Transport vehicle position identification method of ceiling type automatic transport system

Abstract

The present invention relates to a method for identifying the position of a transport vehicle in a ceiling-type automatic transport system, which does not need to reduce the work time and the required cost due to the high-altitude work provided with a position identifier, and can accurately and quickly identify the current position of the transport vehicle and detect an abnormal symptom at the same time. The information of the position where the abnormal symptom occurs is accurately and quickly transmitted, and serious faults are prevented in advance, so that the efficiency of logistics transportation is greatly improved.

Description

Technical Field

[0001] The present invention relates to a method for recognizing the position of an overhead hoist transport for an overhead hoist transport system, and more specifically, to a method for recognizing the position of an overhead hoist transport for an overhead hoist transport system. The method not only reduces the operating time and the required costs because no high-altitude operations are required, but also can accurately and quickly identify the current position of the transport vehicle when the production line is started and can precisely grasp the fault diagnosis location. Background Art

[0002] Generally speaking, in semiconductor or OLED production lines, an OHT (Overhead Hoist Transport) is commonly used as a transport vehicle to transport various transport objects such as wafers.

[0003] This OHT moves to the destination along the track installed on the ceiling of the production line according to the transportation order, and delivers the object through handover (hand off, the operation of transporting logistics from one place between the OHT and the production equipment to another place) with each production equipment.

[0004] In a general production line, there are multiple production equipment. In order to correspond to these equipment, multiple OHTs (hereinafter referred to as "transport vehicles") move along the track to repeatedly perform the handover process. Generally speaking, in order to achieve a stable handover operation, the transport vehicle stops at the working position on the track and performs the handover operation.

[0005] At this time, in order to achieve a smooth and accurate handoff between the transport vehicle and the target equipment, it is particularly important that the transport vehicle stops accurately at the working position. To this end, in the past, location identifiers such as QR codes, bar codes, and labels were attached to the working positions of the tracks, and an identifier reader was installed on the transport vehicle to identify the location identifier and allow the transport vehicle to stop.

[0006] Among them, although it may vary depending on the scale of the factory or the number of equipment, it is generally necessary to attach thousands to tens of thousands of position identifiers at designated locations on the production line. Therefore, when designing the project, not only is a lot of time required to design the attachment locations, but also when the location of the position identifier needs to be changed due to changes in the project layout or the location of the equipment, etc., it takes a considerable amount of time to remove the original position identifier and re-attach the identifier, which has a negative impact on the production efficiency of the production line.

[0007] Furthermore, the ceiling height of the track is generally more than 3 m, and the resetting operation of the position identifier is also performed at a high place, so there is a problem that a lot of additional costs are required to ensure the safety of the operator.

[0008] At the same time, there are increasing attempts to pre-diagnose faults and prevent accidents on-site in semiconductor production lines that value operational efficiency. As part of this, various devices (vibration sensors, silencer sensors, cameras, etc.) are attached to transport vehicles to collect data for fault analysis during movement. However, during the startup of the production line, the position information between location identifiers, that is, the current position information of the transport vehicle in the area between adjacent nodes, cannot be accurately identified. Therefore, even if the collected data is used for fault diagnosis, it is still very difficult to accurately confirm the fault location.

[0009] On the one hand, although a method of using an accelerometer to determine the current position of a transport vehicle has been proposed, the accelerometer has a lot of noise and thus has a large position error, and is therefore difficult to apply to OHT systems such as semiconductor production lines that require an accuracy of less than a few mm.

[0010] Prior Art Literature

[0011] Patent Literature

[0012] Korean Patent Publication No. 2021-0091548 “Mobile body control system for controlling a mobile body using a three-dimensional camera system”

[0013] Korean Patent Publication No. 2022-0094915 "Work Guidance Device for Indoor Logistics Transport Vehicles" Summary of the invention

[0014] Technical issues

[0015] The present invention is proposed to solve the above-mentioned problems. The purpose of the present invention is to provide a method for identifying the position of a transport vehicle in a ceiling-type automatic transport system, which can obtain the correct position information of the transport vehicle in real time and determine the working position accordingly. Therefore, when designing the project, each semiconductor factory can set the position identifier in the same way, which can not only greatly reduce the project design time and the required costs incurred thereby, but also there is no need to re-attach the position identifier even if the working environment changes such as the layout of the project or the location of the equipment. Therefore, there is no need for high-altitude operations caused by the re-attachment of the position identifier, thereby greatly reducing the operating time and required costs incurred thereby, and significantly improving the post-management while greatly improving the logistics and transportation efficiency.

