JP6051501B2 - Fixing member dismantling system, fixing member disassembling method, and program - Google Patents

Description

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

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

The present invention has been made to solve the above-described problems, and a fixing member disassembly system according to an aspect of the present invention fixes the dismantling object based on a captured image obtained by capturing at least a part of the dismantling object. A fixing member detecting unit that detects a fixing member and acquires position information indicating the position of the detected fixing member in the dismantling object; and the fixing member at the position of the fixing member in the dismantling object based on the position information A fixing member dismantling unit that moves a fixing releasing tool for releasing the fixing by the fixing member and releases the fixing by the fixing member by the fixing releasing tool, and the fixing member detecting unit includes at least the dismantling target A horizontal plane of the fixed member with respect to a reference position determined in the dismantling target based on a captured image obtained by capturing a part Having a first fixing member detecting unit including a two-dimensional position detecting unit for obtaining a coordinate value indicating the position of the direction, is configured to acquire the location information based on the coordinate value indicating the position of the horizontal plane direction of the fixing member The first fixing member detection unit is configured such that a color category to which a color of the dismantling object belongs is bright based on a first camera that captures the dismantling object and an image of the dismantling object captured by the first camera. A color determination unit that determines whether the color category is a predetermined color category for each different color, and based on the determination result of the color determination unit, so as to capture an image with a light amount suitable for the determined color category An imaging control unit that controls imaging of the first camera according to a predetermined imaging condition, and the two-dimensional position detection unit applies an image captured by the first camera according to the control of the imaging control unit. Based on Acquires coordinate values indicating the position of the horizontal plane direction of the fixing member.
Thus, according to the fixing member dismantling system according to the embodiment of the present invention, the dismantling operation of the dismantling target can be executed without the manual operation of the dismantling worker, and therefore the labor required for the dismantling operation Can be reduced.
Further, the fixing member detection unit acquires a coordinate value indicating a position of the fixing member in a horizontal plane direction with respect to a reference position determined in the dismantling object based on a captured image obtained by imaging at least a part of the dismantling object. A first fixing member detecting unit including a dimension position detecting unit, and the position information is acquired based on a coordinate value indicating a position of the fixing member in the horizontal plane direction, and therefore at least the position of the fixing member in the horizontal plane direction is detected. Therefore, the positions of the fixing member and the fixing release tool can be matched in the horizontal plane direction.
Furthermore, the first fixing member detection unit is configured such that a color category to which a color of the dismantling object belongs is based on a first camera that captures the dismantling object and an image of the dismantling object captured by the first camera. A color determination unit that determines whether the color is a predetermined color category for each different color, and based on the determination result of the color determination unit, so as to capture an image with a light amount suitable for the determined color category, Since it further includes an imaging control unit that controls imaging of the first camera according to predetermined imaging conditions, for example, the shutter speed can be adjusted according to the color of the display as a disassembly target, Even when there is variation in the brightness of the captured image, it is possible to capture an image in which the fixing member can be easily detected. Therefore, it is possible to improve the detection accuracy of the position information of the fixing member.

Moreover, the above-described fixing member disassembly system according to an aspect of the present invention further includes a transport unit that transports the dismantling object, and the fixing member detection unit moves along the transport direction of the transport unit. It is provided on the upstream side.
Thus, according to the fixing member disassembly system according to one embodiment of the present invention, the fixing member detection processing by the fixing member detection unit and the fixing member disassembly processing by the fixing member disassembly unit can be executed in a series of flows. Therefore, a series of processes of the dismantling work to be dismantled can be executed without the manual work of the dismantling worker.

Moreover, in the above-described fixing member dismantling system according to one aspect of the present invention, the first fixing member detecting unit is configured so that the dismantling target is divided into a plurality of divided regions obtained by dividing the entire region in the horizontal plane with respect to the dismantling target. A part is imaged, the fixing member is detected based on a captured image obtained by imaging a part of the dismantling target corresponding to the divided region, and a coordinate value indicating the position of the fixing member in the horizontal plane direction is acquired.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, it is possible to capture an image with an appropriate image quality in order to detect the fixing member according to the size of the object to be disassembled and the performance of the camera. Thus, the detection accuracy of position information can be improved.

Moreover, in the above-described fixing member disassembly system according to an aspect of the present invention, the first fixing member detection unit is configured to obtain a binary value for a luminance value of each pixel with respect to a captured image obtained by capturing at least a part of the disassembly target. A first fixing member image analysis unit that performs a binarization process, and the two-dimensional position detection unit is formed on the fixing member based on an image binarized by the first fixing member image analysis unit. An uneven shape is detected, and a feature point of the fixing member indicated by the uneven shape is acquired as a coordinate value indicating a position of the fixing member in the horizontal plane direction.
Thus, according to the fixing member disassembly system according to an embodiment of the present invention, when the fixing member has an uneven shape at a position where the fixing member is aligned with the fixing release tool, for example, a screw, the position of the fixing member The detection accuracy of information can be improved, and the accuracy of alignment with the fixing release tool can be improved.

Further, in the above-described fixing member disassembly system according to one aspect of the present invention, the fixing member detection unit is a three-dimensional space based on a coordinate value indicating a position in a horizontal plane direction of the fixing member acquired by the two-dimensional position detection unit. A second fixing member detection unit including a three-dimensional position detection unit that acquires a coordinate value indicating the position of the fixing member as the position information.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, since at least the position of the fixing member in the vertical direction can be detected, the fixing member and the fixing release tool are aligned in the vertical direction. be able to. Therefore, for example, it is possible to dismantle such that only the screw is removed by rotating the screw in the direction of loosening with the screwdriver bit.

Further, in the above-described fixing member disassembly system according to one aspect of the present invention, the second fixing member detection unit is configured to fix the fixing member based on a coordinate value indicating a position in a horizontal plane direction of the fixing member acquired by the two-dimensional position detection unit. A measuring device including an irradiation unit that irradiates the member with detection light and a light receiving unit that receives the detection light reflected from the fixed member; Based on the above, a coordinate value indicating the vertical position of the fixing member is acquired, and the position information including the coordinate value indicating the vertical position of the fixing member is acquired.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, the position of the fixing member in the vertical direction can be detected using the detection light.

Further, in the above-described fixing member disassembly system according to an aspect of the present invention, the second fixing member detection unit is based on a coordinate value indicating a horizontal position of the fixing member acquired by the two-dimensional position detection unit. A second camera that images the fixed member in the dismantling target, and a focus control unit that adjusts the distance between the second camera and the fixed member so that the fixed member is focused based on an image captured by the second camera The three-dimensional position detection unit determines a vertical position of the fixing member based on a distance between the second camera and the fixing member when the focusing member is in focus by the focus control unit. The coordinate value which shows is acquired, and the said positional information containing the coordinate value which shows the position of the vertical direction of the said fixing member is acquired.
Thus, according to the fixing member disassembly system according to the embodiment of the present invention, the vertical position of the fixing member can be detected using the autofocus function.

Moreover, in the above-described fixing member disassembly system according to an aspect of the present invention, the second fixing member detection unit includes a region including a coordinate value indicating a horizontal position of the fixing member acquired by the two-dimensional position detection unit. A captured image is acquired, a coordinate value indicating a horizontal position of the fixing member with respect to the reference position is acquired based on the captured image, a coordinate value indicating a horizontal position of the fixing member, and the fixing member The position information including the coordinate value indicating the position in the vertical direction is acquired.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, after detecting the position of the rough fixing member by the two-dimensional position detection unit, each of the information based on the information indicating the position of the rough fixing member is used. An image of the fixing member can be captured, and a more detailed position of the fixing member can be detected based on the captured image. Therefore, the detection accuracy of the position of the fixing member can be improved.

Further, in the above-described fixing member disassembly system according to one aspect of the present invention, the second fixing member detection unit includes a coordinate value indicating a horizontal position of the fixing member acquired by the two-dimensional position detection unit, and the fixing The position information including the coordinate value indicating the position of the member in the vertical direction is acquired.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, the horizontal position of the fixing member detected by the two-dimensional position detection unit and the fixing member detected by the three-dimensional position detection unit. Based on the position in the vertical direction, position information of the fixed member in the three-dimensional space can be acquired. Therefore, for example, when the horizontal position is detected with high accuracy by the two-dimensional position detection unit, it is possible to save the time for the three-dimensional position detection unit to detect the horizontal position and to shorten the work time. it can.

Moreover, in the above-described fixing member disassembly system according to an aspect of the present invention, the number of the second fixing member detection units provided in the fixing member detection unit is the number of the second fixing member detection units provided in the fixing member detection unit. More than the number.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, the number of devices (three-dimensional position detection unit) that takes more processing time is less than the number of devices (two-dimensional position detection unit) that takes less processing time. By increasing more than the number, the processing efficiency in the whole fixing member dismantling system can be improved.

