Method for inspecting insertion states of plurality of pins included in connector inserted into substrate, and substrate inspection apparatus

1. A substrate inspection apparatus for inspecting insertion states of a plurality of pins included in each of a plurality of first connectors inserted into respective holes of a first substrate, comprising:

a communication circuit configured to communicate with a connector insertion apparatus, the connector insertion apparatus configured to insert the plurality of first connectors including the plurality of pins into the holes of the first substrate;

a plurality of light sources configured to emit pattern light on a first surface of the first substrate into which the pins of the plurality of first connectors are inserted by the connector insertion apparatus, the plurality of first connectors being inserted into the holes from a second surface of the first substrate opposite the first surface;

an image sensor configured to receive the pattern light reflected from a pin tail of each of the plurality of pins included in each of the plurality of first connectors;

at least one memory configured to store insertion reference information indicating a pin tail reference height and a pin tail reference position set for each of the plurality of pins included in each of the plurality of first connectors; and

at least one processor,

wherein the at least one processor is configured to:

generate insertion state information indicating an insertion state of each of the plurality of pins included in each of the plurality of first connectors by using the pattern light reflected from the pin tail of each of the plurality of pins included in each of the plurality of first connectors and received by the image sensor;

detect at least one second connector having an insertion defect from among the plurality of first connectors by using the insertion reference information and the insertion state information of each of the plurality of pins included in each of the plurality of first connectors;

generate a control signal for adjusting at least one first process parameter among a plurality of process parameters of the connector insertion apparatus, based on the insertion state information of each of the plurality of pins included in the at least one second connector; and

control the communication circuit to transmit the control signal to the connector insertion apparatus.

2. The apparatus of claim 1 , wherein the insertion state information includes information indicating a pin tail height, and information indicating a pin tail position.

3. The apparatus of claim 1 , wherein the plurality of process parameters includes a process parameter for adjusting a connector insertion force, a process parameter for adjusting a connector insertion position, a process parameter for adjusting a connector insertion speed, and a process parameter for adjusting a movement speed of a connector insertion head used for connector insertion.

4. The apparatus of claim 1 , wherein the at least one processor is configured to:

identify a pin tail reference position of each of the plurality of pins included in each of the plurality of first connectors based on the insertion reference information;

identify a pin tail position of each of the plurality of pins included in each of the plurality of first connectors based on the insertion state information;

calculate a difference between the pin tail reference position of each of the plurality of pins included in each of the plurality of first connectors and the pin tail position of each of the plurality of pins included in each of the plurality of first connectors; and

if at least one connector including at least one pin in which the calculated difference is equal to or greater than a preset first threshold value is detected from among the plurality of first connectors, determine the detected at least one connector as the at least one second connector having the insertion defect.

5. The apparatus of claim 4 , wherein the at least one processor is configured to:

determine at least one process parameter available for adjusting the difference between the pin tail reference position of each of the plurality of pins included in the at least one second connector and the pin tail position of each of the plurality of pins included in the at least one second connector among the plurality of process parameters, as the at least one first process parameter; and

generate the control signal for adjusting the at least one first process parameter such that the difference between the pin tail reference position of each of the plurality of pins included in the at least one second connector and the pin tail position of each of the plurality of pins included in the at least one second connector becomes less than the first threshold value.

6. The apparatus of claim 1 , wherein the at least one processor is configured to:

identify a pin tail reference height of each of the plurality of pins included in each of the plurality of first connectors based on the insertion reference information;

identify a pin tail height of each of the plurality of pins included in each of the plurality of first connectors based on the insertion state information;

calculate a difference between the pin tail reference height of each of the plurality of pins included in each of the plurality of first connectors and the pin tail height of each of the plurality of pins included in each of the plurality of first connectors; and

if at least one connector including at least one pin in which the calculated difference is equal to or greater than a preset second threshold value is detected from among the plurality of first connectors, determine the detected at least one connector as the at least one second connector having the insertion defect.

7. The apparatus of claim 6 , wherein the at least one processor is configured to:

determine at least one process parameter available for adjusting the difference between the pin tail reference height of each of the plurality of pins included in the at least one second connector and the pin tail height of each of the plurality of pins included in the at least one second connector among the plurality of process parameters, as the at least one first process parameter; and

generate the control signal for adjusting the at least one first process parameter such that the difference between the pin tail reference height of each of the plurality of pins included in the at least one second connector and the pin tail height of each of the plurality of pins included in the at least one second connector becomes less than the second threshold value.