[0016] Another object of the present invention is to provide a method for identifying the position of a transport vehicle of a ceiling-type automatic transport system. When abnormal conditions or abnormal signs such as track damage, breakage or deformation occur during the travel of the transport vehicle, the location where the abnormal sign occurs and the abnormal sign signal are transmitted to a preset terminal, thereby detecting the abnormal state of the track in real time.

[0017] Technical Solution

[0018] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a method for identifying the position of a transport vehicle of a ceiling-type automatic transport system is provided, the ceiling-type automatic transport system comprising: a track arranged along a path preset on the ceiling of a work site; a plurality of position identifiers attached to one side of the track at preset intervals; a transport vehicle arranged to be able to travel along the track; and a camera unit arranged on one side of the transport vehicle and acquiring an image by photographing one side of the track corresponding to the transport vehicle and the position identifier, the method for identifying the position of a transport vehicle of the ceiling-type automatic transport system comprising: an image acquisition step of acquiring an image of the transport vehicle before the transport vehicle travels A first image taken on one side of the track and a second image taken on one side of the track at the current position of the traveling transport vehicle; a reference position information acquisition step, when the position identifier is detected in the first image, acquiring the position information corresponding to the detected position identifier in the pre-stored position data; a feature point setting step, setting any pattern in the first image as a feature point; a position information calculation step, calculating the current position information of the transport vehicle based on the position information acquired in the reference position information acquisition step and the movement displacement of the feature point detected by comparing the first image with the second image.

[0019] Then, preferably, the step of calculating the position information includes: a step of detecting a movement displacement, comparing the first image and the second image to detect the movement displacement of the feature point; a step of measuring the number of pixels, measuring the number of X-axis and Y-axis pixels from the position of the feature point in the first image to the position of the feature point in the second image according to the detected movement displacement of the feature point; a step of calculating the movement amount, calculating the movement amount of the transport vehicle according to the measured number of X-axis and Y-axis pixels; a step of acquiring the position information, adding the position information acquired in the step of acquiring the reference position information to the calculated movement amount of the transport vehicle to acquire the current position information of the transport vehicle.

[0020] In addition, the step of calculating the position information further includes: a step of calculating the distance between the position identifier and the position identifier using the current position information of the transport vehicle; and a step of calculating the correction value, comparing the distance between the position identifier and the position identifier calculated in the step of calculating the distance with the actual distance between the position identifier and the position identifier stored in advance, and calculating the correction value for the movement amount of the transport vehicle based on the difference. After the correction value is calculated, the correction value is reflected in the calculated movement amount of the transport vehicle when the step of calculating the movement amount is completed.

[0021] At the same time, a method for identifying the position of a transport vehicle of a ceiling-type automatic transport system is provided, and the ceiling-type automatic transport system includes: a track, which is arranged along a preset path on the ceiling of the work site, and is marked with a first horizontal line and a second horizontal line parallel to each other along the length direction at the upper and lower parts, and is also marked with a position identification line connecting the first horizontal line and the second horizontal line with a diagonal line; a position identifier, a plurality of which are attached at preset intervals on one side of the track; a transport vehicle, which is arranged to be able to travel along the track; and a camera unit, which is arranged on one side of the transport vehicle and detects the position identifier, and at the same time, by focusing on the position identifier corresponding to the transport vehicle in the track A line scan is performed on one side of the track to acquire an image, and the method for identifying the position of a transport vehicle in the ceiling-type automatic transport system comprises: an image acquisition step, in which an image of a line scan of one side of the track is acquired at the current position of the transport vehicle; a reference position information acquisition step, in which when the position identifier is detected by the camera unit, position information corresponding to the detected position identifier is acquired from pre-stored position data; and a position information calculation step, in which the current position information of the transport vehicle is acquired based on the movement amount of the transport vehicle calculated by analyzing the position information of the position identifier acquired in the reference position information acquisition step and the image. The step of calculating the position information includes: an intersection detection step, detecting the intersection points P1, P2, and P3 where the vertical camera scanning line intersects with the first horizontal line, the second horizontal line, and the position identification line in the image; a movement amount calculation step, setting any one of the heights between P2 and P3 or the heights between P3 and P1 as h, and substituting h into the following [formula] to calculate the actual movement amount M" of the transport vehicle; and a position information acquisition step, adding the position information of the position identifier acquired in the reference position information acquisition step to the calculated actual movement amount of the transport vehicle to acquire the current position information of the transport vehicle.