In the above-described fixing member disassembly system according to one aspect of the present invention, the fixing member detection unit is similar to the fixing member when detecting the fixing member based on a captured image obtained by imaging at least a part of the disassembly target. Then, it is determined whether or not a similar image that is predetermined as an image that is not the fixed member is included in the captured image, and when the similar image is detected, the similar image is determined not to be the fixed member. A first fixing member image analysis unit is further provided.
As described above, according to the fixing member disassembly system according to the embodiment of the present invention, it is possible to reduce erroneous detection of an image that is not a fixing member, and to improve the detection accuracy of the fixing member.

The fixing member disassembling method according to an aspect of the present invention includes a step of detecting a fixing member fixing the dismantling target based on a captured image obtained by capturing at least a part of the dismantling target, and the detected fixing member Obtaining position information indicating the position of the dismantling object, and moving the 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 a step of releasing the fixing by the fixing member by the release tool, in the step of detecting the fixing member that fixes the demolition object, based on the captured image captured at least a part of the dismantling subject, wherein A coordinate value indicating the position of the fixing member in the horizontal plane direction with respect to a reference position determined in the object to be disassembled is acquired and detected. Wherein in the step of acquiring position information indicating a position in the dismantling subject of the fixing member, is configured to acquire the location information based on the coordinate value indicating the position of the horizontal plane direction of the fixing member, the step of detecting the fixing member A color determination step of determining whether a color category to which the color of the dismantling object belongs is a color category determined in advance for each color having different brightness based on the captured image of the dismantling object; A step of controlling imaging of the first camera in accordance with a predetermined imaging condition so as to capture with a light amount suitable for the determined color category based on the determination result of the determination step, and acquiring position information The step indicates the position of the fixing member in the horizontal plane based on the image captured by the first camera according to the control by the step of controlling imaging. To get the coordinate value.

Further, the program according to one aspect of the present invention detects a fixing member that fixes the dismantling object based on a captured image obtained by imaging at least a part of the dismantling object, and detects the detected fixing member in the dismantling object. A fixing member detecting means for acquiring position information indicating a position; a fixing release tool for releasing the fixing by the fixing member to a position of the fixing member in the dismantling object based on the position information; and A fixing member dismantling means for releasing the fixing by the fixing member; when detecting the fixing member based on a captured image obtained by imaging at least a part of the dismantling object, an image similar to the fixing member and not the fixing member is determined in advance. It is determined whether the similar image is included in the captured image, and the similar image is detected when the similar image is detected. Determining the fixed member image analyzing means and the image is not the fixing member, on the basis of the dismantling target image by the first camera has captured the color categories the color of the demolition object belongs, predetermined for each color brightness different A color determination unit for determining whether the color category is one of the selected color categories, and based on a determination result of the color determination unit, the first determination unit according to a predetermined imaging condition so as to capture an image with a light amount suitable for the determined color category. Imaging control means for controlling imaging of one camera, two-dimensional position detection means for acquiring a coordinate value indicating the position of the fixing member in the horizontal plane based on an image taken by the first camera according to the control of the imaging control means, It is to function as.

  According to the present invention, it is possible to reduce labor in dismantling work to be dismantled.

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 1st fixing member detection part which concerns on embodiment of this invention. It is a block diagram for demonstrating an example of a structure of the XYZ moving mechanism and drive control part which concern on embodiment of this invention. It is a figure which shows an example of the some divided image imaged with the 1st camera of the 1st fixing member detection part which concerns on embodiment of this invention. It is a block diagram which shows an example of a structure of the 1st fixing member detection part 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 explaining processing by the 1st fixed member image analysis part concerning an embodiment of the present invention. It is a figure for demonstrating the outline of the 2nd fixing member detection part which concerns on embodiment of this invention. It is a block diagram which shows an example of a structure of the 2nd fixing member detection 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 AF process which concerns on embodiment of this invention. It is a reference figure for explaining processing by the 2nd fixed member image analysis part concerning an embodiment of the present invention. 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 1st fixing member detection part which concerns on embodiment of this invention. It is a flowchart for demonstrating an example of the processing flow by the 2nd fixing member detection part 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 which shows an example of the measuring device 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 1 according to the present embodiment.
As shown in FIG. 1, the fixed member disassembly system 1 according to the present embodiment includes a fixed member detection unit 2, a fixed member disassembly unit 3, a transport unit 4, and an overall control unit 5. The fixing member detection unit 2 includes a first fixing member detection unit 10 and a second fixing member detection unit 20. The overall control unit 5 controls the fixed member detection unit 2, the fixed member disassembly unit 3, and the transport unit 4 in an integrated manner.
A fixing member disassembly system 1 according to this embodiment is a system that detects a fixing member fixed to a disassembly object by a fixing member detection unit 2 and disassembles the detected fixing member by a fixing member disassembly unit 3. In the present embodiment, the disassembly object of the fixing member disassembly system 1 will be described below using, for example, a display DP cabinet that is screwed. 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.

Next, an outline of the fixing member disassembly system 1 will be described with reference to FIG. FIG. 2 is a view for explaining an outline of the fixing member disassembly system 1.
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 first fixed member detection unit 10 and the second fixed member detection unit 20 in the fixed member detection unit 2, and the fixed member disassembly along the transport direction by the transport unit 4 from the upstream side to the downstream side. Units 3 are installed in this order. A display DP to be dismantled is placed on the transport belt 401, and the transport unit 4 is in the order of the first fixed member detection unit 10, the second fixed member detection unit 20, and the fixed member disassembly unit 3. Transport dismantling objects to them. 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 the environment in which the fixing member disassembly system 1 is installed.

Here, each component included in the fixed member disassembly system 1 will be briefly described from the upstream side to the downstream side in the transport direction.
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 position of the screw NJ is indicated by XYZ coordinate values with the 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 reference position P determined in the display DP as the origin.
A three-dimensional space having the 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 X axis + direction coincides with the transport direction (the direction from upstream to downstream), and the Z axis + direction coincides with the upward direction (that is, the Z axis − direction is the downward direction).

On the upstream side in the conveyance direction, the first fixing member detection unit 10 of the fixing member detection unit 2 detects the screw NJ fixing the cabinet of the display DP, and indicates the position of the detected screw NJ on the XY plane. Get information. 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.
More specifically, the first fixing member detection unit 10 detects the screw NJ that is the fixing member based on image data obtained by imaging the entire area in the horizontal plane direction of the display DP that is the object to be disassembled, and the detected screw 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 reference position P (0, 0, 0) in the stage coordinate space of the display DP. The reference position P (0, 0, 0) is a corner of the positioned display DP, and details will be described later.
Further, the second fixing member detection unit 20 of the fixing member detection unit 2 is based on image data obtained by imaging a part of the display DP to be disassembled, and the position of the screw NJ that is a fixing member at least in the vertical direction with respect to the reference position P. Is acquired (that is, the Z coordinate value in the stage coordinate space).

  In this embodiment, the 1st fixing member detection part 10 acquires XY coordinate value (X1, Y1) which shows the approximate position of the screw NJ. A detailed image of the screw NJ is captured based on the XY coordinate values (X1, Y1), and based on the captured image, the second fixing member detection unit 20 uses the XYZ coordinate values (X2, Y2,. Z2) is acquired. The fixing member detection unit 2 according to the present embodiment outputs the XYZ coordinate values (X2, Y2, Z2) acquired by the second fixing member detection unit 20 to the fixing member disassembly unit 3 as position information indicating the position of the screw NJ. An example of the form to perform is demonstrated below. Thereby, the precision of the positional information which shows the position of the screw NJ can be improved.

  However, the present invention is not limited to this, and the fixed member detection unit 2 acquires the XY coordinate value of the fixed member in the first fixed member detection unit 10 and the Z coordinate value of the fixed member in the second fixed member detection unit 20. May be obtained. Then, the fixed member detection unit 2 uses the XYZ coordinate value obtained by combining the XY coordinate value acquired by the first fixed member detection unit 10 and the Z coordinate value acquired by the second fixed member detection unit 20 as the position of the screw NJ. May be output to the fixed member dismantling unit 3 as the positional information. Thereby, the operation | work which acquires the XY coordinate value (X2, Y2) which shows the position of the screw | thread NJ by the 2nd fixing member detection part 20 is abbreviate | omitted, and working time can be shortened. In this case, it is preferable that the 1st fixing member detection part 10 has a function which improves the precision of the positional information which XY coordinate value (X1, Y1) shows. The function for improving the accuracy of the position information indicated by the XY coordinate values (X1, Y1) will be described in detail later. For example, the function for changing the imaging condition according to the color of the display DP, There are a function of dividing and capturing images, a function of executing binarization processing on the captured images and detecting an image region of a screw hole portion of the screw NJ, and the like. In this way, by using a function that increases the accuracy of the position information indicated by the XY coordinate values (X1, Y1), the position of the screw hole of the screw NJ and the tip of the driver bit that is the fixing release tool are aligned. Can improve the accuracy.

