Non-contact high resolution displacement measurement technique

• US 4,827,436 A
• Filed: 04/22/1987
• Issued: 05/02/1989
• Est. Priority Date: 04/22/1987
• Status: Expired due to Fees

• Current Assignee: MCT Worldwide, LLC
• Original Assignee: Micro Component Technology, Inc.
• Inventors: Abbott, Jack E., Gibbons, William J., Sabersky, Andrew P., Littlestone, Nicholas, D'Orazio, Robert R., Smith, Nathan R.
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): Ramirez, Ellis B.
• Application Number:
  US07/041,873
• Time in Patent Office: 741 Days
• Field of Search: 364/550, 364/552, 364/559, 364/490, 356/372, 356/375, 356/385-387, 356/400, 356/374, 250/560-561, 250/563, 250/236
• US Class Current: 250/559.36
• CPC Class Codes: G01B 11/028 by measuring lateral position of a boundary of the object G01B11/022, G01B11/024, G01B11/04 take precedence
• CPC Class Codes: H01L 21/67259 Position monitoring, e.g. misposition detection or presence detection
• CPC Class Codes: H05K 13/0813 Controlling of single components prior to mounting, e.g. orientation, component geometry H05K13/0812 takes precedence

Abstract

Apparatus is disclosed for optically detecting the position of an edge of a workpiece (such as an IC lead tip) in a sensing plane, involving the emission of electromagnetic energy from a known source region in the sensing plane such as to cause the edge to create a shadow having a penumbra in the sensing plane. Two detectors determine the amount of energy which reach two known detection regions in the sensing plane and wholly within the penumbra. The amount of energy detected by one detector determines a first curve in the sensing plane on which the edge must lie, and the amount of energy detected by the other determines a second such curve. The intersection of these two curves fully determines the position of the edge in the sensing plane. Preferably, the source region and both detector regions are all essentially line segments oriented parallel to a z-axis, the two detection regions being disposed axially but spaced from each other. Apparatus is also disclosed for determining a profile of edges on one side of the workpiece. Algorithms are disclosed for interrelating measurements taken on four sides of the workpiece, calculating coplanarity of the lead tips, and calculating tweezing coplanarity of the leads. Two calibration methods are also disclosed. Further apparatus is disclosed for rotating a workpiece by 90 degrees, for example, in order to scan leads on different sides of a package, without requiring any physical modifications for workpieces of different sizes.

Claims

1. Apparatus for at least partially determining a coordinate position at which an edge of a workpiece intersects a sensing plane, the sensing plane containing a z-axis, the apparatus comprising:

source means for emitting energy from a source region intersecting the sensing plane, the energy striking the edge such that the edge creates a shadow having a first penumbra having a non-zero z-dimension, the first penumbra having an intensity-of-shadow which varies in the z-dimension,

first detection means for detecting the amount of energy which reaches a first known detection region which lies wholly within the first penumbra, the first known detection region intersecting the sensing plane and having a non-zero z-dimension where it intersects the sensing plane; and

means for determining a first relationship between the coordinate positions of the edge in the sensing plane in response to the first detection means.

2. Apparatus according to claim 1, wherein the source means emits electromagnetic energy, and the edge is substantially opaque at the frequency of the electromagnetic energy.

3. Apparatus according to claim 2, further comprising:

means for determining a second relationship between the coordinate positions of the edge in the sensing plane; and

means for solving the first relationship as a simultaneous equation with the second relationship to fully determine the position at which the edge passes through the sensing plane.

4. Apparatus according to claim 2, wherein the energy emanating from the source region forms a beam which has a cross-sectional shape narrower when it reaches the edge than the width of the edge.

5. Apparatus according to claim 2, wherein the source means comprises:

a light source; and

shield means for blocking light from the light source which is outside a strip, the strip having its major access lying substantially in the sensing plane and parallel to the z-axis.

6. Apparatus according to claim 2, further comprising:

second detection means for detecting the amount of energy which reaches a second known detection region which lies wholly within the first penumbra, the second known detection region intersecting the sensing plane and having a non-zero dimension where it intersects the sensing plane;

means for determining a second relationship between the coordinate positions of the edge in the sensing plane in response to the second detection means; and

means for solving the first relationship as a simultaneous equation with the second relationship to fully determine the position at which the edge passes through the sensing plane.

7. Apparatus according to claim 6, wherein the sensing plane includes a working area, and wherein the source region and the first and second known detection regions are essentially line segments oriented substantially in the z-dimension, the source region and the first and second known detection regions being disposed such that energy emanating from the source region must cross the working area before reaching the first and second known detection regions.

8. Apparatus for determining the position in which an edge of a workpiece intersects a sensing plane parallel to a z-axis, the apparatus comprising:

source means for emitting energy from a source region intersecting the sensing plane, the energy striking the edge such that the edge creates a shadow having a first penumbra, the first penumbra having an intensity-of-shadow which varies in the z-dimension;

first detection means for detecting the amount of energy which reaches a first known detection region in the first penumbra, the first known detection region intersecting the sensing plane and having a non-zero z-dimension where it intersects the sensing plane; and

second detection means for detecting the amount of energy which reaches a second known detection region in the first penumbra, the second known detection region intersecting the sensing plane and having a non-zero z-dimension where it intersects the sensing plane.

9. Apparatus according to claim 8, wherein the sensing plane includes a working area, and wherein the source region and the first and second known detection regions are essentially line segments oriented substantially in the z-dimension, the source region and the first and second known detection regions being disposed such that energy emanating from the source region must cross the working area before reaching the first and second known detection regions.

10. Apparatus for inspecting a protrusion on a workpiece, the protrusion having opposing first and second edges, the apparatus comprising:

source means for emitting electromagnetic energy onto the first and second edges such that the first edge creates a shadow having a first penumbra having a non-zero size in a dimension perpendicular to the first edge, and such that the second edge creates a shadow having a second penumbra having a non-zero size in a dimension perpendicular to the second edge;

first detection means for detecting the amount of energy which reaches a first known detection region in the first penumbra; and

second detection means for detecting the amount of energy which reaches a second known detection region in the second penumbra.

