Patent Description:
Examples of currently-used apparatus of this type include one provided with a treatment chamber, a substrate holder, a nozzle, a camera, an image processing unit, and a monitoring unit. See, for example, International Patent Application Publication No. <CIT>. <CIT> discloses a moving part position detection method, a substrate processing method, a substrate processing apparatus and a substrate processing system.

This apparatus includes the substrate holder, the nozzle, and the camera provided in the treatment chamber. The substrate holder holds a substrate to be treated in a horizontal posture. The substrate holder rotates the substrate in a horizontal plane. The nozzle has a distal end moved between an origin position apart laterally of the substrate and an ejecting position above the substrate. The distal end of the nozzle is moved from the origin position to the ejecting position for every substrate treatment, and supplies a treatment liquid to the substrate. The camera is attached to a predetermined position within the treatment chamber, and images a predetermined area including the distal end of the nozzle moved to the ejecting position every treatment.

The monitoring unit stores first nozzle position information, based on information from a rotation control system, in advance as positional information when the distal end of the nozzle is located at a normal ejecting position. The image processing unit obtains second nozzle position information, representing a nozzle position, based on an image of the distal end of the nozzle captured by the camera, and outputs the second nozzle position information to the monitoring unit. The monitoring unit monitors presence/absence of an abnormality at the position of the distal end of the nozzle, based on the correspondence between the first nozzle position information and the second nozzle position information.

However, the example of the currently-used apparatus with such a construction has the following problems. Specifically, the currently-used apparatus compares the first nozzle position information based on the information from the rotation control system with the captured second nozzle position information. Accordingly, the captured image changes when the environment at the time of imaging, a light source, or water droplets and fumes (e.g., dust particles, hazes, vapors, and volatile particles generated through heating or sublimation of materials) change. Consequently, it is impossible to obtain correct positional information accurately based on the captured image. As a result, such a drawback arises that the abnormality of the nozzle position cannot be detected accurately from the comparison between the first nozzle position information and the second nozzle position information.

Moreover, it is proposed that, instead of the first nozzle position information based on the information from the rotation control system, an image obtained by imaging in advance the nozzle moved to the correct ejecting position be used as a reference image. However, when there is a large difference in imaging condition between the reference image and the second nozzle position information, it is impossible to accurately determine whether the difference occurs due to an abnormality even if there is a difference between the reference image and the second nozzle position information. Accordingly, such a drawback is still present that the abnormality of the nozzle position cannot be detected accurately.

The present invention has been made regarding the state of the art noted above, and its object is to provide a substrate treating apparatus, a substrate treating system and a substrate treating method that can detect an abnormality of a component accurately with use of design information.

The present invention is constituted as stated below to achieve the above object.

One aspect of the present invention provides a substrate treating apparatus for performing a predetermined treatment on a substrate. The apparatus includes: a design information memory unit configured to store three-dimensional design information about at least target components to be detected for an abnormality; an imaging unit configured to capture a real image including the target components; a matching processing unit configured to determine which of the target components matches a real image shape as a two-dimensional shape in the real image captured by the imaging unit in accordance with a degree of coincidence of feature points between the real image shape and a two-dimensional design shape based on three-dimensional design information about the target components; and an abnormality detecting unit configured to detect an abnormality of a target component, matched in the matching processing unit, through comparison between reality information about the matched target component based on the real image and normal information based on three-dimensional design information when the matched target component is normal.

With the aspect of the present invention, the matching processing unit determines which of the target components matches the real image shape in accordance with the degree of coincidence of feature points between the real image shape and the design shape. The matching processing unit performs the matching in accordance with the degree of coincidence of the feature points. Accordingly, the matching can be performed while minimizing an environment difference upon imaging and an influence of a light source, water droplets, or fumes. The abnormality detecting unit detects an abnormality of the target component through comparison between the reality information about the matched target component based on the real image and the normal information based on the three-dimensional design information when the target component is normal. Consequently, matching accuracy is enhanced, and thus the abnormality detecting unit can detect an abnormality of the target component accurately. Moreover, even if part of the target component is invisible during imaging, matching can be performed as long as the feature point appears in the real image shape. This can minimize an influence of the positional relationship between the target component and other components.

Moreover, it is preferred in the aspect of the present invention that the abnormality detecting unit sets the normal information based on three-dimensional design information of the target component when the target component is located within a tolerance where the target component is acceptable as normal.

Since the normal information is set within the tolerance, processing errors and variations in assembly accuracy of the target component can be absorbed. Consequently, this can prevent false detection of an abnormality caused by the processing errors and assembly errors.

Moreover, it is preferred in the aspect of the present invention that the substrate treating apparatus further includes a spin chuck configured to support the substrate in a horizontal posture and rotate the substrate, a nozzle configured to eject a treatment liquid from its distal end to the substrate supported by the spin chuck, and a nozzle moving mechanism configured to move the distal end of the nozzle between an origin position laterally apart from the substrate and an ejecting position above the substrate, and that the target component is the nozzle and the matching processing unit performs the matching at a timing set so as for the nozzle to be located at the ejecting position.

An abnormality that the nozzle is out of the ejecting position or an abnormality that the nozzle is deformed can be detected when the nozzle moving mechanism moves the nozzle that supplies the treatment liquid to the substrate supported by the spin chuck.

Moreover, it is preferred in the aspect of the present invention that the substrate treating apparatus further includes a nozzle pulse output unit configured to output a pulse when the nozzle is moved from the origin position to the ejecting position, and a nozzle movement control unit configured to control the nozzle moving mechanism in accordance with the pulse from the nozzle pulse output unit, and that the nozzle movement control unit causes the matching processing unit to perform the matching only once at such a timing that the nozzle moving mechanism sets the distal end of the nozzle to be located at the origin position, and performs correlation of the design information corresponding to the design shape matched at the time with the pulse at the origin position, and the abnormality detecting unit sets the normal information in accordance with the correlation and the pulse at the ejecting position.

The nozzle movement control unit causes the matching processing unit to perform matching only once at such a timing that the nozzle moving mechanism sets the distal end of the nozzle to be located at the origin position, and performs the correlation of the design information corresponding to the design shape matched at the time with the pulse at the origin position. The abnormality detecting unit sets the normal information at the ejecting position in accordance with the correlation and the pulse. Consequently, the normal information about the ejecting position that is moved from the origin position by the nozzle moving mechanism at a given number of pulses can be made accurate and suitable for abnormality determination. Also, false determination due to the assembly errors can be prevented.

