KR102228415B1 - Bottom cord for code recognition logistic robot and its attaching method - Google Patents

Abstract

The driving code for the code recognition logistics robot of the present invention and its attachment method are provided with a slip prevention attachment piece attached to be aligned on one side of the code paper to prevent the code paper from being pushed by the wheels of various driving vehicles in advance, and to protect the code paper and the Since the film part is not adhered, there is an effect that there is no need to replace the code part with a new one every time when the protective film part is replaced.

Description

{Bottom cord for code recognition logistic robot and its attaching method}

The present invention relates to a driving code for a code-recognition logistics robot and a method for attaching the same, and more particularly, a slip prevention attachment piece attached to be aligned on one side of the code paper so as to prevent the code paper from being pushed by the wheels of various driving vehicles is provided, and is protected. The present invention relates to a traveling code for a code recognition logistics robot in which only the protective film part and the attachment part are bonded without attaching the code paper and the protective film part to prevent the code part from being torn when replacing the film part, and a method for attaching the same.

Recently, many domestic companies have introduced various types of logistics systems to maximize profits and increase efficiency in logistics management. Accordingly, as the interest and necessity of logistics technology increases, research in related fields such as logistics transport, urban logistics, automation, efficiency, eco-friendly technology and unmanned technology are being actively conducted. In particular, automatic guided vehicles (AGVs), that is, logistics robots. Is an important factor in determining productivity.

Here, Korean Patent No. 10-1319045 has been disclosed as a technical document for a conventional logistics robot.

For autonomous driving of such a conventional logistics robot, it is necessary to first consider its own location and follow a path in real time. As a representative method, guidance methods such as Magnet-Gyro Guidance and WireGuidance were used, but it is difficult to change the work environment flexibly according to the purpose because the cost for installation and maintenance is high. There was this.

In order to solve this problem, the conventional logistics robot attaches a plurality of RFID tags, barcodes, and QR codes on the bottom of the movement path, and has a code recognition device that recognizes the code under the logistics robot. By acquiring the information of the code, searching the path of the current location and the next location, and automatically identifying the logistics loaded at each location, autonomous driving can be performed without a separate command.

However, the conventional driving code for logistics robots is attached to the floor, that is, the floor where logistics robots and forklifts, mobile wagons, and workers move while causing friction, so that friction that occurs when the logistics robots and forklifts, mobile wagons, and workers move. Due to the damage to the driving code, there is a problem in that an error occurs in autonomous driving because driving information cannot be accurately recognized.

In addition, conventional driving codes for logistics robots frequently replace driving codes due to damage caused by driving friction such as logistics robots and forklifts, so that maintenance work of the driving codes is frequently unnecessarily generated and accurate for precise autonomous driving. If the driving code to be attached to the location is frequently replaced, the attached location is distorted and there is a problem that precise autonomous driving cannot be performed.

The present invention was created to solve the problems of the prior art as described above, and an object of the present invention is to prevent the cord paper from being pushed by the wheels of various driving vehicles by providing a slip prevention attachment piece attached to be aligned with one side of the cord paper. It is intended to provide a driving code for a code recognition logistics robot and a method for attaching the same so that it is not necessary to replace the code part with a new one every time when the protective film part is replaced because the code paper and the protective film part are not adhered.

The driving code for a code-recognition logistics robot according to the present invention for achieving the above object is a driving code attached to the bottom of a distribution warehouse so that information on the location and item of the distribution is acquired when the distribution robot runs autonomously. A code unit including a code paper attached to the bottom surface and a code marking printed on the upper surface of the code paper and including information on the location and item of distribution; An adhesive portion made of a slip prevention attachment piece attached to the bottom surface to be in contact with the outer surface of the cord paper and to block the cord paper from being pushed or separated in one direction, and a protective film adhesive surface formed on the upper surface of the slip prevention attachment piece; It characterized in that it consists of; a protective film part of a transparent material which is seated on the upper surface of the code part and the adhesion part and attached to the protective film adhesion surface to prevent damage to the code part by the driving wheel of the logistics robot.

The thickness of the protective film part is formed to be 0.25mm, and the material is formed of polyester.

The outer portion of the protective film part is characterized in that a slope guide surface inclined at a predetermined angle so that the wheel of the logistics robot can easily pass.

A code part arrangement step of arranging a code part on which information about a current location and distribution is printed on a floor surface of a predetermined location; An adhesive attachment step of attaching an adhesive portion having the same thickness as that of the cord portion to block the cord portion from being twisted or moved in one direction on the front, rear, left and right bottom surfaces of the arranged cord portion; It characterized in that it consists of a film attaching step of attaching a protective film portion of a predetermined thickness to the upper surface of the adhesive portion so as to prevent the logistics robot from stepping on the code portion and damaging the surface.