[0022] [Mode]

[0023] M″=D×h / H

[0024] (Wherein, D is the x-axis distance between the first point where the position identification line intersects the first horizontal line and the second point where the position identification line intersects the second horizontal line, and H is the spacing between the first horizontal line and the second horizontal line.)

[0025] Then, it also includes: an abnormal sign sensing step. When the movement displacement of the feature point detected in the movement displacement detection step exceeds a preset reference range, it is judged as an abnormal sign, and the current position information of the transport vehicle is transmitted to a preset object terminal together with the abnormal sign signal.

[0026] At the same time, it is preferred that the method further includes: an initialization step of initializing the movement amount of the transport vehicle when the position identifier is detected in the reference position information acquisition step.

[0027] Effects of the Invention

[0028] According to the present invention as described above, the correct position information of the transport vehicle can be obtained in real time, and the working position can be determined accordingly, so that when designing the project, each semiconductor factory can set the location identifier in the same way, which can not only greatly reduce the project design time and the resulting costs, but also there is no need to re-attach the location identifier even if the working environment changes such as the layout of the project or the location of the equipment. Therefore, there is no need to perform high-altitude operations caused by the re-attachment of the location identifier, thereby greatly reducing the resulting working time and costs, and significantly improving the post-management while greatly improving the efficiency of logistics and transportation.

[0029] In addition, when the track is damaged, broken or deformed or there are abnormal signs during the travel of the transport vehicle, the present invention transmits the location of the abnormal sign together with the abnormal sign signal to a preset terminal, thereby detecting the abnormal state of the track in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 FIG. 1 is a schematic diagram schematically showing a ceiling-type automatic transport system according to an embodiment of the present invention.

[0031] Figure 2 It is a sequence diagram showing in sequence a method for identifying a transport vehicle position of a ceiling-type automatic transport system according to an embodiment of the present invention.

[0032] Figure 3 is a photograph showing a step of detecting a moving direction according to an embodiment of the present invention.

[0033] Figure 4 is a photograph showing a step of measuring the number of pixels according to an embodiment of the present invention.

[0034] Figure 5It is a sequence diagram sequentially showing a method for identifying a transport vehicle position of a ceiling-type automatic transport system according to another embodiment of the present invention.

[0035] Figure 6 is a diagram showing one side of a track marked with a first horizontal line, a second horizontal line, and a position identification line according to another embodiment of the present invention.

[0036] Figure 7 is a diagram showing intersection points P1 , P2 , and P3 according to an embodiment of the present invention.

[0037] Description of Reference Numerals

[0038] 10: Track 20: Transporter

[0039] 30: Camera Department 40: Analysis Department

[0040] L1: First horizontal line L2: Second horizontal line

[0041] L3: Position identification line DETAILED DESCRIPTION

[0042] Hereinafter, a preferred embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

[0043] Figure 1 FIG. 1 is a schematic diagram schematically showing a ceiling-type automatic transport system according to an embodiment of the present invention.