Moreover, it is preferred in the aspect of the present invention that the spin chuck includes at its peripheral edge a plurality of chucks each having a back face supporting portion for supporting a back face of the substrate and a periphery edge supporting portion erected outside of a rotation center of the back face supporting portion for supporting a periphery edge of the substrate, and further includes a chuck drive mechanism configured to rotate the plurality of chucks in response to a chuck operation command so as for the periphery edge supporting portion not to contact the periphery edge of the substrate at an open position where the substrate is loaded and unloaded and to rotate so as for the periphery edge supporting portion to contact the periphery edge of the substrate at a closed position where the substrate is supported, and that the target component is the chucks and the matching processing unit performs the matching at a timing set so as to operate in response to the chuck operation command.

An abnormality that the periphery edge supporting portion of the chuck is not located at either the open position or the closed position or an abnormality that the periphery edge supporting portion is deformed can be detected when the chuck drive mechanism rotates the chucks between the open position and the closed position in response to the chuck operation command.

Moreover, it is preferred in the aspect of the present invention that the matching processing unit performs the matching only once at a position as the origin position where the chuck drive mechanism rotates each of the chucks to the closed position while the substrate is not placed on the chucks, and that the abnormality detecting unit sets the normal information in accordance with the design information corresponding to the design shape matched at that time.

The matching processing unit performs matching only once at a position as the origin position where the chuck drive mechanism rotates the chucks to the closed position while the substrate is not placed on the chucks. Then, the abnormality detecting unit sets the normal information in accordance with the design information corresponding to the design shape matched at that time. Consequently, the normal information can be made accurate and suitable for abnormality determination. Also, false determination due to the assembly errors can be prevented.

Moreover, it is preferred in the aspect of the present invention that the substrate treating apparatus further includes a guard configured to guard the spin chuck laterally, and a guard moving mechanism configured to move the guard upward and downward between an origin position where an upper end of the guard is low and a treating position where the upper end of the guard is higher than the origin position, and that the target component is the guard and the matching processing unit performs the matching at a timing set such that the guard is located at the treating position.

An abnormality that the guard is shifted from the origin position or the treating position or an abnormality that a shape of the guard is deformed can be detected when the guard moving mechanism moves the guard upward and downward between the origin position and the treating position.

Moreover, it is preferred in the aspect of the present invention that the matching processing unit performs the matching only once at such a timing that the guard moving mechanism sets the guard to be located at the origin position , and that the abnormality detecting unit sets the normal information in accordance with the design information corresponding to the design shape matched at that time.

The matching processing unit performs matching only once at such a timing that the guard moving mechanism sets the guard to be located at the origin position. Then, the abnormality detecting unit sets the normal information in accordance with the design information corresponding to the design shape matched at that time. Consequently, the normal information can be made accurate and suitable for abnormality determination. Also, false determination due to the assembly errors can be prevented.

Moreover, it is preferred in the aspect of the present invention that the matching processing unit performs matching to the target component individually several times, and that the abnormality detecting unit detects an abnormality at each of the matching.

Several times of matching for each of the target components can detect an abnormality of a moving speed of the target component.

Moreover, it is preferred in the aspect of the present invention that a substrate treating system includes a plurality of substrate treating apparatus described above.

The substrate treating system provided with the plurality of substrate treating apparatus can also detect an abnormality based on the design information.

For the purpose of illustrating the invention, there are shown in the drawings several forms which are presently preferred, it being understood, however, that the invention is not limited to the precise arrangement and instrumentalities shown.

Preferred examples of this invention will be described in detail hereinafter with reference to the drawings.

<FIG> is a side view of a substrate treating apparatus according to an embodiment. <FIG> is a plan view of the substrate treating apparatus according to the embodiment.

A substrate treating apparatus <NUM> is a single-wafer processing apparatus for treating substrates W one by one. The substrate W has a circular shape in plan view, for example. The substrate treating apparatus <NUM> performs predetermined treatment on the substrate W by supplying a treatment liquid while rotating the substrate W.

The substrate treating apparatus <NUM> includes a casing CA. The casing CA blocks the interior thereof from the surrounding atmosphere. The substrate treating apparatus <NUM> includes a spin chuck <NUM>. The spin chuck <NUM> has a circular shape whose diameter is larger than a diameter of the substrate W in plan view. The spin chuck <NUM> includes a lower face connected to an upper end of a rotary shaft <NUM>. A lower end of the rotary shaft <NUM> is connected to a motor <NUM>. When the motor <NUM> is driven, the spin chuck <NUM> rotates around a rotation center The rotation center P1 extends in a vertical direction.

The spin chuck <NUM> includes a plurality of chucks <NUM>. The spin chuck <NUM> includes the chucks <NUM> at a peripheral edge of an upper face thereof. In the present embodiment, the spin chuck <NUM> includes four chucks <NUM>. The number of chucks <NUM> is not limited to four as long as the substrate W can rotate stably around the rotation center P1 while being supported in a horizontal posture.

The chucks <NUM> each include a back face supporting portion <NUM> and a periphery edge supporting portion <NUM>. The back face supporting portion <NUM> contacts and supports a back face of the substrate W. It is preferred that the back face supporting portion <NUM> is formed so as to have a small contact area to the back face of the substrate W. This can reduce a degree of mutual contamination. The back face supporting portion <NUM> is attached to the upper face of the spin chuck <NUM> so as to rotate freely around a rotation center P2. The rotation center P2 extends in a vertical direction. The periphery edge supporting portion <NUM> is erected on an upper face of the back face supporting portion <NUM>. It is preferred that the periphery edge supporting portion <NUM> is formed so as to have a height from the front face of the back face supporting portion <NUM> larger than a thickness of the substrate W. Such a construction can hold the periphery edge of the substrate W stably. The periphery edge supporting portion <NUM> is provided apart from the rotation center P2 toward an outer edge of the back face supporting portion <NUM> in plan view. In other words, the periphery edge supporting portion <NUM> is eccentric from the rotation center P2.

A rotating magnet <NUM> is attached to the lower face of the spin chuck <NUM> at a position corresponding to the rotation center P2. The rotating magnet <NUM> is connected to the back face supporting portion <NUM>. The rotating magnet <NUM> is provided so as to rotate freely around the rotation center P2. A chuck drive mechanism <NUM> is located below the rotating magnet <NUM>.

