Patent Description:
Patent Literature <NUM> discloses a method of acquiring substrate height data by excluding abnormality data from measurement data in substrate height measurement such as during teaching operation. Specifically, since a substrate formed of an epoxy or the like is a rigid body, a surface of the substrate is flat when viewed from the extreme point of view. Therefore, a measurement value of the height of the substrate measured by slightly scanning changes a little, but no abrupt change occurs. Therefore, the above-described method described in Patent Literature <NUM> acquires measurement data at predetermined intervals in a predetermined region while moving a substrate height measurement sensor at a constant speed, and excludes the measurement data as an abnormal value when the measurement data is not included in a predetermined range indicating normal data.

<CIT> relates to a measurement position determination device. In particular, a preset temporary measurement position is acquired. Based on the acquired temporary measurement position and on a planned mounting position, a measurement position of the substrate height is determined. The substrate height is measured at the determined measurement position.

<CIT> relates to measurement of the height level of a substrate. In particular, components graphics and measuring point graphics are displayed: Based on the display, an operator can delete or correct measurement positions.

For example, a circuit forming member such as a wiring pattern, a through hole, and a component is provided on a substrate. In addition, an identification code or the like for identifying a substrate product is attached to the substrate. These members may affect a measurement device when measuring a height of the substrate, thereby reducing measurement accuracy.

In view of such a circumstance, the present specification discloses a substrate height measuring device and a substrate height measuring method capable of adjusting a measurement position at which a measurement device actually measures a height of a substrate and measuring the height of the substrate.

The scope of the invention is defined in the independent claims.

According to the substrate height measuring device described above, the imaging section, the setting section, and the measurement section are provided. Therefore, the substrate height measuring device can adjust the measurement position at which the height of the substrate is actually measured based on the measurement planned position of the substrate image displayed on the display device, and thus, can allow the measurement device to measure the height of the substrate. The above description of the substrate height measuring device can be similarly applied to the substrate height measuring method.

Substrate height measuring device <NUM> may be provided in a substrate working machine that needs to measure a height of clamped substrate <NUM>. For example, a printer, a printing inspection machine, component mounter <NUM>, and an appearance inspector are included in the substrate working machine. Substrate height measuring device <NUM> of the present embodiment is provided in component mounter <NUM>. Component mounter <NUM> mounts multiple components P0 on substrate <NUM>. As illustrated in <FIG>, component mounter <NUM> includes substrate conveyance device <NUM>, component supply device <NUM>, component transfer device <NUM>, part camera <NUM>, substrate camera <NUM>, and control device <NUM>.

For example, substrate conveyance device <NUM> includes a belt conveyor or the like, and conveys substrate <NUM> in a conveyance direction (X-axis direction). Substrate <NUM> is a circuit substrate on which an electronic circuit, an electrical circuit, a magnetic circuit, and the like are formed. Substrate conveyance device <NUM> conveys substrate <NUM> into component mounter <NUM>, and positions and clamps substrate <NUM> at a predetermined position in component mounter <NUM>. After mounting process of multiple components P0 by component mounter <NUM> is completed, substrate conveyance device <NUM> unclamps substrate <NUM> and conveys substrate <NUM> to the outside of component mounter <NUM>.

Component supply device <NUM> supplies multiple components P0 to be mounted on substrate <NUM>. Component supply device <NUM> includes multiple feeders <NUM> that are provided along the conveyance direction (X-axis direction) of substrate <NUM>. Each of multiple feeders <NUM> pitch-feeds a carrier tape in which multiple components P0 are housed, so as to collectably supply components P0 at a supply position located on a distal end side of feeder <NUM>. Moreover, component supply device <NUM> can supply a relatively large electronic component (lead component or the like) as compared with a chip component or the like in a state of being disposed on a tray.