  Further, the fixing member detection unit 2 according to the present embodiment outputs the XY coordinate values (X1, Y1) indicating the approximate position of the screw NJ to the fixing member disassembly unit 3 as position information indicating the position of the screw NJ. It may be a thing. For example, the fixing member detection unit 2 does not include the second fixing member detection unit 20 but includes at least the first fixing member detection unit 10 and uses the XY coordinate values (X1, Y1) indicating the approximate position of the screw NJ, The position information indicating the position of the screw NJ may be output to the fixed member disassembly unit 3. Thereby, the operation | work which acquires the XYZ coordinate value (X2, Y2, Z2) which shows the position of the screw | thread NJ by the 2nd fixing member detection part 20 is abbreviate | omitted, and working time can be shortened further. In this case, it is preferable that the fixing member disassembly unit 3 can use a fixing release tool that can release the fixing member based on the XY coordinate values (X1, Y1) indicating the approximate position of the screw NJ. For example, by using a fixing release tool that can destroy the vicinity of the screw NJ including the screw NJ, the screw NJ can be released even if the position information indicates the approximate position of the screw NJ.

  The fixing member disassembly unit 3 is based on the XYZ coordinate values (X2, Y2, Z2) that are position information acquired by the fixing member detection unit 2, and a driver bit that is a fixing release tool for releasing the fixing by the screw NJ. The tip is moved to the position of the screw NJ in the object to be disassembled, and the fixation by the screw NJ is released by this fixing release tool.

Next, each structure of the fixed member disassembly system 1 will be described in detail.
FIG. 3 is a diagram for explaining the outline of the first fixing member detection unit 10. As shown in FIG. 3, the first fixed member detection unit 10 includes an XYZ moving mechanism 102 that moves the first camera 101 in the XYZ space while holding the first camera 101. The XYZ moving mechanism 102 includes a supporting portion 102a that supports the first camera 101, a Z moving mechanism 102z that supports the supporting portion 102a so as to be movable in the Z-axis direction, and moves the Z moving mechanism 102z in the X-axis direction. An X moving mechanism 102x that supports the X moving mechanism 102x and a Y moving mechanism 102y that supports the X moving mechanism 102x so as to be movable in the Y-axis direction are provided.
The XYZ moving mechanism 102 operates to move the first camera 101 to a predetermined position, and the first camera 101 captures an image of the entire area in the horizontal plane direction of the display DP that is the object to be disassembled. In the present embodiment, the XYZ moving mechanism 102 moves the first camera 101 so as to capture the entire area of the back surface of the display DP placed on the transport belt 401.
Further, the first camera 101 is equipped with, for example, a high-frequency fluorescent lamp 103 for illuminating an area imaged by the first camera 101.
Note that the XYZ moving mechanism 102 includes the display DP in the range of the depth of field of the first camera 101, and can capture an image of the screw NJ that can acquire the XY coordinate values (X1, Y1). In this case, the Z moving mechanism 102z may not be provided.

Here, with reference to FIG. 4, an example of the XYZ moving mechanism 102 and the drive control unit 104 that operates the XYZ moving mechanism 102 will be described. FIG. 4 is a block diagram for explaining an example of the configuration of the XYZ moving mechanism 102 and the drive control unit 104.
As shown in FIG. 4, the XYZ moving mechanism 102 is connected to the drive control unit 104. The drive control unit 104 provides power to the XYZ moving mechanism 102 and controls the operation of the XYZ moving mechanism 102.
The drive control unit 104 includes a motor control unit 141x, a motor control unit 141y, and a motor control unit 141z for operating the X movement mechanism 102x, the Y movement mechanism 102y, and the Z movement mechanism 102z, a drive unit 142x, and a drive unit. 142y and the drive part 142z, and the motor 143x, the motor 143y, and the motor 143z are provided.
The motor control unit 141x, the motor control unit 141y, and the motor control unit 141z issue a drive command corresponding to the amount of movement (movement distance) of each of the X movement mechanism 102x, the Y movement mechanism 102y, and the Z movement mechanism 102z to the drive unit 142x. , Output to the drive unit 142y and the drive unit 142z, respectively. The drive unit 142x, the drive unit 142y, and the drive unit 142z drive the motor 143x, the motor 143y, and the motor 143z, respectively, according to the input drive command. The motor 143x, the motor 143y, and the motor 143z are connected to the X moving mechanism 102x, the Y moving mechanism 102y, and the Z moving mechanism 102z, respectively, and are driven by the driving unit 142x, the driving unit 142y, and the driving unit 142z to move the X. The mechanism 102x, the Y moving mechanism 102y, and the Z moving mechanism 102z are moved in the X axis direction, the Y axis direction, and the Z axis direction, respectively.

In the present embodiment, the first camera 101 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 is determined in advance according to the size of the object to be disassembled and the performance of a charge coupled device image sensor (CCD) mounted on the first camera 101.
Here, with reference to FIG. 5, an example of the image of the back surface of the display DP imaged by the first camera 101 will be described. FIG. 5 is a diagram illustrating an example of a plurality of divided images captured by the first camera 101. As shown in FIG. 5, 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 reference position P and the Z coordinate value is not used, the reference position It may be indicated as a coordinate value (0, 0) of P.
As shown in FIG. 5, the entire rear surface of the display DP is, for example, virtually divided into nine divided areas as imaged areas, and is represented by divided images D1 to D9 obtained by imaging each of these divided areas. Note that the positions of the divided images D1 to D9 in the entire rear surface of the display DP are determined in advance based on the XY coordinate values in the stage coordinate space with the reference position P as the origin (0, 0). For example, the divided image D1 is an area indicated by the reference position P (0, 0) and the other three points (xa, 0), (0, ya), (xa, ya).

Next, an example of the operation of the first fixed member detection unit 10 will be described with reference to FIG. FIG. 6 is a block diagram illustrating an example of the configuration of the first fixing member detection unit 10.
As shown in FIG. 6, the first fixed member detection unit 10 includes a positioning guide 105, a positioning movement mechanism 106, a drive control unit 107, and an information processing unit 110.
In addition, the 1st fixing member detection part 10 is provided with the 1st camera 101, the XYZ movement mechanism 102, and the drive control part 104 as above-mentioned. The first camera 101 includes a lens 101a, a CCD 101b, and an A / D conversion unit 101c. The first camera 101 forms an incident optical image on the photoelectric conversion surface (imaging surface) of the CCD 101b through the lens 101a. The optical image photoelectrically converted by the CCD 101b is converted into a digital signal by the A / D converter 101c.

The positioning guide 105 is a member that pushes the display DP on the transport belt 401 and moves it to a position corresponding to the reference position P. The positioning guide 105 includes, for example, an X guide 105x that moves in the X-axis direction and a Y guide 105y that moves in the Y-axis direction.
The positioning movement mechanism 106 holds the positioning guide 105 so as to be movable in a predetermined direction.
Note that the positioning guide 105 and the positioning moving mechanism 106 have a structure as shown in FIG. 7, for example. In FIG. 7, a support guide 108 is provided so that one corner of the display DP is in contact with and fixed to the reference position P.
The drive control unit 107 controls the positioning movement mechanism 106 so as to position one corner of the display DP in accordance with the reference position P. The drive control unit 107 moves the X guide 105x toward the reference position P along the X-axis direction, and moves the Y guide 105y toward the reference position P along the Y-axis direction. The drive control unit 107 moves the X guide 105x and the Y guide 105y until, for example, one corner of the display DP is aligned with the reference position P based on image data captured by the first camera 101. The display DP pushed by the X guide 105x and the Y guide 105y comes into contact with the support guide 108 and stops. Thereby, one corner of the display DP is positioned at the reference position P.

Returning to FIG. 6, the information processing unit 110 will be described in detail.
The information processing unit 110 includes a first control unit 111, a recording unit 112, a color determination unit 113, an imaging control unit 114, a first fixed member image analysis unit 115, a two-dimensional position detection unit 116, and a transmission unit. 117.
The first control unit 111 comprehensively controls the first fixed member detection unit 10 according to a program recorded in the recording unit 112.
The recording unit 112 records various information used for the operation of the first fixing member detection unit 10.

The color determination unit 113 determines a color category to which a color to be disassembled belongs among predetermined color categories based on image data captured by the first camera 101. This color category is a common color as a dismantling object, and is determined in advance for each color having different brightness. In the present embodiment, a white category, a black category, and a gray category are determined in advance.
The imaging control unit 114 controls the imaging conditions so that the first camera 101 captures with a light amount suitable for the determined color category based on the determination result by the color determination unit 113. For example, the imaging control unit 114 adjusts the amount of light to be captured by controlling the shutter speed.

Here, with reference to FIG. 8, the process by the 1st fixing member image analysis part 115 is demonstrated in detail. FIG. 8 is a reference diagram for explaining processing by the first fixed member image analysis unit 115.
The first fixing member image analyzing unit 115 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 first camera 101. The first fixing member image analysis unit 115, 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. 8A shows an example of the divided image D1 including the fixing member areas L _{1 to} L ₃ detected by the first fixing member image analysis unit 115. An example of this fixing member area L ₁ of the image shown in Figure 8 (b).
The first fixing member image analysis unit 115 calculates the average of the luminance values of the respective pixels for each of the fixing member areas L _{1 to} L ₃ . The first fixed member image analysis unit 115 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 8 (c). As shown in FIG. 8 (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 1st fixing member image analysis part 115 can detect the image area | region of a cross-shaped screw hole area by performing a binarization process. That is, the image binarized by the first fixing member image analysis unit 115 can clearly represent the uneven shape formed on the head of the screw NJ.

