Patent ID: 12230521

To facilitate understanding, identical reference numerals have been used, where possible, to designate identical elements that are common to the figures. It is contemplated that elements disclosed in one embodiment may be beneficially utilized in other embodiments without specific recitation thereof with respect thereto.

DETAILED DESCRIPTION

Low temperature measurement of substrates below about 400° C. is problematic for existing infrared imaging techniques for imaging the top of a substrate. Under 400° C., the substrate appears to be transparent. Low temperature measurements are needed especially during an annealing process of manufacturing a semiconductor substrate. In the following disclosure, an improved technique for measuring low temperatures of a substrate using one or more infrared cameras that image edges of the substrate are described. Measuring the temperature of the edge of the substrate rather than the top surface of the substrate provides for a larger effective distance or thickness of the substrate that is being measured that is not transparent to the infrared cameras. Measuring the edge temperature of the substrate works for all types of substrates: bare, doped, or having circuitry manufactured thereon. Measuring low temperatures during an exit from an anneal process permits measurements below the oxidation temperature of the substrate.

FIG.1illustrates an integrated platform100configured to use one infrared camera for capturing the absolute temperature profile of the edge of the substrate106, according to one or more embodiments. For example, the integrated platform100may deposit or etch one or more metal layers, semiconductor layers, and/or organic materials on the substrate106to fabricate a semiconductor device. Examples of an integrated platform including multiple processing chambers include those commercially available from Applied Materials, Inc. of Santa Clara, Calif. Alternatively, other substrate processing platforms may be also be modified in accordance with the present disclosure.

The integrated platform100may include a vacuum-tight processing platform160, a factory interface162, and a controller150. Further, the integrated platform100may also be referred to as a cluster tool or multi-chamber processing system.

The processing platform160includes one or more process chambers. For example, the processing platform160may include process chambers112,114,116,118,132,134,138,136, and140. Further, the processing platform160includes one or more transfer chambers. For example, as is illustrated inFIG.1, the processing platform160includes transfer chambers110and130. The processing platform160may also include one or more pass through chambers that allow a substrate106to be transferred between transfer chambers110,130. For example, the pass through chambers122,124may allow a substrate106to be transferred between the transfer chambers110and130.

The processing platform160may also include one or more load lock chambers. For example, as is illustrated inFIG.1, the processing platform160includes load lock chambers102,104. The load lock chambers102,104may be pumped down to be operated under a vacuum before transferring substrates106from the factory interface162and the transfer chamber110.

The factory interface162includes a body183, one or more factory interface robots185, and interfaces for engaging one or more front opening unified pods (FOUPS)187A-187D. The factory interface robot185is capable of linear and rotational movement, to facilitate transfer of a substrate106as illustrated by arrows182. Further, the factory interface robot185transfers substrates106resting on an end effector188of the robot185between the FOUPS187A-D, and the load lock chambers102,104. The substrate106may be transferred from the load lock chambers102,104and transferred to one of the FOUPS187A-D by the factory interface robot185. As soon as a substrate106exits from one or both of the load lock chambers102,104, the factory interface robot185may be configured to place the substrate106on a substrate support (not shown) or retain the substrate106at one or more prescribed locations within the factory interface162(for example, on the end effector188). At the prescribed location, imaging of the substrate106is performed according to one or more embodiments described herein. The substrate106is then transferred by the factory interface robot185from the substrate support/prescribed locations to the one or more of the load lock chambers102,104or to the FOUPS187A-D.

The transfer chamber110includes a transfer robot111. The transfer robot111transfers substrates106to and from the load lock chambers102,104, to and from the process chambers112,114,116, and118, and to and from pass through chambers122,124. The pass-through chambers122and124may be utilized to maintain vacuum conditions while allowing substrates106to be transferred within the integrated platform100between transfer chambers110and130. The transfer robot131transfers substrates106between the pass-through chambers122,124and the process chambers132,134,136,138, and140, and between the process chambers132,134,136,138, and140.