Component transfer device <NUM> includes head driving device <NUM> and moving body <NUM>. Head driving device <NUM> is configured to move moving body <NUM> in the X-axis direction and the Y-axis direction by a linear motion mechanism. Mounting head <NUM> is detachably (exchangeably) provided on moving body <NUM> by a clamp member. Mounting head <NUM> uses at least one holding member <NUM> to collect and hold component P0 supplied by component supplying device <NUM>, and mounts component P0 on substrate <NUM> positioned by substrate conveyance device <NUM>. For example, holding member <NUM> can use a suction nozzle, a chuck, and the like.

As part camera <NUM> and substrate camera <NUM>, a well-known imaging device can be used. Part camera <NUM> is fixed to a base of component mounter <NUM> such that an optical axis faces upward in a vertical direction (Z-axis direction). Part camera <NUM> can image an image of component P0 held by holding member <NUM> from below. Substrate camera <NUM> is provided on moving body <NUM> of component transfer device <NUM> such that the optical axis faces downward in the vertical direction (Z-axis direction). Substrate camera <NUM> can image substrate <NUM> from above. Part camera <NUM> and substrate camera <NUM> perform imaging based on a control signal transmitted from control device <NUM>. Image data of the captured image imaged by part camera <NUM> and substrate camera <NUM> is transmitted to control device <NUM>.

Control device <NUM> includes a known arithmetic device and a storage device, and constitutes a control circuit. Information, image data, and the like output from various sensors provided in component mounter <NUM> are input to control device <NUM>. Control device <NUM> transmits the control signals to each device based on a control program, a predetermined mounting condition which is set in advance, and the like.

For example, control device <NUM> allows substrate camera <NUM> to image substrate <NUM> which is positioned by substrate conveyance device <NUM>. Control device <NUM> performs image processing of the captured image imaged by substrate camera <NUM> to recognize a positioning state of substrate <NUM>. In addition, control device <NUM> allows holding member <NUM> to collect and hold component P0 supplied by component supplying device <NUM>, and part camera <NUM> to image component P0 held by holding member <NUM>. Control device <NUM> performs image processing on the captured image imaged by part camera <NUM> to recognize a holding posture of component P0.

Control device <NUM> moves holding member <NUM> upwards a mounting planned position set in advance by a control program or the like. In addition, control device <NUM> corrects the mounting planned position based on the positioning state of substrate <NUM>, the holding posture of component P0, and the like, and sets the mounting position at which component P0 is actually mounted. The mounting planned position and the mounting position include a rotation angle in addition to the position (an X-axis coordinate and a Y-axis coordinate).

Control device <NUM> corrects a target position (the X-axis coordinate and the Y-axis coordinate) of holding member <NUM> and the rotation angle according to the mounting position. Control device <NUM> lowers holding member <NUM> at the corrected rotation angle at the corrected target position, and mounts component P0 on substrate <NUM>. Control device <NUM> executes the mounting process for mounting multiple components P0 on substrate <NUM> by repeating the pick-and-place cycle described above.

Substrate height measuring device <NUM> of the present embodiment is provided in control device <NUM> of component mounter <NUM>. When viewed as a control block, substrate height measuring device <NUM> includes imaging section <NUM>, setting section <NUM>, and measurement section <NUM>. Substrate height measuring device <NUM> may also include display section <NUM>. As illustrated in <FIG>, substrate height measuring device <NUM> of the present embodiment includes imaging section <NUM>, setting section <NUM>, measurement section <NUM>, and display section <NUM>.

In addition, substrate height measuring device <NUM> of the present embodiment executes control according to a flowchart illustrated in <FIG>. Imaging section <NUM> performs processing illustrated in Step S11. Setting section <NUM> performs processing illustrated in Step S12. Measurement section <NUM> performs processing illustrated in Step S13. Display section <NUM> performs processing illustrated in Step S14.

<FIG> illustrates an example of a member provided on the substrate. <FIG> is an enlarged plan view of a portion of substrate <NUM> clamped by substrate conveyance device <NUM>. As illustrated in the drawing, for example, circuit forming members such as wiring pattern WP0, through hole SH0, and component P0 are provided on substrate <NUM>. In addition, an identification code or the like for identifying substrate product <NUM> is attached to substrate <NUM>. These members may affect measurement device <NUM> when measurement device <NUM> measures the height of substrate <NUM>, thereby reducing measurement accuracy.

