WO2021125519A1 - Circulating vertical conveyor system for robots - Google Patents

Abstract

The present invention relates to a circulating vertical conveyor system for robots and, more specifically, circulates, by means of a rack-and-pinion driving method, one or more carriers on a circulating transfer rail having two vertical sections and horizontal sections that connect the upper and lower ends of the two vertical sections, thereby enabling the plurality of carriers to operate on one transfer rail. Therefore, the present invention can greatly improve the quantity of goods transported per unit time.

Description

Circulating vertical transfer system for robots

The present invention relates to a circulating vertical transport system for a robot, and more particularly, two vertical sections and one or more carriers on a circulating transport rail in which a horizontal section connecting the upper and lower ends of the two vertical sections is formed. It relates to a circulation type vertical conveying system for robots that can greatly improve the amount of goods transported per unit time by allowing a plurality of carriers to operate on a single conveying rail by cyclically moving by an and pinion driving method.

In general, in order to move cargo vertically in a building, a cargo elevator or a dumb waiter that moves the car in the vertical direction is used through a driving method using a rope or chain and a traction machine.

These freight elevators or dumb waiters are used in a form in which one car is arranged and operated on one hoistway. In this rope-type vertical transport system, since the amount of cargo per hour of each hoistway is limited, in order to increase the amount of cargo over a certain level, the number of hoistways increase is essential. However, there is a limit to the method of increasing the amount of cargo per hour by increasing the number of hoistways due to the structural constraints of the building.

Accordingly, in order to construct a vertical transport system for robots that transports cargo by organically moving a plurality of robots on multiple floors, a robot is installed in one hoistway using a driving method different from the conventional driving method using a rope or chain and a hoisting machine. It is required to develop a vertical transport system having a structure that can significantly improve the amount of cargo per unit time by allowing a plurality of carriers to be transported.

The present invention is to solve the problems of the prior art mentioned above, and an object of the present invention is to form two vertical sections and a horizontal section connecting the upper and lower ends of the two vertical sections on a circulating transport rail. It is to provide a circular vertical transport system for robots that allows one or more carriers to circulately move by a rack-and-pinion driving method, so that a plurality of carriers can be operated on one transport rail.

Another object of the present invention is to form a middle horizontal section of the traverser method in which a middle and middle horizontal rail connecting the middle and middle sections of both vertical sections, and a middle and middle transport rack for transporting carriers while moving along the middle horizontal rail are formed, It is to provide a circular vertical transport system for a robot that allows a specific carrier to bypass a certain section as needed.

Another object of the present invention is that the first and second sub-racks are provided in the middle horizontal section so as to be disposed in the spaced space formed when the intermediate transfer rack is separated and the spaced space is formed in the vertical section, the transport of the carrier To provide a circulating vertical transfer system for robots that prevents the path of the vertical section from being cut by the first or second sub-rack even if the interrupted transfer rack is separated for this purpose.

Another object of the present invention is that two or more transfer rails running on platforms of different floors are provided, and a connection traverser connecting the transfer rails so that the carrier can move between the transfer rails is provided, so that each An object of the present invention is to provide a circulating vertical transfer system for a robot that can organically control the number of carriers operating on a transfer rail.

Another object of the present invention is that the transport rail is provided with a third vertical section in addition to the first and second vertical sections, so that a problem has occurred in the first or second vertical section constituting the circulation path in which the carrier circulates. It is to provide a circulating vertical transport system for robots that allows the third vertical section to form a circulation path in place of the vertical section where the problem occurs.

The circulation type vertical conveying system according to this embodiment, the first and second vertical sections and the first and second vertical sections and the upper and lower horizontal sections connecting the top and bottom connecting the top and bottom horizontal sections are formed circulating transport rails, rack and It includes one or more carriers that cyclically move along the transfer rail by a pinion driving method, and a control panel that controls the operation of the carriers.

In this case, the first vertical section includes the first rack rail, the second vertical section includes the second rack rail, the carrier is provided with a pinion gear, and the first and second rack rails are driven by the pinion gear along the first vertical section. can move

In addition, the upper horizontal section includes an upper horizontal rail disposed to connect the upper side of the first rack rail and the upper side of the second rack rail, and moving along the upper horizontal rail to transfer the carrier from the first rack rail to the second rack rail. It includes an upper transport rack, wherein the lower horizontal section is a lower horizontal rail disposed to connect a lower side of the first rack rail and a lower side of the second rack rail, and moves along the lower horizontal rail to move the carrier from the second rack rail to the first It may include a bottom transfer rack that transfers to the rack rails.

In addition, when a call signal is generated at the platform, the control panel allocates the call signal generated to the nearest carrier among empty carriers heading to the platform where the call signal is generated. It may include a call allocator for first allocating a call signal generated at the platform of , and a carrier operation unit for operating and controlling the carrier to be operated according to the call signal allocated by the call allocator.

In addition, when the number of call signals generated in a single upward or downward single direction based on the driving direction of the carrier exceeds the number of carriers in operation, the call allocator takes precedence in the order of occurrence time of the call signals generated at the platform in the excess driving direction. can be assigned

In addition, the transfer rail may be provided with an intermediate horizontal section connecting the middle portion of the second rack rail from the middle portion of the first rack rail.

In addition, the middle horizontal section moves along the middle horizontal rail and the middle horizontal rail arranged to connect the middle part of the first rack rail and the middle part of the second rack rail, and transfers the carrier between the first rack rail and the second rack rail It may include a suspended transfer rack.

In addition, the first rack rail is divided into a first upper rack rail and a first lower rack rail, the first upper rack rail and the first lower rack rail are spaced apart from each other to form a first spaced apart space in the vertical direction, 2 the rack rail is divided into a second upper rack rail and a second lower rack rail, the second upper rack rail and the second lower rack rail are spaced apart from each other to form a second spaced apart in the vertical direction, and the middle horizontal rail is Across the first and second separation spaces, the intermediate transfer rack may be selectively disposed in the first separation space or the second separation space to connect the first upper and lower rack rails or connect the second upper and lower rack rails. have.

In addition, in the middle transfer rack, under the control of the control panel, the carrier bypasses the first and second upper rack rails in the first lower rack rail and transfers to the second lower rack rail, or transfers the carrier from the second upper rack rail to the first and bypassing the second lower rack rail and transferring to the first upper rack rail.

