Teaching method, program stored in the medium for executing the teaching method and transfer system

A teaching method for teaching a transfer position of a transfer robot, the teaching method comprising:

• searching for an object on which a target object to be transferred by the transfer robot is placed, based on a three-dimensional (3D) position information acquired by a first sensor;
• and
• acquiring coordinates of a first direction and coordinates of a second direction of the object based on a data acquired from a second sensor which is a different type from the first sensor,
• wherein the first sensor is a lidar sensor, the second sensor is a vision sensor, and a third sensor is a distance sensor, and
• wherein the method further comprises:
• deriving coordinates of the object based on the 3D position information acquired by the first sensor;
• and
• checking whether a difference between coordinates of the object derived by the first sensor and coordinates of the first, second and third directions of the object derived by the second sensor and the third sensor exceeds a threshold.

A teaching method for teaching a transfer position of a transfer robot, the teaching method comprising:

• searching for an object on which a target object to be transferred by the transfer robot is placed, based on a three-dimensional (3D) position information acquired by a first sensor;
• and
• acquiring coordinates of a first direction and coordinates of a second direction of the object based on a data acquired from a second sensor, which is a different type from the first sensor,
• deriving coordinates of a third direction of the object, based on a data acquired from a third sensor, which is a different type of sensor from the first sensor and the second sensor,
• calculating teaching coordinates, which are coordinates of the transfer position, based on coordinates of the object including the first direction, coordinates of the second direction and coordinates of the third direction and a pre-stored information of the object
• wherein in response to the object including a chuck on which the target object to be transferred is placed, and a teaching jig placed on the chuck, the object coordinates are coordinates of at least one teaching pin among teaching pins of the teaching jig.