Image processing device and image processing method

Abstract

To provide a technology with which, when an error occurs in verifying a component of interest, it is possible to generate a new template easily.SOLUTION: Disclosed is an image processing device for processing the image data of components. The image processing device comprises: an imaging unit for capturing an image of the component of interest; a storage unit for storing an original template that is generated in advance and indicates a plurality of features of the component of interest; and a display unit which, when the rate of match of the image data of the component of interest acquired by the imaging unit with the plurality of features of the original template stored in the storage unit is lower than a prescribed threshold, displays a new template in which the plurality of features of the component of interest are extracted from the image data having been acquired by the imaging unit.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to an image processing device and an image processing method for processing image data of a part. [Background technology]

[0002] Patent Document 1 discloses an apparatus that creates a template showing the characteristic parts of a component based on image data of the captured component. When creating a template with this apparatus, an operator sets an area including the outline of the component in image data of the component rotated to the angle at which it should be mounted on a board. Then, a template is created from the image of the component in that area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-119408 Summary of the Invention [Problem to be solved by the invention]

[0004] When mounting a component on a board, image data of the target component to be actually mounted on the board is acquired, and the acquired image data is compared with the created template to identify whether the target component is the correct component. If the image data comparison fails (if the target component cannot be recognized), the created template must be corrected. This specification provides technology that can easily generate a new template when an error occurs in matching the target component. [Means for solving the problem]

[0005] This specification discloses an image processing device that processes image data of a part. The image processing device includes an imaging unit that captures an image of a target part, a memory unit that stores a pre-generated original template that indicates multiple characteristic features of the target part, and a display unit that displays a new template obtained by extracting the multiple characteristic features of the target part from the image data captured by the imaging unit when a matching rate between the image data of the target part captured by the imaging unit and the multiple characteristic features of the original template stored in the memory unit is lower than a predetermined threshold.

[0006] In this image processing device, if it is determined that the matching rate between the characteristic portions of the original template and the image data of the target component is lower than a predetermined threshold, a new template in which the characteristic portions are extracted from the image data of the target component is displayed. In other words, in this image processing device, if an error occurs in matching the target component, a new template based on the image data of the target component that will actually be mounted is displayed on the display unit. As a result, the image processing device does not require the operator to modify the original template, improving work efficiency.

[0007] This specification also discloses an image processing method for processing image data of a part, the image processing method including: an imaging step of imaging a target part; and a display step of displaying a new template obtained by extracting a plurality of characteristic features of the target part from the acquired image data when a matching rate between the image data of the target part acquired by the imaging step and a plurality of characteristic features of an original template that is prepared in advance and indicates the plurality of characteristic features of the target part is lower than a predetermined threshold. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a component mounting line. [Figure 2] FIG. 1 is a schematic diagram showing the configuration of a component mounter. [Figure 3] FIG. 2 is a block diagram showing the configuration of a management device and a control device of a component mounter. [Figure 4] FIG. 10 is a diagram showing an example of an original template. [Figure 5] 4 is a flowchart showing processing executed by a control device of the component mounter. [Figure 6] 10 is a flowchart showing the contents of a new template generation process. [Figure 7] FIG. 10 is a diagram for explaining a process for generating a new template. [Figure 8] FIG. 10 is a diagram for explaining a process for generating a new template. [Figure 9] FIG. 10 is a diagram for explaining a process for generating a new template. DETAILED DESCRIPTION OF THE INVENTION

[0009] The main features of the embodiments described below are listed below. Note that the technical elements described below are independent technical elements that exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing.

[0010] In an embodiment of the present technology, the image processing device may further include a control unit that detects a match rate between image data of the target part acquired by the imaging unit and the plurality of characteristic features of the original template stored in the storage unit, and when the match rate is lower than the predetermined threshold, the control unit may generate a new template by extracting the plurality of characteristic features of the target part from the image data acquired by the imaging unit.

[0011] In this configuration, a new template can be generated in the image processing device.