The process chambers112,114,116,118,132,134,138,136, and140are configured in any manner suitable to process a substrate106. For example, the process chambers112,114,116,118,132,134,138,136, and140may be configured to deposit one or more metal layers, one or more semiconductor layers, one or more organic films, and apply one or more cleaning processes to a substrate106to create a semiconductor device such as a light sensing device, or the like. The process chambers112,114,116,118,132,134,138,136, and140may additionally or alternatively be configured for etching, annealing, curing, outgassing, metrology, or other operations.

A first one or more of the process chambers, e.g., the process chambers116,118, are configured to perform a pre-cleaning process to eliminate contaminants and/or de-gas volatile gases from a substrate106prior to transfer into another process chamber. The process chambers114and112may be configured to deposit one or more metal layers on a substrate106. The process chamber138may be configured to deposit one or more layers of semiconductor materials on a substrate106. The process chambers116,118,132,134,138,136, and140may be configured to deposit materials (e.g., metal layers or organic films) using a chemical deposition process such as chemical vapor deposition (CVD), atomic layer deposition (ALD), metalorganic chemical vapor deposition (MOCVD), plasma-enhanced chemical vapor deposition (PECVD), and physical vapor deposition (PVD), among others.

The controller150is configured to control the components of the integrated platform100. The controller150may be any suitable controller for controlling the operation one or more of the process chambers, the transfer chambers, pass through chambers, and the factory interface. For example, the controller150may be configured to control the operation of transfer robot111and/or the transfer robot131, and optionally the factory interface robot185. The controller150includes a central processing unit (CPU)152, a memory154, and support circuits156. The CPU152may be any general purpose computer processor that may be utilized in an industrial environment. The support circuits156are coupled to the CPU152and may include cache, clock circuits, input/output subsystems, power supplies and the like. Software routines may be stored within the memory154. The software routines may be executed by the CPU152. Alternatively, or additionally, one or more of the software routines may be executed by a second CPU not illustrated. The second CPU may be part of the controller150or remote from the controller150.

One or more infrared (IR) cameras166, one or more camera triggers168, and/or the factory interface162may have a dedicated controller164or a controller integrated into or with the controller150. The controller164is configured to control measuring a temperature of the substrate106located in a semiconductor processing environment (e.g., the integrated platform100). In one embodiment, the controller164is configured to cause the factory interface robot185to remove the substrate106from one of the load lock chambers102,104and place the substrate106on the substrate support190located in the factory interface162. The factory interface robot185may move the substrate106held on the end effector188of the robot185to place the substrate106having a top surface and an edge surface in one or more prescribed locations within the semiconductor processing environment (e.g., placed on the substrate support190or the substrate106is held directly on the end effector188of the robot as the substrate106leaves and is proximal to one of the load lock chambers102,104).

The trigger(s)168is configured to trigger one or more infrared camera(s)166oriented to view one side of the edge surface of the substrate106along a radial axis of the substrate106to obtain an infrared image of the one side of the edge surface of the substrate106. The one or more infrared cameras166may be positioned proximal to an edge of the substrate support190and radially aligned with the substrate support190. The trigger(s)168may be a hardware trigger which may be, for example, a proximity sensor, or a software trigger. The trigger(s)168may be triggered in response to the substrate106being removed from one of the load lock chambers102,104by the factory interface robot185. The controller164is configured to process the infrared image to obtain an absolute or relative temperature profile of the substrate106. When determining the (absolute) temperature profile of the substrate106, the profile is independent of a type of the substrate (e.g., a bare substrate, a doped substrate, a substrate with semiconductor devices manufactured thereon, etc.). Because the infrared camera166captures a side (e.g., profile) image of the substrate106, a detectable infrared image is obtained to be processed, even when the substrate106has a temperature of about 400° C. or below.

FIG.2shows another embodiment of factory interface262with the load lock chambers102,104shown for reference. The factory interface262is configured to use two infrared cameras166for capturing the absolute temperature profile of the edge of the substrate106. The factory interface262may be utilized in integrated platform100ofFIG.1.