[0044] Before explaining a method for identifying a transport vehicle position of a ceiling-type automatic transport system according to an embodiment of the present invention, it can be seen from the basic structure of the ceiling-type automatic transport system 1 according to this embodiment that it involves a logistics transport device that transports logistics by handing over (Handoff) with specific equipment at a work site, and its structure includes: a track 10, which is set along a preset path on the ceiling of the work site; a position identifier B, which is attached along the track 10 at a preset interval; a transport vehicle 20, which travels along the track 10; and a camera unit 30, which is set on one side of the transport vehicle 20; and an analysis unit 40, which analyzes the image to identify the current position of the transport vehicle 20.

[0045] Among them, the location identifier B can use a barcode, RF tag or QR code, etc., and each attached location identifier B stores an inherent identification number, and the location information based on the identification number is pre-stored in the transport vehicle or external server.

[0046] Then, the camera unit 30 according to the present embodiment is disposed at one side of the transport vehicle 20 and travels together with the transport vehicle 20 , and photographs one side of the track 10 during the travel of the transport vehicle 20 to obtain an image thereof.

[0047] Meanwhile, the camera unit 30 may be composed of not only a code reader, an optical sensor, an image sensor, etc., but also two devices such as a code reader and an optical sensor.

[0048] In the analysis unit 40, the image acquired by the camera unit 30 is analyzed to recognize the current position of the transport vehicle 20. The following will describe a method for recognizing the position of the transport vehicle in the ceiling-type automated transport system.

[0049] Figure 2 is a sequence diagram showing in sequence a method for identifying a transport vehicle position of a ceiling-type automatic transport system according to an embodiment of the present invention, Figure 3 is a diagram schematically showing a moving direction detection principle according to an embodiment of the present invention, Figure 4 is a diagram showing a principle of measuring the number of pixels according to an embodiment of the present invention.

[0050] like Figure 2 As shown, a method for identifying a transport vehicle position of a ceiling-type automatic transport system according to an embodiment of the present invention includes: an image acquisition step S10, a reference position information acquisition step S20, a feature point setting step S30, a movement displacement detection step, and a position information calculation step S40.

[0051] Image acquisition S10

[0052] The camera unit 30 is disposed on one side of the transport vehicle 20 and plays a role of photographing the side of the track 10 corresponding to the transport vehicle 20 , and photographs the track 10 to obtain a first image before the transport vehicle 20 travels along the track 10 .

[0053] Then, the transport vehicle 20 takes another picture of the track 10 to acquire a second image while traveling along the track 10 , and transmits the plurality of images acquired in this way to the analysis unit 40 .

[0054] Acquisition of reference position information S20

[0055] The analysis unit 40 determines whether the position identifier B is detected in the first image before analyzing the position information of the transport vehicle 20. This is because the position information used as a reference is obtained when calculating the current real-time position of the transport vehicle 20, and when the position identifier in the first image is detected, the inherent identification number is read, and the position information corresponding to the read identification number in the position data pre-stored in the transport vehicle or the server is obtained, thereby setting its reference position.

[0056] Feature point setting S30

[0057] In addition, the analysis unit sets a specific area or a specific position of the first image in the image transmitted from the imaging unit 30 as a feature point T.

[0058] In this embodiment, Figure 3 As shown, for the sake of convenience, an arbitrary pixel is shown as a feature point T, but the present invention is not necessarily limited to this, and a feature pattern can also be set as the feature point T.

[0059] Calculation of position information S40

[0060] After setting the feature points, the analysis unit 40 calculates the position information of the transport vehicle 20. According to the present embodiment, the position information calculation step S40 is composed of a displacement detection step S41, a pixel number measurement step S42, a movement amount calculation step S43, and a position information acquisition step S44.

[0061] First, in the displacement detection step S41, as Figure 3 As shown, the positions of the feature points in the first image and the second image are compared to detect the moving direction of the feature point T.

[0062] When the moving direction of the feature point T is detected, in the step S42 of measuring the number of pixels, as shown in FIG. Figure 4 As shown, the number of X and Y axis pixels (△x, △y) between the initial position of the feature point T and the current position of the moved feature point T, that is, the position of the feature point T on the first image and the position of the feature point on the second image is measured.