[0012] In one embodiment of the present technology, the control unit may set an existence area in which the target part exists for the image data acquired by the imaging unit, and may extract the multiple characteristic parts of the target part within the set existence area.

[0013] In this configuration, an area in which the target part exists is set for the image data, thereby preventing a specific part in an area in which the target part does not exist (for example, the background of the target part) from being mistakenly extracted as a feature part.

[0014] In one embodiment of the present technology, the control unit may extract the outline of the target part from the image data acquired by the imaging unit, and may set the existence area based on the extracted outline.

[0015] In this configuration, the contour of the target part is extracted from the image data, so that the existence area can be set with high accuracy.

[0016] In an embodiment of the present technology, the control unit may set the existence region for the image data acquired by the imaging unit based on an outer shape of the target part included in the original template.

[0017] With this configuration, the existence region of the target part is set in the image data based on the existence region set in the original template. Reusing the existence region in the original template improves the efficiency of the process for generating a new template. Note that the target part is generally the same type of part as in the original template, and the existence region does not change significantly between the original template and the image data of the target part.

[0018] In one embodiment of the present technology, the plurality of features may include a plurality of seek lines that intersect with an outline of the target part.

[0019] In this configuration, the matching rate is calculated based on the optical characteristics on the search line, so that the matching between the original template and the image data of the target part can be performed in a short time.

[0020] In an embodiment of the present technology, the image processing device may further include an operation unit capable of receiving, from an operator, an operation to modify the new template displayed on the display unit.

[0021] In this configuration, for example, if an operator determines that the new template displayed on the display unit is not appropriate, the operator can modify the new template.

[0022] (Example) Hereinafter, a component mounter according to an embodiment will be described with reference to the drawings. As shown in FIG. 1, a component mounter 10 is communicably connected to a management device 50. The management device 50 is communicably connected to a plurality of component mounters 10 and manages the plurality of component mounters 10. A component mounting line 100 is configured by the management device 50 and the plurality of component mounters 10. The management device 50 controls the operation of each component mounter 10, thereby controlling the entire component mounting line 100. That is, the management device 50 specifies, for each of the plurality of component mounters 10, the type and position of the component 4 to be mounted on the board 2 by that component mounter 10, and instructs the component mounter 10 accordingly. The plurality of component mounters 10 operate based on the instructions of the management device 50, thereby mounting the necessary components 4 on the board 2.

[0023] The component mounter 10 is a device that mounts components 4 on a board 2. The component mounter 10 is also called an electronic component mounting device or a chip mounter. As shown in FIG. 2 , the component mounter 10 includes a component mounting unit 22, an interface device 24, and a control device 30. The component mounting unit 22 includes a plurality of component feeders 12, a feeder holding unit 14, a mounting head 16, a head moving device 18, an imaging device 19, and a board conveyor 20.

[0024] Each component feeder 12 stores a plurality of components 4. The component feeders 12 are detachably attached to the feeder holder 14 and supply the components 4 to the mounting head 16. The specific configuration of the component feeders 12 is not particularly limited. Each component feeder 12 may be, for example, a tape feeder that stores a plurality of components 4 on a wound tape, or a tray feeder that stores a plurality of components 4 on a tray.

[0025] The feeder holder 14 has multiple slots, and a component feeder 12 can be removably installed in each slot. The feeder holder 14 may be fixed to the component mounter 10 or may be detachable from the component mounter 10. The placement head 16 is fixed to a movable base 17. The placement head 16 detachably holds one or more nozzles 6 and uses the nozzles 6 to pick up components 4 supplied by the component feeders 12 and mount the components 4 on the board 2. At this time, a head moving device 18 moves the movable base 17 in the X and Y directions relative to the component feeders 12 and the board 2. As a result, the placement head 16 moves together with the movable base 17, picking up components 4 from a specific one of the multiple component feeders 12 and mounting the components 4 at predetermined positions on the board 2. The board conveyor 20 loads, supports, and unloads the board 2.