As described above, the driving code for a code recognition logistics robot and its attachment method according to the present invention have the following effects.

First, by attaching the protective film covered on the upper surface of the code to the adhesive part attached to the side of the code part, when the protective film part is replaced, the code part does not come off like the protective film part, so it is necessary to replace the code part with a new one every time. Is very easy to replace,

Second, by providing a slip prevention attachment piece that is in contact with the outer surface of the cord paper and is attached to the bottom surface, the slip prevention attachment piece is used to prevent the cord paper seated on the floor from being pushed in one direction by the wheels of various driving vehicles such as forklifts or logistics robots. It can be blocked through to maintain the initial position of the code paper,

Third, by forming a slope guidance surface inclined at a predetermined angle so that the wheel of the logistics robot can easily pass over the outer part of the protective film part, the wheel can be easily climbed when the wheel of the logistics robot comes into contact with the outer surface of the protective film part. By minimizing the contact shock, the replacement cycle of the protective film part can be significantly extended, thereby reducing maintenance costs.

1 is an operation diagram showing a state of use of a driving code for a logistics robot according to the present invention,
2 is a view showing the structure of a driving code according to the present invention, (a) is a perspective view of the driving code, (b) is a one-sided view of the driving code,
3 is a block diagram of a method for attaching a driving code for a logistics robot according to the present invention,
Figure 4 is a state diagram showing the operation of the backboard induction surface of the present invention.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

As shown in Figs. 1 to 2, the driving code for a code-recognition logistics robot according to the present invention is provided on the floor F of the distribution warehouse so that information such as the location and item of the distribution is acquired when the distribution robot R is autonomously driven. As an attached driving code (1), it is printed on the code paper 11 attached to the bottom surface (F) of the distribution warehouse, and the upper surface of the code paper 11, and contains information such as the location and item of the distribution. A code portion 10 consisting of a code marking 12; A slip preventing attachment piece 21 attached to the bottom surface F in contact with the outer surface of the cord paper 11 and preventing the cord paper 11 from being pushed or separated in one direction, and the slip prevention An adhesive portion 20 made of a protective film adhesive surface 22 formed on the upper surface of the attachment piece 21; It is seated on the upper surface of the cord portion 10 and the adhesive portion 20 and is attached to the protective film adhesive surface 22 to prevent damage to the cord portion 10 by the driving wheel of the logistics robot R. It consists of; a protective film part 30 of a transparent material.

On the other hand, the adhesive portion 20 is also preferably formed of a double-sided tape formed with a thickness equal to or thicker than that of the cord paper 11.

Here, since no adhesive is provided on the upper surface of the cord paper 11 and the lower surface of the protective film portion 30, the cord paper 11 is replaced with the protective film portion 30 when the protective film portion 30 is replaced. ), it is possible to maintain its position without being separated from it, so that it is possible to prevent damage due to adhesive force in advance.

In addition, the thickness of the protective film part 30 is formed to 0.25 mm, the material is formed of polyester.

In addition, as shown in FIG. 4, a slope guide surface 31 inclined at a predetermined angle so that the wheel of the logistics robot R can easily pass is formed on the outer portion of the protective film unit 30.

The method of attaching a driving code for a code-recognition logistics robot according to the present invention is attached to the bottom surface F of the distribution warehouse so that information on the location and item of the distribution is acquired during autonomous driving of the distribution robot R, as shown in FIG. 3. A code part arrangement step (S10) of arranging the code unit 10 on which information on the current location and distribution is printed on the floor surface (F) of a predetermined location as a method of attaching the travel code; Attaching the adhesive portion 20 having the same thickness as the cord portion 10 to block the cord portion 10 from being twisted or moved in one direction on the front, rear, left and right bottom surfaces F of the arranged cord portion 10 An adhesive attachment step (S20); Film attaching step (S30) of attaching the protective film part 30 of a predetermined thickness to the upper surface of the adhesion part 20 to prevent the logistics robot R from stepping on the code part 10 and damaging its surface (S30 ).

Here, in the film attaching step (S30), the protective film part 30 is attached to the upper surface of the adhesive part 20 instead of attaching the protective film part 30 to the upper surface of the code part 10. When the protective film part 30 is replaced due to damage, the code part 10 does not come off at the same time, so there is no need to replace the code part 10 with a new one each time, so the replacement work becomes very easy.

Looking at the operation of the driving code for the code recognition logistics robot and the attachment method according to the present invention having the configuration as described above are as follows.