[0063] Then, the measured number of pixels on the x and y axes is substituted into the following preset formula 1 to calculate the actual movement amount of the transport vehicle 20 .

[0064] [Formula 1]

[0065]

[0066] (Where △x is the number of pixels that the feature point moves in the x-axis direction, △y is the number of pixels that the feature point moves in the y-axis direction, and d is the actual distance per pixel that is preset.)

[0067] S44 : When the actual movement amount of the transport vehicle 20 is thus calculated, the calculated actual movement amount of the transport vehicle 20 is added to the reference position obtained by the position identifier B as described above to obtain the current position information of the transport vehicle 20 .

[0068] Meanwhile, the step S40 of calculating the position information according to this embodiment further includes: a step S45 of calculating the distance, which calculates the distance between the position identifier B and the position identifier B by using the current position information of the transport vehicle 20; a step S46 of calculating the correction value, which compares the actual distance between the pre-stored position identifier B and the position identifier B with the measured distance between the position identifier B and the position identifier B calculated as described above, and calculates a correction value for the moving amount of the transport vehicle 20 based on the difference therebetween.

[0069] That is, in this embodiment, through the step S45 of calculating the distance and by using the correction value obtained in the step S46 of calculating the correction value, the correction value is reflected in the moving amount of the transport vehicle 20 calculated in the next step S43 of calculating the moving amount, and the errors caused by many environmental factors such as the deviation of the setting angle of the actual imaging unit 30 can be periodically corrected, so as to more accurately grasp the position information of the transport vehicle 20.

[0070] Meanwhile, in the present invention, when the moving displacement of the feature points detected in the moving displacement detection step S41 exceeds a preset reference range, that is, when there is vibration exceeding the reference value or discontinuous / abnormal rotation angle, it is determined as an abnormal sign such as cracking, disconnection, or deformation of the track 10. While sending out an abnormal sign signal, the current position information of the transport vehicle 20 is obtained in the above-described manner and then transmitted to a preset target terminal, so that it has an additional feature of being able to monitor the abnormal signs or abnormal states of the track 10 in real time.

[0071] Figure 5 It is a sequence diagram showing the method for identifying the position of the transport vehicle of the ceiling-type automatic transport system according to another embodiment of the present invention in sequence. Figure 6 It is a view showing one side of the track marked with a first horizontal line, a second horizontal line, and a position recognition line according to another embodiment of the present invention. Figure 7 It is a view showing the intersection points P1, P2, and P3 according to an embodiment of the present invention.

[0072] Figures 5 to 7 The embodiment can improve the accuracy while increasing the calculation speed, so as to obtain the position information more quickly.

[0073] The difference between this embodiment and the previous embodiments is that as the imaging unit 30, a line-scan camera and a barcode reader can be used simultaneously. As Figure 6 shown, parallel first horizontal lines L1 and second horizontal lines L2 are marked along the length direction on the upper and lower parts of the track 10, and a position recognition line L3 that diagonally connects the first horizontal line L1 and the second horizontal line L2 is marked at the same time.

[0074] Then, according to another embodiment of the present invention, a method for identifying the position of a transport vehicle of a ceiling-type automatic transport system is as follows: Figure 5 The process shown in the figure is composed of an image acquisition step S10', a reference position information acquisition step S20', and a position information calculation step S30'.

[0075] In the image acquisition step S10', the image of one side of the line scan track 10 of the camera unit 30 at the current position of the transport vehicle 20 is acquired. At this time, as described above, a line scan camera is used to acquire an image corresponding to the line scan of the camera unit 30, that is, an image of a vertical line shape.

[0076] In the step S20' of obtaining the reference position information, when the bar code reader set together with the line scan camera detects the position identifier B, the inherent identification number is judged, and the position information corresponding to the identification number judged in the position data pre-stored in the transport vehicle or the server is obtained, thereby setting its reference position and initializing the calculated movement amount of the transport vehicle 20.

[0077] Therefore, whenever each location identifier B is detected, the movement amount of the transport vehicle 20 is initialized, and the movement amount of the transport vehicle 20 is recalculated based on the position information of the pre-stored location identifier B. This can prevent the accumulation of errors in the movement amount of the transport vehicle 20, thereby calculating a more accurate movement amount of the transport vehicle 20.