[0026] The imaging device 19 is attached to the movable base 17. Therefore, when the placement head 16 moves, the imaging device 19 also moves integrally. The imaging device 19 includes a support portion 19a and a camera 19b. The camera 19b is disposed to the side of the placement head 16, with its imaging optical axis facing downward. The camera 19b captures images of the components 4 supplied from the component feeder 12. In other words, the camera 19b captures images of the top surfaces of the components 4 before they are mounted (before they are picked up by the nozzles 6). The image data of the components 4 acquired by the camera 19b is sent to the control device 30.

[0027] The interface device 24 is a device that provides the operator with various types of information about the component mounter 10, and also receives instructions and information from the operator. In this embodiment, the interface device 24 is a touch panel. However, the interface device 24 may also be configured with, for example, a display, a keyboard, a mouse, etc.

[0028] The control device 30 is configured to be able to communicate with the management device 50. As shown in Fig. 3, the control device 30 is configured by a computer including a memory 32 and a CPU 34. The component mounting unit 22 and the interface device 24 are communicatively connected to the control device 30. The control device 30 mounts components 4 on the board 2 by controlling the operation of each unit of the component mounting unit 22 in accordance with instructions from the management device 50.

[0029] The memory 32 stores an original template 40 (described later) transmitted from the management device 50. The CPU 34 includes a match rate detection unit 42 and a new template generation unit 44. The match rate detection unit 42 detects the match rate between the image data of the component 4 acquired by the imaging device 19 and the original template 40. If the match rate detected by the match rate detection unit 42 is lower than a predetermined threshold, the new template generation unit 44 generates a new template for the component 4 based on the image data of the component 4. Specific processes executed by the CPU 34 (match rate detection unit 42 and new template generation unit 44) will be described later.

[0030] 3, the management device 50 includes an interface device 52 and a control device 60. The interface device 52 is a device that provides various information about the component mounting line 100 to the worker, and also receives instructions and information from the worker. In this embodiment, the interface device 52 is a touch panel. However, the interface device 52 may also be configured with, for example, a display, a keyboard, a mouse, etc.

[0031] The control device 60 is configured by a computer including a memory 62 and a CPU 64. A production program 66 is stored in the memory 62. The operation of the entire component mounting line 100 is described in the production program 66, and the CPU 64 instructs each device incorporated in the component mounting line 100 on the operation to be performed by each device in accordance with the production program 66. The memory 62 also stores a plurality of original templates 40 in advance. The original templates 40 are image data of the top surfaces of components 4, and are image data (so-called master data) used to verify whether the components 4 mounted on the board 2 produced by execution of the production program 66 are correct components.

[0032] FIG. 4 shows the original template 40 displayed on the interface device 52. As shown in FIG. 4, a caliper 70, multiple search lines 72, and coordinate axes 74 are set in the original template 40. The caliper 70 indicates the area in the original template 40 where the component 4 exists. For example, the caliper 70 can be set by an operator for the image data of the component 4 when creating the original template 40. Each search line 72 is located at a location where the optical characteristics (e.g., brightness) change significantly within the range of the set caliper 70. In the example shown in FIG. 4, within the range of the caliper 70, the difference in optical characteristics between the portion 4a of the component 4 (shown by dot hatching) and the background of the component 4 is relatively small. On the other hand, the difference in optical characteristics between the portion 4b of the component 4 and the background and the portion 4a is relatively large. Therefore, each search line 72 is located at a position where the optical characteristics change significantly, including the boundary between the portion 4a and the portion 4b and the boundary between the portion 4b and the background. The memory 62 stores the coordinates of the points on the seek lines 72 where the optical characteristics change as the edge positions of the component 4 (the coordinates of the outer shape of the component 4). The coordinate axes 74 are set based on the edge positions detected by the multiple seek lines 72 so that the center of the component 4 is the reference position.

[0033] Based on the production program 66, the management device 50 transmits, to each mounter 10, an original template 40 corresponding to the component 4 to be mounted by the mounter 10, to the control device 30 of the mounter 10.