The chuck drive mechanism <NUM> is located more adjacent to the rotary shaft <NUM> than the chucks <NUM>. The chuck drive mechanism <NUM> includes an air cylinder <NUM> and a driving magnet <NUM>, for example. The driving magnet <NUM> has an annular shape in plan view. The air cylinder <NUM> is located in a posture where an operating shaft thereof is directed along the vertical direction. The driving magnet <NUM> is attached to a tip end of the operating shaft of the air cylinder <NUM>. The chuck drive mechanism <NUM> is operated in response to a chuck operation command. When the chuck drive mechanism <NUM> is in an actuated state, the driving magnet <NUM> moves upward to approach the chucks <NUM>. When the chuck drive mechanism <NUM> is in a non-actuated state, the driving magnet <NUM> moves downward to move apart from the chucks <NUM>.

The chucks <NUM> each include a bias mechanism not shown. When the driving magnet <NUM> moves downward, the chuck <NUM> comes into a closed position. When the driving magnet <NUM> moves upward, the chuck <NUM> comes into an open position. In the closed position, the periphery edge supporting portion <NUM> rotates about the rotation center P2, and approaches toward the rotation center P1 to contact the periphery edge of the substrate W. This can cause the chucks <NUM> to grip the substrate W at the closed position. In the open position, the periphery edge supporting portion <NUM> rotates about the rotation center P2, and moves apart from the rotation center P1. This can cause the chucks <NUM> to load and unload the substrate W at the open position. Here, when the driving magnet <NUM> moves downward while the substrate W is not placed, the periphery edge supporting portion <NUM> is moved into an origin position shifted slightly inward from an outer diameter of the substrate W. In other words, the periphery edge supporting portion <NUM> is located more adjacent to the rotation center P1 at the origin position of the chucks <NUM> than at the closed position.

An origin sensor Z <NUM> is located adjacent to the rotating magnet <NUM> of the chuck <NUM>. The origin sensor Z1 changes an output signal when the chuck <NUM> moves to the closed position or the origin position. For example, the origin sensor Z1 turns an output signal on when the chuck <NUM> moves to the closed position or the origin position.

A guard <NUM> is arranged around the spin chuck <NUM>. The guard <NUM> surrounds the spin chuck <NUM> laterally. The guard <NUM> prevents scattering of a treatment liquid to the surrounding. The guard <NUM> has a tubular shape. An opening 23a of the guard <NUM> is formed at an upper part. An internal diameter of the opening 23a is larger than an outer contour of the spin chuck <NUM>.

The guard <NUM> includes a guard moving mechanism <NUM>. The guard moving mechanism <NUM> includes an air cylinder <NUM> and a locking piece <NUM>, for example. The guard moving mechanism <NUM> is located adjacent to an outer periphery of the guard <NUM>, for example. The guard moving mechanism <NUM> may be located adjacent to an inner periphery of the guard <NUM> as long as the guard <NUM> can move upward and downward. The air cylinder <NUM> is located in an attitude where an operating shaft thereof is directed toward the vertical direction. The locking piece <NUM> is attached to a tip end of the operating shaft of the air cylinder <NUM>. The locking piece <NUM> is fixed to an outer peripheral face of the guard <NUM>. The guard moving mechanism <NUM> is not limited to this construction as long as the guard <NUM> can move upward and downward.

The guard moving mechanism <NUM> moves the guard <NUM> between an origin position and a treating position in response to a guard operation command. The origin position is a position where an upper end of the guard <NUM> is low. The origin position is lower than the treating position. The treating position is higher than the origin position. An upper edge of the guard <NUM> is lower than the substrate W, supported by the spin chuck <NUM>, in a state where the guard <NUM> is located at the origin position. The upper edge of the guard <NUM> is higher than the substrate W, supported by the spin chuck <NUM>, in a state where the guard <NUM> is located at the treating position. For example, an origin sensor Z2 is located adjacent to the inner periphery of the guard <NUM>. The origin sensor Z2 changes an output signal when the guard <NUM> moves to the origin position. For example, the origin sensor Z2 turns an output signal on when the guard <NUM> moves to the origin position.

The guard <NUM> includes a plurality of drain ports, not shown, adjacent to the inner periphery thereof. It is preferred that a plurality of guards <NUM> are provided such that the guard moving mechanism <NUM> moves the guards <NUM> upward and downward to perform switching of the drain ports. In this case, the drain ports are switched in accordance with the treatment liquid, and accordingly, the guard moving mechanism <NUM> changes levels of the guards <NUM>.

A treatment liquid supplying mechanism <NUM> is located adjacent to the outer periphery of the guard <NUM>. The treatment liquid supplying mechanism <NUM> includes a nozzle <NUM> and a nozzle moving mechanism <NUM>, for example. In the present embodiment, the treatment liquid supplying mechanism <NUM> includes two nozzles <NUM>, for example. In the following description, a nozzle on the left side in <FIG> is referred to as a nozzle 33A and a nozzle on the right side is referred to as a nozzle 33B appropriately if the two nozzles <NUM> need to be distinguished. The number of nozzles <NUM> of the treatment liquid supplying mechanism <NUM> may be one or three or more. In the present embodiment, the two nozzles <NUM> have the same construction.

The nozzle <NUM> includes an extension part 33a, a hang-down part 33b, and a distal end 33c. One end of the extension part 33a of the nozzle <NUM> is attached to a base part <NUM>. The extension part 33a extends in a horizontal direction. The other end of the extension part 33a is connected to the hang-down part 33b. The hang-down part 33b extends downward along the vertical direction from the extension part 33a. The distal end 33c forms a lower end of the hang-down part 33b. The distal end 33c ejects a treatment liquid from a back face thereof. Examples of the treatment liquid include a photoresist, a spin-on glass (SOG) liquid, a developer, a rinse liquid, deionized water, and a cleaning liquid.

The nozzle moving mechanism <NUM> includes a motor <NUM>, a rotary shaft <NUM>, and a position detector <NUM>, for example. The motor <NUM> is arranged in a vertical posture. The rotary shaft <NUM> is rotated around a rotation center P3 by the motor <NUM>. The rotary shaft <NUM> is connected to the base part <NUM>. The base part <NUM> is rotated by drive of the motor <NUM>. The nozzle <NUM> swings around the rotation center P3 together with the base part <NUM>. The position detector <NUM> detects a rotation position of the rotary shaft <NUM>. The position detector <NUM> detects an angle of the rotary shaft <NUM> around the rotation center P3 in plan view. The position detector <NUM> outputs a pulse in accordance with the rotation position.