11. Apparatus for inspecting a workpiece, the workpiece having an edge, the apparatus being associated with a coordinate system having an origin and mutually perpendicular, x, y and z axes extending from the origin, the apparatus being further associated with a sensing plane parallel to the y-z plane, the apparatus comprising:

source means for emitting energy from a known source region, the known source region having a non-zero z-dimension and being no wider in the x-dimension than a desired width, the source region consisting of a set of source points;

means for staging the workpiece such that the edge passes through the sensing plane and blocks part of the energy emitted from the known source region to thereby create a shadow having a penumbra indicative of the y-z coordinate position of the edge, the penumbra having an intensity-of-shadow which varies at least in the z-dimension; and

means for outputting a first signal indicative of the amount of energy which reaches a first known detection region in the penumbra from the source means.

12. Apparatus according to claim 11, wherein the source means emits electromagnetic energy and wherein the edge is substantially opaque at the frequency of the electromagnetic energy.

13. Apparatus according to claim 12, further comprising means for determining a first relationship between the y and z coordinates of the point where the edge passes through the sensing plane.

14. Apparatus according to claim 13, further comprising means for determining a second relationship between the y and z coordinates of the point where the edge passes through the sensing plane;

and

means for determining the y and z coordinates through the use of a simultaneous solution of the first relationship and the second relationship.

15. Apparatus according to claim 14, wherein the means for determining a second relationship comprises:

means for outputting a second signal indicative of the amount of energy which reaches a second known detection region in the penumbra from the source means, the second known detection region consisting of a second set of detection points, and

means for obtaining the second relationship at least in part by calculating the values of at least one constant in a second formula obtained by solving an integration of the estimated effect on the second signal which would be caused by the incidence on each detection point in the second set of detection points of energy from each source point in the set of source points which is not blocked by the edge.

16. Apparatus according to claim 13, wherein the first known detection region consists of a first set of detection points, and wherein the means for determining comprises means for calculating the values of at least one constant in a first formula obtained by solving an integration of the estimated effect on the first signal which would be caused by the incidence on each detection point in the first set of detection points of energy from each source point in the set of source points which is not blocked by the edge.

17. Apparatus according to claim 16, wherein the known source region is essentially a line segment extending in the sensing plane from (y,z)=(h,-a) to (y,z)=(h,a), and where the first known detection region is essentially a line segment extending in the sensing plane from (y,z)=(0,z_b1) to (y,z)=(0,z_t1), wherein said formula is substantially:

space="preserve" listing-type="equation">ν

.sub.1 (y,z)=[y.sup.2 +(z.sub.t1 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b1 -z).sup.2 ].sup.1/2,

where ##EQU30## K is a constant, and I₁ (y,z) is the value of the first signal when the edge is at the arbitrary y-z position.

18. Apparatus for inspecting a workpiece, the workpiece having a first side surface and a base surface, the workpiece having a plurality of edges including a first body edge at a meeting between the first side surface and the base surface, the plurality of edges further including a subject edge, the apparatus being associated with a coordinate system having an origin and mutually perpendicular x, y and z axes extending from the origin, the apparatus being further associated with a sensing plane parallel to the y-z plane, the apparatus comprising:

source means for emitting energy from a known source region, the known source region having a non-zero z-dimension and being no wider in the x-dimension than a desired width, the source region consisting of a set of source points;

means for staging the workpiece such that the subject edge passes through the sensing plane and blocks part of the energy emitted from the known source region to thereby create a shadow having a penumbra indicative of the position of the subject edge, the penumbra having an intensity-of-shadow which varies at least in the z-dimension;

means for outputting a first signal indicative of the amount of energy which reaches a first known detection region in the penumbra from the source means, the first known detection region consisting of a first set of detection points; and

means for outputting a second signal indicative of the amount of energy which reaches a second known detection region in the penumbra from the source means, the second known detection region consisting of a second set of detection points; and

means for determining the z coordinate of the point where the subject edge passes through the sensing plane, including means for calculating values of constants in a formula obtained by solving substantially the two simultaneous equations defined by (1) an integration of the estimated effect on the first signal which would be caused by the incidence on each detection point in the first set of detection points of energy from each source point in the set of source points which would reach such detection point in the first set of detection points if the subject edge is at an arbitrary y-z position, and by (2) an integration of the estimated effect on the second signal which would be caused by the incidence on each detection point in the second set of detection points of energy from each source point in the set of source points which would reach such detection point in the second set of detection points if the subject edge is at the arbitrary y-z position.

19. Apparatus according to claim 18, wherein the source region is essentially a line segment extending in the sensing plane from (y,z)=(h,-a) to (y,z)=(h,a);

wherein the first known detection region is essentially a line segment extending in the sensing plane from (y,z)=(0,z_b1) to (y,z)=(0,z_t1);

wherein the second known detection region is essentially a line segment extending in the sensing plane from (y,z)=(0,z_b2) to (y,z)=(0,z_t2); and

wherein the two simultaneous equations are given by, respectively,

space="preserve" listing-type="equation">ν

.sub. (y,z)=[y.sup.2 +(z.sub.t1 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b1 -z).sup.2 ].sup.1/2 (

     1)

and

space="preserve" listing-type="equation">ν

.sub.2 (y,z)=[y.sup.2 +(z.sub.t2 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b2 -z).sup.2 ].sup.1/2 ;

(2)

where ##EQU31## K₁ and K₂ are constants, I₁ (y,z) is the estimated value of the first signal when the subject edge is at an arbitrary y-z position, and

I₂ (y,z) is the estimated value of the second signal when the subject edge is at the arbitrary y-z position.

20. Apparatus according to claim 19, wherein the means for determining further includes means for inserting for I₁ (y,z) the actual value of the first signal as modified by an empirically determined correction term.

21. Apparatus according to claim 20, wherein the means for staging comprises means for moving the workpiece relative to the y-z plane in a direction not substantially parallel to the y-z plane, further comprising means for determining the x-coordinate of the sensing plane.

22. Apparatus for determining an edge profile of edges on a side of a workpiece, the apparatus having associated therewith an x-y-z Cartesian coordinate system, the apparatus comprising:

source means for emitting energy from a known source region, the known source region having a non-zero z-dimension and including a source point;

staging means for staging the workpiece such that one of the edges blocks part of the energy emitted by the source means to thereby create a shadow having a penumbra with an intensity-of-shadow which varies in the z-dimension.

first detection means for detecting the amount of energy emitted from the known source region which reaches a first known detection region in the penumbra, the first known detection region including a first detection point; and

moving means for relatively moving the workpiece with respect to the first known detection region in a direction not substantially parallel to any plane which is parallel to the z-axis and which passes through both a point in the known source region and a point in the first known detection region.