For example, it is assumed that measurement device <NUM> for measuring the height of substrate <NUM> is an optical measurement device. In this case, measurement device <NUM> projects laser light on substrate <NUM>, receives the laser light reflected by substrate <NUM>, and measures the height of substrate <NUM> by the principle of triangulation. Therefore, in a case where the member is provided in the vicinity of measurement planned position <NUM> where the height of substrate <NUM> is to be measured, there is a possibility that the laser light is scattered by the member, and thus, the measurement accuracy is reduced. In <FIG>, a region that may affect the measurement accuracy is indicated by a dashed-line circle. In the drawing, a part of component P0 and wiring pattern WP0 is included in a circle, and the drawing indicates that the measurement accuracy of measurement device <NUM> may be reduced.

Substrate height measuring device <NUM> allows display device <NUM> to display substrate image <NUM> imaged by imaging section <NUM>. Then, substrate height measuring device <NUM> allows measurement device <NUM> to adjust measurement position <NUM> at which the height of substrate <NUM> is actually measured based on measurement planned position <NUM> of substrate image <NUM> displayed on display device <NUM>, so that the height of substrate <NUM> is measured by measurement device <NUM>. Therefore, when a member for reducing the measurement accuracy is provided in the vicinity of measurement planned position <NUM>, it is possible to set measurement position <NUM> at a position where the member is avoided.

Imaging section <NUM> allows imaging device <NUM> to image region <NUM> of at least a part of substrate <NUM>, and region <NUM> includes measurement planned position <NUM> at which the height of clamped substrate <NUM> is to be measured (Step S11 illustrated in <FIG>).

Component mounter <NUM> confirms a state of warpage of substrate <NUM> based on the measurement result of the height of substrate <NUM> measured by substrate height measuring device <NUM>. In addition, component mounter <NUM> can adjust the height of holding member <NUM> when component P0 is mounted on substrate <NUM> based on the measurement result. Therefore, measurement planned position <NUM> is set so as to be able to confirm the state of warpage of substrate <NUM> and to adjust the height of holding member <NUM>. Measurement planned position <NUM> is set in advance in accordance with a substrate type by a control program or the like. For example, the larger a size of substrate <NUM>, the greater the set number of measurement planned positions <NUM>. In addition, the lower rigidity of substrate <NUM>, the greater the set number of measurement planned positions <NUM>. Further, identification information capable of identifying measurement planned position <NUM> is assigned to multiple measurement planned positions <NUM>.

<FIG> illustrates a setting example of measurement planned position <NUM>. In the drawing, one measurement planned position <NUM> is set at the center of substrate <NUM>. In addition, in the drawing, eight measurement planned positions <NUM> are set along an outer edge portion of substrate <NUM>. By setting at least one measurement planned position <NUM> at the center portion of substrate <NUM> and setting multiple measurement planned positions <NUM> at the outer edge portion of substrate <NUM>, component mounter <NUM> can easily grasp the state of warpage (concave state or convex state) of substrate <NUM>.

In addition, by setting at least three measurement planned positions <NUM> in one side direction (X-axis direction) of substrate <NUM>, component mounter <NUM> can easily grasp the state of warpage (concave state or convex state) of substrate <NUM> in one side direction (X-axis direction) of substrate <NUM>. By setting at least three measurement planned positions <NUM> in another side direction (Y-axis direction) of substrate <NUM>, component mounter <NUM> can easily grasp the state of warpage (concave state or convex state) of substrate <NUM> in another side direction (Y-axis direction) of substrate <NUM>. By recognizing the state of warpage (concave state or convex state) of substrate <NUM> in this manner, component mounter <NUM> can easily adjust the height of holding member <NUM>.

Imaging device <NUM> can use a known imaging device as long as it can image region <NUM> of at least a part of substrate <NUM>, the region <NUM> including measurement planned position <NUM>. As illustrated in <FIG>, substrate camera <NUM> is used in imaging device <NUM> of the present embodiment. As illustrated in <FIG>, substrate camera <NUM> can image region <NUM> of a part of substrate <NUM> including measurement planned position <NUM>. It should be noted that component mounter <NUM> may also include an imaging device capable of imaging entire region <NUM> of substrate <NUM>. In this case, imaging device <NUM> can also image entire region <NUM> of substrate <NUM> including measurement planned position <NUM>.