A standby cup <NUM> is located at a position apart laterally from the guard <NUM> in plan view. The standby cup <NUM> is located opposite to the base part <NUM> and adjacent to the distal end 33c of the nozzle <NUM> in plan view. The standby cup <NUM> is located at the origin position of the nozzle <NUM>. The standby cup <NUM> prevents drying of the distal end 33c of the nozzle <NUM>. The standby cup <NUM> is used for idle ejection of the nozzle <NUM>. The nozzle moving mechanism <NUM> drives the motor <NUM> to swing the nozzle <NUM>. The nozzle moving mechanism <NUM> moves the distal end 33c between the origin position and the ejecting position of the nozzle <NUM> above the rotation center P1 of the spin chuck <NUM>.

For example, an origin sensor Z3 is located adjacent to an outer periphery of the rotary shaft <NUM>. The origin sensor Z3 changes an output signal when the nozzle <NUM> is located at the origin position. For example, the origin sensor Z3 turns an output signal on when the nozzle <NUM> moves to the origin position. Here, the origin sensor Z3 is omittable for a simple construction. In this case, a projection is provided on a part of the rotary shaft <NUM> and a projection is provided on a fixed and immovable side of the substrate treating apparatus <NUM>. The projections contact through rotation of the rotary shaft <NUM> and the position detector <NUM> detects a position where no more rotation is possible. The position is set as the origin position. Such configuration can be adopted. In this case, a position where a pulse of the position detector <NUM> is invariable may be set as the origin position.

A camera CM is attached to one area of the casing CA. For example, the camera CM is attached on a side where the standby cup <NUM> of the nozzle <NUM> is located at a corner adjacent to the guard moving mechanism <NUM> in plan view. Here, a position where the camera CM is located may be any location as long as a target component, described later, is within the field of view. A lens of the camera CM has a viewing angle at which the target component described later is entirely within the field of view. The lens of the camera CM has a viewing angle at which the origin position described later is entirely within the field of view.

The substrate treating apparatus <NUM> further includes a control unit <NUM>, an instruction unit <NUM>, and a notification unit <NUM>. Details of the control unit <NUM> is to be described later. The instruction unit <NUM> is operated by an operator of the substrate treating apparatus <NUM>. The instruction unit <NUM> is, for example, a keyboard or a touch panel. The instruction unit <NUM> instructs a target component, a timing to check, a tolerance, recipes, start of processing, and the like, which are to be described later. When the control unit <NUM> determines the presence of an abnormality, the notification unit <NUM> notifies the abnormality to the operator. Examples of the notification unit <NUM> include an indicator, a lamp, and a speaker.

Reference is now made to <FIG> is a block diagram of the substrate treating apparatus according to the embodiment.

The control unit <NUM> includes a CPU and a memory, for example. The control unit <NUM> is formed by a plurality of function blocks. Specifically, the control unit <NUM> includes an operation controller <NUM>, a recipe memory <NUM>, a parameter memory <NUM>, a design information memory unit <NUM>, an image processing unit <NUM>, a matching processing unit <NUM>, and an abnormality detecting unit <NUM>.

The operation controller <NUM> operates the motors <NUM> and <NUM>, the air cylinders <NUM> and <NUM>, and the camera CM described above. The operation controller <NUM> receives signals from the origin sensors Z1 to Z3, and the position detector <NUM>. The operation controller <NUM> operates in response to a recipe specified by the recipe memory <NUM>. For example, the operator instructs a recipe and start of processing, and thereafter the operation controller <NUM> outputs various types of operation commands in accordance with the recipe to actuate the motor <NUM> and the like at a predetermined timing.

The recipe memory <NUM> stores various types of recipes in advance. The recipes define various procedures for treating the substrate W. The operator can operate the instruction unit <NUM> to instruct a desired recipe.

The parameter memory <NUM> stores a target component, a timing to check, a tolerance, and the like The target component is one of the components, forming the substrate treating apparatus <NUM>, that is detected for abnormality. The timing to check is a timing for checking an operational status of the target component. An operation command outputted from the operation controller <NUM> may overlap a timing that movement of the target component is completed in response to the operation command at the timing to check. The operator may optionally operate the instruction unit <NUM> to set the target component, the timing to check, the tolerance and the like. The operator may cause the instruction unit <NUM> to instruct which component is set as the target component, which timing is set as the timing to check, to which degree a timing error or a positional error is acceptable as the tolerance.

The target component is, for example, the chuck <NUM>, the guard <NUM>, and the nozzle <NUM>. The timing to check is, for example, as under: a timing where the chuck drive mechanism <NUM> operates to move the chuck <NUM> in response to the chuck operation command; a timing where the guard moving mechanism <NUM> operates to move the guard <NUM> upward and downward in response to a guard operation command ; a timing where the chucks <NUM> are set to be located at the closed position by the chuck operation command; a timing where the nozzle <NUM> is set to be located at the ejecting position by a nozzle operation command ; and a timing where the guard <NUM> is set to be located at the treating position by the guard operation command.

The tolerance indicates a degree of acceptance for a position where the target component should be if normal operation is performed at the timing to check. The tolerance indicates, for example, an acceptable degree of deviation from a position or an angle where the target component is intended by design. The tolerance indicates a range of the deviation of the target component at the timing to check that allows treatment to the substrate W even if the target component deviates from the position or the angle intended by design with respect to the treatment to the substrate W as a reference.

The operation controller <NUM> described above informs the matching processing unit <NUM> of positional information that the target component is located at the timing to check in accordance with the information from the position detector <NUM> and the parameter memory <NUM>. The operation controller <NUM> informs the matching processing unit <NUM> of positional information that the target component is located at the origin position in accordance with the information from the origin sensors Z1 to Z3. The operation controller <NUM> informs the matching processing unit <NUM> of the positional information of the target component by operation to the air cylinders <NUM> and <NUM> and an electric motor <NUM>. The operation controller <NUM> informs the matching processing unit <NUM> that an operation command has been outputted to each component in response to the recipes.

The design information memory unit <NUM> stores in advance design information of the components that form the substrate treating apparatus <NUM>. Specifically, the information corresponds to design information about the components that form the substrate treating apparatus <NUM> and a substrate W to be treated. The design information is, for example, data of three-dimensional computer aided design (3D CAD). The design information may contain physical property information about the treatment liquid and various materials used for treatment.