23. Apparatus according to claim 22, wherein the source means for emitting energy emits electromagnetic energy, and the edges are substantially opaque at the frequency of the electromagnetic energy.

24. Apparatus according to claim 23, wherein the z-axis passes through the first detection point, the y-axis is perpendicular to the z-axis and passes through the source point and the x-axis is perpendicular to the y- and z-axes, and wherein the moving means relatively moves the workpiece with respect to the known source region and the first known detection region in a direction substantially parallel to the x-axis, further comprising means responsive to the first detection means for reading the amount of energy detected at the first known detection region for at least two relative x-positions of the workpiece.

25. Apparatus according to claim 24,

wherein the known source region is a narrow strip extending substantially in the z-direction, bounded in the z-dimension substantially by z=z_ts and z=z_bs, and bounded in the x-dimension substantially by x=x_cs.sup.±

x_s, where x_cs is the x-coordinate of a point in the known source region;

wherein the first known detection region is a narrow strip extending substantially in the z-direction, bounded in the z-dimension substantially by z=z_t1 and z=z_b1, and bounded in the x-dimension substantially by x=x_c1.sup.±

x₁, where x_c1 is the x-coordinate of a point in the first known detection region;

wherein the source means comprises;

overall source means for emitting energy from an overall source region having a z-dimension which extends above z=z_ts and below z=z_bs, and which is wider in the x-dimension than 2x_s ;

first source shield means for blocking energy emanating from the overall source region at a position above z=z_ts or below z=_bs ; and

second source shield means for blocking energy emanating from the overall source region at a position having an x-coordinate outside the range x=x_cs.sup.±

x_s, but leaving unaffected any energy which may emanate from the overall source region at a position above z=z_ts or below z=z_bs ;

wherein the first detection means comprises;

means for detecting the amount of energy which reaches a first overall detection region extending in one x-direction beyond a relative x-position x=x_min and in the other x-direction beyond a relative x-position x=x_max, x_min and x_max being the minimum and maximum desired relative x-positions for the y-z plane, respectively, the first overall detection region being further bounded substantially by z=z_t1 and z=z_b1 ; and

first detector shield means for blocking energy from reaching the first overall detection region at a position having an x-coordinate outside the range x=x_c1.sup.±

x₁, but leaving unaffected any energy which may otherwise pass the first overall detection region above z=z_t1 or below z=z_b1 ;

and wherein the moving means moves the second source shield means and the first detector shield means while the workpiece, the first source shield means and the first overall detection region remain fixed.

26. Apparatus according to claim 24,

wherein when the y-z plane is at a given x-position the first known detection region is bounded in the x-dimension substantially by x=x_c1.sup.±

x₁, where x_c1 is the x-coordinate of a point in the first known detection region,

wherein the first detection means comprises means for detecting the amount of energy which reaches a first overall detection region extending in one x-direction beyong a relative x-position x=x_min and in the other x-direction beyond a relative x-position x=x_max, x_min and x_max being the minimum and maximum desired relative x-positions, respectively, for the y-z plane; and

first detector shield means for blocking energy from reaching the first overall detection region at a position having an x-coordinate outside the range x=x_c1.sup.±

x₁ ;

and wherein the moving means moves the first detector shield means while the workpiece and the first overall detection region remain fixed.

27. Apparatus according to claim 26,

wherein when the y-z plane is at the given x-position the first known detection region is further bounded above substantially by z=z_t1 and bounded below substantially by z=z_b1,

wherein the first overall detection region is bounded substantially by z=z_t1 and z=z_b1 for all relative positions of x between x_min and x_max,

and wherein the first detector shield means leaves unaffected any energy which may otherwise pass the first overall detection region above z=z_t1 or below z=z_b1.

28. Apparatus according to claim 24, wherein when the y-z plane is at a given relative x-position the known source region is bounded above substantially by z=z_ts and bounded below substantially by z=z_bs,

wherein the source means comprises:

overall source means for emitting energy from an overall source region having a z-dimension which extends above z=z_ts and below z=z_bs ; and

first source shield means for blocking energy emanating from the overall source region at a position above z=z_ts or below z=z_bs when the y-z plane is in the given relative x-position;

and wherein the moving means moves the overall source region, the first known detection region and the second known detection region while the workpiece and the first source shield means remain fixed.

29. Apparatus according to claim 28,

wherein when the y-z plane is at the given relative x-position the known source region is bounded in the x-dimension substantially by x=x_cs.sup.±

x_s, where x_cs is the x-coordinate of a point in the known source region;

wherein the overall source region extends beyond x=x.sup.±

x_s in both x directions;

further comprising second source shield means for blocking energy emanating from the overall source region at a position having an x-coordinate outside the range x=x_cs.sup.±

x_s, but leaving unaffected any energy which may emanate from the overall source region at a position above z=z_ts and any energy which may emanate from the overall source region at a position below z=z_bs ;

wherein the moving means further moves the second source shield means.

30. Apparatus for rotating by a given angle in a given direction about an axis of rotation a substantially rectangular workpiece of arbitrary size, the workpiece having a first side and a second side adjacent to the first side, the apparatus comprising:

means for positioning the workpiece such that the first side lies on a first line spaced from the axis by a first distance and the second side lies on a second line spaced from the axis by a second distance; and

means for rotating the positioned workpiece by the given angle in the given direction about the axis;

wherein the first and second distances remain fixed for different sizes of workpieces.

31. Apparatus according to claim 30, wherein the given angle is 90°

, wherein the workpiece is substantially square, wherein the first distance is substantially the same as the second distance, and wherein the given direction is that necessary to cause the second side to lie on the first line after the workpiece is rotated by the means for rotating.

32. Apparatus according to claim 31, wherein the means for rotating comprises a platform rotatable about the axis, the platform having suction means having active areas located along a first diagonal passing through the axis and through the intersection between the first line and the second line, and along a second diagonal passing through the axis, the second diagonal making an angle of 90°

with the first diagonal.

33. Apparatus according to claim 32, for use in association with a suction pump, wherein the platform has a hole at each of the active areas, each hole having a top end and a bottom end, and wherein the suction means comprises means for placing the suction pump in air pressure communication with the bottom of each of the holes, each of the holes being large enough at its top end to provide a desired holding force when the hole is covered by the workpiece and small enough at its bottom end to provide a desired resistance to air flow when the hole is not covered by the workpiece.