The factory interface262includes the controller164(or is coupled thereto), the infrared cameras166a,166b, the trigger(s)168, and the factory interface robot185. The factory interface robot185has an end effector188for retaining the substrate106or for positioning the substrate106on a substrate support190in a field of view of the infrared cameras166a,166b. The factory interface162holds one or more of the substrates106individually on the end effector188, or at a substrate support190(such as a cool down station) of the factory interface162. The substrates106, having a top surface and an edge surface, is positioned by the factory interface robot185in a prescribed location (e.g., the substrate support190). Upon a triggering event, the trigger(s)168is configured to trigger a first infrared camera166aoriented to view one side of the edge surface of the substrate106along a radial axis of the substrate106to obtain a first infrared image of the one side of the edge surface of the substrate106. The trigger(s)168is configured to trigger a second infrared camera166boriented to view a second side of the edge surface of the substrate106along the radial axis of the substrate106not included in the first infrared image (or only partially included in the first infrared image) to obtain a second infrared image of a second side of the edge surface of the substrate106. The controller164is configured to process the data from the first infrared image and the second infrared image to obtain an absolute temperature profile of the substrate106. When determining the (absolute) temperature profile of the substrate106, the profile is independent of a type of the substrate106(e.g., a bare substrate, a doped substrate, a substrate with semiconductor devices manufactured thereon, etc.).

WhileFIG.1illustrates the substrate106positioned on the substrate support190during image capturing, it is contemplated that the substrate support190may be omitted. In such an example, the substrate106may remain on the end effector188during image capturing.

FIG.3shows another embodiment of a factory interface362configured to use four infrared cameras166a,166b,170a,170dfor capturing the absolute temperature profile of the edge and the top of substrates106. The factory interface362may be used in the integrated platform100, and shows the load lock chambers102,104for reference.

The factory interface362is coupled to the controller164, and includes the infrared cameras166a,166b,170a, and170b, one or more triggers168a,168b(two are shown), and the factory interface robot185. The factory interface robot185has an end effector188for positioning substrates106on substrate supports190in a field of view of respective infrared cameras166a,170aor166b,170b. It is noted that the factory interface362includes two substrate supports190, each with a respective trigger168and infrared cameras166a,166b(or166c,166d). However, it is contemplated that the factory interface362may include only a single substrate support190with a respective trigger168and cameras166a,170a. In an example where only a single substrate support190is included, the substrate support190may be centrally located within the factory interface. In another embodiment, instead of the substrate106being placed on the substrate support190, the substrate106may be held directly on the end effector188of the robot.

The trigger168ais configured to trigger a first infrared camera166aoriented to view one side of the edge surface of a first substrate106along a radial axis of the substrate106. The first infrared camera166aobtains a first infrared image of one side of an edge surface of the first substrate106. The trigger168ais also configured to trigger a second infrared camera170a(simultaneously or sequentially with the first infrared camera166a). The camera170ais oriented to view a top surface of the first substrate106aperpendicular to the radial axis of the first substrate106to obtain a second infrared image of the top surface of the first substrate106. For clarity, the infrared camera170ais shown laterally offset from the substrate106. However, it is to be understood that the infrared camera170amay be positioned vertically above the substrate106without any lateral offset, in order to facilitate image capturing.

Similarly, a second substrate106is positioned on a second substrate support190on an opposite side of the factory interface362. A third infrared camera166b(similar to the first infrared camera166a) and a fourth infrared camera170b(similar to the second infrared camera170a) capture respective top and side images of the second substrate106b, in response to a signal from the trigger168b.

WhileFIG.3illustrates the substrates106positioned on the substrate supports190during image capturing, it is contemplated that the substrate supports190may be omitted. In such an example, the substrate106may remain on the end effector188during image capturing.

As illustrated inFIG.3, each load lock chamber102,104is associated with a respective substrate support190, trigger sensor168aor168b, and respective infrared cameras166a,170aor166b,170b, thus improving throughput.