8. A method for inspecting insertion states of a plurality of pins included in each of a plurality of first connectors inserted into respective holes of a first substrate by a substrate inspection apparatus, comprising:

emitting pattern light on a first surface of the first substrate into which the pins of the plurality of first connectors are inserted into the holes of the first substrate by a connector insertion apparatus, the plurality of first connectors being inserted into the holes from a second surface of the first substrate opposite the first surface;

receiving the pattern light reflected from a pin tail of each of the plurality of pins included in each of the plurality of first connectors;

generating insertion state information indicating an insertion state of each of the plurality of pins included in each of the plurality of first connectors by using the received pattern light reflected from the pin tail of each of the plurality of pins included in each of the plurality of first connectors;

detecting at least one second connector having an insertion defect from among the plurality of first connectors by using insertion reference information indicating a pin tail reference height and a pin tail reference position set for each of the plurality of pins included in each of the plurality of first connectors and the insertion state information;

generating a control signal for adjusting at least one first process parameter among a plurality of process parameters of the connector insertion apparatus, based on the insertion state information of each of the plurality of pins included in the at least one second connector; and

transmitting the control signal to the connector insertion apparatus.

9. The method of claim 8 , wherein the insertion state information includes information indicating a pin tail height of each of the plurality of pins included in each of the plurality of connectors and information indicating a pin tail position of each of the plurality of pins included in each of the plurality of connectors.

10. The method of claim 8 , wherein the plurality of process parameters includes a process parameter for adjusting a connector insertion force, a process parameter for adjusting a connector insertion position, a process parameter for adjusting a connector insertion speed, and a process parameter for adjusting a movement speed of a connector insertion head used for connector insertion.

11. The method of claim 8 , wherein the step of detecting at least one second connector having the insertion defect includes:

identifying a pin tail reference position of each of the plurality of pins included in each of the plurality of first connectors based on the insertion reference information;

identifying a pin tail position of each of the plurality of pins included in each of the plurality of first connectors based on the insertion state information;

calculating a difference between the pin tail reference position of each of the plurality of pins included in each of the plurality of first connectors and the pin tail position of each of the plurality of pins included in each of the plurality of first connectors; and

if at least one connector including at least one pin in which the calculated difference is equal to or greater than a preset first threshold value is detected from among the plurality of first connectors, determining the detected at least one connector as the at least one second connector having the insertion defect.

12. The method of claim 11 , wherein the step of generating a control signal for adjusting at least one first process parameter includes:

determining at least one process parameter available for adjusting the difference between the pin tail reference position of each of the plurality of pins included in the at least one second connector and the pin tail position of each of the plurality of pins included in the at least one second connector among the plurality of process parameters, as the at least one first process parameter; and

generating the control signal for adjusting the at least one first process parameter such that the difference between the pin tail reference position of each of the plurality of pins included in the at least one second connector and the pin tail position of each of the plurality of pins included in the at least one second connector becomes less than the first threshold value.

13. The method of claim 8 , wherein the step of detecting at least one second connector having the insertion defect includes:

identifying a pin tail reference height of each of the plurality of pins included in each of the plurality of first connectors based on the insertion reference information;

identifying a pin tail height of each of the plurality of pins included in each of the plurality of first connectors based on the insertion state information;

calculating a difference between the pin tail reference height of each of the plurality of pins included in each of the plurality of first connectors and the pin tail height of each of the plurality of pins included in each of the plurality of first connectors; and

if at least one connector including at least one pin in which the calculated difference is equal to or greater than a preset second threshold value is detected from among the plurality of first connectors, determining the detected at least one connector as the at least one second connector having the insertion defect.

14. The method of claim 13 , wherein the step of generating a control signal for adjusting at least one first process parameter includes:

determining at least one process parameter available for adjusting the difference between the pin tail reference height of each of the plurality of pins included in the at least one second connector and the pin tail height of each of the plurality of pins included in the at least one second connector among the plurality of process parameters, as the at least one first process parameter; and

generating the control signal for adjusting the at least one first process parameter such that the difference between the pin tail reference height of each of the plurality of pins included in the at least one second connector and the pin tail height of each of the plurality of pins included in the at least one second connector becomes less than the second threshold value.