34. Apparatus for rotating a substantially rectangular workpiece of arbitrary size by 90°

, the workpiece having a first side and a second side adjacent to the first side, for use in association with an input guide wall, an output guide wall, first means for moving the workpiece along the input guide wall while the first side remains substantially against the input guide wall, the first means for moving stopping when the second side reaches a second line, and second means for moving the workpiece along the output guide wall while the second side remains substantially against the output guide wall, the input guide wall and the output guide wall both lying substantially along a first line, the apparatus comprising;

a rotation table rotatable about an axis which is spaced from each of the first line and the second line by a distance which is fixed for different sizes of workpieces; and

means for rotating the rotation table.

35. Apparatus according to claim 34, wherein the workpiece is substantially square, and wherein the rotation table contains suction holes located only along a first diagonal passing through the axis and the intersection between the first line and the second line, and along a second diagonal passing through the axis and angled 90°

from the first diagonal.

36. Apparatus according to claim 35, wherein the rotation table has a given thickness, and wherein each suction hole consists of a well which is open on its top end and has a depth less than the given thickness, each well having an opening in its bottom which is much smaller than the size of the opening on the top of the well.

37. Apparatus according to claim 35, for operation with workpieces having no smaller than a minimum side length, and wherein the rotation table contains only first, second, third, fourth and fifth suction holes,

the first suction hole being centered at a first point on the first diagonal, the first point being half the minimum side length from the first line, the first point being located a certain distance from the axis;

the second suction hole being centered at a second point on the first diagonal on the opposite side of the axis from the first suction hole, the second point being the certain distance from the axis;

the third and fourth suction holes being centered at third and fourth points, respectively, on the second diagonal on opposite sides of the axis, the third and fourth points being the certain distance from the axis; and

the fifth suction hole being centered on the axis.

38. Apparatus for inspecting a workpiece, the workpiece having first, second, third and fourth side surfaces, the apparatus comprising:

first, second, third and fourth means for determining an edge profile of the edges on one side of the workpiece;

first, second and third rotation means for rotating the workpiece by a predetermined angle in a predetermined direction, each rotation means having an axis of rotation;

transport means for transporting the workpiece from the first means for determining an edge profile sequentially to the first rotation means, the second means for determining an edge profile, the second rotation means, the third means for determining an edge profile, the third rotation means and the fourth means for determining an edge profile; and

means for performing inspection tests on the edge profiles determined by the first, second, third and fourth means for determining an edge profile.

39. Apparatus according to claim 38, wherein at least one of the means for determining an edge profile has associated therewith an x-y-x Cartesian coordinate system and comprises:

source means for emitting electromagnetic energy from a known source region, the known source region having a non-zero z-dimension;

first detection means for detecting the amount of energy emitted from the known source region which reaches a first known detection region; and

moving means for relatively moving the workpiece with respect to the known source region and/or the first known detection region in a direction not substantially parallel to any plane which is parallel to the z-axis and which passes through both a point in the known source region and a point in the first known detection region.

40. Apparatus according to claim 38, wherein a given one of the rotation means comprises:

means for positioning the workpiece such that the first side lies on a first line spaced from the axis of rotation of the given rotation means by a first distance and the second side lies on a second line spaced from the axis of rotation of the given rotation means by a second distance; and

means for rotating the positioned workpiece by the predetermined angle in the predetermined direction;

wherein the first and second distances remain fixed for different sizes of workpieces.

41. A method for use with apparatus for determining the y-z position of an edge passing through a sensing plane parallel to a y-z plane in an x-y-z Cartesian coordinate system, the apparatus comprising:

source means for emitting electromagnetic energy from a source region which is essentially a line segment extending in the sensing plane from the nominal positions (y,z)=(h,-a) to (y,z)=(h,a);

first detection means for detecting the amount of energy received at a first known detection region which is essentially a line segment extending in the sensing plane from the nominal positions (y,z)=(0,z_b1) to (y,z)=(0,z_t1);

second detection means for determining the amount of energy received at a second known detection region which is essentially a line segment extending in the sensing plane from the nominal positions (y,z)=(0,z_b2) to (y,z)=(0,z_t2); and

means responsive to the first detection means and the second detection means for calculating an expected y-z position of the edge based on stored values of a, h, z_b1, z_t1, z_b2 and z_t2,

the method comprising the steps of;

reading for at least one known y-z position of a calibration edge the amount of energy detected by the first detection means and the amount of energy detected by the second detection means;

setting up initial test values of the parameters a, h, z_b1, z_t1, z_b2 and z_t2 ;

calculating expected position information of the calibration edge based on the read amounts of energy and the current test values of a, h, z_b1, z_t1, z_b2 and z_t2 ;

determining an error between the expected position information and the at least one known y-z position of the calibration edge;

repeating the steps of calculating and determining for predetermined numbers of permutations of test values of a, h, z_b1, z_t1, z_b2 and z_t2 ; and

storing for subsequent use by the means for calculating the test values of a, h, z_b1, z_t1, z_b2 and z_t2 which were used in the calculating step and which yielded the smallest error in the determining step.

42. A method according to claim 41,

wherein the apparatus has a better resolution in the z-dimension than in the y-dimension,

wherein the step of reading comprises the step of reading the amount of energy detected by the first and second detection means for first and second known y-z positions of the calibration edge, the first and second known y-z positions having essentially identical y-positions,

wherein the step of calculating expected position information comprises the step of calculating the expected y-positions of the calibration edge for each of the first and second known y-z positions of the calibration edge, and

wherein the step of determining an error comprises the step of determining the difference between the expected y-positions of the calibration edge for the first and second known positions of the calibration edge.

43. A method according to claim 41, further comprising the step of repeating for at least one additional x-position of the sensing plane the steps of reading, setting up, calculating, determining, repeating and storing.

44. A method for use with apparatus for determining position information about a first edge of a workpiece, the apparatus comprising:

source means for emitting energy from a known source region, the known source region having a non-zero z-dimension;

first detection means for outputting a first signal nominally indicative of the amount of energy emitted from the source region which reaches a first known detection region; and

means for calculating an apparent y-z position of the edge in response to the first signal,

the method comprising the steps of;

positioning a calibration edge at a first known y-z position;

calculating for the current known y-z position of the calibration edge an expected value of the first signal;

storing in relation to the nominal value of the first signal a correction term which when applied to the nominal value of the first signal will yield substantially the expected value of the first signal;

moving the calibration edge to a known y-z position at which the first detection means outputs a signal different from that output for any previous y-z position of the calibration edge; and

repeating for a desired number of repetitions the steps of calculating, storing and moving.

