Disassembly step selection device, disassembly step selection method, and disassembly device

Abstract

Provided are a disassembly step selection device and method and a disassembly device that enable disassembly even when a disassembly step is not stored or when the state of a disassembly target object is different, such as being broken or deformed. The disassembly step selection device includes: a disassembly information storage unit that stores a plurality of disassembly information including a plurality of disassembly steps that are respectively set in advance for a plurality of disassembly objects that are disassembly reference objects; a whole detection unit that photographs the whole of a disassembly target object; a detail detection unit that photographs at least a portion of the disassembly target object; and a disassembly step derivation unit that extracts a first feature that is a feature of the disassembly target object based on data photographed by at least one of the whole detection unit and the detail detection unit, calculates a degree of agreement between the first feature and a plurality of second features that are features of the plurality of disassembly objects, respectively, and selects a disassembly step associated with a disassembly object having a second feature with the highest degree of agreement among the plurality of second features.

Description

Technical Field

[0001] This disclosure relates to a dismantling step selection device, a dismantling step selection method, and a dismantling apparatus for dismantling objects whose dismantling steps differ depending on the type of machine. Background Technology

[0002] Due to economic activities involving both massive consumption and waste, global-scale environmental problems such as global warming and resource depletion are occurring.

[0003] In this context, to build a resource-recycling society, Japan implemented the Home Appliance Recycling Law in April 2001. This law mandates the recycling of used home appliances (such as air conditioners, televisions, refrigerators, freezers, washing machines, and clothes dryers). As a result, used appliances are manually disassembled in recycling plants and recycled as raw materials. Alternatively, used appliances are shredded into smaller pieces and then sorted by material type using magnetism, wind, or vibration, and reused as recycling materials.

[0004] In manual disassembly, many household appliances are secured by multiple fixed components, such as the casing or circuit board. Therefore, these components must be removed and separated in a specific order during disassembly. Since the size and the location or method of fixing each component vary depending on the individual appliance, the process involves many complex disassembly actions or the operator's intuition or experience, making automation very difficult.

[0005] In this situation, a technology that automates part of the disassembly process, as described in Patent Document 1, was proposed.

[0006] Figure 10 This is a diagram showing a conventional dismantling device described in Patent Document 1.

[0007] exist Figure 10 In this process, the display panel 101 is transported by the conveying unit 102, the fixed position of the fixed member of the housing is detected by the first fixed member detection unit 103 and the second fixed member detection unit 104, and the fixed member can be released by the fixed member disassembly unit 105. This is effective in automating the disassembly process of thin televisions and the like, in which the fixed members are fastened together in one direction.

[0008] Prior art literature

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent No. 6051501 Summary of the Invention

[0011] The disassembly step selection device of one embodiment of this disclosure includes:

[0012] The dismantling information storage unit stores multiple dismantling information, which includes multiple dismantling steps predetermined for each of the multiple objects to be dismantled, which are the dismantling references for the objects to be dismantled.

[0013] The overall inspection unit photographs the entire object being disassembled;

[0014] The detail inspection unit photographs at least a portion of the disassembled object; and

[0015] The dismantling step derivation unit extracts a first feature that is a characteristic of the object to be dismantled based on data captured by at least one of the overall detection unit and the detail detection unit, calculates the consistency between a plurality of second features that are characteristics of each of the plurality of dismantled objects and the first feature, and selects the dismantled object that has the second feature with the highest consistency among the plurality of second features as the dismantling step.

[0016] In addition, in another scheme of this disclosure, the method for selecting the disassembly steps,

[0017] A dismantling information storage unit is provided, which stores multiple dismantling information entries, including multiple pre-determined dismantling steps for multiple objects that serve as dismantling references.

[0018] Using a camera to photograph the whole or a part of an object being dismantled.

[0019] The disassembly step derivation unit extracts a first feature, which is a characteristic of the object to be disassembled, based on the captured data.