The first fixing member image analysis unit 115 uses the binarization process to set an image region whose luminance value is lower than the threshold value that is an average of luminance values as a screw hole area N _i {i = 1, 2, 3,. detection, and outputs information indicating the detected screw hole area N _i in a two-dimensional position detector 116. An example of the first fixing member image analyzer 115 screw hole area N _i detected by FIG 8 (d).

Two-dimensional position detector 116 based on the information indicative of the detected screw hole area N _i, and calculates the coordinates of the center point M _i of the screw hole area N _i, indicating the detected position of the screw hole area N _i position Obtained as information (X1 _i , Y1 _i ). The center point _{M i} is indicated the reference position P in the XY coordinate values with the origin (0,0). The two-dimensional position detection unit 116 outputs the acquired position information (X1 _i , Y1 _i ) to the transmission unit 117. That is, the two-dimensional position detection unit 116 detects the concavo-convex shape formed on the head of the screw NJ based on the image binarized by the first fixing member image analysis unit 115, and the concavo-convex shape is indicated. A center point M _i that is a characteristic point of the screw NJ is acquired as position information (X1 _i , Y1 _i ) indicating the position of the screw NJ.
The transmission unit 117 is communicably connected to the second fixed member detection unit 20 and transmits input position information (X1 _i , Y1 _i ) to the second fixed member detection unit 20.

Next, the second fixing member detection unit 20 will be described in detail with reference to FIGS.
FIG. 9 is a diagram for explaining the outline of the second fixing member detection unit 20. As shown in FIG. 9, the second fixing member detection unit 20 includes an XYZ moving mechanism 202 that moves the second camera 201 to the XYZ space while holding the second camera 201. The XYZ moving mechanism 202 includes a support portion 202a for supporting the second camera 201, a Z moving mechanism 202z for supporting the support portion 202a so as to be movable in the Z-axis direction, and moving the Z moving mechanism 202z in the X-axis direction. An X movement mechanism 202x that supports the X movement mechanism 202x and a Y movement mechanism 202y that supports the X movement mechanism 202x so as to be movable in the Y-axis direction. Since the XYZ moving mechanism 202 has the same configuration and function as the XYZ moving mechanism 102 described above, the same name is given to each component and detailed description thereof is omitted.
In addition, for example, a blue light emitting diode 203 for illuminating a region imaged by the second camera 201 is mounted on the second camera 201.

Next, an example of the configuration of the second fixing member detection unit 20 will be described with reference to FIG. FIG. 10 is a block diagram illustrating an example of the configuration of the second fixing member detection unit 20.
As shown in FIG. 10, the second fixed member detection unit 20 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.
Moreover, the 2nd fixing member detection part 20 is provided with the 2nd camera 201 as above-mentioned. The second camera 201 includes a lens 201a, a CCD 201b, an A / D conversion unit 201c, a lens driving unit 201d, and an AF encoder 201e. The second camera 201 forms an incident optical image on the photoelectric conversion surface (imaging surface) of the CCD 201b via 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 second camera 201.
The lens driving unit 201d moves the lens 201a in the optical axis direction of incident light based on a command signal input from the focus control unit 213. The AF encoder 201e detects the movement of the lens 201a and outputs a signal corresponding to the movement amount of the lens 201a to the focus control unit 213.

The drive control unit 204 operates the XYZ moving mechanism 202 to move the second camera 201 to a position where the position indicated by the position information (X1 _i , Y1 _i ) and the optical axis of the lens 201a of the second camera 201 are orthogonal to each other. Move. After the second camera 201 has moved to the position indicated by (X1 _i , Y1 _i ), the drive control unit 204 moves the lens 201a parallel to the optical axis direction step by step in a predetermined distance in the Z-axis direction. Move. In the present embodiment, the drive control unit 204 moves the second camera 201 so as to approach the display DP by 5 mm from a predetermined initial height (Z coordinate value).
The drive control unit 204 is a control unit that controls the operation of the XYZ moving mechanism 202, and has the same function and configuration as the drive control unit 104 described above, and thus detailed description thereof is omitted.
Since the positioning guide 205, the positioning movement mechanism 206, and the drive control unit 207 have the same functions and configurations as the positioning guide 105, the positioning movement mechanism 106, and the drive control unit 107 described above, detailed description thereof is omitted.

The information processing unit 210 includes a second control unit 211, a recording unit 212, a focus control unit 213, a three-dimensional position detection unit 214, a second fixed member image analysis unit 215, and a transmission / reception unit 216.
The second control unit 211 comprehensively controls the second fixing member detection unit 20 according to the program recorded in the recording unit 212.
The recording unit 212 records various information used for the operation of the second fixing member detection unit 20.

  The focus control unit 213 adjusts the position of the lens 201a (hereinafter referred to as a focus position) based on image data captured by the second camera 201, and executes an AF (Auto Focus) process for focusing on the subject. In the present embodiment, AF processing refers to AF processing for focusing on a subject by moving the second camera 201 in a direction parallel to the Z axis (hereinafter referred to as camera driving AF processing), and lens driving unit 201d. AF processing for focusing on the subject by moving the lens 201a (hereinafter referred to as lens driving AF processing). The focus control unit 213 according to the present embodiment executes the camera drive AF process with priority. Note that when it is set to execute the lens driving AF process, the focus control unit 213 executes the lens driving AF process after executing the camera driving AF process. Thereby, the Z coordinate value of the screw NJ that is the fixing member can be calculated in more detail.

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 captured with the subject existing on the subject surface, the subject is in focus. 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 focus control unit 213 detects a shape predetermined as the shape of the screw NJ that is the fixing member based on the image captured by the second camera 201. In the present embodiment, the screw NJ, which is a fixing member, is circular when viewed from the back surface of the display DP. The focus control unit 213, for example, by the geometry pattern matching to detect a circular fixing member area C _i. FIG. 12A shows an example of a circular fixed member area C _i detected by the focus control unit 213.
The focus control unit 213, the image data of the AF processing area D _i square shape that circumscribes the fixing member area C _i has been detected second camera 201 is cut out from the captured image data captured. In FIG. 12 (b), shows an example of AF processing area _{D i} to be extracted by the focus control unit 213. Note that the image area to be cut out is not limited to a rectangular shape, and may be another shape.
The focus control unit 213, the image data of the AF processing area D _i, executes the noise removal processing and edge detection processing. The focus control unit 213 calculates the average luminance value of the AF processing area D _i based on the data after the edge detection process. In the noise removal process, for example, a median filter or a smoothing filter can be used. In the edge detection process, a first-order differential filter (Prewitt filter) can be used.

More specifically, the focus control unit 213 moves the second camera 201 (lens 201a) stepwise, and image data captured at different focus positions j {j = 1, 2, 3,. Based on the above, the AF processing area D _{i, j} for each focus position _j is detected. The focus position j is the position of the lens corresponding to the subject surface for determining the subject distance, and is the position of the lens corresponding to the imaging surface for determining the lens distance.
The focus control unit 213 performs noise removal processing and edge detection processing on the image data in the AF processing area D _i, j for each focus position j, and image data E _i after noise removal processing and edge detection processing. _{, J} , the average luminance value of the AF processing area D _{i, j} is calculated. The focus control unit 213 detects a focus position j that decreases after the average brightness value of the calculated AF processing area D _{i, j} increases, and the focus position j when the average brightness value immediately before the decrease is the highest. Is determined as the position where the subject is in focus (focus position). This AF processing is called hill-climbing AF processing, and may be a general AF processing method other than the method described in this embodiment.

For example, an image captured at a focus position j where the subject is not in focus has a weak subject edge, as shown in FIG. That is, the difference in luminance is small and the contrast ratio is small.
On the other hand, the image captured at the focus position j where the subject is in focus has a strong subject edge, as shown in FIG. That is, the brightness difference is large and the contrast ratio is large.

When the focus control unit 213 determines a focus position where the subject is in focus, the three-dimensional position detection unit 214 calculates a subject distance corresponding to the determined focus position. For example, when the camera drive AF process is executed, the three-dimensional position detection unit 214 determines whether the second camera 201 (the lens 201a) and the subject when the focus control unit 213 determines that the subject is in focus. The distance is input from the second control unit 211. The distance between the second camera 201 and the subject is managed by the second control unit 211 based on the movement amount (drive amount) in the XYZ movement mechanism 202. When the lens driving AF process is executed, the three-dimensional position detection unit 214 determines the distance (lens distance) between the lens 201a and the photoelectric conversion surface when the focus control unit 213 determines that the subject is in focus. ) Is input from the focus control unit 213. Based on the lens distance, the three-dimensional position detection unit 214 refers to information recorded in the recording unit 212 and calculates a subject distance associated with the lens distance. The recording unit 212 records information that associates the lens distance with the subject distance at the time of focusing that is predetermined according to the lens characteristics (when the subject is in focus). The distance between the lens 201a and the photoelectric conversion surface is managed by the focus control unit 213 based on the movement amount (drive amount) in the lens drive unit 201d.
The three-dimensional position detection unit 214 calculates the vertical position of the screw NJ that is a fixing member in the stage coordinate space, based on the subject distance at the time of focusing (when the subject is in focus). This vertical position is indicated by the Z coordinate value (Z2 _i ) with respect to the reference position P (0, 0, 0).