45. A method according to claim 44, further comprising the step of performing the steps of positioning, calculating, storing, moving and repeating for at least two x-positions.

46. A method according to claim 44, wherein the correction term is the ratio between the expected value of the first signal and the nominal value of the first signal.

47. A method according to claim 44, wherein the step of storing in relation to the nominal value of the first signal a correction term comprises the step of storing the correction term in correspondence with I_read /(I_open -I_closed), where I_read is the nominal value of the first signal for the current y-z position of the calibration edge, I_open is the nominal value of the first signal when the calibration edge blocks none of the energy emitted from the source region from reaching the first detection region, and I_closed is the nominal value of the first signal when the calibration edge blocks all of the energy emitted from the source region from reaching the first detection region directly.

48. A method according to claim 47, further comprising the steps of:

storing (I_open -I_closed); and

updating the store value of (I_open -I_closed), when the apparatus is in field use.

49. A method according to claim 44, further comprising the steps of:

reading an obtained nominal value of the first signal when the apparatus is in field use;

determining the pair of nominal values of the first signal for which correction terms were stored during the step of storing, which pair correspond most closely with the obtained nominal value; and

applying to the obtained nominal value a correction term which is interpolated between the two correction terms stored during the step of storing in relation to the pair of nominal values.

50. A method according to claim 49, wherein the step of storing in relation to the nominal value of the first signal a correction term comprises the step of storing in correspondence:

(a) the correction term and (b) an index ratio I_read /(I_open -I_closed), where I_read is the nominal value of the first signal for the current y-z position of the calibration edge, I_open is the nominal value of the first signal when the calibration edge blocks none of the energy emitted from the source region from reaching the first detection region, and I_closed is the nominal value of the first signal when the calibration edge blocks all of the energy emitted from the source region from reaching the first detection region directly,

further comprising the step of storing (I_open -I_closed) ; and

wherein the step of determining comprises the step of selecting the two stored index ratios which are closest to the ratio between the obtained nominal value of the first signal and the stored value of (I_open -I_closed).

51. Apparatus for inspecting a 4-sided workpiece, the workpiece including a body having a base surface, a first side surface, a second side surface adjacent to the first side surface, a third side surface adjacent to the second side surface and a fourth side surface joining the third and first side surfaces, the workpiece further including first, second, third and fourth body edges at meetings between the base surface and, respectively, the first, second, third and fourth side surfaces, the workpiece further including a first plurality of leads extending from the first side surface, a second plurality of leads extending from the second side surface, a third plurality of leads extending from the third side surface and a fourth plurality of leads extending from the fourth side surface, each lead having a lead tip, the apparatus comprising:

means for obtaining a first item of lead position information concerning at least one of the first plurality of leads, with reference to a first coordinate system, and obtaining the positions of at least two places on the first body edge with respect to the first coordinate system;

means for obtaining a second item of lead position information concerning at least one of the second plurality of leads, with reference to a second coordinate system, and obtaining the positions of at least two points on the second body edge with respect to the second coordinate system;

means for obtaining a third item of lead position information concerning at least one of the third plurality of leads, with reference to a third coordinate system, and obtaining the positions of at least two points on the third body edge with respect to the third coordinate system;

means for obtaining a fourth item of lead position information concerning at least one of the fourth plurality of leads, with reference to a fourth coordinate system, and obtaining the positions of at least two points on the fourth body edge with respect to the fourth coordinate system; and

means for interrelating the first, second, third and fourth items of lead position information substantially by applying to the first, second and third items of lead position information respective first, second and third transformations, the first, second and third transformations being such that, when applied respectively to the positions with respect to the first coordinate system of the at least two points on the first body edge, the positions with respect to the second coordinate system of the at least two points on the second body edge and the positions with respect to the third coordinate system of the at least two points on the third body edge, the transformations cause a first line drawn through the at least two points on the first body edge to intersect both a second line drawn through the at least two points on the second body edge and a fourth line drawn through the at least two points on the fourth body edge, cause a third line drawn through the at least two points on the third body edge to intersect both the second line and the fourth line, and cause the first, second, third and fourth lines to be coplanar.

52. Apparatus for testing the tweezing coplanarity of a four-sided IC package, the package including a body having a base surface, a first side surface, a second side surface adjacent to the first side surface, a third side surface adjacent to the second side surface, and a fourth side surface joining the third and first side surfaces, the package further including first, second, third and fourth body edges at meetings between the base surface and, respectively, the first, second, third and fourth side surfaces, the package further including a first plurality of leads extending from the first side surface, a second pluarality of leads extending from the second side surface, a third plurality of leads extending from the third side surface, and a fourth plurality of leads extending from the fourth side surface, each lead extending outward from the body in a direction nominally parallel to the base surface for a respective protrusion distance, then bending at a respective lead shoulder to pass through a base plane containing the base surface in a direction nominally perpendicular to the base plane, a first reference line being defined as the line passing through the lead shoulders of the two leads extending from the first side surface, which two leads have the largest protrusion distances of all the leads extending from the first side surface, a second reference line being defined as the line passing through the lead shoulders of the two leads extending from the second side surface, which two leads have the largest protrusion distances of all the leads extending from the second side surface, a third reference line being defined as the line passing through the lead shoulders of the two leads extending from the third side surface, which two leads have the largest protrusion distances of all the leads extending from the third side surface, a fourth reference line being defined as the line passing through the lead shoulders of the two leads extending from the fourth side surface, which two leads have the largest protrusion distances of all the leads extending from the fourth side surface, the apparatus comprising:

means for indicating a failure if the sum of the distance between the first reference line and the first body edge and the distance between the third reference line and the third body edge differs from a first constant by more than a tweezing coplanarity tolerance, both distances being taken along a projection into the base plane of any perpendicular to the first reference line, which projection intersects both the first body edge and the third body edge; and

means for indicating a failure if the sum of the distance between the second reference line and the second body edge and the distance between the fourth reference line and the fourth body edge differs from a second constant by more than the tweezing coplanarity tolerance, both distances being taken along a projection into the base plane of any perpendicular to the second reference line, which projection intersects both the second body edge and the fourth body edge.

