Teaching method

A teaching method, comprising:

• allowing a vehicle, which travels along a traveling rail, to arrive at a reference loading/unloading position that is adjacent to a reference seating surface having a reference QR code displayed thereon;
• acquiring a first image corresponding to the reference seating surface at the reference loading/unloading position;
• allowing the vehicle, which further travels along the traveling rail, to arrive at a target loading/unloading position that is adjacent to a target seating surface having a target QR code displayed thereon;
• acquiring a second image corresponding to the target seating surface at the target loading/unloading position;
• comparing the first image with the second image to acquire an X-axis directional teaching relative value and a Y-axis directional teaching relative value;
• acquiring a Y-axis directional target teaching value by adding the Y-axis directional teaching relative value to a Y-axis directional default value;
• sensing a Y-axis directional target tilting angle;
• and
• correcting the Y-axis directional target teaching value based on the Y-axis directional target tilting angle to acquire a Y-axis directional target correction teaching value,
• wherein the Y-axis directional target correction teaching value satisfies a following equation,
• Y
• teaching
• ′
• =
• Y
• teaching
• cos
• ⁢
• θ
• ,
• Equation
• wherein, in the Equation,
• Y
• teaching
• ′
• denotes the Y-axis directional target correction teaching value, Yteaching denotes the Y-axis directional target teaching value, and θ denotes the Y-axis directional target tilting angle.

A teaching method comprising:

• allowing a vehicle, which travels along a traveling rail, to arrive at a reference loading/unloading position that is adjacent to a reference seating surface having a reference QR code displayed thereon;
• acquiring a first image corresponding to the reference seating surface at the reference loading/unloading position;
• allowing the vehicle, which further travels along the traveling rail, to arrive at a target loading/unloading position that is adjacent to a target seating surface having a target QR code displayed thereon;
• acquiring a second image corresponding to the target seating surface at the target loading/unloading position;
• comparing the first image with the second image to acquire an X-axis directional teaching relative value and a Y-axis directional teaching relative value;
• and
• correcting a Y-axis directional target teaching value based on a preset Z-axis directional target average value and a preset Z-axis directional target real value to acquire a Y-axis directional target correction teaching value.