Setting section <NUM> allows display device <NUM> to display substrate image <NUM> imaged by imaging section <NUM> and can adjust measurement position <NUM> at which the height of substrate <NUM> is actually measured based on measurement planned position <NUM> of substrate image <NUM> displayed on display device <NUM> to set measurement position <NUM> (Step S12 illustrated in <FIG>).

Display device <NUM> can use any well-known display device as long as it can display substrate image <NUM> captured by imaging section <NUM>. As illustrated in <FIG>, display device <NUM> according to the present embodiment uses a display device provided in component mounter <NUM>. Display device <NUM> may be provided separately.

<FIG> illustrates an example of substrate image <NUM> displayed on display device <NUM>. In substrate image <NUM> in <FIG>, region <NUM> of substrate <NUM> illustrated in <FIG> is imaged. In substrate image <NUM>, image feature amounts such as brightness and lightness of a region in which a circuit forming member such as wiring pattern WP0, through hole SH0, and component P0 is imaged are different from those of a region in which the circuit forming member is not imaged. Accordingly, in an example not covered by the claims, setting section <NUM> can adjust measurement position <NUM> based on the image feature amount of substrate image <NUM> by performing the image processing on substrate image <NUM>.

Specifically, since an image feature amount of a region of a part of a dashed-line circle illustrated in <FIG> differs from an image feature amount of a region in which the circuit forming member is not imaged, setting section <NUM> determines that adjustment of measurement position <NUM> is necessary. Setting section <NUM> moves measurement position <NUM> so that the image feature amount of the entire region of the circle is equal to the image feature amount of the region in which the circuit forming member is not imaged. The above description of the circuit forming member also applies to an identification code or the like for identifying substrate product <NUM>.

However, in the above method, for example, the image feature amount may be changed due to imaging conditions of imaging device <NUM>, disturbance during the imaging, or the like, and thus, the adjustment of measurement position <NUM> may be difficult. Accordingly, setting section <NUM> can set specific position FP0 of substrate image <NUM> indicated by an operator as measurement position <NUM>. In this mode, the operator can adjust measurement position <NUM> while confirming substrate image <NUM> displayed on display device <NUM>.

The mode in which the operator indicates specific position FP0 is not limited, and may take various forms. For example, setting section <NUM> can display coordinate axes (X-axis and Y-axis) on substrate image <NUM> displayed on display device <NUM>, and thus, an operator can input coordinates (X-axis coordinates and Y-axis coordinates) of specific position FP0. In this case, setting section <NUM> may display grid-shaped auxiliary lines or the like in substrate image <NUM> displayed on display device <NUM>. As a result, it is easy for the operator to acquire the coordinates of specific position FP0.

Setting section <NUM> can display indicating member <NUM> in a predetermined region including measurement planned position <NUM> of substrate image <NUM> displayed on display device <NUM>, allow the operator to move indicating member <NUM> using the input device, and allow the operator to indicate specific position FP0. As a result, the operator can easily indicate specific position FP0.

Indicating member <NUM> is an assisting means for the operator to indicate specific position FP0, and may take various forms. Indicating member <NUM> illustrated in <FIG> is a circular icon, and the center of the circle corresponds to specific position FP0. Display device <NUM> of the present embodiment includes a touch panel and also serves as an input device for receiving various operations by an operator. The operator can move indicating member <NUM> by touching indicating member <NUM> displayed on display device <NUM> to indicate specific position FP0. In addition, the operator can use various input devices (for example, a mouse, a keyboard, or the like) provided in component mounter <NUM> to move indicating member <NUM> displayed on display device <NUM> to indicate specific position FP0.