[0020] The degree of consistency between multiple second features, which are characteristics of each of the multiple disassembled objects, and the first feature is determined using the derivation unit of the disassembly step.

[0021] The dismantling step derivation unit selects the dismantling step associated with the dismantled object having the second feature with the highest consistency among the plurality of second features. Attached Figure Description

[0022] Figure 1 This is a structural block diagram of the dismantling device in Embodiment 1 of this disclosure.

[0023] Figure 2 This is a schematic diagram of the dismantling device in Embodiment 1 of this disclosure.

[0024] Figure 3 This is a flowchart of the disassembly process in Embodiment 1 of this disclosure.

[0025] Figure 4A This is a diagram illustrating the extraction of characteristic parts of the dismantling device in Embodiment 1 of this disclosure.

[0026] Figure 4B This is a diagram illustrating an example of the features stored in the dismantling information storage unit of the dismantling device in Embodiment 1 of this disclosure.

[0027] Figure 5 This is a diagram illustrating the disassembly steps based on the consistency of the disassembly apparatus in Embodiment 1 of this disclosure.

[0028] Figure 6 This is a diagram illustrating disassembly step A of the disassembly apparatus in Embodiment 1 of this disclosure.

[0029] Figure 7 This is a flowchart of the disassembly determination in Embodiment 1 of this disclosure.

[0030] Figure 8 This is a schematic diagram of the dismantling device in Embodiment 2 of this disclosure.

[0031] Figure 9 This is a schematic diagram of the dismantling device in Embodiment 3 of this disclosure.

[0032] Figure 10 This is a diagram showing a conventional dismantling device described in Patent Document 1.

[0033] Figure 11 This is an explanatory diagram illustrating the fixing method of the fixing and holding part of the disassembly device in Embodiment 1 of this disclosure.

[0034] [Explanation of Labels in the Attached Image]

[0035] 1. Disassembly device

[0036] 1A Disassembly Step Selection Device

[0037] 2 Overall Testing Department

[0038] 3. Detail Inspection Department

[0039] 4. Disassembly Information Storage Unit

[0040] 5. Disassembly Steps Derivation Section

[0041] 6. Fixed Conveying Section

[0042] 7. Robotic Arm

[0043] 8 disintegration hand

[0044] 9. Control Department

[0045] 10. Objects to be dismantled

[0046] 10a Fixed component

[0047] 10b Boundary Line

[0048] 10S Disintegration

[0049] 10Sb boundary line

[0050] 11. Fixing and retaining part

[0051] 12 Conveying Department

[0052] 13. Air conditioner outdoor unit

[0053] 13S Disassembly Standard for Air Conditioner Outdoor Unit

[0054] 14. Data captured by air conditioner outdoor unit

[0055] 14S Disassembly Standard Air Conditioner Outdoor Unit Photograph Data

[0056] 15. Positive Features

[0057] Frontal features of the 15S dismantling criterion

[0058] 16. Reverse Features

[0059] Backside features of the 16S dismantling datum

[0060] 17. Right side profile features

[0061] Features of the right side of the 17S dismantling datum

[0062] 18. Left side profile features

[0063] Left side features of the 18S dismantling datum

[0064] 19. Top Cover

[0065] 20. Front cover

[0066] 21. Left side mask

[0067] 22 Right side mask

[0068] 23 built-in

[0069] 24 Fixed rotating part

[0070] 101 Monitor Panel

[0071] 102 Conveying Unit

[0072] 103 First Fixed Component Inspection Department

[0073] 104 Second Fixed Component Inspection Department

[0074] 105 Fixed component disassembly unit. Detailed Implementation

[0075] In conventional structures, for household appliances such as air conditioner outdoor units, where fixed components are fastened from multiple directions and the fastening methods are diverse, a disassembly step can address the issue, but without one, it becomes difficult to handle. Furthermore, for products used outdoors, rust, deformation, or damage can significantly alter their original condition, making it challenging to disassemble the disassembly unit using conventional image recognition or similar methods.