[0034] In the component 4 mounting process, each mounter 10 mounts components 4 supplied from the component feeder 12 onto the board 2. To determine whether the target components 4 accommodated in the component feeder 12 are the correct components, image data of the target components 4 accommodated in the component feeder 12 is acquired and compared with the original template 40. Generally, if the target components 4 and the components indicated by the original template 40 are the same type of component, matching between the two is successful. However, for example, the outer shape of the target components 4 or the relative position of the character string printed on the target components 4 (in the example shown in FIG. 4 , “2RO”) may differ depending on the lot. In this case, matching fails even though the two are the same type of component, and the CPU 34 cannot recognize the target components 4. In the component mounter 10 of this embodiment, if such a situation occurs, the control device 30 generates a new template for the target components 4 (hereinafter referred to as a “new template”). Below, with reference to FIGS. 5 and 6 , we will explain the processing executed by the CPU 34 of the control device 30 when starting mounting of the target components 4 on the component mounting line 100. 5 is started when, for example, an operator inputs an instruction to start mounting. As described above, when the production program 66 is input into the memory of the management device 50, the management device 50 transmits the corresponding original template 40 to each mounter 10 based on the production program 66. Therefore, at the stage when the process of FIG. 5 is started, the original template 40 is stored in the memory 32 of the control device 30.

[0035] In S10, the CPU 34 captures an image of the target component 4 using the imaging device 19. As described above, before starting the mounting process, it is necessary to determine whether the target component 4 is the correct component. For this reason, in S10, an image of the top surface of the target component 4 being supplied from the component feeder 12 (before being picked up by the nozzle 6) is captured.

[0036] In S12, the CPU 34 compares the image data of the top surface of the target part 4 acquired by the imaging device 19 with the original template 40. This comparison is performed, for example, by overlaying the original template 40 on the image data of the target part 4 and moving and rotating the original template 40 relative to the image data. The CPU 34 moves and rotates the original template 40 relative to the image data so as to increase the matching rate between the image data and the multiple seek lines 72 of the original template 40. Once the CPU 34 has identified the maximum matching rate, the process proceeds to S14.

[0037] In S14, the CPU 34 determines whether the matching rate determined in S12 is equal to or greater than a predetermined threshold. If the matching rate determined is equal to or greater than the threshold, the CPU 34 determines that the matching was successful. In other words, if the matching rate is equal to or greater than the threshold, the CPU 34 determines that the target component 4 is a correct component. The predetermined threshold is not particularly limited, but can be, for example, 50% to 100%. The predetermined threshold can be set appropriately by the worker. If the matching rate is equal to or greater than the predetermined threshold (YES in S14), the CPU 34 starts mounting processing based on the production program 66 in S16.

[0038] On the other hand, if the matching rate is less than the predetermined threshold (NO in S14), the CPU 34 determines that the matching has failed. That is, the CPU 34 determines that it cannot recognize the target component 4, and proceeds to S18 without starting the mounting process. Note that the processes of S12 and S14 (the matching process and the process of comparing the matching rate with the threshold) may be performed simultaneously. That is, the CPU 34 may determine YES in S14 if it determines that the matching rate has reached or exceeded a predetermined threshold in the process of increasing the matching rate. That is, if the threshold is equal to or greater than a predetermined value, there is no need to specify the maximum value of the matching rate.

[0039] In S18, the CPU 34 executes a new template generation process. The new template generation process is executed on the image data of the target part 4 acquired in S10. S18 is performed by executing a subroutine shown in FIG.

[0040] In S40 of FIG. 6, the CPU 34 sets a caliper 80 in the image data of the target part 4. As shown in FIG. 7, the CPU 34 extracts the outline of the target part 4 and sets the caliper 80 in a range that includes an area extending a predetermined distance outward from the extracted outline. The outline of the target part 4 is determined, for example, by extracting points at which optical characteristics change in the image data of the target part 4 and identifying the area with the largest area from among multiple areas defined by the extracted point group. Note that in S40, a location where the change in optical characteristics is relatively small (in the example shown in FIG. 7, the boundary between portion 4a of the target part 4 and the background of the target part 4) is also extracted.