In addition, when a call signal is generated at the platform of each floor, the control panel includes a call assignment unit for allocating the generated call signal to a carrier, and a transfer rack control unit for operating the interrupted transfer rack so that the moving path of the carrier to which the call signal is assigned is shortened. may include.

In addition, when the call signal generated in the platform of the floor where the second lower rack rail is arranged is assigned to the carrier moving in the first lower rack rail, the transfer rack control unit is configured to allow the assigned carrier to pass the first and second upper rack rails. Control the operation of the intermediate transfer rack to pass, and when a call signal generated at the platform of the floor where the first upper rack rail is arranged is assigned to a carrier moving in the second upper rack rail, the assigned carrier is assigned to the first and second lower Interrupted transfer racks can be motion controlled to bypass the rack rails.

In addition, the middle horizontal section is a first sub-rack connecting the first upper rack rail and the first lower rack rail when the middle transfer rack is separated from the first separation space, and when the middle transfer rack is separated from the second spaced apart space, the second It may further include a second sub-rack connecting the upper rack rail and the second lower rack rail.

In addition, the first and second temporary arrangement sections in which the first sub-rack or the second sub-rack is temporarily disposed may be formed at both ends of the middle horizontal rail.

In addition, the control panel includes a sub-rack control unit for controlling the operation of the first and second sub-racks, and the sub-rack control unit controls the first sub-rack to be disposed in the first temporary arrangement section when the intermediate transfer rack is directed to the first separation space. Control the operation and control the operation of the second sub-rack to be placed in the second spaced apart space, and when the intermediate transfer rack is directed to the second spaced space, the first sub-rack is operated to be disposed in the first spaced space, and a second temporary arrangement section It is possible to control the operation of the second sub-rack so as to be disposed in the

In addition, two or more transport rails are provided, and the vertical transport system further includes a connection traverser connecting the transport rails, and the control panel may control the connection traverser so that the carrier moves between the transport rails.

In addition, the connection traverser moves along the connection horizontal rail connecting the first vertical section of any one transport rail and the second vertical section of the other different transport rail, and moves along the connection horizontal rail to move the carrier to any one transport rail It may include a connection transfer rack for transporting between the first vertical section and the second vertical section of the other different transfer rail.

In addition, the control panel may control the operation of the operation floor of the carrier differently for each transfer rail.

In addition, the control panel includes a count unit for counting the call signals generated for each platform on which the transfer rail is disposed, a transfer rail determining unit for determining the transfer rail on which the carrier is driven based on the counted number of call signals, and a transfer rail determining unit It may include a connection traverser control unit for controlling the connection traverser so that the carrier moves to another transport rail according to the determination information determined in.

In addition, the transfer rail determiner may determine the number of carriers operated for each transfer rail according to a ratio of the number of call signals per unit time for each platform on which the transfer rail is disposed.

In addition, the transfer rail determining unit may prevent a difference in the number of carriers operated for each transfer rail from exceeding a reference value.

In addition, the transport rail further includes a third vertical section connected by the upper and lower horizontal sections together with the first and second vertical sections, and the control panel includes or includes the third vertical section in the circulation path of the carrier may not do it

In addition, the control panel may include a path determining unit for determining a circulation path to include two or more vertical sections among the first to third vertical sections, and a carrier operating unit for operating and controlling the carrier so as to operate according to the determined circulation path.

In addition, the control panel further includes a section state determination unit for determining an abnormal state of the first to second vertical sections, and the path determining unit includes first to second vertical sections when the first to second vertical sections are determined to be normal. to determine the circulation path, and if any one of the first to second vertical sections is determined to be in an abnormal state, the circulation path may be determined such that the third vertical section is included in place of the abnormal vertical section.

In addition, the control panel further includes a carrier state determination unit for determining the abnormal state of the carrier, the carrier operating unit is a vertical section that is not included in the circulation path of the first to third vertical sections because the carrier determined to be in an abnormal state departs from the circulation path. It is possible to control the operation of the carrier so that it is parked in the parking lot.

In addition, if the carrier in the abnormal state is in a state in which movement is impossible on the circulation path, the path determining unit may determine the circulation path so that a vertical section in which the immovable carrier is located is excluded from the circulation path.

In addition, when the first to second vertical sections are determined to form a circulation path, the carrier operating unit may operate and control any one carrier to reciprocate along a third vertical section that is not included in the circulation path.

According to the present invention, one or more carriers are cyclically moved by a rack-and-pinion driving method on a circulating transport rail in which two vertical sections and a horizontal section connecting the upper and lower ends of the two vertical sections are formed. By allowing a plurality of carriers to operate on the transfer rail, there is an effect that the amount of cargo per unit time can be greatly improved.

In addition, the present invention is formed with a middle horizontal section of the traverser method that is provided with a middle and middle horizontal rail connecting the middle and middle sections of both vertical sections, and a middle and middle transport rack that moves along the middle horizontal rail and transports a carrier. By allowing the carrier to bypass a certain section, there is an effect of improving the operating efficiency.

In addition, the present invention is provided with the first and second sub-racks in the middle horizontal section to be disposed in the spaced space formed when the intermediate transfer rack is separated and the spaced space is formed in the vertical section, the intermediate transfer rack for the transfer of the carrier Even if this deviation, the path of the vertical section is not broken by the first or second sub-rack, so that even if the middle horizontal section of the traverser method is formed, there is an effect that can minimize the decrease in the efficiency of the circulation movement of the carrier.

In addition, the present invention is provided with two or more transfer rails that operate on platforms of different floors, and a connection traverser connecting the transfer rails so that the carrier can move between the transfer rails is provided, and operates on each transfer rail according to the traffic volume of the platform By making the number of carriers to be used organically controllable, there is an effect that the amount of transport per unit time can be greatly improved.

In addition, the present invention is provided with a third vertical section in addition to the first and second vertical sections on the transport rail, and when a problem occurs in the first or second vertical section constituting the circulation path in which the carrier circulates, the vertical section where the problem occurs By allowing the third vertical section to form a circulation path instead of the section, even if a problem occurs in the first or second vertical section, there is an effect of making it sustainable without stopping the operation.

1 is a diagram schematically showing a circulating vertical transfer system for a robot according to an embodiment of the present invention.