For example, a shape of indicating member <NUM> can be set to coincide with a range that may affect the measurement accuracy of measurement device <NUM>. As a result, the operator can indicate specific position FP0 so that the circuit forming member or the like is not included in the range that may affect the measurement accuracy of measurement device <NUM>.

For example, in a case where the circuit forming member or the like is not included in the range that may affect the measurement accuracy of measurement device <NUM>, measurement position <NUM> need not be moved. In this case, measurement position <NUM> is set to the same position as measurement planned position <NUM> without being adjusted with respect to measurement planned position <NUM>. In this manner, making measurement position <NUM> adjustable includes a case where measurement position <NUM> is set to be adjusted with respect to measurement planned position <NUM> and a case where measurement position <NUM> is set at the same position as measurement planned position <NUM> without being adjusted with respect to measurement planned position <NUM>.

Measurement section <NUM> allows measurement device <NUM> to measure the height of substrate <NUM> at measurement position <NUM> set by setting section <NUM> (Step S13 illustrated in <FIG>).

Measurement device <NUM> can use any well-known measurement device as long as it can measure the height of substrate <NUM>. As measurement device <NUM>, for example, various measurement devices such as the optical measurement device and the capacitance measurement device described above can be used. Measurement device <NUM> of the present embodiment is an optical measurement device. As illustrated in <FIG>, measurement device <NUM> of the present embodiment is provided on moving body <NUM> of component transfer device <NUM> on which substrate camera <NUM> is provided.

Measurement section <NUM> can allow measurement device <NUM> to measure the height of substrate <NUM> in trial manufacturing of substrate product <NUM> performed before manufacturing substrate product <NUM> on which component P0 is mounted on substrate <NUM>, or in initial product confirmation when the type of substrate product <NUM> to be manufactured is switched. As a result, the operator or the device (for example, component mounter <NUM>) can confirm a state of warpage of substrate <NUM> before manufacturing substrate product <NUM>, and can also adjust the height of holding member <NUM> when component P0 is mounted on substrate <NUM>.

In addition, measurement section <NUM> can allow measurement device <NUM> to measure the height of substrate <NUM> during the manufacturing of substrate product <NUM>. As a result, the operator or the device (for example, component mounter <NUM>) can confirm the state of warpage of substrate <NUM> during the manufacturing of substrate product <NUM>, and can also adjust the height of holding member <NUM>. In addition, as described later, in the trial manufacturing or the initial product confirmation of substrate product <NUM> and the manufacturing of substrate product <NUM>, the number of measurements for measuring the height of substrate <NUM> may be changed for the same type of substrate <NUM>.

Display section <NUM> allows display device <NUM> to display the coordinates of measurement position <NUM> on substrate <NUM> and the measurement result measured by measurement section <NUM> (Step S14 illustrated in <FIG>).

Display section <NUM> may be any section as long as it can display at least the above-mentioned contents on display device <NUM>, and the display method can take various forms. For example, after the height of substrate <NUM> is measured by measurement device <NUM>, the operator operates operation section BP11 illustrated in <FIG>. As a result, display section <NUM> allows display device <NUM> to display the coordinates (the X-axis coordinate and the Y-axis coordinate) of measurement position <NUM> on substrate <NUM> and the measurement result measured by measurement section <NUM> together with substrate image <NUM>. <FIG> illustrates that the measurement result of the height of substrate <NUM> at measurement position <NUM> of X-axis coordinate X10 and Y-axis coordinate Y10 is height H10.

In addition, display section <NUM> can allow display device <NUM> to display not only text but also a substrate image or the like indicating the state of warpage of substrate <NUM>. In addition, display section <NUM> can display the coordinates (X-axis coordinates and Y-axis coordinates) of measurement position <NUM> on substrate <NUM> when measurement position <NUM> is adjusted. In this case, display section <NUM> can display the coordinates (the X-axis coordinate and the Y-axis coordinate) of measurement position <NUM> on substrate <NUM> in accordance with the movement of measurement position <NUM>.

It may be difficult to grasp a situation around measurement position <NUM> based on substrate image <NUM>. For example, unevenness or the like of substrate <NUM> that is difficult to find based on substrate image <NUM> may exist around measurement position <NUM>. When measurement device <NUM> measures height of substrate <NUM> in such a region, the measurement accuracy may be reduced.