Here, with reference to FIG. 13, the process by the 2nd fixing member image analysis part 215 is demonstrated in detail. FIG. 13 is a reference diagram for explaining processing by the second fixing member image analysis unit 215.
The second fixing member image analysis unit 215 detects a shape (for example, a circular shape) that is predetermined as the shape of the screw NJ that is the fixing member based on the image data captured by the second camera 201. Note that the second fixing member image analysis unit 215 preferably executes the following processing based on image data captured when the focus control unit 213 determines that the subject is in focus.
The second fixed member image analysis unit 215 detects a circular fixed member area F _i by, for example, geometric pattern matching based on the image data. In FIG. 13 (a), shows an example of a fixing member area F _i detected by the second fixing member image analysis unit 215.

The second fixing member image analysis unit 215, information based on the the fixed member area F _i, detects the screw hole area G _i that is included in the fixing member in the area F _i, indicating the tapped hole area G _i Is output to the three-dimensional position detection unit 214. The second fixing member image analysis unit 215, based on the image data, for example, in pre-determined by that position as the position of the screw holes in the fixing member in the area F _i, the pattern image that is predetermined as the shape of the screw hole It is determined whether or not there is. In addition, as the shape of the screw hole, a plurality of different pattern images may be prepared. The second fixing member image analysis unit 215, the geometry pattern matching, for example, to detect the screw hole area G _i cross-shaped. In FIG. 13 (b), shows an example of the screw hole area _{G i.}
That is, the second fixing member image analysis unit 215 detects the screw hole area G _i based on the positional relationship of the screw holes corresponding to the fixing member area F _i and the shape of the screw holes corresponding to the screw NJ. Incidentally, the screw shape of the screw holes, if a plurality of different pattern images are prepared, the second fixing member image analysis unit 215, when detecting a screw hole area G _i, consistent with the screw hole area G _i Acquire information indicating the shape of the hole together.

Three-dimensional position detector 214 based on the information indicating the tapped hole area G _i input from the second fixing member image analysis unit 215 acquires position information indicating the horizontal position of the screw NJ at stage coordinate space. This horizontal position is indicated by XY coordinate values (X2 _i , Y2 _i ) with respect to the reference position P (0, 0, 0). For example, the three-dimensional position detection unit 214 acquires the XY coordinate values (X2 _i , Y2 _i ) indicating the center point of the screw hole area G _i as the horizontal position of the screw NJ.
The three-dimensional position detection unit 214 is based on the XY coordinate value (X2 _i , Y2 _i ) indicating the center point of the screw hole area G _i and the Z coordinate value (Z2 _i ) in the vertical direction of the screw NJ. The position information (X2 _i , Y2 _i , Z2 _i ) of the screw NJ is calculated and output to the transmission / reception unit 216.

The transmission / reception unit 216 is communicably connected to the first fixed member detection unit 10 and the fixed member disassembly unit 3, and receives position information (X1 _i , Y1 _i ) acquired by the first fixed member detection unit 10. At the same time, the position information (X2 _i , Y2 _i , Z2 _i ) acquired by the three-dimensional position detection unit 214 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. 14 is a diagram for explaining the outline of the fixing member disassembly unit 3. As illustrated in FIG. 14, 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. Since the XYZ moving mechanism 302 has the same configuration and function as the XYZ moving mechanism 102 described above, the same name is given to each component 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. 15 is a block diagram illustrating an example of the configuration of the fixed member disassembly unit 3.
As shown in FIG. 15, 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. 16, for example. FIG. 16 is a diagram illustrating an example of the drive control unit 304.

As shown in FIG. 16, 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, a drive unit 342y, and a drive unit 342z, and a motor 343x, a motor 343y, and a motor 343z are provided. In addition, about these structures, it is the structure contained in the above-mentioned drive control part 104 (X movement mechanism 102x, Y movement mechanism 102y, Z movement mechanism 102z, motor control part 141x, motor control part 141y, and motor control part 141z. Since the driving unit 142x, the driving unit 142y, and the driving unit 142z are the same as the motor 143x, the motor 143y, and the motor 143z), detailed description thereof is omitted.
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. 17A 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. 17A, 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. 17B is a diagram for describing an example in which an electromagnet 309 b is provided in the collection box 309. As shown in FIG. 17B, 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 performed by the first fixed member detection unit 10 will be described with reference to FIG. FIG. 18 is a flowchart for explaining an example of a processing flow by the first fixing member detection unit 10.
First, when the display DP to be disassembled is placed on the conveyance belt 401 on the upstream side of the first fixed member detection unit 10, the overall control unit 5 controls the conveyance unit 4, and the first fixed member detection unit. The display DP is transported to the 10 position. Then, the first control unit 111 of the first fixed member detection unit 10 instructs the drive control unit 107 to perform the display DP positioning process. The drive control unit 107 operates the positioning movement mechanism 106 so that one corner of the display DP is positioned at the reference position P by the positioning guide 105. As a result, the X guide 105x and the Y guide 105y of the positioning guide 105 push the display DP toward the reference position P. For example, when the drive control unit 107 determines that one corner of the display DP is positioned at the reference position P based on the image captured by the first camera 101, the drive control unit 107 ends the operation with respect to the positioning moving mechanism 106.

(Step ST1)
Next, the first camera 101 of the first fixed member detection unit 10 captures an image of a substantially central portion of the display DP and outputs image data to the color determination unit 113. The color determination unit 113 determines the color category of the display DP based on the image data captured by the first camera 101.

(Step ST2)
Then, the imaging control unit 114 acquires a shutter speed suitable for the determined color category based on the determination result by the color determination unit 113. The imaging control unit 114 sets the shutter speed according to the position of the display DP based on the image data obtained by the first camera 101 at different positions of the display DP (for example, the upper left portion, the center portion, and the lower right portion). You may acquire. In this way, by adjusting the shutter speed according to the color and position of the display DP, even when the brightness of the captured image varies, the screw NJ is used when used in the following processing. An image that is easy to detect can be taken.

(Step ST3)
Next, the first camera 101 starts imaging the back surface of the display DP according to the shutter speed acquired by the imaging control unit 114. In the present embodiment, the first camera 101 captures a plurality of divided areas obtained by dividing the back surface of the display DP into a plurality of parts, and obtains divided images D1 to D9. Note that the number of divisions of this divided area is determined in advance according to the size of the display DP and the performance of the first camera 101. In the present embodiment, the resolution of the first camera 101 is 60 to 80 μm.

(Step ST4)
First, the XYZ moving mechanism 102 moves the first camera 101 to a position for capturing the divided image D1. Then, the first control unit 111 instructs the imaging after the first camera 101 is positioned at the imaging position. Accordingly, the first camera 101 captures the divided image D1 and outputs the captured image data to the first fixed member image analysis unit 115. Note that, when the divided image D1 is captured, the first control unit 111 records information indicating the identification number or the number of the captured divided images in the recording unit 112.

(Step ST5)
The first fixed member image analyzing unit 115 performs predetermined circular pattern matching on the divided image D1, and all the circular fixed member areas L _i {i = 1 included in the divided image D1. , 2, 3... The first fixing member image analysis unit 115, a unique identification number i for identifying the detected fixed member area _{L i {i = 1,2,3 ···}} , each fixing member area _{L i} Assign to.

(Step ST6)
The first fixing member image analysis unit 115 calculates an average of luminance values of pixels of the fixed member in the area L _i. The first fixed member image analysis unit 115 performs binarization processing on an image including the fixed member area L _i using the average of the calculated luminance values as a threshold value.

(Step ST7)
Then, the first fixing member image analysis unit 115 performs the image data after the binarization process, for example, performs pattern matching of a predetermined cross-shaped, the detection of the screw hole area N _i cruciform . The first fixing member image analysis unit 115 determines whether the image area of the tapped hole area N _i of the cross shape is detected.

(Step ST8)
If the image area of the tapped hole area N _i of the cross shape is detected, the first fixing member image analysis unit 115, positional information (X1 _i indicating the center point M _i of the cross-shaped detected screw hole area N _i, Y1 _i ) is acquired. Then, the first fixing member image analysis unit 115 records the position information (X1 _i , Y1 _i ) in the recording unit 112.

Then, the first fixed member image analyzing unit 115 executes steps ST6 and ST7 for all the fixed member areas L _i {i = 2, 3,... When (X1 _i , Y1 _i ) {i = 2, 3...} Is acquired, it is recorded in the recording unit 112.