[0041] In S42, the CPU 34 arranges a plurality of search lines 82 in the image data of the target part 4. As shown in FIG. 8, the CPU 34 arranges the search lines 82 at points where the optical characteristics change significantly within the region of the set caliper 80. Specifically, the CPU 34 arranges each search line 82 at a position that includes the boundary between portion 4a and portion 4b and the boundary between portion 4b and the background. Then, in S44, the CPU 34 detects the edge positions of the target part 4 based on the arranged search lines 82, as shown in FIG. 9, and sets coordinate axes 84 whose reference position is the center of the target part 4. In this way, a new template 90 shown in FIG. 9 is generated. After executing the process of S42, the CPU 34 ends the subroutine for the new template generation process and proceeds to S20 in FIG. 5.

[0042] In S20, the CPU 34 displays an image indicating that a matching error has occurred for the target part 4 on the interface device 24. This allows the worker to understand that matching of the target part 4 has failed.

[0043] In S22, the CPU 34 determines whether or not it has received operational input from the worker to display an editing screen for the new template 90. The editing screen is a screen on which the worker can check the generated new template 90 and also a screen on which the worker can modify the new template 90. If the CPU 34 determines that the operational input has been received (YES in S22), then in S24 the generated new template 90 is displayed on the interface device 24.

[0044] In S26, the CPU 34 determines whether or not an operation input to modify the new template 90 has been received from the worker. As described above, the new template 90 is automatically generated based on image data of the target part 4. Therefore, the worker may check the generated new template 90 and determine that the new template 90 is not appropriate. In such a case, the worker can manually modify the new template 90. For example, the worker can modify the position of the caliper 80, etc., by operating the interface device 24 (touch panel). If the CPU 34 has received an operation input to modify the new template 90 (YES in S26), in S28 the CPU 34 modifies the new template 90 according to the content of the operation input.

[0045] In S30, the CPU 34 determines whether or not an operation input that reflects the new template 90 has been received from the worker. If the worker determines that the displayed (or modified) new template 90 is appropriate, the worker performs an operation input that reflects the new template 90. If the CPU 34 has received an operation input that reflects the new template 90 (YES in S30), in S32 the CPU 34 overwrites the original template 40 stored in the memory 32 with the new template 90 and stores it in the memory 32. Thereafter, in S34, the CPU 34 starts mounting processing based on the production program 66.

[0046] As described above, in this embodiment, if the CPU 34 determines that the matching rate between the original template 40 and the image data of the target component 4 is lower than a predetermined threshold (NO in S14 of FIG. 5), a new template 90 in which multiple seek lines 82 are arranged in the image data of the target component 4 is displayed on the interface device 24. That is, in this embodiment, if the target component 4 does not match the original template 40, a new template 90 is automatically displayed based on the target component 4 that will actually be mounted. Therefore, with the component mounter 10 of this embodiment, the operator does not need to modify the original template 40, thereby improving work efficiency.

[0047] Furthermore, in this embodiment, the CPU 34 sets the caliper 80 indicating the area where the target part 4 exists in the image data of the target part 4, so it is possible to prevent the seek line 82 from being placed in a specific part in an area where the target part 4 does not exist (for example, the background of the target part 4). Furthermore, when setting the caliper 80, the CPU 34 extracts the outline of the target part 4 from the image data of the target part 4, so it is possible to set the caliper 80 with high accuracy.

[0048] Furthermore, in this embodiment, the matching rate is calculated based on the optical characteristics of the original template 40 on the search line 72, so that matching between the original template 40 and the image data of the target part 4 can be performed in a short time.

[0049] Furthermore, in this embodiment, the operator can modify the new template 90 displayed on the interface device 24. Therefore, if the automatically generated new template 90 is not appropriate, the operator can modify the new template 90.