FIG.4shows another embodiment of a factory interface462. The factory interface462may be used in the integrated platform100. The load lock chambers102,104ofFIG.1are shown for reference.

The factory interface462is similar to the factory interface362, however, infrared cameras170a,170bare omitted. In such a configuration, capturing of a plan view image (e.g., a top-down image) is omitted, and temperature determination of a substrate106is based solely on a side (e.g., profile) capture image.

In an embodiment, the integrated platform100ofFIG.1may be employed to use one infrared camera166for determining that a substrate106is tilted. The substrate is considered to be tilted when the top surface of the substrate106is not parallel to a reference plane within the system, such as a substrate support surface. In another example, the top surface of the substrate106may be non-parallel to a bottom surface of the substrate106, due to uneven deposition (or other processing) on the top surface of the substrate106. The tilting may occur as a result of uneven processing at several locations in the integrated platform100, including, but not limited to, one or more of the process chambers112,114,116,118,132,134,138,136, and140.

When determining whether a substrate is tilted, the substrate may be placed on a substrate support190. In another embodiment, instead of the substrate106being placed on the substrate support190, the substrate106may continue to be held directly on the end effector188of the robot as the substrate106leaves and is proximal to one of the load lock chambers102,104. In such an example, the trigger(s)168a,168bare configured to trigger respective infrared cameras166a,166bto obtain a first infrared image of a top surface of a substrate106. The controller164is configured to process the first infrared image to obtain a first temperature profile. The controller164compares the first temperature profile to temperature profile stored in the memory154of a substrate known not to be tilted to identify that the substrate106is tilted based on one or more differences between the profiles. In an embodiment, the substrate106is identified as being tilted when the controller164detects a difference in edge temperature and a shift of a location of high temperature at a center of the top surface relative to a known, non-tilted substrate.

While not shown, it is contemplated that temperature determination of the substrate106may occur in addition to tilt determination. In such an example, one or more additional infrared cameras may be positioned in the factory interface462to capture a profile view of a substrate106.

FIG.5Ashows an example of a stored temperature profile500aand a second temperature profile500bassociated with the substrate106for identifying that the substrate106is tilted. The controller164(through execution of a software program thereon) identifies the location502aof maximum temperature, of the substrate in the stored temperature profile500a, corresponding to a non-tilted profile. In a non-tilted orientation, the center is generally hotter (a location502a) than at other locations on the top surface of the substrate106known not to be tilted. The controller164identifies the temperature at the edge504aof the substrate known not to be tilted.

Once an image of a substrate106is captured in a factory interface to generate a second temperature profile500b, the controller164identifies the position of the hot spot502band the edge504bof the substrate106in the second temperature profile500b. The first temperature profile500ais then compared to the second temperature profile500b. Differences between the first temperature profile500aand the second temperature profile500b(or lack thereof) indicate whether the substrate in factory interface is tilted. The controller164determines that the substrate106is tilted by detecting a difference in edge temperature (between504a,504b) above a threshold and/or a shift from a location (502a) of maximum temperature to an off-center location.

FIG.6A-6Bshow an embodiment of a factory interface662for use in the integrated platform100ofFIG.1. The factory interface662is configured to measure a temperature of a substrate106while using a heating element630. The factory interface662is similar to the factory interface162and may be used in place thereof. The factory interface662may also include one or more hardware components of factory interface162, which may not be shown inFIGS.6A-6Bfor clarity.

In the factory interface662, a substrate106is positioned proximate to and/or astride a heating element630. The substrate106is positioned between an infrared camera170aand the heating element630. A first portion604aof the preheated element630is directly in the field of view of the infrared camera170a(not overlapped by the substrate106) and a second portion604bof the preheated element630is overlapped by the substrate106. The trigger168is configured to trigger the infrared camera170ato obtain an image of the top surface of the substrate106including the first portion604adirectly viewable by the infrared camera170aand the second portion604bviewable by the infrared camera170athrough the substrate106. The controller164is configured to process the infrared image to determine differences between a first temperature of the first portion604aand a second temperature of the second portion604b. The controller164is further configured to identify a type of the substrate106based on the differences. (e.g., a bare substrate, a doped substrate, a substrate with semiconductor devices manufactured thereon, etc.).