[0076] This disclosure is an invention that solves the aforementioned prior art problems, and its purpose is to provide a disassembly step selection device, method, and disassembly apparatus that can perform disassembly even when disassembly steps are not stored, or even when the state of the object to be disassembled is different, such as when it is damaged or deformed.

[0077] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0078] (Implementation Method 1)

[0079] Figure 1 This is a block diagram illustrating the structure of the dismantling device 1 in Embodiment 1 of this disclosure. For example... Figure 1 As shown, the dismantling device 1 in this embodiment 1 includes at least a dismantling step selection device 1A, which has at least an overall detection unit 2, a detail detection unit 3, a dismantling information storage unit 4, and a dismantling step export unit 5. In the dismantling step selection device 1A, the dismantling information storage unit 4 and the dismantling step export unit 5 act as a control unit 9 to coordinately control the overall detection unit 2 and the detail detection unit 3.

[0080] As an example, the dismantling device 1 also includes a fixing-transporting unit 6, a robotic arm 7, and a dismantling hand 8. The dismantling information storage unit 4 and the dismantling step export unit 5, as the control unit 9, coordinate the overall inspection unit 2, the detail inspection unit 3, the fixing-transporting unit 6, the robotic arm 7, and the dismantling hand 8.

[0081] The dismantling device 1 in this embodiment 1 is as follows: Figure 2 As shown, the object to be dismantled 10 is fixed to the holding part 11 and transported by the conveying part 12.

[0082] The fixing and holding part 11 is, for example, a plate-shaped member having a fixing and holding surface capable of fixing the disassembled object 10. Several fixing methods exist for the fixing and holding part 11. For example, there are methods such as... Figure 11 As shown in (1), the fixing and holding part 11 is composed of a magnetic plate member 11c, and a method of fixing the disassembled object by using magnetic force is provided. Additionally, there are methods such as... Figure 11 As shown in (2), the adsorption pad 11f adsorbs and fixes the object to be disassembled from the bottom surface by means of air suction. Additionally, there are methods such as... Figure 11 As shown in (3), a method of mechanically clamping and fixing a portion of the object to be dismantled 10E. More specifically, in Figure 11 In (3), the bottom part of the object to be dismantled 10E on the support platform 11d is fixed by mechanical clamping, for example, a pair of plate members 11e.

[0083] The conveying section 12 is, for example, a belt conveyor capable of conveying the fixed holding sections 11 one by one along the conveying direction.

[0084] The overall detection unit 2, for example, is a camera, which is positioned upstream of the robot arm 7 in the conveyor unit 12. It takes pictures of the entire object 10 to be dismantled on the fixed holding part 11 placed on the conveyor belt of the conveyor unit 12, and sends the picture data to the control unit 9.

[0085] The detail detection unit 3, for example, is a camera, positioned near the dismantling hand 8 at the front end of the robot arm 7. The detail detection unit 3, for example, directs the dismantling hand 8 toward the object to be dismantled 10 and captures an image of a portion of the object to be dismantled near the dismantling hand 8 of the robot arm 7, then sends the captured data to the control unit 9. When capturing an image of a portion of the object to be dismantled 10, for example, if the image is captured while moving along the boundary of a joint or along its shape or edge, features related to the boundary or shape can be easily captured and extracted. Alternatively, the image can be captured of fastening connections between components constituting the shell of the object to be dismantled 10, threaded fasteners or other fixing members 10a between components constituting the object to be dismantled 10, or structural components of the object to be dismantled 10, thereby enabling the extraction of features such as the structure of the fastening connections, the positional information of the fixing members 10a, or the material characteristics of the structural components.