[0050] In the above-described embodiment, the caliper 80 was set by extracting the outline of the target part 4 in S40 of FIG. 6 . However, in the process of S40, the caliper 80 may be set by reusing the caliper 70 set in the original template 40. This configuration makes it possible to omit the process of extracting the outline of the target part 4, thereby improving the efficiency of the process of generating the new template 90. In addition, the target part 4 is generally the same type of part as the part indicated by the original template 40, and the area in which the part exists does not change significantly between the image data of the original template 40 and that of the target part 4.

[0051] (Correspondence) The component mounter 10 is an example of an "image processing device." The memory 32 is an example of a "storage unit." The interface device 24 is an example of a "display unit" and an "operation unit." The CPU 34 is an example of a "control unit."

[0052] Although specific examples of the technology disclosed in this specification have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. Modifications of the above examples are listed below.

[0053] In the above-described embodiment, the original template 40 is stored in the memory 62 of the management device 50, but it may also be stored in advance in the memory 32 of the control device 30.

[0054] Furthermore, in the above-described embodiment, the component mounter 10 functions as an image processing device, but the component mounter 10 does not have to have the functionality of an image processing device. That is, the components that function as an image processing device (imaging unit, storage unit, display unit) may be mounted in a device separate from the component mounter 10. Furthermore, although the control device 30 of the component mounter 10 functions as a control unit (match rate detection unit 42 and new template generation unit 44), a device separate from the component mounter 10 may execute the function of the control unit.

[0055] Furthermore, in the above-described embodiment, the editing screen for the new template 90 was displayed in response to an operational input by the worker (YES in S22), but the editing screen may be automatically displayed on the interface device 24 when the generation of the new template 90 is complete. In other words, the processes of S20 and S22 in Fig. 5 can be omitted.

[0056] Furthermore, in the above-described embodiment, the configuration was such that operation input for modifying the new template 90 could be accepted, but it is not necessary to provide an operation unit for modifying the new template 90. In other words, S26 and S28 in Fig. 5 can be omitted.

[0057] Furthermore, in the above-described embodiment, the CPU 34 may verify the generated new template 90. This verification may be performed, for example, by reversing the procedure of the process of S12 in FIG. 5. That is, the verification may be performed by overlaying image data of the target part 4 on the generated new template 90 and moving and rotating the image data relative to the new template 90. The CPU 34 may move and rotate the image data relative to the new template 90 so as to increase the matching rate between the multiple seek lines 82 of the new template 90 and the image data, and may determine that the verification has been successful when the matching rate reaches or exceeds a predetermined value.

[0058] The technical elements described in this specification or drawings exhibit technical utility either alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technologies illustrated in this specification or drawings simultaneously achieve multiple objectives, and achieving one of those objectives is itself technically useful. [Explanation of symbols]

[0059] 4: Target parts 10: Component mounter 12: Parts feeder 14: Feeder holder 16: Mounting head 19: Imaging device 20: PCB conveyor 22: Parts mounting section 24: Interface device 30: Control device 40: Original template 50: Management device 60: Control device 90: New template

Claims

1. An image processing device that processes image data of a part, an imaging unit that captures an image of a target part; a storage unit that stores an original template that is generated in advance and indicates a plurality of feature portions of the target part; a control unit that detects a matching rate between image data of the target part acquired by the imaging unit and the plurality of characteristic parts of the original template stored in the storage unit, and when the matching rate is lower than a predetermined threshold, generates a new template by extracting the plurality of characteristic parts of the target part from the image data acquired by the imaging unit; and a display unit that displays the new template generated by the control unit; Equipped with the control unit extracts an outline of the target part from the image data acquired by the imaging unit, sets an existence area in which the target part exists for the image data acquired by the imaging unit based on the extracted outline, and extracts the plurality of characteristic parts of the target part within the set existence area.