FIG.7Aillustrates a black body element for a robot end effector, according to one embodiment of the disclosure.FIGS.7B and7Cillustrate the black body element coupled to a robot end effector.

FIG.7Ashows one embodiment of the parts of the reflective blackbody element742. The blackbody element742comprises a blackbody membrane disc746and an annular membrane holder744coupled together in axial alignment. The annular membrane holder744includes a central opening formed axially therethrough and is made of polyether ether ketone (PEEK). However, other materials are also contemplated.

FIGS.7B and7Cillustrate the blackbody element742coupled to a robot end effector788. InFIG.7B, the blackbody element742is centrally positioned on an upper surface of a robot end effector788(for example, of the factory interface robot185) between opposing sloping surfaces770. InFIG.7C, the blackbody element742is offset on an upper surface of a robot end effector788between opposing sloping surfaces770. The opposing sloping surfaces770are elevated at later edges of the robot end effector788such that when a substrate106is positioned thereon, the substrate106is spaced apart from the blackbody element742. In such an example, the substrate106is positioned vertically above the blackbody element742, such that the substrate106is between the blackbody element742and the infrared camera170a.

During operation, the controller164(shown inFIG.1) triggers the infrared camera170ato obtain an image of the top side of the substrate106including the blackbody element742viewable by the infrared camera170athrough the substrate106. The controller164is further configured to analyze the image to determine a temperature of the substrate106based on an amount of infrared light emitted from the blackbody element702and viewable through the substrate106. Such a correlation between temperature and emitted radiation may be experimentally determined. The controller164may reference a look up table stored in memory154of the controller164to determine a temperature of the substrate106.

FIG.8illustrates a flow chart of a method800for measuring a temperature of a substrate106located a factory interface162of a semiconductor processing environment and corresponding toFIG.1, according to one or more embodiments. At operation802, a substrate106having a top surface and an edge surface is positioned in a prescribed location within the semiconductor processing environment. At operation804, an infrared camera166having an orientation configured to view one side of the edge surface of the substrate, is triggered to obtain an infrared image of the one side of the edge surface of the substrate106. In one example, the infrared camera166is coplanar with the substrate106. At operation806, data from the infrared image is processed to obtain a temperature profile of the substrate106. In an embodiment, the temperature profile is an absolute temperature profile. The absolute temperature profile of the substrate106is independent of a type of the substrate106(e.g., a bare substrate, a doped substrate, a substrate with semiconductor devices manufactured thereon, etc.).

In an embodiment, the infrared camera166is oriented to view the edge surface of the substrate106along a radial axis of the substrate106. A correlation between captured infrared intensity in an image and the temperature of a substrate may be stored in the memory154of a controller164and accessed to obtain the absolute temperature profile. The correlation may be determined experimentally, and the correlation may be stored in a memory for use.

FIG.9illustrates a flow chart of a method900for measuring a temperature of a substrate106located in a factory interface262of a semiconductor processing environment and corresponding toFIG.2, according to one or more embodiments. At operation902, a substrate106having a top surface and an edge surface is positioned in a prescribed location within the semiconductor processing environment. At operation904, a first infrared camera166ahaving an orientation configured to view one side of the edge surface of the substrate106, is triggered to obtain a first infrared image of the one side of the edge surface of the substrate106. At operation906, a second infrared camera166boriented to view a second side of the edge surface of the substrate106not included (or only partially included) in the first infrared image is triggered to obtain a second infrared image of the second side of the edge surface of the substrate106. At operation908, data from the first infrared image and data from the second infrared image are processed to obtain a temperature profile of the substrate106. In an embodiment, the temperature profile is an absolute temperature profile. The absolute temperature profile of the substrate106is independent of a type of the substrate106(e.g., a bare substrate, a doped substrate, a substrate with semiconductor devices manufactured thereon, etc.).