[0086] During the transport of the object to be dismantled 10, or when transport is temporarily stopped, the dismantling step derivation unit 5 extracts the parts that become features (i.e., first features) of the object to be dismantled 10 based on the imaging data obtained from at least one of the overall detection unit 2 and the detail detection unit 3. The dismantling step derivation unit 5 also compares the extracted first features with the features (i.e., second features) of the dismantled object 10S that serve as the dismantling reference for the object to be dismantled 10, stored in the dismantling information storage unit 4. The dismantling step derivation unit 5 further derives the dismantling steps associated with the features of the dismantled object 10S that are closest to the extracted features of the object to be dismantled 10, based on the dismantling information. Here, the dismantling reference refers to an object that has the same dismantling steps when dismantling the object to be dismantled 10, and is of the same or similar type as the object to be dismantled 10.

[0087] The dismantling information storage unit 4 stores at least dismantling information, including dismantling steps associated with the characteristics (i.e., second characteristics) of the dismantling object 10S that serves as the dismantling reference for the dismantling object 10.

[0088] Specifically, the dismantling information includes at least: dismantling steps of dismantling an object that is the same as or similar to the object to be dismantled, i.e., the dismantled object 10S, by each structural component, i.e., separation or disassembly; and characteristics of the dismantled object 10S associated with the dismantling steps.

[0089] As described above, the features include at least one of the following: the boundary line 10Sb of the boundary of the joint of the structural component of the dismantled object 10S (e.g., position information of the boundary line 10Sb); the structure of the fastening connection between the components constituting the shell of the dismantled object 10S; the position information of the fixing members such as threaded parts constituting the components of the dismantled object 10S; and the material of the structural component of the dismantled object 10S. It should be noted that when comparing features between the dismantled object 10 and the dismantled object 10S, the boundary lines (e.g., position information of the boundary lines) are compared with each other, the structure of the fastening connection is compared with each other, the position information of the fixing members is compared with each other, or the material is compared with each other.

[0090] Under the control of the dismantling step derivation unit 5, the robot arm 7 and dismantling hand 8 are used to dismantle the object 10 in sequence according to the dismantling steps derivation unit 5.

[0091] The following is an example of an object to be dismantled, specifically an air conditioner outdoor unit, which is a household appliance.

[0092] First, such as Figure 2 As shown, the object to be disassembled 10 is fixed to the holding part 11 and transported by the transport part 12. Next, disassembly begins at a certain point during transport (e.g., a point where the overall inspection unit 2 can photograph the object to be disassembled 10) after being photographed by at least one of the overall inspection unit 2 and the detail inspection unit 3, or at a point where transport temporarily stops. Then, based on... Figure 3 The disassembly process is illustrated using a flowchart as shown.

[0093] First, in step S1, the disassembly device 1 obtains information from at least one of the overall detection unit 2 and the detail detection unit 3 via the control unit 9. Figure 4A The outdoor unit photograph data 14 of the air conditioner outdoor unit 13 as shown. As the outdoor unit photograph data 14, when the overall inspection unit 2 takes the picture, it is the overall photograph data of the air conditioner outdoor unit 13, and when the detail inspection unit 3 takes the picture, it is the photograph data of a part of the air conditioner outdoor unit 13.

[0094] Next, in step S2, the dismantling device 1 extracts the parts that become the features of the object to be dismantled 10 from the outdoor unit photographed data 14 obtained in step S1 using the dismantling step derivation unit 5. When extracting the parts that become features, the dismantling device 1 uses a learning model that has been pre-learned from photographed data of multiple outdoor units through machine learning, and the dismantling step derivation unit 5 uses methods such as template matching to extract the features. Specifically, the dismantling device 1 extracts the features from the outdoor unit photographed data 14, which is used as an example of the object to be dismantled 10. Figure 4A When extracting features such as shape from the front, back, right side and left side of the air conditioner outdoor unit 13, the disassembly step extraction unit 5 extracts features related to the joints of each side, such as front feature 15, back feature 16, right side feature 17 and left side feature 18 (for example, the feature of the thin black band portion of the boundary of the joint is represented as the boundary line 10b).