53. A method for determining a seating plane of the tips of N leads extending downward from a body, including at least three lead tips which are not all collinear, the method comprising the steps of:

(a) providing in a computer memory representations of a plane and the positions in space of the lead tips relative to each other and to the plane, the plane passing through a group of three of the lead tips, all others of the lead tips being either on the plane or on the same side of the plane as the body, the step of providing including a step of changing in the computer memory in a manner which corresponds to rotation, relative to the plane, of the body about a roll axis the representation of at least one member of the group consisting of the plane and the positions of the lead tips; and

(b) while the projection of the center of gravity of the body onto the plane is outside the triangle defined by the group of three of the lead tips, repeating the step of;

modifying in the computer memory in a manner which corresponds to rotation, relative to the plane, of the body about a new roll axis the representation of at least one member of the group consisting of the plane and the positions of the lead tips, until the plane passes through an additional lead tip, the additional lead tip being the lead tip which is first to touch the plane during such rotation, the new roll axis being defined as the line which contains a first line segment or a second line segment, whichever is between the most recent roll axis and substantially the projection onto the plane of the center of gravity of the body, the first line segment being defined by a first pair of the lead tips in the group of three of the lead tips and the second line segment being defined by a second pair of the lead tips in the group of three of the lead tips, the second pair being different from the first pair and neither the first pair nor the second pair defining any previous roll axis, the group of three of the lead tips being redefined after each repetition as the additional lead tip and the two of the lead tips in the group of three of the lead tips which are on the new roll axis.

54. The method according to claim 53, wherein the step of providing comprises the steps of:

setting up in the computer memory representations of a starting plane and the positions in space of the lead tips relative to each other and to the starting plane, the starting plane passing through a first one of the lead tips, all others of the lead tips being either on the starting plane or on the same side of the starting plane as the body;

modifying in the computer memory in a manner which corresponds to rotation, relative to the starting plane, of the body about a first roll axis the representation of at least one member of the group consisting of the plane and the positions of the lead tips, until the starting plane passes through a second lead tip, the second lead tip being the first to touch the starting plane during such rotation about the first roll axis, the first roll axis being the line in the starting plane which passes through the first lead tip and is perpendicular to a line passing through the first lead tip and a projection of the center of gravity of the body into the starting plane; and

modifying in the computer memory in a manner which corresponds to rotation, relative to the starting plane, of the body about a second roll axis the representation of at least one member of the group consisting of the plane and the positions of the lead tips, until the starting plane passes through a third lead tip, the third lead tip being the first to touch the starting plane during such rotation about the second roll axis, the second roll axis being the line defined by the first and second lead tips,

the group of three of the lead tips being initially defined as the first, second and third lead tips.

55. The method according to claim 53, wherein the step of modifying in the computer memory consists of the step of updating in the computer memory the representation of the plane in a manner which corresponds to rotation of the plane about the new roll axis until the plane passes through the additional lead tip.

56. A method according to claim 55, further comprising the step of determining whether any of the lead tips are more than a predetermined distance from the plane.

57. A method according to claim 56, further comprising, if the projection of the center of gravity onto the plane is on the triangle defined by the group of three of the lead tips, the steps of:

altering in the computer memory the representation of the plane in a manner which corresponds to rotation of the plane about a rocking axis until the plane passes through a fourth lead tip, the fourth lead tip being the lead tip on the side of the rocking axis opposite a given one of the lead tips in the group of three of the lead tips, which lead tip is the first to touch the plane during such rotation about the rocking axis, the rocking axis being the line passing through two of the lead tips in the group of three of the lead tips and also passing through the projection into the plane of the center of gravity of the body, the given one of the lead tips being the lead tip in the group of three of the lead tips which is not on the rocking axis; and

determining whether any of the lead tips are more than a predetermined distance from the plane as represented after the step of altering.

58. A method for use with apparatus for determining the y-z position of an edge passing through a sensing plane parallel to a y-z plane in an x-y-z coordinate system, the apparatus including a means for calculating such y-z position, and further including an original part and a spare part to replace the original part, the method comprising the steps of:

obtaining a first set of calibration data for the apparatus with the original part installed;

obtaining a second set of calibration data for the apparatus with the spare part installed; and

storing both the first and second sets of calibration data for subsequent use by the means for calculating, the means for calculating using the first set of calibration data when the original part is installed and using the second set of calibration data when the spare part is installed.

59. A method for use with apparatus for determining position information about a first edge of a workpiece, the apparatus comprising:

source means for emitting energy from a known source region, the known source region having a non-zero z-dimension;

first detection means for outputting a first signal nominally indicative of the amount of energy emitted from the source region which reaches a first known detection region;

second detection means for outputting a second signal nominally indicative of the amount of energy emitted from the source region which reaches a second known detection region; and

means for calculating an apparent y-z position of the edge in response to the first and second signals,

the method comprising the steps of;

positioning a calibration edge at a first known y-z position;

calculating for the current known y-z position of the calibration edge an expected value of the first signal;

calculating for the current known y-z position of the calibration edge an expected value of the second signal;

storing in relation to the nominal value of the first signal a first correction term which when applied to the nominal value of the first signal will yield substantially the expected value of the first signal;

storing in relation to the nominal value of the second signal a second correction term which when applied to the nominal value of the second signal will yield substantially the expected value of the second signal;

moving the calibration edge to a known y-z position at which the first detection means or the second detection means outputs a signal different from that output by the same detection means for any previous y-z position of the calibration edge; and

repeating for a desired number of repetitions the steps of calculating, storing in relation to the nominal value of the first signal, storing in relation to the nominal value of the second signal and moving;

wherein the step of storing in relation to the nominal value of the first signal comprises the step of storing in correspondence;

(a) the first correction term and (b) an index ratio I_read1 /(I_open1 -I_closed1), where I_read1 is the nominal value of the first signal for the current y-z position of the calibration edge, I_open1 is the nominal value of the first signal when the calibration edge blocks none of the energy emitted from the source region from reaching the first detection region, and I_closed1 is the nominal value of the first signal when the calibration edge blocks all of the energy emitted from the source region from reaching the first detection region directly, and

wherein the step of storing in relation to the nominal value of the second signal comprises the step of storing in correspondence;

(a) the second correction term and (b) an index ratio I_read2 /(I_open2 -I_closed

     2), where I_read2 is the nominal value of the second signal for the current y-z position of the calibration edge, I_open2 is the nominal value of the second signal when the calibration edge blocks none of the energy emitted from the source region from reaching the second detection region, and I_closed2 is the nominal value of the second signal when the calibration edge blocks all of the energy emitted from the source region from reaching the second detection region directly.