Accordingly, setting section <NUM> can set related measurement position 93b which is at least one measurement position <NUM> around reference measurement position 93a that is measurement position <NUM> adjusted and set with respect to measurement planned position <NUM>, or measurement position <NUM> set without being adjusted with respect to measurement planned position <NUM>. As a result, the operator or the device (for example, component mounter <NUM>) can grasp the situation in the vicinity of reference measurement position 93a, and can move measurement position <NUM> as required.

<FIG> illustrates another example of substrate image <NUM> displayed on display device <NUM>. <FIG> illustrates that eight related measurement positions 93b are set around reference measurement position 93a of X-axis coordinate X10 and Y-axis coordinate Y10. Measurement planned position <NUM> and reference measurement position 93a are indicated by black circles, and eight related measurement positions 93b are indicated by white circles. As illustrated in <FIG>, reference measurement position 93a of X-axis coordinate X10 and Y-axis coordinate Y10 is measurement position <NUM> adjusted and set with respect to measurement planned position <NUM>.

As described above, measurement position <NUM> may be set at the same position as measurement planned position <NUM> without being adjusted with respect to measurement planned position <NUM>. Also in this case, setting section <NUM> can set at least one related measurement position 93b around reference measurement position 93a.

In addition, disposition of reference measurement position 93a and related measurement position 93b is not limited, but reference measurement position 93a and related measurement position 93b may be disposed on lattice points. As a result, it is easy to uniformly dispose related measurement positions 93b. In the example illustrated in <FIG>, reference measurement position 93a and eight related measurement positions 93b are disposed on lattice points.

Also in this mode, display section <NUM> can allow display device <NUM> to display the coordinates of measurement position <NUM> on substrate <NUM> and the measurement result measured by measurement section <NUM>. For example, after the height of substrate <NUM> is measured by measurement device <NUM>, the operator operates operation section BP11 illustrated in <FIG>. As a result, display section <NUM> allows display device <NUM> to display the coordinates (the X-axis coordinate and the Y-axis coordinate) of substrate <NUM> and the measurement result measured by measurement section <NUM> for reference measurement position 93a and eight related measurement positions 93b together with substrate image <NUM>.

<FIG> illustrates that the measurement result of the height of substrate <NUM> at reference measurement position 93a of X-axis coordinate X10 and Y-axis coordinate Y10 is height H10. In addition, <FIG> illustrates that the measurement result of the height of substrate <NUM> at related measurement position 93b of X-axis coordinate X1 and Y-axis coordinate Y1 is height H11. What has been described above for the related measurement position 93b is the same for the remaining seven related measurement positions 93b.

Display section <NUM> may further display a height difference obtained by subtracting the minimum value from the maximum value of the measurement result of reference measurement position 93a and related measurement position 93b measured by measurement section <NUM>. As a result, the operator can easily recognize the height difference, and can grasp the situation around reference measurement position 93a based on the height difference. <FIG> illustrates that the height difference with respect to the measurement results of reference measurement position 93a and eight related measurement positions 93b is height difference DF10.

It should be noted that in the manufacturing of substrate product <NUM>, when the height of substrate <NUM> is measured by measurement device <NUM> with respect to both reference measurement position 93a and related measurement position 93b, a measurement time may increase, and a measurement operation may also be complicated. Therefore, measurement section <NUM> may allow measurement device <NUM> to measure the height of substrate <NUM> for both reference measurement position 93a and related measurement position 93b in the trial manufacturing or the initial product confirmation of substrate product <NUM>.

In addition, in the manufacturing of substrate product <NUM>, measurement section <NUM> may allow measurement of the height of substrate <NUM> at reference measurement position 93a, and restrict the measurement of the height of substrate <NUM> at related measurement position 93b. As described above, in the trial manufacturing or the initial product confirmation of substrate product <NUM> and the manufacturing of substrate product <NUM>, the number of measurements for measuring the height of substrate <NUM> can be changed for the same type of substrate <NUM>.