FIG.10illustrates a flow chart of a method1000for measuring temperatures of substrates106located in a factory interface362of a semiconductor processing environment and corresponding toFIG.3, according to one or more embodiments. At operation1002, a first substrate106ahaving a top surface and an edge surface is positioned in a first prescribed location within the semiconductor processing environment. At operation1004, a first infrared camera166having an orientation configured to view one side of the edge surface of the first substrate106, is triggered to obtain a first infrared image of the one side of the edge surface of the first substrate106. At operation1006, a second infrared camera170a, positioned proximal to the first prescribed location of the first substrate106and having an orientation configured to view a top surface of the first substrate106perpendicular to the radial axis of the first substrate106, is triggered to obtain a second infrared image of the top surface of the first substrate106. At operation1008, a second substrate106is positioned in a second prescribed location within the semiconductor processing environment. At operation1010, a third infrared camera166bproximal to the second prescribed location of the second substrate106band having an orientation configured to view a second side of an edge surface of the second substrate106, is triggered to obtain a third infrared image of the second side of the edge surface of the second substrate106. At operation1012, a fourth infrared camera170bpositioned proximal to the second prescribed location of the second substrate106and having an orientation configured to view a top surface of the second substrate106bperpendicular to the radial axis of the second substrate106, is triggered to obtain a fourth infrared image of the top surface of the second substrate106. At operation1014, data from the first, second, third, and fourth infrared images are processed to obtain a temperature profile of the first substrate106and a temperature profile of the second substrate106. In an embodiment, the temperature profiles are absolute temperature profiles. The absolute temperature profiles of the substrates106are independent of a type of the substrates106(e.g., a bare substrate, a doped substrate, a substrate with semiconductor devices manufactured thereon, etc.). The obtained absolute temperature profiles may be processed further to identify one or more locations on the top of the substrates106that are above an oxidation temperature of the substrates106.

FIG.11illustrates a flow chart of a method1100for measuring a temperature of a substrate106located in a factory interface462of a semiconductor processing environment and corresponding toFIG.4, according to one or more embodiments. At operation1102, a first substrate106having a top surface and an edge surface is positioned in a first prescribed location within the semiconductor processing environment. At operation1104, a first infrared camera166ahaving an orientation configured to view one side of the edge surface of the first substrate106, is triggered to obtain a first infrared image of the one side of the edge surface of the first substrate106. At operation1106, a second substrate106is positioned in a second prescribed location within the semiconductor processing environment. At operation1108, a second infrared camera166bproximal to the second prescribed location of the second substrate106and having an orientation to view a second side of the edge surface of the second substrate106, is triggered to obtain a second infrared image of the second side of the edge surface of the second substrate106b. At operation1110, data from the first and second infrared images are processed to obtain a relative temperature profile of the first substrate106and a relative temperature profile of the second substrate106. The relative temperature profiles are independent of a type of the substrate106(e.g., a bare substrate, a doped substrate, a substrate with semiconductor devices manufactured thereon, etc.).

FIG.12illustrates a flow chart of a method1200for determining whether a substrate is tilted in a factory interface of a semiconductor processing environment and corresponding toFIG.5, according to one or more embodiments. At operation1202, a substrate106bhaving a top surface and an edge surface is positioned in a prescribed location within a semiconductor processing environment. At operation1204, an infrared camera166having an orientation configured to view one side of the top and edge surfaces of the substrate106bis triggered to obtain a first infrared image of the one side of the top surface and edge surface of the substrate106b. At operation,1206the first infrared image is to obtain a first temperature profile of the substrate106b. At operation1208, the first temperature profile and a second temperature profile of a substrate106aknown to be not tilted and stored in the memory154are compared to identify that the first substrate106ais tilted based on one or more differences between the profiles. In one embodiment, to identify that the first substrate106ais tilted, the controller164detects a change in edge temperature and a shift of a location of high temperature at a center of the top surface of the substrate106ato a second location on the top surface of the substrate106bbetween the temperature profiles.