60. A method according to claim 59, further comprising the steps of:

storing (I_open1 -I_closed1) and (I_open2 -I_closed2);

reading an obtained nominal value of the first signal when the apparatus is in field use;

reading an obtained nominal value of the second signal when the apparatus is in field use;

determining a first pair of nominal values of the first signal for which correction terms were stored during the step of storing in relation to the nominal value of the first signal, which first pair correspond most closely with the obtained nominal value of the first signal;

determining a second pair of nominal values of the second signal for which correction terms were stored during the step of storing in relation to the nominal value of the second signal, which second pair correspond most closely with the obtained nominal value of the second signal;

applying to the obtained nominal value of the first signal a correction term which is interpolated between a first pair of correction terms stored in relation to the first pair of nominal values, which first pair of correction terms were stored during the step of storing in relation to the nominal value of the first signal; and

applying to the obtained nominal value of the second signal a correction term which is interpolated between a second pair of correction terms stored in relation to the second pair of nominal values, which second pair of correction terms was stored during the step of storing in relation to the nominal value of the second signal; and

wherein the step of determining a first pair of nominal values comprises the step of selecting the two stored index ratios I_read1 /(I_open1 -I_closed1) which are closest to the ratio between the obtained nominal value of the first signal and the stored value of (I_open1 -I_closed1); and

wherein the step of determining a second pair of nominal values comprises the step of selecting the two stored index ratios I_read2 /(I_open2 -I_closed2) which are closest to the ratio between the obtained nominal value of the first signal and the stored value of (I_open2 -I_closed2).

61. Apparatus for inspecting a workpiece, the workpiece having a first side surface and a base surface, the workpiece having a plurality of edges including a first body edge at a meeting between the first side surface and the base surface, the plurality of edges further inlcuding a subject edge, the apparatus being associated with a coordinate system having an origin and mutually perpendicular x, y and z axes extending from the origin, the apparatus being further associated with a sensing plane parallel to the y-z plane, the apparatus comprising:

source means for emitting energy from a known source region, the known source region having a non-zero z-dimension and being no wider in the x-dimension than a desired width, the source region consisting of a set of source points;

means for staging the workpiece such that the subject edge passes through the sensing plane and blocks part of the energy emitted from the known source region to thereby create a shadow having a penumbra indicative of the position of the subject edge, the penumbra having an intensity-of-shadow which varies at least in the z-dimension;

means for outputting a first signal indicative of the amount of energy which reaches a first known detection region in the penumbra from the source means, the first known detection region consisting of a first set of detection points; and

means for outputting a second signal indicative of the amount of energy which reaches a second known detection region in the penumbra from the source means, the second known detection region consisting of a second set of detection points; and

means for determining the y coordinate of the point where the subject edge passes through the sensing plane, including means for calculating values of constants in a formula obtained by solving substantially the two simultaneous equations defined by (1) an integration of the estimated effect on the first signal which would be caused by the incidence on each detection point in the first set of detection points of energy from each source point in the set of source points which would reach such detection point in the first set of detection points if the subject edge is at an arbitrary y-z position, and by (2) an integration of the estimated effect on the second signal which would be caused by the incidence on each detection point in the second set of detection points of energy from each source point in the set of source points which would reach such detection point in the second set of detection points if the subject edge is at the arbitrary y-z position.

62. Apparatus according to claim 61, wherein the source region is essentially a line segment extending in the sensing plane from (y,z)=(h,-a) to (y,z)=(h,a);

wherein the first known detection region is essentially a line segment extending in the sensing plane from (y,z)=(0,z_b1) to (y,z)=(0,z_t1);

wherein the second known detection region is essentially a line segment extending in the sensing plane from (y,z)=(0,z_b2) to (y,z)=(0,z_t2); and

wherein the two simultaneous equations are given by, respectively,

space="preserve" listing-type="equation">ν

.sub.1 (y,z)=[y.sup.2 +(z.sub.t1 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b1 -z).sup.2 ].sup.1/2 (

     1)

and

space="preserve" listing-type="equation">ν

.sub.2 (y,z)=[y.sup.2 +(z.sub.t2 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b2 -z).sup.2 ].sup.1/2 ;

(2)

where ##EQU32## K₁ and K₂ are constants, I₁ (y,z) is the estimated value of the first signal when the subject edge is at an arbitrary y-z position, and

I₂ (y,z) is the estimated value of the second signal when the subject edge is at the arbitrary y-z position.

63. A method for inspecting a workpiece having an edge, in apparatus associated with a coordinate system having mutually perpendicular x, y and z axes, said apparatus further having associated therewith a sensing plane parallel to the y-z plane, said method comprising the steps of:

staging said workpiece such that said edge intersects said sensing plane, said edge intersecting said sensing plane at an intersection point having y and z coordinates;

emitting energy such that said edge creates a shadow having a grey region, said grey region having an intensity-of-shadow which varies in the z-dimension substantially according to a known function of said y and z coordinates; and

determining from the amount of energy which reaches a first known detection region in said grey region a first relationship between said y and z coordinates.

64. A method according to claim 63, wherein said step of determining a first relationship comprises the step of calculating from the amount of energy which reaches said first known detection region the value of a first constant in a first predetermined formula relating said y and z coordinates.

65. A method according to claim 63, further comprising the step of determining from the amount of energy which reaches a second known detection region in said grey region a second relationship between said y and z coordinates.

66. A method according to claim 65,

wherein said step of determining a first relationship comprises the step of calculating from the amount of energy which reaches said second known detection region the value of a second constant in a second predetermined formula relating said y and z coordinates,

further comprising the step of calculating said y coordinate from said first and second constants.

67. A method according to claim 65, wherein said step of determining a first relationship comprises the step of calculating from the amount of energy which reaches said second known detection region the value of a second constant in a second predetermined formula relating said y and z coordinates,

further comprising the step of calculating said z coordinate from said first and second constants.

