Wireless substrate-like sensor
First Claim
1. A method for determining position and orientation of a flat target in three dimensions, the method comprising:
- providing at least four reference target indicia on a reference target and fixing the reference target'"'"'s position;
removably coupling an image acquisition system to a robot such that the image acquisition system is movable by the robot;
digitizing an image of the reference target with the image acquisition system;
identifying the at least four reference target indicia in the image of the reference target;
providing at least four station target indicia on a station target;
digitizing an image of the station target with the image acquisition system;
identifying the at least four station target indicia in the image of the station target;
calculating the relative position and orientation between the station target and the robot based upon identification of the at least four reference target indicia and the at least four station target indicia.
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Abstract
A wireless substrate-like sensor is provided to facilitate alignment and calibration of semiconductor processing systems. The wireless substrate-like sensor includes an optical image acquisition system that acquires one or more images of targets placed within the semiconductor processing system. Analysis of images of the targets obtained by the wireless substrate-like sensor provides position and/or orientation information in at least three degrees of freedom. An additional target is affixed to a known location within the semiconductor processing system such that imaging the reference position with the wireless substrate-like sensor allows the measurement and compensation for pick-up errors.
139 Citations
20 Claims
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1. A method for determining position and orientation of a flat target in three dimensions, the method comprising:
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providing at least four reference target indicia on a reference target and fixing the reference target'"'"'s position; removably coupling an image acquisition system to a robot such that the image acquisition system is movable by the robot; digitizing an image of the reference target with the image acquisition system; identifying the at least four reference target indicia in the image of the reference target; providing at least four station target indicia on a station target; digitizing an image of the station target with the image acquisition system; identifying the at least four station target indicia in the image of the station target; calculating the relative position and orientation between the station target and the robot based upon identification of the at least four reference target indicia and the at least four station target indicia. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for determining position and orientation of a flat target in three dimensions, the method comprising:
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providing at least four reference target indicia on a reference target and fixing the reference target'"'"'s position; removably coupling acquisition system to a robot such that the image acquisition system is movable by the robot; digitizing an image of the reference target with the image acquisition system; identifying the at least four reference target indicia in the image of the reference target; providing at least four station target indicia on a station target; digitizing an image of the station target with the image acquisition a system; identifying the at least four station tar et indicia in the image of the station target; calculating the relative position and orientation between the station target and the robot based upon identification of the at least four station target indicia in the image of the station target; and calculating the relative position and orientation between the image acquisition system and the robot based upon identification of the at least four reference target indicia in the image of the reference target. - View Dependent Claims (16)
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17. A method for determining position and orientation of a station component in three dimensions, the method comprising:
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providing a reference target and fixing the reference target'"'"'s position with respect to a robot; providing a station target having at least four indicia on a station component; removably coupling an image acquisition system to the robot such that the image acquisition system is movable by the robot; digitizing an image of the reference target with the image acquisition system; calculating the relative position and orientation between the image acquisition system and the robot based on the digitized image of the reference target; digitizing an image of the station target with the image acquisition system; identifying the at least four indicia in the image of the station target; and calculating the relative position and orientation between the station component and the robot as a function of the identification of the at least four indicia in the image of the station target and as a function of the calculated relative position between the image acquisition system and the robot. - View Dependent Claims (18, 19, 20)
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Specification