3D CAD data is represented by three axes of orthogonal coordinate. When the components are arranged in a three-dimensional space, the 3D CAD data is represented by positional information about a position and an angle, for example. A host computer, not shown, stores three-dimensional design information as the 3D CAD data about all the components and materials of the substrate treating apparatus <NUM>. The design information memory unit <NUM> stores in advance the design information about at least target components transferred from the host computer. It is preferred that the design information memory unit <NUM> stores information limited not to the design information of all the components of the substrate treating apparatus <NUM> but to the design information of the target component. This can save a storage capacity of the design information memory unit <NUM>. Moreover, since the information is limited to the design information within the tolerance containing an original position where the target components should be in a normal operation at the timing to check, the storage capacity can particularly be saved when matching of the moving target component is determined.

The image processing unit <NUM> processes a real image captured by the camera CM. The image processing unit <NUM> performs an image processing to the real image, and extracts a real image shape containing a two-dimensional shape of the target component. The image processing unit <NUM> extracts the real image shape for all components in the real image by contour extraction, for example. Here, a contour contains not only an outer contour but also an edge part inside of the outer contour. The real image shape extracted by the image processing unit <NUM> is sent to the matching processing unit <NUM>.

The matching processing unit <NUM> performs matching. Here, the matching corresponds to determination of which of the target components appears in the real image shape from the image processing unit <NUM>. Specifically, the matching processing unit <NUM> determines which of the target components matches the real image shape in accordance with a degree of coincidence of feature points between the real image shape from the image processing unit <NUM> and a two-dimensional design shape based on the three-dimensional design information about the target component from the parameter memory <NUM>. More specifically, the matching processing unit <NUM> performs matching between the real image shape from the image processing unit <NUM> and the design shape for each target component when at least the target component is brought into the timing to check. The matching by the matching processing unit <NUM> is to be described later in detail. The design shape corresponds to the two-dimensional shape information based on the three-dimensional design information at the timing to check. The two-dimensional shape information is a figure.

The matching processing unit <NUM> sometimes performs matching in response to a command from the operation controller <NUM> even when the timing to check does not come. For example, the operation controller <NUM> causes the matching processing unit <NUM> to perform matching in accordance with the output signals from the origin sensors Z1 to Z3. This matching (origin patching) is preferably performed only once when the substrate treating apparatus <NUM> actuates to start treatment to the substrate W. Moreover, the matching processing unit <NUM> may perform matching at any timing containing the timing to check. The matching processing unit <NUM> outputs information about the matched target component to the abnormality detecting unit <NUM>.

The abnormality detecting unit <NUM> detects an abnormality of the target component when receiving the output from the matching processing unit <NUM>. Specifically, the abnormality detecting unit <NUM> receives from the matching processing unit <NUM> information about the target component, reality information about the matched target component based on the real image and normal information based on the three-dimensional design information when the target component is normal. The abnormality detecting unit <NUM> compares the reality information with the normal information. From the results of the comparison, if no coincidence is found between the reality information and the normal information, the abnormality detecting unit <NUM> detects an abnormality. The normal information corresponds to positional information containing the position and the angle based on the three-dimensional design information. The normal information preferably contains the three-dimensional design information of the target component when the information of the target component falls within the tolerance. The reality information is based on the real image of the matched target component and corresponds to information representing a condition where the target component is really present at the timing to check. It is preferred that the normal information is an image based on the three-dimensional design information and the reality information is an image of the target component. This allows easy comparison between the reality information and the normal information.

The abnormality detecting unit <NUM> causes the notification unit <NUM> to perform notification operation in accordance with the detection results. Specifically, the abnormality detecting unit <NUM> causes the notification unit <NUM> to perform notification operation only when an abnormality is detected. The notification unit <NUM> may perform notification operation about the target component or the positional information detected as abnormal together with occurrence of the abnormality, for example.

Reference is next made to <FIG> is a schematic view for explanation of a concept of matching about the three-dimensional design information.

A rivet is represented as a target component TO in <FIG> for easy understanding. The two-dimensional design shape described above is a two-dimensional shape that is obtained when the target component TO placed at the center is seen from its entire circumference.

For example, a design shape seen from a close distance on the lower right side of the target component TO is designated as a design shape DS1-<NUM>, and a design shape seen from a far distance is designated as a design shape DS1-<NUM> in <FIG>. Otherwise, for example, a design shape seen from a close position on the lower left side of the target component TO is designated as a design shape DS2-<NUM>, and a design shape seen from a far distance is designated as a design shape DS2-<NUM> in <FIG>. As such, when the target component TO is seen from the lower right side, the design shape DS <NUM>-<NUM> has a shape of a rivet whose semi-circular head is positioned on the left side. The design shape DS1-<NUM> is smaller than the design shape DS1-<NUM>. Moreover, when the target component TO is seen from the lower left side, the design shape DS2-<NUM> has a shape of a rivet but only its head is visible. The design shape DS2-<NUM> is smaller than the design shape DS2-<NUM>.

The matching processing unit <NUM> described above determines which of the target components TO matches the real image shape in accordance with a degree of coincidence of feature points between the real image shape based on a real image captured by the camera CM and the design shapes of all the target components TO at least at the timing to check. The abnormality detecting unit <NUM> detects an abnormality of the target component when receiving the results from the matching processing unit <NUM>.

Reference is made to <FIG> is an explanation view about input and output of the matching processing unit and the abnormality detecting unit.

In summary of the above, the matching processing unit <NUM> has an input-output relationship shown in <FIG>. That is, the matching processing unit <NUM> obtains the real image shape from the image processing unit <NUM>. The matching processing unit <NUM> receives the target components and the timing to check from the parameter memory <NUM>. The matching processing unit <NUM> obtains the three-dimensional design information from the design information memory unit <NUM>. The matching processing unit <NUM> outputs a target component to be matched and reality information to the abnormality detecting unit <NUM>. The abnormality detecting unit <NUM> detects an abnormality of the matched target component in accordance with the result obtained through comparison between the reality information and the normal information with the tolerance added. The abnormality detecting unit <NUM> output a command NG to the notification unit <NUM> when an abnormality is detected.

Reference is next made to <FIG> is a view for explanation of matching about the nozzle.