(Step ST9)
Next, the first control unit 111 refers to the recording unit 112 and confirms the number of times of imaging.
(Step ST10)
Then, the first control unit 111 determines whether or not all the divided images D1 to D9 corresponding to the predetermined number of divisions have been captured. When the imaging of all the divided images D1 to D9 has not been completed, the process returns to step ST4.
(Step ST11)
On the other hand, when the imaging of all the divided images D1 to D9 is completed, the first control unit 111 reads the position information (X1 _i , Y1 _i ) {i = 2, 3,. The data is transmitted to the second fixed member detection unit 20 via the unit 117.

Next, an example of a processing flow by the second fixing member detection unit 20 will be described with reference to FIG. FIG. 19 is a flowchart for explaining an example of a processing flow by the second fixing member detection unit 20.
When the position information acquisition processing by the first fixed member detection unit 10 is completed, the overall control unit 5 controls the transport unit 4 to transport the display DP to the position of the second fixed member detection unit 20. Then, the second control unit 211 of the second fixing member detection unit 20 instructs the drive control unit 207 to perform the positioning process of the display DP. The positioning process performed by the drive control unit 207 is the same as the process performed by the drive control unit 107 described above, and thus detailed description thereof is omitted.

(Step ST21)
The second control unit 211 records the position information (X1 _i , Y1 _i ) {i = 2, 3...} Received from the first fixed member detection unit 10 in the recording unit 212. The second control unit 211 sequentially reads position information (X1 _i , Y1 _i ) {i = 2, 3...} From the recording unit 212, and indicates an area indicated by the position information (X1 _i , Y1 _i ). The drive control unit 204 is instructed to move the second camera 201 to a position for imaging.
First, the drive control unit 204 operates the XYZ movement mechanism 202 so as to move the second camera 201 to a position where the region indicated by the position information (X1 _i , Y1 _i ) is imaged. The XYZ moving mechanism 202 moves the second camera 201 to a position where the region indicated by the position information (X1 _i , Y1 _i ) is imaged.

(Step ST22)
Then, the second control unit 211 instructs the imaging after moving the second camera 201 to the imaging position. As a result, the second camera 201 captures an image of an area indicated by the position information (X1 _i , Y1 _i ) at a predetermined initial focus position j, and outputs the captured image data to the focus control unit 213. .

(Step ST23)
As described above, the focus control unit 213 performs AF processing and determines a focus position where the subject is in focus. For example, the focus control unit 213 performs a predetermined circular pattern matching on the image captured at the focus position j, and detects a circular fixed member area C _{i, j} . Then, the focus control unit 213, fixing members area C _i has been _detected, AF processing area D _i square shape circumscribing a _j, the image data of the _j, the second camera 201 is cut out from the image data captured. Then, the focus control unit 213 performs noise removal processing and edge detection processing on the image data in the AF processing area D _{i, j ,} and based on the image data E _{i, j} after the edge detection processing, the AF processing area The average of the luminance values of _{Di, j} is calculated. In the present embodiment, the average of the luminance values is an index (focus value) for determining the in-focus position by the focus control unit 213. The focus control unit 213 temporarily records the average (focus value) of the calculated luminance values in a memory built therein in association with the focus position j.

(Step ST24)
The focus control unit 213 reads the past focus value recorded in the built-in memory, and compares the average value of the latest luminance values calculated in step ST23 with the past focus value.

(Step ST25)
That is, the focus control unit 213 reads the past focus value recorded in the built-in memory, and determines whether or not the focus value that is the maximum value has been calculated. For example, the focus control unit 213 determines whether or not there is a peak that decreases after the focus value increases in a time-series change in the focus value. When the focus control unit 213 determines that the focus value that increases in time series has decreased, that is, when a focus value peak is detected, the focus control unit 213 determines that the focus value immediately before the decrease is the highest. Then, the focus control unit 213 determines the focus position j associated with the maximum focus value as a position where the subject is in focus (focus position). The present invention is not limited to this. For example, the focus values corresponding to all the focus positions j are calculated based on the images taken at all the focus positions j, and the focus value when the focus value becomes the maximum among these is calculated. The position j may be determined as the in-focus position.

(Step ST26)
On the other hand, when it is determined that the focus control unit 213 has not calculated the maximum value of the focus value, for example, when it is determined that the peak of the focus value has not been detected, the second control unit 211 causes the drive control unit 204 to On the other hand, the movement of the second camera 201 is instructed. For example, the second control unit 211 moves the second camera 201 in a direction approaching the display DP so that the distance (subject distance) between the lens 201a and the subject surface is shortened by a predetermined length.
In the present embodiment, the second control unit 211 lowers the second camera 201 set to a position where the display DP is imaged from above by 5 mm (that is, moves the second camera 201 closer to the display DP). To instruct. Accordingly, the drive control unit 204 operates the XYZ moving mechanism 202 so as to lower the second camera 201 by 5 mm.

(Step ST27)
Then, the three-dimensional position detection unit 214 calculates the vertical position (Z2 _i ) of the screw NJ in the stage coordinate space based on the subject distance when the focus control unit 213 calculates the maximum focus value.

(Step ST28)
Next, the second fixed member image analysis unit 215 performs circular pattern matching on the image data when the focus control unit 213 calculates the maximum focus value, thereby forming a circular fixed member area F _i. Is detected. Then, the second fixing member image analysis unit 215 detects the screw hole area G _i included in the fixing member area F _i on the basis of the fixing member area F _i , and information indicating the screw hole area G _i Is output to the three-dimensional position detection unit 214. The second fixing member image analysis unit 215, when detecting the screw hole area G _i, by using a plurality of different patterns are predetermined as screw holes, determines the shape of the screw hole. That is, the second fixing member image analysis unit 215 detects the screw hole area G _i by performing pattern matching using a pattern predetermined as the screw hole, and also detects the screw hole area G _i detected. Determine the shape.
Then, the three-dimensional position detection unit 214, based on the information indicating the tapped hole area G _i input from the second fixing member image analysis unit 215, positional information (X2 _i indicating the horizontal position of the screw NJ at stage coordinate space , Y2 _i ). For example, the three-dimensional position detection unit 214 calculates XY coordinate values (X2 _i , Y2 _i ) indicating the center point of the screw hole area G _i .

(Step ST29)
Next, the three-dimensional position detection unit 214 is based on the vertical position (Z2 _i ) of the screw NJ calculated in step ST27 and the horizontal position (X2 _i , Y2 _i ) of the screw NJ calculated in step ST28. The position information (X2 _i , Y2 _i , Z2 _i ) of the screw NJ is acquired. The three-dimensional position detection unit 214 records the acquired position information (X2 _i , Y2 _i , Z2 _i ) of the screw NJ in the recording unit 212. Also, three-dimensional position detector 214, information indicating the shape of the screw hole area _{G i} detected by the second fixing member image analysis unit 215, the correspondence to the position information _{(X2 i, Y2 i, Z2} i) To the recording unit 212.

(Step ST30)
Then, the second control unit 211 instructs the drive control unit 204 to return the height of the second camera 201 to the initial state. The drive control unit 204 controls the XYZ movement mechanism 202 so as to return the position of the second camera 201 in the Z direction to the initial state.

(Step ST31)
Based on the position information (X2 _i , Y2 _i , Z2 _i ) recorded in the recording unit 212 and information indicating the shape of the screw hole, the second control unit 211 detects the screw NJ that has detected the position information and the shape of the screw hole. Check the number of
(Step ST32)
Then, the second control unit 211 determines whether or not the acquisition of the position information and the detection of the screw hole shape are completed for all the screws NJ (i). When it is determined that the position information has been acquired for all the screws NJ (i), the second control unit 211 reads the position information (X2 _i , Y2 _i , Z2 _i ) {i = 2, 3 from the recording unit 212. ...} and information indicating the shape of the screw hole are read out and transmitted to the fixing member disassembly unit 3 via the transmission / reception unit 216.

Next, an example of a processing flow by the fixed member disassembly unit 3 will be described with reference to FIGS. FIG. 20 is a diagram for explaining an example of a processing flow by the fixing member disassembly unit 3. FIG. 21 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. 21, 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 second fixed member detection unit 20 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 third 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 107 described above, and a detailed description thereof will be omitted.

The third control unit 311 records the position information (X2 _i , Y2 _i , Z2 _i ) {i = 2, 3...} Received from the second fixed member detection unit 20 and information indicating the shape of the screw hole. 312 is recorded. The third control unit 311 sequentially reads the position information from the recording unit _{312 (X2 i, Y2 i,} Z2 i) {i = 2,3 ···}, the positional information _{(X2 i,} Y2 _i, Z2 _i ) The drive control unit 304 is instructed to move the tip of the bit of the fixation release tool 301 to the position indicated by _i ).

(Step ST41)
First, the drive control unit 304 of the XYZ moving mechanism 302 moves the fixing release tool 301 to a position where the position indicated by the position information (X2 _i , Y2 _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 ST42)
Next, the drive control unit 304 operates the XYZ moving mechanism 302 to lower the fixing release tool 301 to a position before the position indicated by the position information (Z2 _i ) (for example, 5 mm above Z coordinate value = Z2 _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 = Z2 _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 ST43)
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 (X2 _i , Y2 _i ) and its tip is at the position of the Z coordinate value (Z2 _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 ST44)
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 ST45)
Next, the drive control unit 304 operates the XYZ moving mechanism 302 so that the tip of the fixing release tool 301 is lowered at a low speed to the position indicated by the position information (Z2 _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 ST46)
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 ST47)
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 ST48)
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 ST49)
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 ST50).
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 ST51)
The third 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 is detected by the second fixing member detection unit 20.
(Step ST52)
Next, the third 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 they do not match, the process returns to step ST41, and the processes of steps ST41 to 51 are repeated for the number (i) of all the screws NJ.
(Step ST53)
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.