As described above, substrate <NUM> may be provided with multiple measurement planned positions <NUM>. Setting section <NUM> can set, for each of multiple measurement planned positions <NUM>, related measurement position 93b which is at least one measurement position <NUM> around reference measurement position 93a that is measurement position <NUM> adjusted and set with respect to measurement planned position <NUM>, or measurement position <NUM> set without being adjusted with respect to measurement planned position <NUM>.

<FIG> illustrates a setting example of reference measurement position 93a and related measurement position 93b. <FIG> illustrates an example of a state in which reference measurement position 93a and eight related measurement positions 93b are set for each of nine measurement planned positions <NUM> illustrated in <FIG>. Six reference measurement positions 93a of nine reference measurement positions 93a are adjusted and set with respect to measurement planned position <NUM>. Three reference measurement positions 93a of nine reference measurement positions 93a are set without being adjusted with respect to measurement planned position <NUM>.

Display section <NUM> can list the identification information for identifying corresponding measurement planned position <NUM> for multiple reference measurement positions 93a, the coordinates of reference measurement position 93a on substrate <NUM>, and the measurement results measured by measurement section <NUM>. For example, after the height of substrate <NUM> is measured by measurement device <NUM>, the operator operates operation section BP12 illustrated in <FIG>. As a result, display section <NUM> allows display device <NUM> to display the information illustrated in <FIG> in a list. <FIG> illustrates a display example of the measurement result of the height of substrate <NUM> measured at measurement position <NUM> in <FIG>.

In the example illustrated in <FIG>, a check box, a board number, the identification information of measurement planned position <NUM>, the coordinates (X-axis coordinates and Y-axis coordinates) of reference measurement position 93a, the measurement result measured by measurement section <NUM>, and the height difference are displayed. The check box allows the operator to select the presence or absence of a check using the input device, and displays the measurement result or the like of reference measurement position 93a that is checked.

The board number is identification information for identifying, in one substrate <NUM>, a multi-chamfered substrate on which multiple substrates <NUM> smaller than substrate <NUM> are formed so as to be separable, and identification information is assigned to the entire multi-chamfered substrate and each of multiple substrates <NUM> included in the multi-chamfered substrates. Substrate height measuring device <NUM> can allow measurement device <NUM> to measure the height of substrate <NUM> with respect to the entire multi-chamfered substrate. In addition, substrate height measuring device <NUM> can allow measurement device <NUM> to measure the height of substrate <NUM> for each of multiple substrates <NUM> included in the multi-chamfered substrate.

<FIG> illustrates that reference measurement positions 93a of X-axis coordinate X31 and Y-axis coordinate Y31 are checked by the operator, the board number is the zero number, and the identification information of corresponding measurement planned position <NUM> is identification information CH1. In addition, it is indicated that the measurement result of the height of substrate <NUM> at reference measurement position 93a is height H31, and the height difference between reference measurement position 93a and eight related measurement positions 93b set around reference measurement position 93a is height difference DF31. The same applies to remaining eight reference measurement positions 93a.

Display section <NUM> can also change a display method so as to distinguish between the display of reference measurement position 93a at which the height difference exceeds a predetermined value and the display of reference measurement position 93a at which the height difference is equal to or less than a predetermined value. As a result, the operator can easily grasp reference measurement position 93a at which the height difference exceeds the predetermined value. The predetermined value of the height difference can be inputted by the operator, for example, in the input section BP21 illustrated in <FIG>. In <FIG>, the above-mentioned information is surrounded by a rectangle for reference measurement position 93a of X-axis coordinate X32 and Y-axis coordinate Y32, indicating that height difference DF32 exceeds the predetermined value.

As long as display section <NUM> can display distinguishably the display of reference measurement position 93a at which the height difference exceeds the predetermined value and the display of reference measurement position 93a at which the height difference is equal to or less than the predetermined value, the display method is not limited. For example, display section <NUM> can change the display method of display device <NUM> according to at least one of the difference in display colors, the presence or absence of a marker, and the difference in icons.