[0095] On the other hand, the characteristics of the dismantled object 10S, which serves as the dismantling reference for the dismantled object 10 in this example, are as follows: Figure 4B As shown, features related to the joints of each side from the outdoor unit 13S include features such as front feature 15S, back feature 16S, right side feature 17S, and left side feature 18S (for example, the feature of the thin black band portion of the joint boundary represented as boundary line 10Sb). The outdoor unit photography data 14S includes features of the disassembled parts 10S. The disassembled information storage unit 4 stores the outdoor unit photography data 14S.

[0096] Next, in step S3, the dismantling device 1, based on the features extracted in step S2 and the features stored in the dismantling information storage unit 4, uses the dismantling step derivation unit 5 to... Figure 5 The similar features are compared with each other to calculate the degree of consistency.

[0097] For example, when Figure 4A The extracted features and Figure 4B When comparing the stored features, it is equivalent to comparing with Figure 5 The comparison is between the features at the top of the table. The consistency is 98.5%, which corresponds to disassembly step A. As another example, Figure 5 The second feature of the table is... Figure 4A The consistency between the features is 1.0%, which corresponds to disassembly step B. Figure 5 The features at the bottom of the table and Figure 4A The consistency between the features is 0.5%, which corresponds to disassembly step C. Here, we show a case where the disassembly steps differ depending on the consistency of the comparison between the features.

[0098] Next, in step S4, the disassembly device 1 selects the disassembly step associated with the feature having the highest consistency among the consistency values ​​obtained in step S3 as a high-priority disassembly step, and then exports it as a disassembly step through the disassembly step export unit 5. In the previous example, the disassembly step associated with the feature having the highest consistency is A, and the disassembly device 1 exports disassembly step A through the disassembly step export unit 5. Thus, even if there is no 100% consistent feature, the disassembly device 1 can export and select the disassembly step associated with the feature most similar to the extracted feature from the features stored in the disassembly information storage unit 4 through the disassembly step export unit 5.

[0099] Next, in step S5, the dismantling device 1, under the control of the dismantling step output unit 5, dismantles the object 10 according to the dismantling steps output by the dismantling step output unit 5 using the robot arm 7 and the dismantling hand 8. Figure 5 In such a case, dismantling device 1 will follow the dismantling step A, which has the highest consistency, as the dismantling step. Figure 6 The order shown is (1) to (4). The dismantling device 1 dismantles the object 10 in sequence, such as top cover 19, front cover 20, left side cover 21, right side cover 22, and internal object 23.

[0100] It should be noted that, in Embodiment 1, the method for extracting the feature regions in step S2 can be appropriately selected based on the object 10 to be disassembled. In the above embodiment 1, a learning model obtained by machine learning was used. However, when the features are clear, simple image processing methods such as contour extraction can also be used to extract them from the captured data. In addition, when the feature regions are complex, the learning model obtained by machine learning can be combined with simple image processing methods such as contour extraction for extraction.

[0101] As described above, according to Embodiment 1, a dismantling step export unit 5 is provided. This dismantling step export unit 5 extracts the parts that are features of the object to be dismantled 10 based on the captured data, calculates the consistency between the extracted features and the features stored in the dismantling information storage unit 4, selects the dismantling step associated with the feature in the dismantling information storage unit 4 with the highest consistency, and can perform dismantling using the dismantling step exported by the dismantling step export unit 5. Therefore, even if no dismantling steps are stored, and even if the object to be dismantled 10 is in a different state due to damage or deformation, dismantling can still be performed. As a result, even used household appliances with different dismantling methods depending on the manufacturer or model can be dismantled without manual labor, reducing the labor required for dismantling the object to be dismantled 10.

[0102] (A variation of Implementation Method 1)

[0103] As a variation of Embodiment 1, depending on the type of used appliance as shown in Embodiment 1, there is a possibility that the object to be dismantled 10 may be damaged or deformed depending on the owner's usage or the storage conditions in the waste appliance storage area. Therefore, it is also possible that, in addition to Figure 3 In addition to the disassembly process up to step S5, the disassembly step derivation unit 5 is also provided with Figure 7 The steps S6 and S7 are shown to determine whether the parts can be separated and whether the disassembly can be completed.