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. 22 shows a cross-sectional view of the screw hole.
That is, as shown in FIG. 22A, the fixing release tool 301 may include a cutting part that cuts the head of the screw NJ. Moreover, as shown in FIG.22 (b), the fixation release tool 301 may be provided with the cutting part which cuts the bottom part of the screw hole of the cabinet of display DP. Furthermore, as shown in FIG. 22C, 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. Further, as shown in FIG. 22 (d), the fixing release tool 301 may include a cutting part that cuts off all the screws NJ of the cabinet of the display DP.
In this way, as shown in FIGS. 22A to 22D, 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 1 uses only the positional information (X1 _i , Y1 _i ) acquired by the first fixing member detection unit 10 in the fixing member detection unit 2, and the fixing release processing of the screw NJ in the fixing member disassembly unit 3. Can be executed. Therefore, when using the unlocking 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 may be configured not to include the second fixing member detection unit 20. In this case, the position information (X1 _i , Y1 _i ) acquired by the first fixing member detection unit 10 is transmitted to the fixing member disassembly unit 3, and the fixing member disassembly unit 3 transmits the position information (X1 _i , Y1 _i ) to the position information (X1 _i , Y1 _i ). Based on this, the screw NJ is removed using the fixing release tool 301.

  Moreover, in the above-mentioned, the fixing member disassembly system 1 demonstrated to the example the structure provided with the 1st fixing member detection part 10, the 2nd fixing member detection part 20, and the fixing member disassembly unit 3, respectively. However, the present invention is not limited to this, and a plurality of them may be provided in parallel. In addition, since it is thought that the process by the 2nd fixing member detection part 20 requires time rather than the process in the 1st fixing member detection part 10, the number of the 2nd fixing member detection parts 20 is set from the 1st fixing member detection part 10. It is preferable to increase the amount. Thereby, the processing efficiency in the whole fixed member disassembly system 1 can be improved.

In step ST5 shown in FIG. 18 described above, the first fixing member image analysis unit 115 is similar to the screw NJ when detecting the fixing member area L _i {i = 1, 2, 3. It is also possible to exclude images that are easily misdetected (hereinafter referred to as similar images). 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.
The first fixed member image analysis unit 115 detects, for example, an image region having the characteristics of a similar image from each of the divided images D1 to D9 by pattern matching, and the fixed member area L _i {i = 1, 2, 3 {Circle over (2)} may be used to cut out an image that is easily erroneously detected from the detection target. As a result, it is possible to reduce the possibility that an image other than the screw NJ is erroneously detected, and to increase the detection accuracy of the image of the screw NJ.
As described above, the first fixed member image analysis unit 115 may be excluded from the detection target area of the fixed member area L _i {i = 1, 2, 3,... If L _{i {i} = 1,2,3 ···} is not a fixed member area _L i {i = 1,2,3 ···} pictures screws NJ it is determined that the similar image from after being detected It may be determined.
The latter will be described in detail. The first fixing member image analysis unit 115 detects the fixing member area L _i {i = 1, 2, 3...} And then fixes the fixing 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. The first fixed member image analysis unit 115 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. The fixing member area L _i {i = 1, 2, 3,...} Is determined not to be an image of the screw NJ. Then, the first fixing member image analysis unit 115 excludes the fixing member area L _i {i = 1, 2, 3...] Determined not to be the image of the screw NJ from the position information detection targets.

Furthermore, in the above-described embodiment, the fixed member disassembly unit 3 is based on the positional information (X2 _i , Y2 _i , Z2 _i ) {i = 2, 3. The example in which the position in the height direction of the bit (Z coordinate value) is adjusted to approach the screw NJ has been described. However, the present invention is not limited thereto, the second fixing member detection unit 20, based on the shape of the screw holes corresponding to the position relationship between the screw NJ screw holes corresponding to the fixing member area F _i, screw hole area G _{When i} is detected, the angle of the screw hole may be determined. For example, when detecting a screw hole area G _i a cross-shaped, the second fixing member image analysis unit 215 of the second fixing member detector 20, the azimuth angle of 360 ° around the horizontal direction of the center point of the cross-shaped The inclination position shown may be calculated. The inclination position is determined by taking a position where a straight line indicating a predetermined azimuth angle 0 ° C. and the direction in which the cross-shaped convex portion of the screw NJ extends as a reference position (inclination position 0 °), The direction in which the convex part extends is indicated by the azimuth angle at which it is located. The direction in which the cross-shaped convex portion of the screw NJ extends is the direction in which the cross-shaped protrusions perpendicular to each other project.
Then, the second fixing member detection unit 20 outputs information indicating the inclination position of the screw hole corresponding to the screw NJ to the fixing member disassembly unit 3.
The fixing member disassembly unit 3 adjusts the meshing position of the driver bit that approaches the screw NJ based on the information indicating the tilt position of the screw hole corresponding to the screw NJ. That is, the driver bit is rotated in accordance with the inclined position of the screw hole so that the cross shape of the driver bit and the cross shape of the screw NJ coincide. As a result, when the driver bit comes into contact with the screw hole, the cross shape of the driver bit and the cross shape of the screw NJ are matched and fitted, so that the screwdriver bit can be held in a tightly engaged state without crushing the screw hole. The screw NJ can be rotated. Thereby, the tip of the driver bit can be aligned with the concave portion of the head of the screw NJ more accurately.

Further, as described above, the three-dimensional position detection unit 214 of the second fixing member detection unit 20 acquires the position information in the vertical direction of the screw NJ indicated by the Z coordinate value (Z2 _i ), as described above, and the focus control unit 213. Is not limited to the form using the subject distance when the maximum focus value is calculated. For example, the form shown below may be used.
For example, the second fixing member detection unit 20 includes a measuring device as shown in FIG. FIG. 23 is a diagram illustrating an example of a measuring device for acquiring position information of the second fixing member detection unit 20 in the vertical direction. In this embodiment, a laser displacement meter 217 will be described as this measuring device.

As shown in FIG. 23, the laser displacement meter 217 includes an irradiation unit 217a, a light receiving unit 217b, an interface 217c, and a laser displacement control unit 217d.
For example, the irradiation unit 217a irradiates this position with detection light based on position information (X1 _i , Y1 _i ) indicating the horizontal position of the screw NJ. The irradiation unit 217a irradiates, for example, laser light having a predetermined frequency as detection light.
The light receiving unit 217b is located at a position where the laser beam from the irradiation unit 217a is reflected by the measurement target and incident. As shown in FIG. 23, the light receiving unit 217b receives the laser light reflected from the head of the screw NJ.
The laser displacement control unit 217d controls the irradiation of the laser beam to the irradiation unit 217a. Further, the laser displacement control unit 217d calculates the optical path length of the laser light from the irradiation unit 217a reflected by the screw NJ to enter the light receiving unit 217b based on the output of the laser light received by the light receiving unit 217b. To 217c.
The interface 217c receives position information (X1 _i , Y1 _i ) indicating the horizontal position of the screw NJ from the transmission / reception unit 216 and outputs it to the laser displacement control unit 217d. Further, the interface 217c inputs information indicating the optical path length of the laser beam from the irradiation unit 217a reflected by the screw NJ to enter the light receiving unit 217b from the laser displacement control unit 217d and outputs the information to the three-dimensional position detection unit 214. To do.

For example, position information (X1 _i , Y1 _i ) indicating the horizontal position of the screw NJ is input from the transmission / reception unit 216 to the laser displacement meter 217 via the interface 217c. The interface 217c outputs the input position information (X1 _i , Y1 _i ) to the laser displacement control unit 217d. Then, the laser displacement control unit 217d controls the irradiation unit 217a so as to irradiate the laser beam at the position indicated by the position information (X1 _i , Y1 _i ). The irradiation unit 217a emits laser light.
The laser beam emitted from the irradiation unit 217a is reflected at the position of the screw NJ indicated by the position information (X1 _i , Y1 _i ) and enters the light receiving unit 217b. The light receiving unit 217b receives the laser beam reflected from the head of the screw NJ, and outputs the output of the laser beam to the laser displacement control unit 217d. Based on the output of the laser beam received by the light receiving unit 217b, the laser displacement control unit 217d calculates the optical path length of the laser light from the irradiation unit 217a until it is reflected by the screw NJ and enters the light receiving unit 217b, and is sent to the interface 217c. Output. The interface 217c outputs, to the three-dimensional position detection unit 214, information indicating the optical path length of the laser light that is reflected from the irradiation unit 217a by the screw NJ and enters the light receiving unit 217b.
The three-dimensional position detection unit 214 is a vertical position of the fixing member in the three-dimensional space based on information indicating the optical path length of the laser light reflected from the irradiation unit 217a by the screw NJ and incident on the light receiving unit 217b. The coordinate value (Z2 _i ) indicating is acquired.