Here, as one example, a timing that an operation command is received so that the distal end 33c of the nozzle <NUM> is positioned at the rotation center P1 (ejecting position) and movement of the nozzle is completed is defined as a timing to check. The nozzle <NUM> illustrated on the upper part of <FIG> corresponds to the real image shape. The nozzle <NUM> illustrated on the lower part of <FIG> corresponds to a two-dimensional design shape DS of the three-dimensional design information about the nozzle <NUM> when the nozzle <NUM> is seen from any point of the entire periphery as shown in <FIG>.

In this case, for example, a degree of coincidence of the feature points between the real image shape and the design shape DS is examined at all of the feature points indicated by small circles. Such processing is to be performed to other two-dimensional design shapes DS when seen at the entire periphery and various distances. In this case, all the feature points in the real image shape and the design shape DS in <FIG> are coincidence. Consequently, the degree of coincidence is equal to or more than a predetermined value. Then, the matching processing unit <NUM> determines that the matching is made. In other words, it is determined that the real image shape includes the nozzle <NUM> as the target component. Here in this example, description is only made to the nozzle <NUM>, but it is determined whether other target components are present in the real image shape. If the matching result of the degree of coincidence is less than the given value, it is determined that no matching is made.

Next, description will be given of a specific example of treatment with reference to <FIG>. <FIG> is a flowchart illustrating a series of treatment of the substrate treating apparatus according to the embodiment. <FIG> is an explanation view of a state where the nozzle is moved to the origin position. <FIG> and <FIG> are each an explanation view for detection of an abnormality of the chuck. <FIG> is an explanation view for detection of abnormalities of the nozzle and the guard.

An operator previously operates the instruction unit <NUM> to instruct a recipe in the recipe memory <NUM>. The operation controller <NUM> operates each component in response to the instructed recipe to advance the treatment to the substrate W.

Movement to the origin position is performed. Specifically, the operation controller <NUM> operates the chuck drive mechanism <NUM>, the guard moving mechanism <NUM>, and the nozzle moving mechanism <NUM>. The operation controller <NUM> operates the chuck drive mechanism <NUM> by a chuck operation command to move the chucks <NUM> to the origin position. At this time, an output signal from the origin sensor Z1 turns on. The operation controller <NUM> determines that the chucks <NUM> are moved to the origin position from the output signal from the origin sensor Z1. The operation controller <NUM> operates the guard moving mechanism <NUM> by a guard operation command to move the guard <NUM> to the origin position.

As illustrated in <FIG>, the nozzle <NUM> is rotated about the rotation center P3, whereby the distal end 33c thereof is moved to the origin position laterally apart from the guard <NUM>. The guard <NUM> is moved to an origin position where an opening 23a thereof is lower than the substrate W. This is illustrated in <FIG> by solid lines. Here, chain double-dashed lines in <FIG> illustrates a treating position where the opening 23a is higher than the substrate W.

As illustrated in <FIG>, the chuck <NUM> is rotated around the rotation center P2 in response to the chuck operation command while the substrate W is not placed thereon, whereby a periphery edge supporting portion <NUM> is moved toward the rotation center P1 of the spin chuck <NUM>. This is illustrated in <FIG> by solid lines. Accordingly, the periphery edge supporting portion <NUM> of each of the chucks <NUM> is moved to a position where the periphery edge supporting portion <NUM> contacts a circle whose diameter is slightly smaller than the outer diameter of the substrate W.

Imaging is performed. Specifically, the operation controller <NUM> performs imaging by the camera CM using a timing where the nozzle <NUM>, the chucks <NUM>, and the guard <NUM> move to the origin position as a trigger. Specifically, the operation controller <NUM> performs imaging of the nozzle <NUM>, the chucks <NUM>, and the guard <NUM> such that at least the feature points are imaged. The image processing unit <NUM> performs an image processing to the real image captured by the camera CM, and extracts a real image shape containing the two-dimensional shapes of the nozzle <NUM>, the chucks <NUM>, and the guard <NUM>.

The matching processing unit <NUM> performs matching. The following describes the detailed processing.

The matching processing unit <NUM> performs matching between the real image shape of the nozzle <NUM> extracted by the image processing unit <NUM> and the design shape of the nozzle <NUM>. The matching processing unit <NUM> sets the normal information at the timing to check in the case where the nozzle <NUM> is located except for the origin position in accordance with the three-dimensional design information corresponding to the matched design shape of the nozzle <NUM>.

Specifically, the design information corresponding to the matched design shape at the origin position of the nozzle moving mechanism <NUM> is linked to the origin position. Then, the normal information is set in accordance with the design information at the ejecting position of the nozzle <NUM> by design in response to a number of pulses from the origin position to the ejecting position. Consequently, the normal information of the nozzle <NUM> can be made accurate and suitable for abnormality determination. Also, false determination of the nozzle <NUM> and the nozzle moving mechanism <NUM> due to assembly errors can be prevented.

The matching processing unit <NUM> performs matching between the real image shape of the chucks <NUM> extracted by the image processing unit <NUM> and the design shape of the chucks <NUM>. The matching processing unit <NUM> sets the normal information at the timing to check in the case where the chucks <NUM> are located except for the origin position in accordance with the three-dimensional design information corresponding to the matched design shape of the chuck <NUM>.

Specifically, the normal information is set in accordance with the design information corresponding to the design shape matched at the origin position of the chucks <NUM>. The chuck <NUM> is an important component for gripping the substrate W. A gripping state of the chuck <NUM> is adjusted for every substrate treating apparatus <NUM>, and thus the origin position may sometimes be slightly different in design. Accordingly, the normal information is set with reference to the origin position, false determination caused by adjustment of the gripping state can be prevented.

The matching processing unit <NUM> performs matching between the real image shape of the guard <NUM> extracted by the image processing unit <NUM> and the design shape of the guard <NUM>. The matching processing unit <NUM> sets the normal information at the timing to check in the case where the guard <NUM> is located except for the origin position in accordance with the three-dimensional design information corresponding to the matched design shape of the guard <NUM>.

Note that the processing may be shifted to step S14, which is to be described later, to perform notification of an abnormality when no matching is obtained or the three-dimensional design information corresponding to the matched design shape largely deviates from the origin position in design in the step S3 described above.

The substrate W to be treated is loaded into the substrate treating apparatus <NUM>.