2 is a diagram schematically illustrating a state in which two transfer rails are provided in a circulating vertical transfer system for a robot according to an embodiment of the present invention.

3 is a diagram schematically illustrating a transport rail according to an embodiment of the present invention.

4A and 4B are diagrams illustrating a driving method in which a carrier moves along a vertical section according to an embodiment of the present invention.

5 is a diagram illustrating a driving state of a horizontal section according to an embodiment of the present invention.

6 is a functional block diagram of a control panel according to an embodiment of the present invention.

7 is a functional block diagram of an operation control unit according to an embodiment of the present invention.

8 to 9 are diagrams illustrating an example of allocating a call signal by a call allocator according to an embodiment of the present invention.

10 is a view showing a transport rail provided with a horizontal section in the middle according to an embodiment of the present invention.

11 is a diagram illustrating in more detail a middle horizontal section according to an embodiment of the present invention.

12 is a functional block diagram of an operation control unit and a bypass operation unit according to an embodiment of the present invention.

13 is a view showing a state in which the operation is connected to two transport rail connection traverser according to an embodiment of the present invention.

14 is a functional block diagram of a driving control unit and a driving ratio adjusting unit according to an embodiment of the present invention.

15 is a flowchart illustrating a process in which the number of operating carriers for each transport rail is adjusted according to an embodiment of the present invention.

16 is a view showing a state in which a third vertical section is provided on the transfer rail according to an embodiment of the present invention.

17 is a functional block diagram of an operation control unit and an emergency operation control unit according to an embodiment of the present invention.

18A to 20B are diagrams illustrating an example of an emergency operation according to an embodiment of the present invention.

21 is a diagram illustrating an example of an additional operation according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a view schematically showing a circular vertical transport system for a robot according to an embodiment of the present invention, Figure 2 is two transport rails in the circular vertical transport system for a robot according to an embodiment of the present invention It is a diagram schematically showing a state in which it is provided.

A vertical transport system according to an embodiment of the present invention includes one or more transport rails 100 forming a circulation path, one or more carriers 200 circulating along the transport rail 100 , and a transport rail 100 . and a control panel 300 connected to the carrier 200 by wire or wirelessly to control the transport rail 100 and the carrier 200 .

At this time, the carrier 200 is cyclically operated along a circulation path formed by the transfer rail 100 , and a plurality of carriers 200 may be operated on one transfer rail 100 .

Referring to FIG. 2 , two or more transport rails 100 according to the present embodiment may be provided. And when two or more transport rails 100 are provided as described above, each of the transport rails 100 - 1 and 100 - 2 may be connected by a connection traverser 400 .

At this time, each of the transport rails (100-1, 100-2) forms an individual circulation path, and a plurality of carriers 200 are disposed on each transport rail (100-1, 100-2) to each transport rail ( It circulates along the circulation path formed by 100-1, 100-2), and if necessary, the carrier 200 that was traveling on any one of the transport rails 100-1 through the connection traverser 400 is moved to another. By moving to one transfer rail 100-2, the number of operating carriers 200 for each transfer rail 100-1, 100-2 can be adjusted.

Figure 3 is a view schematically showing a transport rail according to an embodiment of the present invention, Figure 4 (a), (b) is a driving method in which the carrier according to an embodiment of the present invention moves along a vertical section It is a drawing shown to explain. And FIG. 5 is a view showing a driving state of a horizontal section according to an embodiment of the present invention.

Looking at the transfer rail 100 in more detail with reference to FIG. 3 , the transfer rail 100 is an upper end between the first and second vertical sections 110 and 120 and the first and second vertical sections 110 and 120 . and upper and lower horizontal sections 130 and 140 connecting the lower ends.

The first and second vertical sections 110 and 120 and the upper and lower horizontal sections 130 and 140 together form a circulation path, and as described above, the carrier 200 includes the first and second vertical sections ( 110 and 120) and the upper and lower horizontal sections 130 and 140 may be moved and cycled. Here, various objects can be boarded on each carrier 200 , and in the vertical conveyance system according to the present embodiment, the robot R is boarded as an example.

As described above, the carrier 200 is driven by a rack-and-pinion driving method on the transport rail 100. For this purpose, the first vertical section 110 as shown in (a) and (b) of FIG. 4 is The first rack rail 111 is included, the second vertical section 120 includes the second rack rail 121 , and the carrier 200 is provided with a pinion gear 210 to drive the pinion gear 210 . It can move along the first and second rack rails (111, 121) by the.

In addition, as shown in FIG. 5 , the upper horizontal section 130 includes an upper horizontal rail 131 disposed to connect an upper side of the first rack rail 111 and an upper side of the second rack rail 121 , and the upper horizontal It moves along the rail 131 and includes an upper transfer rack 132 for transferring the carrier 200 from the first rack rail 111 to the second rack rail 121, and the lower horizontal section 140 is the first A lower horizontal rail 141 disposed to connect the lower side of the rack rail 111 and the lower side of the second rack rail 121, and the carrier 200 while moving along the lower horizontal rail 141, the second rack rail ( 121) may include a lower transfer rack 142 for transferring to the first rack rail 111. Here, the transport direction of the carrier 200 of the upper horizontal rail 131 and the lower horizontal rail 141 is changeable according to the circular movement direction of the carrier 200 in the transport rail 100, and the first rack rail shown in the drawing The positions of the (111) and the second rack rail 121 are also changeable.

That is, the upper transfer rack 132 is connected to the first rack rail 111 from the upper side of the first rack rail 111, and the carrier 200 moves from the first rack rail 111 to the upper transfer rack ( 132), the upper transfer rack 132 moves along the upper horizontal rail 131 to a position connected to the second rack rail 121 from the upper side of the second rack rail 121, so that the carrier 200 is To be movable from the upper transfer rack 132 to the second rack rail 121 . And the lower transfer rack 142 is the same method as the transfer method of the upper transfer rack 132 described above so that the carrier 200 moves from the lower side of the second rack rail 121 to the lower side of the first rack rail 111 . do.

Due to these configurations, in the vertical conveying system according to the present embodiment, the conveying rail 100 forms a circulation path so that the carrier 200 can circulate, and this circulation method is a plurality of transport rails 100 on one conveyance rail 100 . By enabling the carrier 200 to operate, there is an effect that can greatly improve the amount of cargo per unit time.