[0104] In step S6, the dismantling device 1 uses the dismantling step output unit 5 to determine whether to dismantle the object 10, for example, to separate the dismantling parts, based on the difference between the photographic data of the object 10 before dismantling captured by the overall detection unit 2 or the detail detection unit 3 and the photographic data of the object 10 after dismantling captured by the overall detection unit 2 or the detail detection unit 3. By implementing this step S6, the dismantling device 1 can detect parts of the object 10 that are damaged or deformed and cannot be dismantled.

[0105] If the disassembly is successfully completed in step S6, the disassembly device 1 determines in step S7 whether all disassembly has been completed through the disassembly step output unit 5. If not all disassembly has been completed, the cover of the next disassembly sequence is disassembled in step S5.

[0106] If disassembly is not successfully completed in step S6, the disassembly device 1 derives the disassembly step with the second highest consistency degree among the consistency degrees obtained in step S3 in step S4, and repeats steps S4 to S6 until disassembly is completely completed.

[0107] In step S7, the dismantling device 1 repeatedly performs steps S5 to S7 until all dismantling is completed, so that dismantling can be carried out even if the object to be dismantled 10 is damaged or deformed.

[0108] Furthermore, the dismantling device 1, through the dismantling step export unit 5, associates the dismantling step that was successfully dismantled in step S6 with the features extracted in step S2 of the object to be dismantled 10 and stores them in the dismantling information storage unit 4, which can significantly shorten the processing time for dismantling the same object to be dismantled 10 in the future.

[0109] (Implementation Method 2)

[0110] Figure 8 This is a schematic diagram of the dismantling device 1 according to Embodiment 2 of this disclosure. Figure 8 In China, regarding Figure 2 The same constituent elements use the same reference numerals, and descriptions are omitted.

[0111] Figure 8 The dismantling apparatus 1 of Embodiment 2 of this disclosure is configured to include multiple integral detection units 2 surrounding the object to be dismantled 10 and to acquire photographic data. As an example, a pair of cameras may be arranged in opposite directions along the transport direction. Specifically, for example, a first integral detection unit 2 camera may be arranged to photograph the object to be dismantled 10 from the upstream side of the transport direction, and a second integral detection unit 2 camera may be arranged to photograph the object to be dismantled 10 from the downstream side of the transport direction. Alternatively, a third integral detection unit 2 camera may be arranged to photograph the object to be dismantled 10 from one side of the width direction intersecting the transport direction, and a fourth integral detection unit 2 camera may be arranged to photograph the object to be dismantled 10 from the other side of the width direction.

[0112] In this way, the dismantled object 10 on the fixed holding part can be photographed without blind spots, and features can be extracted more accurately and easily. In other words, since detection can be performed from multiple directions, the accuracy of feature extraction is improved. In addition, the number of detections can be reduced compared to Embodiment 1, thus shortening the detection time (and thereby shortening the time spent on dismantling).

[0113] (Implementation Method 3)

[0114] Figure 9 This is a schematic diagram of the dismantling device 1 according to Embodiment 3 of this disclosure. Figure 9 In China, regarding Figure 2 and Figure 8 The same constituent elements use the same reference numerals and their descriptions are omitted.

[0115] Figure 9 The embodiment 3 of this disclosure shown is configured such that a fixed rotating part 24 is provided to rotate the object to be disassembled 10 to obtain photographic data. Alternatively, instead of the transport performed by the transport part 12, the fixed rotating part 24 may be configured to rotate the object to be disassembled 10 on a rotary table using a motor or the like.

[0116] With this structure, detection can be performed from multiple directions without moving the overall detection unit 2 or the detail detection unit 3, thus shortening the time required to move the overall detection unit 2 or the detail detection unit 3. Furthermore, compared to embodiment 2, multiple detection units are not required, making it cost-effective.