Treatment to the substrate W proceeds along a recipe. Specifically, the substrate W is firstly placed on the chucks <NUM>. The operation controller <NUM> operates the chuck drive mechanism <NUM> by a chuck operation command to move the chucks <NUM> to the closed position, for example. Such a state is, for example, like one illustrated in <FIG>. That is, the chuck <NUM> is rotated around the rotation center P2 while the substrate W is placed thereon, whereby a periphery edge supporting portion <NUM> is moved toward the rotation center P1 of the spin chuck <NUM>. Accordingly, the periphery edge supporting portion <NUM> of each of the chucks <NUM> contacts the outer diameter of the substrate W, thereby gripping the substrate W. The periphery edge supporting portion <NUM> at this time is located slightly closer to the outer periphery than the periphery edge supporting portion <NUM> in <FIG> in plan view.

It is determined whether it is the timing to check or not. Specifically, the operation controller <NUM> refers to the target component and its timing to check stored in the parameter memory <NUM>. The processing is branched in accordance with whether the target component is at the timing to check or not. If it is not at the timing to check, the procedure is shifted to a step S11. At this time, the procedure is shifted to a step S8 under assumption that the target component is at the timing to check.

Since it is a timing to check where the chucks <NUM> are set to be located at the closed position , the operation controller <NUM> causes the camera CM to perform imaging. Specifically, the camera CM is operated in accordance with a timing where the chucks <NUM> are moved to the closed position by a chuck operation command. The camera CM captures a real image of components containing the chuck <NUM>. Accordingly, the image processing unit <NUM> extracts a real image shape as a two-dimensional shape of the target component. As illustrated in <FIG>, a chuck <NUM> of four chucks <NUM> that is apart from the camera CM does not appear as a whole image in a shape of the real image. That is, only the outside from the outer periphery of the substrate W appears in the shape of the real image. However, since the periphery edge supporting portion <NUM> of the chuck <NUM> appears, matching can be performed successfully by verifying the feature point thereof.

The matching processing unit <NUM> performs matching. Specifically, the matching processing unit <NUM> verifies the degree of coincidence of the feature points for the real image shape and the design shape of each chuck <NUM>. The matching processing unit <NUM> determines whether the matching is made or not in such a manner as in the example described with reference to <FIG>. Moreover, the abnormality detecting unit <NUM> performs abnormality detection. Specifically, the abnormality detecting unit <NUM> compares the reality information with the normal information about the matched chuck <NUM>. If there is no coincidence through the result of the comparison, the abnormality detecting unit <NUM> detects an abnormality.

The processing is branched in accordance with the detection result from the abnormality detecting unit <NUM>. Specifically, if the chuck <NUM> is normal, the processing is shifted to a step S11. In contrast to this, if the chuck <NUM> is abnormal, the processing is branched to a step S14.

Here, description is made under an assumption that the chuck <NUM> is normal.

The processing is branched in accordance with whether the processing is completed or not. If the processing is completed, the processing is branched to a step S12. If the processing is not completed, the processing returns to the step S6. At this point, the processing is not completed since the substrate W is merely placed on and gripped by the chucks <NUM>. Consequently, the processing returns to the step S6.

The operation controller <NUM> operates the guard moving mechanism <NUM> by a guard operation command, and moves the guard <NUM>, located at the origin position as in <FIG>, to the treating position as in <FIG>, for example. Here, the nozzle <NUM> located above the substrate W in <FIG> is located at the origin position at this time.

It is determined whether it is the timing to check or not. Specifically, the operation controller <NUM> refers to the target component and its timing to check stored in the parameter memory <NUM>. The operation controller <NUM> branches the processing in accordance with whether the target component is at the timing to check or not. At this time, since the guard <NUM> is the target component and at the timing to check, the processing is shifted to a step S8.

Since it is a timing to check where the guard <NUM> is set to be located at the treating position , the operation controller <NUM> causes the camera CM to perform imaging. Thereby, the camera CM captures the real image of components containing the guard <NUM>. Accordingly, the image processing unit <NUM> extracts a real image shape, as a two-dimensional shape, containing the guard <NUM> from the real image.

The matching processing unit <NUM> performs matching. Specifically, the matching processing unit <NUM> firstly reads out the design information of the guard <NUM> from the design information memory unit <NUM>. The matching processing unit <NUM> verifies the degree of coincidence of the feature points for the real image shape and the two-dimensional design shape based on the design information. The matching processing unit <NUM> determines whether the matching is made or not in such a manner as in the example described with reference to <FIG>. The abnormality detecting unit <NUM> compares the reality information with the normal information about the matched guard <NUM>.

The processing is branched in accordance with the result of the abnormality detecting unit <NUM>. Specifically, if the guard <NUM> is normal, the processing is shifted to a step S11. In contrast to this, if the guard <NUM> is abnormal, the processing is branched to a step S14.

Here, description is made under an assumption that the guard <NUM> is normal.

Here, it is merely that the substrate W is gripped by the chucks <NUM> and the guard <NUM> is moved to the treating position. Since the processing is not completed, the processing returns to the step S6.

The operation controller <NUM> starts to move the nozzle <NUM> in accordance with a recipe. For example, the operation controller <NUM> operates the nozzle moving mechanism <NUM> by a nozzle operation command, and moves the nozzle 33B of the two nozzles 33A and 33B from the origin position to the ejecting position as in <FIG>. The ejecting position is, for example, a position equal to the rotation center P1.

The operation controller <NUM> refers to the timing to check of the parameter memory <NUM>. The operation controller <NUM> branches the processing in accordance with whether the target component is at the timing to check or not. At this time, since the nozzle <NUM> (nozzle 33B) is at the timing to check, the processing is shifted to the step S8.

Since it is a timing to check where the nozzle 33B is set to be located at the ejecting position , the operation controller <NUM> causes the camera CM to perform imaging. Thereby, the camera CM captures the real image of components containing the nozzle 33B. Accordingly, the image processing unit <NUM> extracts a real image shape, as a two-dimensional shape, containing the nozzle 33B from the real image.

The matching processing unit <NUM> performs matching. Specifically, the matching processing unit <NUM> firstly reads out the design information of the nozzle 33B from the design information memory unit <NUM>. The matching processing unit <NUM> verifies the degree of coincidence of the feature points for the real image shape and the two-dimensional design shape based on the design information. The matching processing unit <NUM> determines whether the matching is made or not in such a manner as in the example described with reference to <FIG>. As illustrated in <FIG>, the nozzle 33B is arranged on a rear face side of the nozzle 33A. Accordingly, the entire of the nozzle 33B does not appear in the real image shape. However, since a characteristic shape of the nozzle 33B is visible, there is no problem in performing the matching. The abnormality detecting unit <NUM> compares the reality information with the normal information about the matched nozzle 33B. If there is no matching through the comparison, the processing is shifted to the step S14 or otherwise the processing is shifted to the step S10.