6 is a functional block diagram of a control panel according to an embodiment of the present invention, and FIG. 7 is a functional block diagram of an operation controller according to an embodiment of the present invention. 8 to 9 are diagrams illustrating an example of call signal assignment by a call allocator according to an embodiment of the present invention.

Referring to FIG. 6 , the control panel 300 includes an operation control unit 310 that operates and controls the carrier 200 so that a call signal generated at each platform is allocated while the carrier 200 circulates on the transfer rail 100 , and the carrier ( The bypass operation unit 320 for allowing the 200) to bypass and move a specific section on the transfer rail 100, and the carrier 200 between the transfer rail 100 when a plurality of transfer rails 100 are operated. an emergency operation control unit for emergency operation control when an abnormality occurs in any one of the first or second vertical sections 110 and 120 of the transport rail 100, and an emergency operation control unit ( 340) may be included.

When the operation control unit 310 is described in detail with reference to FIG. 7 , when a call signal is generated at the platform, the call signal generated in the nearest carrier 200 among empty carriers heading to the platform where the call signal is generated. However, when a call signal is generated at a plurality of platforms, a call allocator 311 that preferentially allocates a call signal generated at the platform of the rear floor based on the traveling direction of the carrier, and the call signal allocated by the call allocator 311 It may include a carrier operation unit 312 for operating and controlling the carrier 200 to operate according to the operation. Here, the carrier operation unit 312 drives and controls the pinion gear 210 of the carrier 200 so that the carrier 200 moves along the first and second vertical sections 110 and 120 as well as the carrier 200 . ) can be driven and controlled by the upper and lower transport racks 132 and 142 to enable horizontal movement.

6 as an example, if the robot (WR) waiting at the platform in the downward direction exists on the 2nd, 4th, and 8th floors and a downcall signal is generated on the 2nd, 4th, and 8th floors , the call allocator 311 first allocates the call signal of the second floor, which is a call signal generated at the platform of the rear floor, based on the traveling direction of the carrier 200, but the nearest carrier 200- 1) can be assigned to the 2nd floor call signal. Here, the empty carrier may mean a carrier in which the robot R is not on board and to which a call signal is not assigned at the same time. In the same way, the call signal of the 4th floor is allocated to the closest carrier 200-2 among the empty carriers heading to the 4th floor, and then the 8th floor is assigned to the closest carrier 200-3 among the empty carriers heading to the 8th floor. A call signal can be assigned. At this time, since the vertical transfer system according to the present embodiment has a platform running upward and a platform running downward, the carrier 200 passing through the upper horizontal section 130 or the lower horizontal section 140 is always empty. It is the carrier 200 in the present state. Therefore, the call allocator 310 allocates the call signal without determining that the carrier 200 is an empty carrier even if the robot R is on the carrier 200 moving upward when allocating the downlink call signal. have.

On the other hand, the call allocator 310 is the number of call signals generated in a single direction upward or downward based on the traveling direction of the carrier 200 exceeds the number of carriers 200 running on the corresponding transport rail 100 . , the call signal generated at the platform in the excess driving direction can be assigned preferentially according to the order of occurrence time.

9 as an example, the number of operating carriers 200 operating on one transfer rail 100 is four, and a downcall signal is generated at the down platform of 5 floors, and each robot WR1 to 5 ) in the order of arrival of the 3rd floor, 8th floor, 2nd floor, 5th floor, and 7th floor, when a downcall signal is generated, the call allocating unit 310 determines that the number of downlink calls is 4 units of the carrier 200. Because it is exceeded, the call signal of the third floor that is generated first can be allocated first, regardless of the platform floor where the call signal of the carrier 200 is generated. In this case, the method of allocating a call signal to the closest carrier 200 - 1 among empty carriers approaching the third floor may be equally applied. The call signal of the 8th floor platform generated in the following order is allocated second, and the remaining call signals can also be allocated according to the time order in which they occur. Preferably, if no additional call signals are generated and call signals are allocated sequentially, when the call signal in one direction becomes less than the number of operating carriers again, the call signal of the rear floor is allocated to the front end carrier 200 as usual. The allocation method can be returned.

Accordingly, the vertical transfer system according to the present embodiment allows the call signal to be allocated to the carrier 200 in a manner that maximizes the operation efficiency, thereby preventing the waiting time of the waiting robot R on a specific floor from increasing have.

10 is a view showing a transport rail provided with a middle horizontal section according to an embodiment of the present invention, Figure 11 is a view showing in more detail the middle horizontal section according to an embodiment of the present invention. And FIG. 12 is a functional block diagram of the operation control unit and the bypass operation unit according to an embodiment of the present invention.

In the transfer rail 100 according to the present embodiment, the carrier 200 moves to the target position by allowing a partial section of the transfer rail 100 to be bypassed when the carrier 200 travels along the transfer rail 100 . By shortening the distance, it is possible to increase the operating efficiency of the carrier 200 .

To this end, the transfer rail 100 may further include a middle horizontal section 150 connecting the middle part of the second rack rail 121 from the middle part of the first rack rail 111 to the middle part of the second rack rail 121 as shown in FIG. 10 . have.

Specifically, the middle horizontal section 150 includes the middle horizontal rail 151 and the middle horizontal rail 151 arranged to connect the middle part of the first rack rail 111 and the middle part of the second rack rail 121 . Interrupted transport rack that moves along and transports the carrier 200 from the first rack rail 111 to the second rack rail 121, or from the second rack rail 121 to the first rack rail 111 (152). That is, the middle horizontal section 150 also horizontally moves the carrier 200 through the traverser method like the upper horizontal section 130 and the lower horizontal section 140 .

11, when the intermediate horizontal section 150 is provided on the transfer rail 100, the first rack rail 111 is a first upper rail 111a and a first lower rail 111b. Doedoe divided, the first upper rail 111a and the first lower rail 111b are spaced apart from each other so as to form a first spaced space in the vertical direction, and the second rack rail 121 is a second upper rail 121a and The second lower rail 121b may be dividedly formed, and the second upper rail 121a and the second lower rail 121b may be spaced apart from each other to form a second spaced apart space in the vertical direction.