FIG.13illustrates a flow chart of a method1300for determining a type of a substrate in a semiconductor processing environment and corresponding toFIGS.6A and6B, according to one or more embodiments. At operation1302, a substrate106is positioned to place a top surface of the substrate106in a field of view of an infrared camera170a. At operation1304, a heating element630at a known temperature is positioned astride an edge of the substrate106. The substrate106is positioned between the infrared camera170aand the heating element630. A first portion604aof the heating element630is directly in the field of view of the infrared camera170aand a second portion604bof the heating element630is covered by the substrate106. At operation1306, the infrared camera170ais triggered to obtain an image of the top side of the substrate106including the first portion604adirectly viewable by the infrared camera170aand the second portion604bviewable by the infrared camera170athrough the substrate106. At operation1308, the infrared image is processed to determine differences between a first temperature of the first portion604aand a second temperature of the second portion604b. At operation1310, a type of the substrate106is determined based on the differences. (e.g., a bare substrate, a doped substrate, a substrate with semiconductor devices manufactured thereon, etc.).

FIG.14illustrates a flow chart of a method1400for measuring a temperature of a substrate106located in integrated platform100of a semiconductor processing environment and corresponding toFIGS.7A-7C, according to one or more embodiments. At operation1402, a substrate106is positioned to place a top surface of the substrate106in a field of view of an infrared camera166. At operation1404, a reflective blackbody element702is positioned below a bottom surface of the substrate106, wherein the blackbody element702is covered by the substrate106. At operation1406, the infrared camera166is triggered to obtain an image of the top surface of the substrate106including the blackbody element702viewable by the infrared camera166through the substrate106. At block1408, the infrared image is processed to determine a temperature of the substrate106based on an amount of infrared light emitted from the blackbody element702and viewable through the substrate106.

Embodiments of the present disclosure further relate to any one or more of the following paragraphs:

1. A method for identifying a type of a substrate located in a semiconductor processing environment, comprising: positioning a substrate to place a top surface of the substrate in a field of view of an infrared camera; positioning an element preheated to a known temperature next to an edge of the substrate, wherein the substrate is located between the infrared camera and the preheated element, wherein a first portion of the preheated element is directly in the field of view of the infrared camera and a second portion of the preheated element is covered by the substrate; triggering the infrared camera to obtain an infrared image of the top surface of the substrate including the first portion directly viewable by the infrared camera and the second portion viewable by the infrared camera through the substrate; processing data from the infrared image to determine a difference between a first temperature of the first portion and a second temperature of the second portion; and identifying a type of the substrate based on the difference.

2. A method for determining whether a substrate is tilted, comprising:positioning a top surface of a first substrate in a field of view of an infrared camera; triggering the infrared camera to obtain a first infrared image of the top surface of the first substrate; processing data from the first infrared image to obtain a first temperature profile; and comparing the first temperature profile to a stored temperature profile of a second substrate known not to be tilted to identify that the first substrate is tilted based on one or more differences between the profiles.

3. A method for determining whether a substrate is tilted, comprising: positioning a top surface of a first substrate in a field of view of an infrared camera; triggering the infrared camera to obtain a first infrared image of the top surface of the first substrate; processing data from the first infrared image to obtain a first temperature profile; and comparing the first temperature profile to a stored temperature profile of a second substrate known not to be tilted to identify that the first substrate is tilted based on one or more differences between the profiles, wherein identifying the first substrate is tilted comprises: detecting a change in edge temperature between the first substrate and the second substrate above a first threshold; and detecting and a shift of a location of high temperature at a center of the top surface of the second substrate to a second location on the top surface of the second substrate above a second threshold.

While embodiments have been described herein, those skilled in the art, having benefit of this disclosure will appreciate that other embodiments are envisioned that do not depart from the inventive scope of the present application. Accordingly, the scope of the present claims or any subsequent related claims shall not be unduly limited by the description of the embodiments described herein.