Patent ID: 8632295

Claim:
A teaching method in a transporting system comprising: a track portion; a plurality of loading platforms, which are disposed along the track portion, whose positions with respect to the track portion are different from each other in at least one direction of X direction which is a horizontal direction parallel to the track portion, Y direction which is a horizontal direction perpendicular to the X direction, Z direction which is a vertical direction perpendicular to the X direction and the Y direction respectively, and θ direction which is a rotation direction round on the Z axis, and on each of which a transported object can be placed; and a plurality of transporting vehicles, each having (i) a travelling device travelling along the track portion and (ii) a loading device, which is mounted on the travelling device, which can move in the Y direction and the Z direction and which can load the transported object placed on each of the plurality of loading platforms, said teaching method comprising: a first detecting process of detecting a first reference position, at least the Y direction and the Z direction as a parameter, which is a position of the loading device with respect to each of the plurality of loading platforms, when a reference transporting vehicle loads the transported object, with at least one of the plurality of transporting vehicles being regarded as the reference transporting vehicle; a second detecting process of detecting a second reference position, at least the Y direction and the Z direction as a parameter, which is a position of the loading device with respect to each of reference loading platforms, when each of the other transporting vehicles other than the reference transporting vehicle among the plurality of transporting vehicles loads the transported object, with at least two of the plurality of loading platforms being regarded as the reference loading platforms whose positions are different from each other in at least one direction of the Y direction and the Z direction; a storing process of storing the first reference and the second reference position; and a teaching process of providing teaching related to the position of the loading device with respect to each of the other loading platforms other than the reference loading platforms among the plurality of loading platforms when each of the other transporting vehicles loads the transported object, by obtaining a difference between the first reference position and the second reference position and correcting the difference, wherein the plurality of transporting vehicles include at least one transporting vehicle which is the reference transporting vehicle, and other transporting vehicle which are not the reference transporting vehicle, and the plurality of loading platforms include at least two loading platforms which are the reference loading platforms, and other loading platforms which are not the reference loading platforms.