Furthermore, the present invention is not limited to this, and the vertical position information of the screw NJ indicated by the Z coordinate value (Z2 _i ) may be acquired using a technique as described below. For example, a light cutting method used when creating a stereoscopic image, a spatial code method, or the like may be used. Briefly, in the state where the measurement object is imaged with a camera, the light cutting method irradiates the laser slit light from the diagonal of the measurement object, and images the place where the light hits, thereby three-dimensionally measuring the measurement object. The shape is measured. By using this light cutting method, the three-dimensional shape of the screw NJ can be measured based on the three-dimensional shape of the measurement object, and the position of the screw hole center of the head of the screw NJ can be measured more accurately. Can do. In the spatial code method, a predetermined pattern of light is projected onto a measurement object using a projector or the like as a light source, the measurement object onto which the pattern light is projected is imaged, and the captured image is binarized. Based on the binarized image, the distance to the measurement object is calculated using the principle of triangulation. By using this spatial coding method, even if the screw NJ is arranged obliquely with respect to the display DP or the structure around the screw NJ is complicated, it is difficult to capture images from the second camera 201. , The Z coordinate value (Z2 _i ) can be acquired.

  The program for realizing the procedure by the fixing member disassembly system 1 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 execution process. 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 ... Fixed member disassembly system, 2 ... Fixed member detection unit, 3 ... Fixed member disassembly unit, 4 ... Conveyance unit, 5 ... General control unit, 10 ... 1st fixing member detection part, 20 ... 2nd fixing member detection part

Claims (13)

A fixing member that detects a fixing member that fixes the dismantling object based on a captured image obtained by imaging at least a part of the dismantling object, and acquires position information indicating a position of the detected fixing member in the dismantling object A detection unit;
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
Based on a captured image obtained by imaging at least a part of the dismantling target, a first fixed position detector including a two-dimensional position detection unit that acquires a coordinate value indicating a position of the fixing member in a horizontal plane direction with respect to a reference position determined in the dismantling target It has a member detection unit, and is configured to acquire the position information based on coordinate values indicating the position of the fixed member in the horizontal plane direction ,
The first fixing member detector is
A first camera that images the dismantling object;
Color determination for determining whether a color category to which the color of the disassembly object belongs is one of color categories determined in advance for each color having different brightness based on the image of the disassembly object captured by the first camera And
An imaging control unit that controls imaging of the first camera in accordance with a predetermined imaging condition so as to perform imaging with a light amount suitable for the determined color category based on the determination result of the color determination unit;
The two-dimensional position detector is
A fixing member dismantling system , wherein a coordinate value indicating a position of the fixing member in a horizontal plane direction is acquired based on an image picked up by the first camera according to the control of the image pickup control unit . A transport unit for transporting the dismantling object;
The fixed member detection unit is
The fixing member disassembly system according to claim 1, wherein the fixing member disassembly system is provided upstream of the fixing member disassembly unit along a transport direction of the transport unit. The first fixing member detector is
For each divided region obtained by dividing the entire region in the horizontal plane of the dismantling object into a plurality of divided regions, a part of the dismantling target is imaged, and a captured image obtained by capturing a part of the dismantling object corresponding to the dividing region 3. The fixing member disassembly system according to claim 1, wherein the fixing member is detected and a coordinate value indicating a position of the fixing member in a horizontal plane direction is acquired. The first fixing member detector is
A first fixed member image analysis unit that binarizes the luminance value of each pixel with respect to a captured image obtained by capturing at least a part of the dismantling target;
The two-dimensional position detector is
Based on the image binarized by the first fixing member image analysis unit, the uneven shape formed on the fixing member is detected, and the feature point of the fixing member indicated by the uneven shape is determined by the fixing member. It acquires as a coordinate value which shows the position of a horizontal surface direction, The fixing member disassembly system as described in any one of Claim 1 to 3 characterized by the above-mentioned. The fixed member detection unit is
A three-dimensional position detection unit that acquires, as the position information, a coordinate value indicating the position of the fixed member in a three-dimensional space based on a coordinate value indicating the position of the fixed member in the horizontal plane direction acquired by the two-dimensional position detection unit; 5. The fixing member disassembly system according to claim 1, further comprising a second fixing member detection unit that includes the fixing member detection unit. The second fixing member detector is
An irradiation unit that irradiates the fixing member with detection light based on a coordinate value indicating the position of the fixing member in the horizontal plane acquired by the two-dimensional position detection unit, and the detection light reflected from the fixing member is received. A measuring device including a light receiving unit;
The three-dimensional position detector
A coordinate value indicating a vertical position of the fixing member is acquired based on an optical path length of the detection light, and the position information including a coordinate value indicating a vertical position of the fixing member is acquired. The fixing member dismantling system according to claim 5 . The second fixing member detector is
A second camera that images the fixing member in the dismantling target based on coordinate values indicating the horizontal position of the fixing member acquired by the two-dimensional position detection unit;
A focus control unit that adjusts a distance between the second camera and the fixing member so that the fixing member is focused based on an image captured by the second camera ;
The three-dimensional position detector
Based on the distance between the second camera and the fixing member when the fixing member is in focus by the focus control unit, a coordinate value indicating the vertical position of the fixing member is obtained, and the vertical direction of the fixing member is acquired. The fixed member disassembly system according to claim 5, wherein the position information including a coordinate value indicating the position of the fixed member is acquired. The second fixing member detector is
A captured image obtained by capturing, for each fixed member, an area including a coordinate value indicating a horizontal position of the fixed member acquired by the two-dimensional position detection unit is acquired, and the fixed member with respect to the reference position is acquired based on the captured image. A coordinate value indicating a position in the horizontal direction of the fixed member is acquired, and the position information including a coordinate value indicating a horizontal position of the fixed member and a coordinate value indicating a vertical position of the fixed member is acquired. The fixing member dismantling system according to claim 6 or 7 . The second fixing member detector is
The position information including a coordinate value indicating a horizontal position of the fixing member acquired by the two-dimensional position detection unit and a coordinate value indicating a vertical position of the fixing member is acquired. Item 8. The fixing member disassembly system according to Item 6 or 7. The fixed member detection unit is
The number of the second fixing member detecting portion provided in the fixing member detection unit as claimed in any one of claims 5 9, characterized in that more than the number of the first fixing member detector Fixed member dismantling system. The fixed member detection unit is
When the fixed member is detected based on a captured image obtained by capturing at least a part of the dismantling target, the captured image includes a similar image that is similar to the fixed member and predetermined as an image that is not the fixed member. 11. The method according to claim 1 , further comprising: a first fixed member image analysis unit that determines whether the similar image is not the fixed member when the similar image is detected. fixing members dismantling system according to an item or. Detecting a fixing member fixing the dismantling object based on a captured image obtained by imaging at least a part of the dismantling object;
Obtaining 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;
With
In the step of detecting the fixing member fixing the dismantling target, the position of the fixing member in the horizontal plane with respect to a reference position determined in the dismantling target based on a captured image obtained by capturing at least a part of the dismantling target Get the coordinate value indicating
In the step of acquiring the position information indicating the position of the detected fixing member in the dismantling target, the position information is acquired based on the coordinate value indicating the position of the fixing member in the horizontal plane direction .
The step of detecting the fixed member is:
A color determination step of determining whether a color category to which the color of the dismantling object belongs is one of color categories determined in advance for each color having different brightness based on the captured image of the dismantling object;
Further controlling the imaging of the first camera according to a predetermined imaging condition so as to capture an image with a light amount suitable for the determined color category based on the determination result of the color determination step,
The step of acquiring location information is
A fixing member disassembling method , wherein a coordinate value indicating a position of the fixing member in a horizontal plane direction is acquired based on an image picked up by the first camera in accordance with control by an imaging control step . Computer
Fixed member detection that detects a fixing member that fixes the dismantling target based on a captured image obtained by capturing at least a part of the dismantling target, and acquires position information indicating the position of the detected fixing member in the dismantling target means,
A fixing member dismantling means for moving 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 releasing the fixing by the fixing member by the fixing releasing tool;
When the fixed member is detected based on a captured image obtained by capturing at least a part of the dismantling target, the captured image includes a similar image that is similar to the fixed member and predetermined as an image that is not the fixed member. Fixing member image analysis means for determining whether or not the similar image is not the fixing member when the similar image is detected,
Color determining means for determining whether a color category to which the color to be disassembled belongs is one of color categories determined in advance for each color having different brightness based on the image to be disassembled captured by the first camera ,
An imaging control unit that controls imaging of the first camera in accordance with a predetermined imaging condition so as to capture an image with a light amount suitable for the determined color category based on a determination result of the color determination unit;
Two-dimensional position detection means for acquiring a coordinate value indicating the position of the fixing member in the horizontal plane direction based on an image captured by the first camera according to the control of the imaging control means;
Program to function as.