2. An image processing device that processes image data of a part, an imaging unit that captures an image of a target part; a storage unit that stores an original template that is generated in advance and indicates a plurality of feature portions of the target part; a control unit that detects a matching rate between image data of the target part acquired by the imaging unit and the plurality of characteristic parts of the original template stored in the storage unit, and when the matching rate is lower than a predetermined threshold, generates a new template by extracting the plurality of characteristic parts of the target part from the image data acquired by the imaging unit; and a display unit that displays the new template generated by the control unit; Equipped with the control unit sets an existence region in which the target part exists for the image data acquired by the imaging unit based on an outer shape of the target part included in the original template, and extracts the plurality of feature parts of the target part from within the set existence region.

3. An image processing device that processes image data of a part, an imaging unit that captures an image of a target part; a storage unit that stores an original template that is generated in advance and indicates a plurality of feature portions of the target part; a display unit that displays a new template obtained by extracting the plurality of characteristic features of the target part from the image data acquired by the imaging unit when a matching rate between the image data of the target part acquired by the imaging unit and the plurality of characteristic features of the original template stored in the storage unit is lower than a predetermined threshold value; Equipped with The image processing device, wherein the plurality of feature portions include a plurality of seek lines that intersect with the outline of the target part.

4. a control unit that detects a match rate between the image data of the target part acquired by the imaging unit and the plurality of feature parts of the original template stored in the storage unit, The image processing device according to claim 3 , wherein the control unit generates a new template by extracting a plurality of feature portions of the target part from the image data acquired by the imaging unit when the matching rate is lower than the predetermined threshold value.

5. The control unit setting an existence area in which the target part exists for the image data acquired by the imaging unit; The image processing apparatus according to claim 4 , wherein the plurality of feature portions of the target part are extracted from within the set existence region.

6. The image processing device according to claim 5 , wherein the control unit extracts an outline of the target part from the image data acquired by the imaging unit, and sets the existence region based on the extracted outline.

7. The image processing device according to claim 5 , wherein the control unit sets the existence region for the image data acquired by the imaging unit based on an outer shape of the target part included in the original template.

8. The image processing device according to claim 1 , wherein the plurality of feature portions include a plurality of seek lines that intersect with the outer shape of the target part.

9. 9. The image processing apparatus according to claim 1, further comprising an operation unit capable of receiving, from an operator, an operation to modify the new template displayed on the display unit.

10. 1. An image processing method for processing image data of a part, comprising: an imaging step of imaging a target part; a detection step of detecting a degree of match between image data of the target part acquired by the imaging step and a plurality of feature parts of an original template that is prepared in advance and indicates a plurality of feature parts of the target part; a generation step of generating a new template by extracting a plurality of feature portions of the target part from the acquired image data when the matching rate detected by the detection step is lower than a predetermined threshold; a display step of displaying the new template generated by the generation step; Equipped with The generating step extracts an outline of the target part from the image data acquired by the imaging step, sets an existence region in which the target part exists for the image data acquired by the imaging step based on the extracted outline, and extracts the plurality of characteristic features of the target part within the set existence region.

11. 1. An image processing method for processing image data of a part, comprising: an imaging step of imaging a target part; a detection step of detecting a degree of match between image data of the target part acquired by the imaging step and a plurality of feature parts of an original template that is prepared in advance and indicates a plurality of feature parts of the target part; a generation step of generating a new template by extracting a plurality of feature portions of the target part from the acquired image data when the matching rate detected by the detection step is lower than a predetermined threshold; a display step of displaying the new template generated by the generation step; Equipped with an image processing method in which, in the generating step, an existence region in which the target part exists is set for the image data acquired in the imaging step based on an outer shape of the target part included in the original template, and the plurality of feature parts of the target part are extracted from within the set existence region.

12. 1. An image processing method for processing image data of a part, comprising: an imaging step of imaging a target part; a display step of displaying a new template obtained by extracting a plurality of characteristic parts of the target part from the acquired image data when a matching rate between the image data of the target part acquired by the imaging step and a plurality of characteristic parts of an original template that has been prepared in advance and indicates the plurality of characteristic parts of the target part is lower than a predetermined threshold value; Equipped with The image processing method, wherein the plurality of features includes a plurality of search lines that intersect with the outline of the target part.

Images