68. A method according to claim 67, further comprising the step of calculating said y coordinate from said z coordinate.

69. A method for inspecting a workpiece having an edge, in apparatus associated with a coordinate system having mutually perpendicular x, y and z axes, said apparatus further having associated therewith a sensing plane parallel to the y-z plane, said method comprising the steps of:

staging said workpiece such that said edge intersects said sensing plane, said edge intersecting said sensing plane at an intersection point having y and z coordinates;

emitting electromagnetic energy such that said edge creates a shadow having a penumbra, said penumbra having an intensity-of-shadow which varies in the z dimension substantially according to a known function of said y and z coordinates; and

calculating said y and z coordinates from the amount of energy which reaches respective first and second known detection regions in said penumbra.

70. A method according to claim 69, further comprising the step of correcting according to a correcting algorithm the values obtained in said step of calculating said y and z coordinates.

71. A method according to claim 69, wherein said step of emitting electromagnetic energy comprises the step of emitting said electromagnetic energy from a source region being essentially a line segment extending in said sensing plane from (y,z)=(h,-a) to (y,z)=(h,a), wherein said first known detection region is essentially a line segment extending in said sensing plane from (y,z)=(0,z_b1) to (y,z)=(0,z_t1), and wherein said second known detection region is essentially a line segment extending in said sending plane from (y,z)=(0,z_b2) to (y,z)=(0,z_t2),

further comprising the step of outputting a first signal indicative of the amount of energy which reaches said first known detection region and a second signal indicative of the amount of energy which reaches said second known detection region,

and wherein said step of calculating comprises the step of computing a value for y from the simultaneous equations:

space="preserve" listing-type="equation">ν

.sub.1 (y,z)=[y.sup.2 +(z.sub.t1 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b1 -z).sup.2 ].sup.1/2 (

     1)

and

space="preserve" listing-type="equation">ν

.sub.2 (y,z)=[y.sup.2 +(z.sub.t2 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b2 -z).sup.2 ].sup.1/2 ;

(2)

where ##EQU33## K₁ and K₂ are constants, and I₁ (y,z) and I₂ (y,z) are the values respectively of said first and second signals.

72. A method according to claim 69, further comprising the steps of:

moving said workpiece relative to said first and second known detection regions in a direction not substantially parallel to said sensing plane; and

repeating said step of calculating.

73. A method according to claim 69, wherein said step of emitting electromagnetic energy comprises the step of emitting said electromagnetic energy from a source region being essentially a line segment extending in said sensing plane from (y,z)=(h,-a) to (y,z)=(h,a), wherein said first known detection region is essentially a line segment extending in said sensing plane from ((y,z)=(0,z_b1) to (y,z)=(0,z_t1), and wherein said second known detection region is essentially a line segment extending in said sensing plane from (y,z)=(0,z_b2) to (y,z)=(0,z_t2),

further comprising the step of outputting a first signal indicative of the amount of energy which reaches said first known detection region and a second signal indicative of the amount of energy which reaches said second known detection region,

and wherein said step of calculating comprises the step of computing a value for z from the simultaneous equations:

space="preserve" listing-type="equation">ν

.sub.1 (y,z)=[y.sup.2 +(z.sub.t1 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b1 -z).sup.2 ].sup.1/2 (

     1)

and

space="preserve" listing-type="equation">ν

.sub.2 (y,z)=[y.sup.2 +(z.sub.t2 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b2 -z).sup.2 ].sup.1/2 ;

(2)

where ##EQU34## K₁ and K₂ are constants, and I₁ (y,z) and I₂ (y,z) are the values respectively of said first and second signals.

74. A method according to claim 73, wherein the step of calculating further comprises the step of inserting for I₁ (y,z) the actual value of the first signal as modified by an empirically determined correction term.

75. A method according to claim 69, wherein said step of emitting electromagnetic energy comprises the step of emitting said electromagnetic energy from a source region being essentially a line segment extending in said sensing plane from (y,z)=(h,-a) to (y,z)=(h,a), wherein said first known detection region is essentially a line segment extending in said sensing plane from (y,z)=(0,z_b1) to (y,z)=(0,z_t1).

further comprising the step of outputting a first signal indicative of the amount of energy which reaches said first known detection region,

and wherein said step of calculating includes the step of computing the value of a constant ν

₁ (y,z) substantially from the formula;

##EQU35## K₁ being a constant and I₁ (y,z) being the value of said first signal.

76. A method according to claim 75, wherein said second known detection region is essentially a line segment extending in said sensing plane from (y,z)=(0,z_b2) to (y,z)=(0,z_t2),

further comprising the step of outputting a second signal indicative of the amount of energy which reaches said second known detection region,

and wherein said step of calculating further includes the steps of:

computing the value of a constant ν

₂ (y,z) substantially from the formula;

##EQU36## where K₂ is a constant and I₂ (y,z) is the value of said second signal; and

computing values for y and z from the simultaneous equations;

space="preserve" listing-type="equation">ν

.sub. (y,z)=[y.sup.2 +(z.sub.t1 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b1 -z).sup.2 ].sup.1/2 (

     1)

and

space="preserve" listing-type="equation">ν

.sub.2 (y,z)=[y.sup.2 +(z.sub.t2 -z).sup.2 ].sup.1/2 -[y.sup.2 +(z.sub.b2 -z).sup.2 ].sup.1/2 (

     2).

77. A method according to claim 69, wherein said step of emitting electromagnetic energy comprises the step of emitting said electromagnetic energy from a known source region,

further comprising the step of outputting a first signal indicative of the amount of energy which reaches said first known detection region and a second signal indicative of the amount of energy which reaches a second known detection region;

and wherein the step of calculating said y and z coordinates comprises the step of calculating said y and z coordinates from said first and second signals using a predetermined algorithm.

78. A method according to claim 77, wherein said source region consists of a set of source points and said first and second known detection regions consist of respective first and second sets of detection points, further comprising the steps of:

deriving a first formula relating said y coordinate to said z coordinate by solving an integration of the estimated effect on said first signal which would be caused by the incidence on each detection point in said first set of detection points of energy from each source point in said set of source points which is not blocked by said edge; and

predetermining said algorithm using said first formula.

79. A method according to claim 78, further comprising the step of deriving a second formula relating said y coordinate to said z coordinate by solving an integration of the estimated effect on said second signal which would be caused by the incidence on each detection point in said second set of detection points of energy from each source point in said set of source points which is not blocked by said edge,

and wherein said step of predetermining comprises the step of solving said first and second formulas as simultaneous equations in x and y.