At this time, the middle horizontal rail 151 crosses the first and second spaced apart spaces, and the middle transfer rack 152 is disposed in the first spaced space to connect the first upper and lower rack rails 111a and 111b, or It is disposed in the second spaced apart space to connect the second upper and lower rack rails (121a, 121b). That is, the middle transfer rack 152 not only transfers the carrier 200, but is also disposed in the first spaced space or the second spaced space so that the path of the first rack rail 111 or the second rack rail 121 is not interrupted. It can play a role in continuity.

Interrupted transport rack 152 can move the carrier 200 between the first and second rack rails 111 and 121 by moving along the middle horizontal rail 151 in a state where the carrier 200 is located, specifically Interrupted transfer rack 152 is the carrier 200 from the first lower rail (111b) to the second lower rail (121b) so that the carrier 200 bypasses the first and second upper rack rails (111a, 121a) or transfer the carrier 200 from the second upper rail 121a to the first upper rail 111a so that the carrier 200 bypasses the first and second lower rack rails 111b and 121b. can

Interrupted transfer rack 152 is selectively disposed in the first or second spaced apart space. Therefore, in a state in which the intermediate transfer rack 152 is disposed in the first separation space, the path of the second rack rail 121 is cut off, and in the state in which the intermediate transfer rack 152 is disposed in the second spaced space, the first rack rail 111 ), the path may be cut off.

Referring to Figure 11, in order to prevent this, the middle horizontal section 150 is arranged in the first separation space when the intermediate transfer rack 152 is separated from the first separation space, the first upper rail (111a) and the first lower rail When the first sub-rack 153 connecting (111b) and the middle transfer rack 152 are separated from the second spaced apart space, they are disposed in the second spaced space, the second upper rail 121a and the second lower rail 121b ) may further include a second sub-rack 154 for connecting.

And the middle horizontal rail 151 is a first sub-rack 153 or a second sub-rack 154 at both ends temporarily arranged when not disposed in the first or second spaced apart first and second temporary arrangement section (151a, 151b) may be formed. That is, the middle horizontal rail 151 is formed to extend a predetermined length even after crossing the first spaced apart space or the second spaced space, so that the first sub-rack 153 or the second sub-rack 154 can be temporarily arranged. .

Meanwhile, the bypass operation by the interrupted horizontal section 150 may be performed under the control of the bypass operation unit 320 .

When described in more detail with reference to FIG. 12 , the bypass operation unit 320 includes a transfer rack control unit 321 that controls the operation of the interrupted transfer rack 152 based on the call signal allocation information and the carrier 200 operation information and , a sub-rack control unit 322 for controlling the operation of the first sub-rack 153 or the second sub-rack 154 according to the arrangement position of the intermediate transfer rack 152 may be provided.

Preferably, the transfer rack control unit 321 is assigned to the carrier 200 that is moving in the first lower rail 111b when the call signal generated in the platform of the floor where the second lower rail 121b is disposed is assigned to the carrier ( 200) may control the operation of the middle transfer rack 152 to bypass the first and second upper rack rails (111a, 121a). Specifically, the transfer rack control unit 321 is a carrier assigned based on the carrier location information received from the carrier operation unit 312 after arranging the interrupted transfer rack 152 in the first separation space in the call signal allocation situation as described above. (200) can be controlled to move the middle transfer rack 152 to the second separation space when located in the middle transfer rack 152 is located. In this case, the carrier operation unit 312 may temporarily suspend the operation of the carrier when the assigned carrier 200 is located in the interrupted transfer rack 152 .

In addition, when the transfer rack control unit 321 is assigned to the carrier 200 that is moving in the second upper rail 121a, the call signal generated in the platform of the floor where the first upper rail 111a is disposed, the assigned carrier ( 200) may control the operation of the middle transfer rack 152 to bypass the first and second lower rack rails (111b, 121b). Specifically, the transfer rack control unit 321 is a carrier assigned based on the carrier location information received from the carrier operation unit 312 after arranging the interrupted transfer rack 152 in the second separation space in the call signal allocation situation as described above. (200) can be controlled to move the middle transfer rack 152 to the first separation space when located in the middle transfer rack 152 is located.

This bypass operation shortens the movement path of the carrier 200 when the carrier 200 running at a location where the call signal of the platform is relatively far away, thereby shortening the time for the assigned carrier 200 to arrive at the call platform. have.

On the other hand, as described above, when the intermediate transfer rack 152 is separated from the first or second separation space, the sub-rack control unit 322 to prevent the path of the first or second rack rails 111 and 121 from being cut off. can control the operation of the first sub-rack 153 and the second sub-rack 154 .

Specifically, the sub-rack control unit 322 controls the operation so that the first sub-rack 153 is disposed in the first temporary arrangement section 151a when the intermediate transfer rack 152 is directed to the first separation space, and the second sub-rack ( 154) can be controlled to be disposed in the second spaced apart space.

In addition, the sub-rack control unit 322 controls the operation so that the first sub-rack 153 is disposed in the first spaced space when the intermediate transfer rack 152 is directed to the second spaced space, and the second sub-rack 154 is the second The operation may be controlled to be arranged in the temporary arrangement section 151b.

13 is a view showing a state in which the operation is connected to two transport rail connection traverser according to an embodiment of the present invention.

As described above, in the vertical transport system according to the present embodiment, when two or more transport rails 100 are provided, a connection traverser 400 for connecting each transport rail 100 may be provided.

When described in more detail with reference to FIG. 13 , the connection traverser 400 connects the first vertical section 110 of the transport rail 100-1 and the second vertical section 120 of the other transport rail 100-2. It may include a connecting horizontal rail 410 that connects, and a connecting transfer rack 420 that moves along the connecting horizontal rail 410 and transfers the carrier 200 between different transfer rails 100 . That is, the connecting transfer rack 420 is a transfer rail 100-1 to another transfer rail 100-2 or another transfer rail 100-2 when the carrier 200 is positioned on the connecting transfer rack 420. ) to the transfer rail 100 - 1 by moving the carrier 200 can be transferred between the transfer rail (100).

At this time, the connection traverser 400 connects between the two transport rails 100-1 and 100-2 and the method of transporting the carrier 200 is different from that of the transport rails 100-1 and 100-2. The first and second vertical sections 110 and 120 are connected between the first and second vertical sections 110 and 120 except that the above-described interrupted horizontal section 150 connects between the first and second vertical sections 110 and 120 except that the carrier 200 is transported. And since the same method as the method of transferring the carrier 200 can be applied, a description of the connection structure of the connection traverser 400 or the carrier 200 transfer method will be omitted.

