIG. 17, 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 ) {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 (X _i , Y _i ) {i = 2, 3...} From the recording unit 312 and releases the fixed position to the position indicated by the position information (X _i , Y _i ). The drive control unit 304 is instructed to move the tip of the bit of the tool 301.

(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 uses the height information acquired by the height measurement unit 1 as the screw hole position information (Z _i = ZH) so as to lower the fixing release tool 301 to the position information (Z _i = 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 so that the tip of the fixing release tool 301 is at the position of Z coordinate value = ZH, and lowers the driver bit of the fixing release tool 301. Let The drive control unit 304 controls the driver bit of the fixing release tool 301 to move 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 unlocking tool 301 is positioned at a position where its rotation axis is orthogonal to the XY coordinate values (X _i , Y _i ) and its tip is positioned at the Z coordinate value (ZH). The That is, the tip of the driver bit of the fixing release tool 301 is positioned at the position P2 (in other words, the thickness position of the display DP) shown in FIG. The drive control unit 304 may temporarily stop the movement of the fixing release tool 301 when the tip of 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 as to lower the tip of the fixing release tool 301 at a low speed. The speed at which the fixing release tool 301 is lowered is a second speed that is slower than the first speed at which the fixing release tool 301 is moved in the Z-axis direction from the position P1 to P2. 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. Note that the tip of the driver bit when the tip of the driver bid is fitted into the screw hole is located at a position P3 shown in FIG.
In other words, 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 releases the fixing tool from the position P2 to P3 at the second speed slower than the first speed. 301 is moved in the Z-axis direction.

(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 recovery 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, the camera 201 of the fixed member detection unit 2 captures the display DP based on the height information of the display DP measured by the height measurement unit 1 so that the display DP is focused at a position half the height of the display DP. . Thereby, it is possible to capture an image that can be detected by all the screws NJ having different height positions to which the display DP is fixed. Therefore, in order to detect the screw NJ having different height positions, it is not necessary to perform processing such as imaging the display DP many times or executing AF processing so as to focus on the screw NJ. Therefore, a captured image of the display DP for detecting the screw NJ can be efficiently captured.

In addition, when the fixing member disassembly unit 3 moves the driver bid on the XY plane in order to disassemble another screw NJ, the tip of the driver bid is slightly above the height position of the highest portion of the display DP. After raising the driver bid to the position where it is located, the driver bid may be moved to the two-dimensional coordinate value (X _i , Y _i ) of the screw NJ to be disassembled next. Thereby, the movement time at the time of moving a driver bid to the next dismantling object can be shortened.
When moving the driver bid from one screw hole NJ to another screw hole NJ, if the height position of the tip of the driver bid matches the height position of the highest part of the display DP, There is a possibility that the tip may contact the display DP. Therefore, when the fixing member disassembly unit 3 moves the driver bid in the horizontal direction, the height position of the tip of the driver bid is slightly higher than the height position of the highest portion of the display DP. preferable.

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. 18 shows a cross-sectional view of the screw hole.
That is, as shown in FIG. 18A, the fixing release tool 301 may include a cutting part that cuts the head of the screw NJ. Further, as shown in FIG. 18B, the fixing release tool 301 may include a cutting part that cuts the bottom of the screw hole of the cabinet of the display DP. Further, as shown in FIG. 18C, 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.18 (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.
Thus, as shown in FIGS. 18A to 18D, when using the fixing release tool 301 that uses the position (XY coordinate value) of the screw NJ in the horizontal plane direction, the position of the screw NJ in the vertical direction (Z coordinate value). ) 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 using 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 direction 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.

Further, in step ST103 shown in FIG. 15 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 by pattern matching from each of the divided images, and erroneously detects from the detection target of the fixed member area L _i {i = 1, 2, 3. An image that is easy to detect 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.

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 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 moving 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.

Referring to FIG. 19, an example of the fixed member detection unit 2_2 including the area camera 2010 instead of the camera 201 will be described.
FIG. 19 is a diagram for explaining the outline of the fixed member detection unit 2_2. As shown in FIG. 19, 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 the dismantling object 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. 20, an example of the image of the back surface of the display DP imaged by the area camera 2010 will be described. FIG. 20 is a diagram illustrating an example of a plurality of divided images captured by the area camera 2010. As shown in FIG. 20, 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. 20, the entire back surface of the display DP is, for example, virtually divided into nine divided areas as areas to be imaged, 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 a region 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, based on the divided image captured by the area camera 2010, detects the fixing member area L ₁ and the threaded hole area N _i, based on the detection result, calculates position information indicating the position of the screw holes To do.

  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

Claims (3)

A height measuring unit for measuring a length in a vertical direction, which is a thickness of a dismantling object having a plurality of fixing members placed at different height positions, placed with a predetermined surface facing down;
Based on height information indicating the length in the vertical direction measured by the height measurement unit, focusing is performed at a height position that is half of the length in the vertical direction in the thickest portion of the dismantling target. A fixed member detection unit that detects a fixing member that fixes the dismantling object based on a captured image obtained by imaging the dismantling object, and calculates position information indicating a position of the detected fixing member in the dismantling object; ,
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; With
The fixed member detection unit is
A display unit for displaying a position of the detected fixing member in the dismantling target;
Among the detected fixing members, the fixing members designated through the operation unit are excluded from the fixing release targets by the fixing member disassembly unit, and the positional information of the fixing members other than the excluded fixing members is A fixing member dismantling system, wherein the fixing member disassembling unit outputs to a fixing member disassembling unit. The fixed member detection unit is
As imaging means for imaging the dismantling object so that it is in focus at a height position that is half the thickness of the dismantling object,
A line sensor camera that captures the entire dismantling object as a single image by moving the upper surface of the dismantling object in the horizontal direction, or an area camera that captures the entire area in the horizontal plane direction as a single image, or The fixing member according to claim 1, wherein an area camera that captures an image of a part of the dismantling object is used for each divided region obtained by dividing the entire region of the dismantling object in the horizontal plane direction into a plurality of regions. Demolition system. Measuring a vertical length, which is a thickness of a dismantling object having a plurality of fixing members placed at different height positions, placed with a predetermined surface facing down;
Based on the measured height information indicating the length in the vertical direction, the dismantling object is imaged so that a focus is achieved at a height position that is half the vertical length in the thickest part of the dismantling object. Detecting a fixing member fixing the dismantling object based on the captured image;
Calculating position information indicating the position of the detected fixing member in 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;
Displaying the detected position of the fixing member in the dismantling target on a display unit;
Among the detected fixing members, the fixing members designated through the operation unit are excluded from the fixing release targets by the fixing release tool , and the position information of the fixing members other than the excluded fixing members is fixed. And a step of outputting to a fixing member dismantling unit that releases the fixing by the fixing member with a releasing tool .

Images