Teaching method of hoist module and apparatus for performing the same

摘要

Disclosed are a teaching method and a teaching apparatus of a hoist module configured to be movable along a travel path and including a gripper unit for gripping a transfer object. The teaching apparatus includes an image acquisition unit and a housing to which the image acquisition unit is mounted, and is mounted on the gripper unit. The teaching device is located above the area where the transfer object is placed by the hoist module, and the image acquisition unit repeatedly acquires upper images of the area where the transfer object is placed. The control unit detects each of the teaching points for teaching the position of the hoist module from the images, and detects the teaching coordinates of the hoist module according to the density of the teaching points.