In addition, the connection traverser 400 is also provided with two sub-racks as in the middle horizontal section 150, so that when the connection transport rack 420 moves, the first or second vertical section instead of the connection transport rack 420 The paths of 110 and 120 can be connected without being interrupted, and since the same method as the middle horizontal section 150 can be applied, a detailed description thereof will also be omitted.

14 is a functional block diagram of a driving control unit and a driving ratio adjusting unit according to an embodiment of the present invention.

On the other hand, in the vertical transfer system according to the present embodiment, when a plurality of transfer rails 100 are provided, the platform floor operated for each transfer rail 100 may be different in order to improve the efficiency of operation. For example, when two transfer rails 100 are provided, one transfer rail 100 can be operated only on platforms from the first floor to the fifth floor, and the other transfer rail 100 is on the fifth floor. It can only be operated on platforms up to the 10th floor. At this time, the arrangement position or scale of the transfer rail 100 may also be determined according to the platform floor on which it operates. That is, in the drawings, for convenience, the two transfer rails 100-1 and 100-2 are arranged to be symmetrical to each other, but the arrangement positions in the vertical direction may be different from each other.

In this case, the operation on a specific floor may increase or decrease depending on the operation time or circumstances. For example, at a specific time, the operation from the 1st floor to the 3rd floor platform may increase and the operation from the 7th floor to the 10th floor may decrease. As such, if the operation on any one transfer rail 100 is concentrated, the transfer Because the traffic of the rail 100 increases, the call assignment of the carrier 200 of the corresponding transfer rail 100 is delayed, and the empty carrier 200 that stops running due to the decrease in traffic in the other transfer rail 100 is frequently can occur

In order to solve this problem, the operating ratio adjusting unit 330 may adjust the operating ratio of the carrier 200 between the transport rails 100 as described above.

More specifically, with reference to FIG. 14 , the operation ratio adjusting unit 330 includes a counting unit 331 for counting the call signal generated for each platform where each transfer rail 100-1, 100-2 is disposed, Determination information determined by the transfer rail determining unit 332 and the transfer rail determining unit 332 for determining the transfer rails 100-1 and 100-2 on which the carrier 200 is driven based on the counted number of call signals According to the carrier 200 may include a connection traverser control unit 333 for controlling the connection transport rack 420 of the connection traverser 300 to move to another transport rail 100 .

Preferably, the transfer rail determining unit 332 is operated for each transfer rail 100-1, 100-2 according to the ratio of the number of call signals per unit time for each platform where the transfer rails 100-1 and 100-2 are disposed. The number of carriers 200 may be determined. For example, when the ratio of the call signals generated per unit time at each platform disposed on the first transfer rail 100-1 and the second transfer rail 100-2 is 6:4, the first and second transfer rails ( The ratio of the number of carriers 200 operating in 100-1 and 100-2) may also be adjusted to be 6:4.

At this time, the transfer rail determining unit 332 may prevent the difference in the number of carriers 200 operated for each transfer rail 100 from exceeding a reference value. This is to prevent a safety distance between the carriers 200 from being secured because too many carriers 200 are driven on a specific transport rail 100 .

When the movement of the carrier 200 is determined between the transfer rails 100 according to the determination of the number of operation of the carrier 200, the connection traverser control unit 333 connects the transfer rack 420 to the transfer rail 100 with the reduced number of operation carriers. ) and then determine the empty carrier based on the carrier operation information received from the carrier operation unit 312, and when the position of the empty carrier is located in the connection transfer rack 420, connect the transfer rack 420 to another transfer rail (100) can be moved. At this time, the carrier operation unit 312 may temporarily suspend the operation of the carrier 200 when the empty carrier 200 to be transferred is located in the connection transfer rack 420 .

15 is a flowchart illustrating a process in which the number of operating carriers for each transport rail is adjusted according to an embodiment of the present invention.

Referring to FIG. 15 , looking at the process of adjusting the number of traveling carriers for each transport rail 100-1 and 100-2 in the vertical transport system according to the present embodiment, first, the count unit 331 calls each transport rail 100 The signal is counted (S10).

The transfer rail determining unit 332 calculates a ratio of the number of call signals for each transfer rail 100 per unit time (S20), and determines the number of operating carriers for each transfer rail 100 according to the calculated ratio (S30).

When the number of traveling carriers is determined, the transfer rail determining unit 332 determines whether the determined number of carriers has a change in the current number of operating vehicles (S40). If the determined number of carriers is the same as the current number (S40-N), since movement of the additional carriers 200 is not required, the process of adjusting the number of carriers operating is terminated.

On the other hand, if the determined number of carriers is different from the current (S40-Y), the transfer rail determiner 332 determines whether a difference in the number of carriers between each transfer rail 100 exceeds a reference value (S50). If it exceeds the reference value (S50-Y), the transfer rail determiner 332 adjusts the number of carriers to the reference value to re-determine the number of carriers running for each transfer rail 100 (S60). For example, when five carriers 200 are each operated on the two transfer rails 100 and the difference reference value is 6, the difference value is when the ratio of the number of carriers running between the transfer rails 100 is determined to be 7:3 Since the reference value is not exceeded by 4, the transfer rail determining unit 332 determines the number of running carriers for each transfer rail 100 as 7 and 3, respectively, but when the ratio of the number of running carriers is determined to be 9:1, the difference value is 8 Since it exceeds the reference value of 6, the transfer rail determining unit 332 may recrystallize the difference value to be 6 equal to the reference value, so that the number of operating carriers for each transfer rail 100 is 8 or 2, respectively.

On the other hand, if the difference value does not exceed the reference value (S50-N), or when the number of running carriers is re-determined, the transfer rail determining unit 332 selects an empty carrier to be transferred according to the determined number of running carriers for each transfer rail 100. By generating transport decision information (S70), the connection traverser control unit 333 transfers the selected carrier 200 to another transport rail 100 according to the transport decision information (S80), the number of carriers per transport rail 100 The adjustment process can be terminated.

16 is a view showing a state in which a third vertical section is provided on the transfer rail according to an embodiment of the present invention.