[0117] It should be noted that by appropriately combining any of the various embodiments or variations described above, the effects they each possess can be achieved. Furthermore, it is possible to combine embodiments with each other, or to combine different embodiments with different embodiments, and it is also possible to combine features from different embodiments with each other.

[0118] As described above, the dismantling step selection device, dismantling step selection method, and dismantling apparatus according to the present disclosure include a dismantling step exporting unit. This unit can extract the parts that are the features of the object to be dismantled based on captured data, calculate the consistency between the extracted features and the features stored in the dismantling information storage unit, select the dismantling step associated with the feature in the dismantling information storage unit with the highest consistency, and perform dismantling using the dismantling step exported by the dismantling step exporting unit. Therefore, dismantling can be performed even when no dismantling steps are stored, and even when the state of the object to be dismantled varies due to damage or deformation. As a result, even used household appliances with different dismantling methods depending on the manufacturer or model can be dismantled without manual intervention, reducing labor costs in the dismantling of the object.

[0119] [Industry Applicability]

[0120] By using the disassembly step selection device, disassembly step selection method, and disassembly apparatus involved in the present disclosure, it is possible to be freed from the disassembly process that relies on manual labor. Previously, the positions of fixed components or disassembly methods varied for each type of machine, making automation difficult. By solving this problem, labor-saving measures can be achieved, further promoting resource utilization of used home appliances.

Claims

1. A dismantling step selection device, wherein, The disassembly step selection device includes: The dismantling information storage unit stores multiple dismantling information, which includes multiple dismantling steps predetermined for each of the multiple objects to be dismantled, which are the dismantling references for the objects to be dismantled. The overall inspection unit photographs the entire object being disassembled; The detail inspection unit photographs at least a portion of the disassembled object; as well as The dismantling step derivation unit extracts a first feature, which is a characteristic of the object to be dismantled, based on data captured by at least one of the overall detection unit and the detail detection unit. It then calculates the consistency between multiple second features, which are characteristics of each of the multiple dismantled objects, and the first feature, and selects the dismantled object associated with the second feature having the highest consistency among the multiple second features. The disassembly step derivation unit determines whether the disassembly part has disassembled from the disassembly object based on the difference between the data of the object to be disassembled before disassembly captured by the overall detection unit or the detail detection unit and the data of the object to be disassembled captured by the overall detection unit or the detail detection unit after disassembly in the disassembly step. If the disassembly step derivation unit fails to disassemble the object to be disassembled, it selects a disassembly step associated with a second feature representing the second highest degree of consistency among the plurality of second features.

2. The disassembly step selection device according to claim 1, wherein, The multiple disassembly steps are steps of separating or disassembling the multiple disassembled objects according to each structural component. The plurality of disintegration information respectively includes: One of the plurality of disassembly steps; and The second feature among the plurality of second features associated with the one disassembly step, and, The first feature includes at least one of the following: the structure of fastening connections between the components constituting the shell of the object to be disassembled; positional information of the fixing members between the components constituting the object to be disassembled; and the material of the components constituting the object to be disassembled. The plurality of second features each have at least one of the following: a fastening connection between the components constituting the shells of the plurality of disintegrates; positional information of the fixing members constituting the components of the plurality of disintegrates; and the material of the components constituting the plurality of disintegrates.

3. The dismantling step selection device according to any one of claims 1 to 2, wherein, The multiple disassembly steps are steps of separating or disassembling the multiple disassembled objects according to each structural component. The plurality of disintegration information respectively includes: One of the plurality of disassembly steps; and The second feature among the plurality of second features associated with the one disassembly step, and, The first feature is the boundary line of the boundary of the components constituting the object to be disassembled. The plurality of second features are respectively the boundary lines of the components constituting the plurality of disintegrated objects.

4. The dismantling step selection device according to any one of claims 1 to 2, wherein, The disassembly step derivation unit extracts features of a predetermined disassembly location from data captured by the overall detection unit or the detail detection unit as the first feature.