[0078] At the same time, this embodiment describes that an additional barcode reader is provided together with the line scan camera, and the position identifier is detected by the barcode reader. However, the present invention is not necessarily limited to this. The barcode reader can be omitted and the position identifier can be detected by accumulating vertical line images obtained from the line scan camera.

[0079] The position information calculation step S30 ′ of this embodiment is different from the previous embodiments in that it is composed of an intersection detection step S31 ′, a movement amount calculation step S32 ′, and a position information acquisition step S33 ′.

[0080] The intersection detection step S31' detects that Figure 7 As shown, the image acquired in the image acquisition step S10 ′ is the intersection points P1 , P2 , and P3 where the scanning line of the camera unit 30 intersects with the first horizontal line L1 , the second horizontal line L2 , and the position recognition line L3 , respectively.

[0081] In the movement amount calculation step S32 ′ of the present embodiment, only the intersection points P1 , P2 , and P3 are used to detect the position of P3 as a feature point, thereby recognizing the current position of the transport vehicle 20 , which will be described in detail below.

[0082] First, the actual height values ​​h of P2 and P3 are calculated for each of the intersections detected in the intersection detection step. The actual height values ​​h of P2 and P3 are calculated by the following equation.

[0083] [Formula 2]

[0084] h=H y / x

[0085] (Wherein, x is the number of pixels between P1 and P2, y is the number of pixels between P2 and P3, and H is the distance between the first horizontal line L1 and the second horizontal line L2.)

[0086] At this time, the values ​​of the spacing H between the first horizontal line L1 and the second horizontal line L2, the x-axis distance D between the first point where the position identification line L3 intersects the first horizontal line L1 and the second point where the position identification line L3 intersects the second horizontal line L2 are fixed values ​​from the time point when the first horizontal line L1, the second horizontal line L2 and the position identification line L3 are identified on the track 10, so these values ​​are pre-stored.

[0087] As described above, the actual height values ​​h of P2 and P3 are calculated and substituted into [Formula 3] to calculate the actual movement amount M" of the transport vehicle 20.

[0088] [Formula 3]

[0089] M″=D×h / H

[0090] (Wherein, D is the x-axis distance between the first point where the position identification line L3 intersects the first horizontal line L1 and the second point where the position identification line L3 intersects the second horizontal line L2, and H is the distance between the first horizontal line L1 and the second horizontal line L2.)

[0091] Finally, in the position information acquisition step S33 ′, the current position information of the transport vehicle 20 is acquired by adding the position information acquired in the reference position information acquisition step S20 ′ to the actual movement amount M″ of the transport vehicle 20 .

[0092] Although the present invention has been described in relation to the preferred embodiments, various modifications or variations may be made without departing from the spirit and scope of the present invention. Therefore, the scope of the appended claims should include these modifications or variations that belong to the spirit of the present invention.

Claims

1. A method for identifying a transport vehicle position of a ceiling-type automatic transport system, the ceiling-type automatic transport system comprising: Tracks are set along paths preset on the ceiling of the work site; A plurality of position identifiers are attached to one side of the track at preset intervals; a transport vehicle is configured to be able to travel along the track; and a camera unit, which is disposed on one side of the transport vehicle and acquires an image by photographing one side of the track corresponding to the transport vehicle and the position identifier in the track, The method for identifying the position of a transport vehicle of the ceiling-type automatic transport system is characterized by comprising: An image acquisition step of acquiring a first image of one side of the track taken by the camera unit before the transport vehicle travels and a second image of one side of the track taken at the current position of the transport vehicle while traveling; a reference position information acquisition step, when the position identifier is detected in the first image, acquiring position information corresponding to the detected position identifier from pre-stored position data; a feature point setting step, setting any pattern in the first image as a feature point; The position information calculating step calculates the current position information of the transport vehicle based on the position information acquired in the reference position information acquiring step and the amount of movement of the feature point detected by comparing the first image and the second image.