In the transfer rail 100 according to this embodiment, when an abnormality occurs in the first or second vertical sections 110 and 120, a circulation path is formed instead of the first or second vertical section 130 where the abnormality occurs. A third vertical section 160 may be provided.

Referring specifically to FIG. 16 , the third vertical section 160 may have upper and lower ends connected to the upper and lower horizontal sections 130 and 140 together with the first and second vertical sections 110 and 120 . . Preferably, so that the third vertical section 160 can be additionally connected without extending the length of the upper and lower horizontal sections 130 and 140 , the third vertical section 160 includes the first and second vertical sections 110 . , 120) can be disposed between.

Here, the third vertical section 160 has only a difference in its purpose and arrangement position, and since the first or second vertical sections 110 and 120 are formed in the same structure, detailed description of the structure of the third vertical section 160 is to be omitted.

17 is a functional block diagram of an operation control unit and an emergency operation control unit according to an embodiment of the present invention, and FIGS. 18 (a) to 20 (b) show an example of an emergency operation according to an embodiment of the present invention it is one drawing

As described above, the emergency operation control unit 340 of the control panel 300 controls the emergency operation when an abnormality occurs in any one of the first or second vertical sections 110 and 120 of the transfer rail 100 . can

That is, when an abnormality occurs in any one of the first or second vertical sections 110 and 120 , the emergency operation control unit 340 circulates the third vertical section 160 instead of the abnormal vertical section. Emergency operation control can be achieved to achieve a route.

More specifically, with reference to FIG. 17 , the emergency operation control unit 340 includes a path determining unit 341 that determines a vertical section constituting a circulation path among the first to third vertical sections 110 , 120 , and 160 , and , A section state determining unit 342 for determining the section state of the first to second vertical sections 110 and 120, and an abnormal state determining unit 343 for determining the abnormal state of each carrier 200. can be

When an abnormal signal for the first or second vertical section 110 or 120 is received from the outside, the section state determination unit 342 determines the abnormality of the first or second vertical section 110 or 120 based on the received abnormal signal. can be judged In this case, the abnormal signal received from the outside may be a signal generated by a manager's input, or may be an object detection signal received from an object detection sensor provided for each vertical section. That is, when the manager determines that there is an abnormality in the first or second vertical sections 110 and 120 through the report reception or status monitoring, an abnormal signal is generated and the section status determination unit 342 that has received the first or second An abnormal state of the vertical sections 110 and 120 may be determined. In addition, the section state determination unit 342 determines whether an object other than the carrier 200 is detected in the first or second vertical sections 110 and 120 based on the received object detection signal, and determines that an abnormality has occurred when the object is detected. can judge

18 (a) and (b) as an example, when the section state determining unit 342 determines that the first vertical section 110 is an abnormal state, the path determining unit 341 is shown in Fig. 18(b) As shown in , the first vertical section 110 in an abnormal state may be excluded from the circulation path, and the third vertical section 160 may form a circulation path together with the second vertical section 120 . In this case, the carrier operation unit 312 may operate and control each carrier 200 to travel along the newly determined circulation path.

Meanwhile, when a signal for the carrier 200 is received from the outside, the carrier state determination unit 343 may determine an abnormality of the carrier 200 based on the received signal. In this case, the signal received from the outside may be a signal generated by an input of the manager, or may be a control signal transmitted by the carrier operation unit 312 to control the pinion gear 210 and a position signal of the carrier 200 . That is, when the manager determines that there is an abnormality in the specific carrier 200 through receiving a report or monitoring the status, the carrier status determination unit 343 generates an abnormal signal for the specific carrier 200 and receives it determines the abnormality of the carrier. can do. In addition, the carrier state determination unit 343 compares the received control signal and the position signal, and even though a signal for driving the pinion gear 210 is received, if a position change of the carrier 200 does not occur, the carrier 200 ) can be judged to be abnormal.

At this time, when the carrier 200 in an abnormal state occurs based on the determination of the carrier state determination unit 343 , the carrier operating unit 312 deviates from the circulation path and the carrier 200 in an abnormal state is separated from the third vertical The carrier 200 may be controlled to be parked in the section 160 .

19 (a) and 19 (b) as an example, when the carrier state determination unit 343 detects the carrier 200 - 6 in an abnormal state, the carrier operation unit 312 is shown in FIG. As shown in (b), it is possible to control the operation of the carrier 200 - 6 so that the carrier 200 - 6 in an abnormal state is parked in the third vertical section 160 .

Preferably, when the carrier 200 in an abnormal state is in a non-movable state, the path determination unit 341 as shown in (a) and (b) of FIG. 20 is the immovable carrier 200 - 6 Determines a circulation path so that the third vertical section 160 forms a circulation path by replacing the first or second vertical section 110, 120 in which is located, and the carrier operation unit 312 is impossible to move. So that the carriers 200-7 other than the carrier 200-6 move along a new circulation path away from the first or second vertical sections 110 and 120 in which the carrier 200-6 in an immovable state is located. It is possible to control the operation of the carrier 200 - 7 .

21 is a diagram illustrating an example of an additional operation according to an embodiment of the present invention.

The carrier operating unit 312 according to the present embodiment is configured so that any one carrier 200 reciprocates in the vertical direction in the third vertical section 160 based on the circulation path determined by the path determining unit 341 ( 200) can be operated and controlled.

Specifically, when the carrier operating unit 312 determines that the first to second vertical sections form a circulation path in the path determining unit 341 , as shown in FIG. 21 , any one of the carriers 200 - 8 is the third The carrier 200 - 8 may be additionally operated and controlled to reciprocate in the vertical direction along the vertical section 160 .