The processing is branched in accordance with the result of the abnormality detecting unit <NUM>. Specifically, if the nozzle 33B is normal, the processing is shifted to a step S11. In contrast to this, if the nozzle 33B is abnormal, the processing is branched to a step S14.

Here, description is made under an assumption that the nozzle 33B is normal.

The processing is not completed since the nozzle 33B is merely moved to the ejecting position. Consequently, the processing returns to the step S6.

The operation controller <NUM> advances the processing by rotating the motor <NUM>, for example, in accordance with the recipe. Thereafter, the steps S6, S7 and S11 are repeated. Consequently, it is determined that the nozzle 33B supplies the treatment liquid to the substrate W, for example, and treatment to the substrate W is completed. The processing is shifted to step S12 when the processing in accordance with the recipe is completed.

The operation controller <NUM> causes the nozzle 33B, the guard <NUM>, and the chucks <NUM> to return to the origin position. The operation controller <NUM> unloads the substrate W, placed on the spin chuck <NUM>, to the outside.

The operation controller <NUM> branches the processing in accordance with whether a next substrate W is present or not. That is, if a next substrate W is present, the processing is shifted to the step S5. Then, the next substrate W is loaded, and the substrate W is treated in such a manner as described above. Note that matching is not performed at the origin position when the next substrate W is treated. If a next substrate W is not present, the processing is completed.

The following describes a case where the target component is determined abnormal in the step S10.

When the abnormality detecting unit <NUM> detects an abnormality, the abnormality detecting unit <NUM> causes the notification unit <NUM> to perform notification operation. The notification unit <NUM> may perform notification operation about the target component to be detected as abnormal, the positional information, or the contexts of the abnormality collectively, for example.

Specifically, as for the nozzle <NUM>, an abnormality about operation of the nozzle moving mechanism <NUM>, an abnormality caused by deformation of the outer contour and the like are notified. As for the chucks <NUM>, an abnormality about the operation of the chuck drive mechanism <NUM>, an abnormality caused by damages of the back face supporting portion <NUM> or the periphery edge supporting portion <NUM> of the chuck <NUM> and the like are notified. As for the guard <NUM>, an abnormality about operation of the guard moving mechanism <NUM>, an abnormality caused by deformation of an outer contour of the opening 23a of the guard <NUM> and the like are notified.

The operator receives notification from the notification unit <NUM>, and stops operation of the substrate treating apparatus <NUM>, for example. This stops the treatment to the substrate W, thereby preventing continuous processing under an abnormal condition. This can prevent poor treatment to the substrate W in advance.

With the present embodiment, the matching processing unit <NUM> determines which of the target components matches the real image in accordance with the degree of coincidence of feature points between the real image shape and the design shape. The matching processing unit <NUM> performs matching in accordance with the degree of coincidence of the feature points. Accordingly, the matching can be performed while minimizing an environment difference upon imaging and an influence of a light source, water droplets, or fumes. The abnormality detecting unit <NUM> detects the abnormality of the target component, matched in the matching processing unit <NUM>, through comparison between reality information about the matched target component based on the real image and normal information based on the three-dimensional design information when the target component is normal. Consequently, matching accuracy is enhanced, and thus the abnormality detecting unit <NUM> can detect an abnormality of the component accurately. Moreover, even if part of the target component is not visible during imaging, matching can be performed as long as the feature point appears in the real image shape. This can minimize an influence of the positional relationship between the target component and other components.

Here, a correspondence between the above steps and the present invention is as under. The steps S2 and S8 correspond to the "imaging step" in the present invention. The steps S3 and S9 correspond to the "matching step" in the present invention. The step S9 corresponds to the "abnormality detecting step" in the present invention. The camera CM corresponds to the "imaging unit" in the present invention. The position detector <NUM> corresponds to the "nozzle pulse output unit" in the present invention. The operation controller <NUM> corresponds to the "nozzle movement control unit" in the present invention.

While the embodiment described above is a single configuration of the substrate treating apparatus <NUM>, the present invention can also be applied to the following construction. Reference is now made to <FIG> is a schematic view of a substrate treating system according to one embodiment.

A substrate treating system <NUM> includes the substrate treating apparatus <NUM> described above arranged in a stack manner. The substrate treating system <NUM> includes towers TW in which four stages of the substrate treating apparatus <NUM> are arranged in a height direction, for example. In the substrate treating system <NUM>, the towers TW are arranged so as to face apart from each other. In the substrate treating system <NUM>, transport robot TR is arranged between the towers TW. The transport robot TR is configured so as to move upward and downward freely in the height direction. The transport robot TR is configured so as to advance and withdraw an arm, not shown, to and from the substrate treating apparatus <NUM> freely. The transport robot TR delivers a substrate W among the substrate treating apparatus <NUM>. The substrate treating system <NUM> having such a configuration as above can produce the effect in each of the substrate treating apparatus <NUM> as described above.

The substrate treating system <NUM> may include a camera that keeps the transport robot TR in the field of view, for example. Then, it is preferred that matching is set to be performed as described above at an origin position of the transport robot TR and at a timing to check that is set to be as a deliver position, and an arm, not shown, on which a substrate W is placed is set as a target component. This can detect an abnormality about deformation of the arm, an abnormality in the moving speed, and an abnormality of a drive system of the transport robot TR.

The present invention is not limited to the foregoing examples, but may be modified as follows.

Claim 1:
A substrate treating apparatus (<NUM>) for performing a predetermined treatment on a substrate, the apparatus comprising:
a design information memory unit (<NUM>) configured to store three-dimensional design information about at least target components to be detected for an abnormality;
an imaging unit (<NUM>) configured to capture a real image including the target components;
a matching processing unit (<NUM>) configured to determine which of the target components matches a real image shape as a two-dimensional shape in the real image captured by the imaging unit in accordance with a degree of coincidence of feature points between the real image shape and a two-dimensional design shape based on three-dimensional design information about the target components; and
an abnormality detecting unit (<NUM>) configured to detect an abnormality of a target component, matched in the matching processing unit, through comparison between reality information about the matched target component based on the real image and normal information based on three-dimensional design information when the matched target component is normal.