2. The method for identifying the position of a transport vehicle of a ceiling-type automatic transport system according to claim 1, characterized in that: The step of calculating the position information comprises: A displacement detection step of comparing the first image with the second image to detect the displacement of the feature point; A pixel number measuring step, measuring the number of pixels on the X-axis and Y-axis from the position of the feature point in the first image to the position of the feature point in the second image according to the detected movement displacement of the feature point; A step of calculating the movement amount, calculating the movement amount of the transport vehicle according to the measured number of pixels on the X-axis and the Y-axis; The step of acquiring position information acquires the current position information of the transport vehicle by adding the position information acquired in the step of acquiring reference position information to the calculated movement amount of the transport vehicle.

3. The method for identifying the position of a transport vehicle of a ceiling-type automatic transport system according to claim 2, characterized in that: The step of calculating the position information further includes: a step of calculating the distance between the position identifiers using the current position information of the transport vehicle; and a correction value calculation step, comparing the distance between the position identifiers calculated in the interval calculation step with the actual distance between the position identifiers stored in advance, and calculating a correction value for the movement amount of the transport vehicle based on the difference, After the correction value is calculated, the correction value is reflected on the calculated movement amount of the transport vehicle when the movement amount calculation step is completed.

4. The method for identifying the position of a transport vehicle of a ceiling-type automatic transport system according to claim 2, further comprising: The abnormal sign sensing step is as follows: when the movement displacement of the feature point detected in the movement displacement detection step exceeds a preset reference range, it is judged as an abnormal sign, and the current position information of the transport vehicle is transmitted to a preset object terminal together with the abnormal sign signal.

5. The method for identifying the position of a transport vehicle of a ceiling-type automatic transport system according to claim 1, further comprising: An initialization step of initializing the movement amount of the transport vehicle when the position identifier is detected in the reference position information acquisition step.

6. A method for identifying the position of a transport vehicle of a ceiling-type automatic transport system, the ceiling-type automatic transport system comprising: The track is arranged along a path preset on the ceiling of the work site, and is marked with a first horizontal line and a second horizontal line parallel to each other along the length direction at the upper and lower parts, and is also marked with a position identification line connecting the first horizontal line and the second horizontal line with a diagonal line; A plurality of position identifiers are attached to one side of the track at preset intervals; a transport vehicle is configured to be able to travel along the track; and a camera unit, which is disposed on one side of the transport vehicle and detects the position identifier, and simultaneously acquires an image by line scanning one side of the track corresponding to the transport vehicle in the track, The method for identifying the position of a transport vehicle of the ceiling-type automatic transport system is characterized by comprising: An image acquisition step of acquiring a line scan image of one side of the track at the current position of the transport vehicle; a reference position information acquisition step, when the camera unit detects the position identifier, acquiring position information corresponding to the detected position identifier from pre-stored position data; a position information calculation step of acquiring current position information of the transport vehicle based on the movement amount of the transport vehicle calculated by analyzing the position information of the position identifier acquired in the reference position information acquisition step and the image, The step of calculating the position information includes: A step of detecting intersections, detecting in the image the intersections P1, P2, and P3 where the vertical scanning line of the camera unit intersects with the first horizontal line, the second horizontal line, and the position identification line, respectively; The step of calculating the movement amount is as follows: setting the height between P2 and P3 or the height between P3 and P1 as h, and substituting it into the following [formula] to calculate the actual movement amount (M") of the transport vehicle; a step of acquiring position information, adding the position information of the position identifier acquired in the step of acquiring the reference position information to the calculated actual movement amount of the transport vehicle to acquire the current position information of the transport vehicle, [Mode] M″=D×h / H Wherein, D is the x-axis distance between a first point where the position identification line intersects the first horizontal line and a second point where the position identification line intersects the second horizontal line, and H is the spacing between the first horizontal line and the second horizontal line.

7. The method for identifying the position of a transport vehicle of a ceiling-type automatic transport system according to claim 6, further comprising: An initialization step of initializing the movement amount of the transport vehicle when the position identifier is detected in the reference position information acquisition step.

Images