The driving code for a code-recognition logistics robot according to the present invention is provided on the bottom surface F of the distribution warehouse so that information such as the location and item of the distribution is acquired during autonomous driving of the distribution robot R as shown in FIGS. 1 to 3. This is the attached driving code (1).

That is, the cord paper 11 attached to the floor surface F of the distribution warehouse is in contact with the outer surface of the cord paper 11 so that it is blocked from being pushed or separated in one direction, and attached to the floor surface F. The anti-lift attachment piece 21 is provided so that the cord paper 11 seated on the floor surface F is pushed in the lateral direction by the wheels of various driving vehicles such as forklifts or logistics robots. It can be blocked through.

In addition, by forming a protective film adhesive surface 22 having adhesive force on the upper surface of the anti-slip attachment piece 21, the upper surface of the cord paper 11 and the protective film part 30 are not adhered to each other, and the cord paper Since (11) can be protected, it is possible to prevent the cord paper 11 from being damaged when the protective film unit 30 is replaced.

In addition, the thickness of the protective film part 30 is formed of 0.25 mm, and the material is made of polyester, so that the protective film part 30 is adopted as a polyester material having the best surface hardness among the transparent films. It is possible to minimize wear.

Experimental Example 1

As an experimental example for this, after rubbing the surface of a total of three test materials (acrylic film, polypropylene film [OPP film], polyester film [PET film]) in the form of a transparent film for 1 hour with the same polishing tool, each Table 1 shows the experimental results showing the transparency and surface conditions of the film.

Acrylic film

Polypropylene film
Polyester film
transparency

Becomes opaque
Becomes opaque
Maintain transparency
Surface condition

Lots of scratches
Lots of scratches
Occurrence of fine scratches

Therefore, as shown in Table 1, the polyester film maintained its transparency even after rubbing its surface for 1 hour, and it was confirmed that scratches generated on the surface were insufficient, thereby preventing abrasion that occurs when the logistics robot R moves. You can see what can be minimized.

Experimental Example 2

Here, after attaching each of the transparent film portions 30 having different thicknesses to the bottom surface (F), and repeatedly moving the wheel of the logistics robot (R) on the upper portion for 1 hour, the transparent film portion 30 The experimental results falling from the bottom surface (F) are shown in Table 2.

Thickness 0.1mm

Thickness 0.2mm
Thickness 0.25mm
Whether to deviate

Deviated
Deviated
Does not deviate

Therefore, as shown in Table 2, it was confirmed that the thickness of 0.25 mm did not deviate even after repeatedly moving the wheels of the logistics robot R.

On the other hand, as shown in Figure 4 on the outer side of the protective film unit 30, a slope guide surface 31 inclined at a predetermined angle so that the wheels of the logistics robot R can easily pass, so that the logistics robot ( When the wheel of R) contacts the outer surface of the protective film part 30, the wheel can be easily climbed to minimize the contact impact, thereby extending the replacement period of the protective film part 30.

The present invention is not limited to the specific preferred embodiments described above, and any person having ordinary knowledge in the technical field to which the present invention pertains without departing from the gist of the present invention claimed in the claims can implement various modifications. Of course, such changes are intended to be within the scope of the description of the claims.

<Description of symbols for major parts of drawings>
R: Logistics robot F: Floor surface
1: driving code 10: code part
11: Code paper 12: Code marking
20: adhesive part 21: anti-slip attachment piece
22: protective film adhesive surface 30: protective film part
31: Back induction drawing
S10: code placement step S20: adhesive bonding step
S30: Film attaching step

Claims (4)

In the driving code (1) attached to the floor surface (F) of the distribution warehouse so that information such as the location and item of the distribution is acquired when the distribution robot R is autonomously driven,
A code part consisting of a code paper 11 attached to the bottom surface F of the distribution warehouse, and a code marking 12 printed on the upper surface of the code paper 11 and containing information on the location and item of the distribution. (10) and;
A slip preventing attachment piece 21 attached to the bottom surface F to contact the outer surface of the cord paper 11 and to block the cord paper 11 from being pushed or separated in one direction, and the slip prevention An adhesive portion 20 made of a protective film adhesive surface 22 formed on the upper surface of the attachment piece 21;
It is mounted on the upper surface of the cord portion 10 and the adhesive portion 20 and is attached to the protective film adhesive surface 22 to prevent damage to the cord portion 10 by the driving wheel of the logistics robot R. It is composed of a protective film part 30 of a transparent material;
The thickness of the protective film part 30 is formed to 0.25mm, the material is formed of polyester;
Code recognition logistics robot driving code, characterized in that the outer portion of the protective film unit 30 is formed with a slope guide surface 31 inclined at a predetermined angle so that the wheels of the logistics robot R can easily pass. delete delete delete

Images