For example, display section <NUM> can display reference measurement position 93a at which the height difference exceeds the predetermined value, using a display color (for example, yellow, red, or the like) that is easy for the operator to pay attention to as compared with the display color for the reference measurement position 93a at which the height difference is equal to or less than the predetermined value. The same applies to the marker and the icon, and may take various forms such as a display color, a form, a movement in a display screen, and a blinking display that can be easily noticed by an operator.

Display section <NUM> can also guide the adjustment of reference measurement position 93a at which the height difference exceeds a predetermined value with respect to measurement planned position <NUM>. In <FIG>, it is displayed that the adjustment of measurement position <NUM> is necessary for identification information CH2. As a result, the operator can easily grasp reference measurement position 93a (in this case, reference measurement position 93a of X-axis coordinate X32 and Y-axis coordinate Y32) at which the height difference exceeds the predetermined value, and can perform the adjustment with respect to measurement planned position <NUM>.

In the above-described embodiment, reference measurement position 93a is adjusted as necessary with respect to measurement planned position <NUM>, so that reference measurement position 93a and related measurement position 93b are set. Then, the height of substrate <NUM> is measured at set reference measurement position 93a and related measurement position 93b, and reference measurement position 93a is readjusted as necessary for reference measurement position 93a at which the height difference exceeds the predetermined value.

However, substrate height measuring device <NUM> can also set reference measurement position 93a at the same position as measurement planned position <NUM>, and set related measurement position 93b based on reference measurement position 93a. In this case, substrate height measuring device <NUM> allows measurement device <NUM> to measure the height of substrate <NUM> at reference measurement position 93a and related measurement position 93b that are set at the same position as measurement planned position <NUM>. Then, substrate height measuring device <NUM> can image substrate <NUM>, reset reference measurement position 93a and related measurement position 93b, re-measure the height of substrate <NUM>, and the like with respect to reference measurement position 93a at which the height difference exceeds the predetermined value.

The above description of substrate height measuring device <NUM> can be similarly applied to a substrate height measuring method. Specifically, the substrate height measuring method includes an imaging step, a setting steps, and a measurement step. The imaging step corresponds to control performed by imaging section <NUM>. The setting step corresponds to control performed by setting section <NUM>. The measurement step corresponds to control performed by measurement section <NUM>. In addition, the substrate height measuring method may include a display step. The display step corresponds to control performed by display section <NUM>.

According to substrate height measuring device <NUM>, imaging section <NUM>, setting section <NUM>, and measurement section <NUM> are provided. Accordingly, substrate height measuring device <NUM> can allow measurement device <NUM> to measure the height of substrate <NUM> by enabling measurement device <NUM> to adjust measurement position <NUM> at which the height of substrate <NUM> is actually measured based on measurement planned position <NUM> of substrate image <NUM> displayed on display device <NUM>. The above description of substrate height measuring device <NUM> can be similarly applied to the substrate height measuring method.

Claim 1:
A substrate height measuring device (<NUM>) comprising:
a setting section (<NUM>) configured to adjust a measurement position (<NUM>) at which a height of a substrate is measured; and
a measurement section (<NUM>) configured to allow a measurement device (<NUM>) to measure the height of the substrate (<NUM>) at the measurement position (<NUM>) set by the setting section (<NUM>),
an imaging section (<NUM>) configured to allow an imaging device (<NUM>) to image a region (<NUM>) of at least a part of a clamped substrate (<NUM>), the region including a measurement planned position (<NUM>) at which the height of the substrate (<NUM>) is to be measured, characterized in that the measurement planned position (<NUM>) is being set in advance in accordance with a substrate type; wherein the setting section (<NUM>) is configured to allow a display device (<NUM>) to display a substrate image imaged by the imaging section (<NUM>) and adjust the measurement position (<NUM>) at which the height of the substrate (<NUM>) is actually measured based on the measurement planned position (<NUM>) of the substrate image displayed on the display device (<NUM>) to set the measurement position (<NUM>),
wherein the setting section (<NUM>) is configured to set a specific position of the substrate image indicated by an operator as the measurement position (<NUM>).