5. The disassembly step selection device according to claim 1, wherein, When the disassembly step derivation unit fails to disassemble the object to be disassembled, it performs the following processing when selecting a disassembly step associated with the second feature representing the second highest degree of consistency among the plurality of second features: Disassembly is performed using the disassembly steps associated with the second feature representing the second highest consistency. If disassembly still fails, disassembly is performed using the disassembly steps associated with the second feature representing the third highest consistency. This process of changing the disassembly steps is repeated until disassembly is achieved. The last selected disassembly step is associated with the first feature and stored in the disassembly information storage unit.

6. A method for selecting disassembly steps, wherein, A dismantling information storage unit is provided, which stores multiple dismantling information entries, including multiple pre-determined dismantling steps for multiple objects that serve as dismantling references. Using a camera to photograph the whole or part of a dismantled object. The disassembly step derivation unit extracts a first feature, which is a characteristic of the object to be disassembled, based on the captured data. The degree of consistency between multiple second features, which are characteristics of each of the multiple disassembled objects, and the first feature is determined using the disassembly step derivation unit. The dismantling step derivation unit uses the method to select the dismantling step associated with the dismantled object having the second characteristic with the highest consistency among the plurality of second characteristics. After selecting the disassembly step, the following processing is performed when executing the selected disassembly step: The disassembly step derivation unit uses the difference between data of the object to be disassembled before disassembly and data of the object to be disassembled after disassembly, captured in advance, to determine whether the disassembly part has disassembled from the object to be disassembled; and If the disassembly of the disassembly site fails, a disassembly step is selected that is associated with the second feature representing the second highest degree of consistency among the plurality of second features.

7. The method for selecting disassembly steps according to claim 6, wherein, The multiple disassembly steps are steps of separating or disassembling the multiple disassembled objects according to each structural component. The plurality of disintegration information respectively includes: One of the plurality of disassembly steps; and The second feature among the plurality of second features associated with the one disassembly step, and, The first feature includes at least one of the following: the structure of fastening connections between the components constituting the shell of the object to be disassembled; positional information of the fixing members between the components constituting the object to be disassembled; and the material of the components constituting the object to be disassembled. The plurality of second features each have at least one of the following: a fastening connection between the components constituting the shells of the plurality of disintegrates; positional information of the fixing members constituting the components of the plurality of disintegrates; and the material of the components constituting the plurality of disintegrates.

8. The method for selecting disassembly steps according to any one of claims 6 to 7, wherein, The multiple disassembly steps are steps of separating or disassembling the multiple disassembled objects according to each structural component. The plurality of disintegration information respectively includes: One of the plurality of disassembly steps; and The second feature among the plurality of second features associated with the one disassembly step, and, The first feature is the boundary line of the boundary of the components constituting the object to be disassembled. The plurality of second features are respectively the boundary lines of the components constituting the plurality of disintegrated objects.

9. The method for selecting disassembly steps according to any one of claims 6 to 7, wherein, During the extraction, features of a predetermined disintegration site are extracted from the captured data as the first feature.

10. The method for selecting disassembly steps according to claim 6, wherein, In the disassembly step derivation section, if the disassembly of the disassembly part fails to disassemble the object to be disassembled, the following processing is performed when selecting the disassembly step associated with the second feature representing the second highest degree of consistency among the plurality of second features: Disassembly is performed using the disassembly steps associated with the second feature representing the second highest consistency. If disassembly still fails, disassembly is performed using the disassembly steps associated with the second feature representing the third highest consistency. This process of changing the disassembly steps is repeated until disassembly is achieved. The last selected disassembly step is associated with the first feature and stored in the disassembly information storage unit.

11. A dismantling device, wherein, The dismantling device comprises: The disassembly step selection device according to any one of claims 1 to 4; and A robotic arm that disassembles the object to be disassembled according to the disassembly steps selected by the disassembly step selection device.

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