That is, unless a special abnormality occurs in the vertical conveying system according to the present embodiment, one carrier 200 - 8 forms an independent vertical travel path through the third vertical section 160 and operates. For this reason, the vertical transport system according to the present embodiment has the effect of further improving the amount of cargo per unit time.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims (26)

1. Circulating transport rails in which upper and lower horizontal sections connecting the upper and lower ends between the first and second vertical sections and the first and second vertical sections are formed;

   one or more carriers circulating along the transport rail by a rack-and-pinion driving method; and

   Circulation type vertical conveying system comprising a control panel for controlling the operation of the carrier.
2. The method of claim 1,

   The first vertical section includes a first rack rail,

   The second vertical section includes a second rack rail,

   The carrier is provided with a pinion gear, and the circulation type vertical conveying system, characterized in that it moves along the first and second rack rails by the driving of the pinion gear.
3. 3. The method of claim 2,

   The upper horizontal section is

   an upper horizontal rail disposed to connect an upper side of the first rack rail and an upper side of the second rack rail; and

   and an upper transfer rack that moves along the upper horizontal rail and transfers the carrier from the first rack rail to the second rack rail,

   The lower horizontal section is

   a lower horizontal rail disposed to connect a lower side of the first rack rail and a lower side of the second rack rail; and

   Circulating vertical conveying system comprising a lower conveying rack moving along the lower horizontal rail and conveying the carrier from the second rack rail to the first rack rail.
4. The method of claim 3, wherein the control panel

   When a call signal is generated at a platform, the call signal is allocated to the nearest carrier among empty carriers heading to the platform where the call signal is generated. When the call signal is generated at a plurality of platforms, the rear end floor is based on the direction of movement of the carrier. a call allocator for first allocating the call signal generated in the platform of and

   Circular vertical conveyance system, characterized in that it comprises a carrier operating unit for operating and controlling the carrier so as to operate according to the call signal allocated by the call allocator.
5. 5. The method of claim 4, wherein the call allocator

   When the number of the call signals generated in a single upward or downward direction based on the traveling direction of the carrier exceeds the number of the carriers in operation, the call signals generated at the platform in the excess traveling direction are allocated preferentially in the order of generation time Circulation type vertical conveying system, characterized in that.
6. 4. The method of claim 3,

   The transfer rail is a circular vertical transfer system, characterized in that the middle horizontal section connecting the middle portion of the second rack rail from the middle portion of the first rack rail is formed.
7. 7. The method of claim 6, wherein the middle horizontal section is

   a middle horizontal rail arranged to connect the middle part of the first rack rail and the middle part of the second rack rail; and

   Circular vertical conveying system, characterized in that it moves along the middle horizontal rail, comprising a middle transfer rack for transferring the carrier between the first rack rail and the second rack rail.
8. 8. The method of claim 7,

   The first rack rail is divided into a first upper rack rail and a first lower rack rail, and the first upper rack rail and the first lower rack rail are spaced apart from each other to form a first spaced apart space in a vertical direction;

   The second rack rail is divided into a second upper rack rail and a second lower rack rail, and the second upper rack rail and the second lower rack rail are spaced apart from each other to form a second spaced apart space in a vertical direction,

   The middle horizontal rail crosses the first and second separation spaces,

   The middle transfer rack is connected to the first upper and lower rack rails or to connect the second upper and lower rack rails Circulating vertical, characterized in that the first spaced space or the second spaced space selectively arranged in the space conveyance system.
9. 9. The method of claim 8, wherein the suspended transport rack is

   The carrier bypasses the first and second upper rack rails in the first lower rack rail under the control of the control panel and transfers the carrier to the second lower rack rail, or transfers the carrier from the second upper rack rail Circulating vertical conveying system, characterized in that bypassing the first and second lower rack rails and transferring to the first upper rack rail.
10. 10. The method of claim 9, wherein the control panel

    a call allocator for allocating the generated call signal to the carrier when a call signal is generated in the platform of each floor; and

    Circular vertical conveyance system, characterized in that it comprises a transfer rack control unit for controlling the operation of the interrupted transfer rack so that the moving path of the carrier to which the call signal is assigned is shortened.
11. 11. The method of claim 10, wherein the transfer rack control unit

    When the call signal generated at the platform of the floor where the second lower rack rail is disposed is assigned to the carrier moving on the first lower rack rail, the assigned carrier crosses the first and second upper rack rails. Control the operation of the intermediate transfer rack to pass, and when the call signal generated at the platform of the floor where the first upper rack rail is disposed is assigned to the carrier moving in the second upper rack rail, the assigned carrier is Circulating vertical conveying system, characterized in that the operation control of the intermediate conveying rack to bypass the first and second lower rack rails.
12. The method of claim 8, wherein the middle horizontal section is

    When the intermediate transfer rack is separated from the first separation space, the first sub-rack connecting the first upper rack rail and the first lower rack rail; and

    When the middle transfer rack is separated from the second separation space, the circulation type vertical transfer system further comprising a second sub-rack connecting the second upper rack rail and the second lower rack rail.
13. 13. The method of claim 12,

    The middle horizontal rail has first and second temporary arrangement sections in which the first sub-rack or the second sub-rack is temporarily disposed at both ends.
14. 14. The method of claim 13,

    The control panel includes a sub-rack control unit for controlling the operation of the first and second sub-racks,

    The sub-rack control unit

    When the intermediate transfer rack is directed to the first spaced space, the operation control of the first sub-rack to be arranged in the first temporary arrangement section and the operation control of the second sub-rack to be arranged in the second spaced space,

    When the intermediate transfer rack is directed to the second separation space, the operation control of the first sub-rack to be arranged in the first separation space and the operation control of the second sub-rack to be arranged in the second temporary arrangement section Circulating vertical conveying system.
15. The method of claim 1,

    The transport rail is provided with two or more, the vertical transport system further comprises a connection traverser for connecting the transport rails,

    The control panel controls the connecting traverser so that the carrier moves between the transport rails.
16. 16. The method of claim 15, wherein the connection traverser

    a connecting horizontal rail connecting the first vertical section of any one of the transport rails and the second vertical section of the different transport rail; and

    Circular vertical, characterized in that it comprises a connecting transfer rack that moves along the connecting horizontal rail and transfers the carrier between the first vertical section of one of the transport rails and the second vertical section of the other different transport rail conveyance system.
17. 16. The method of claim 15,

    The control panel is a circulation type vertical conveying system, characterized in that the operating control of the operating layer of the carrier differently for each transport rail.
18. 18. The method of claim 17, wherein the control panel is

    a count unit for counting a call signal generated for each platform where the transfer rail is disposed;

    a transport rail determining unit configured to determine the transport rail on which the carrier travels based on the counted number of the call signals; and

    Circulation type vertical conveying system, characterized in that it comprises a connection traverser control unit for controlling the connection traverser so that the carrier moves to another conveying rail according to the determination information determined by the conveying rail determining unit.
19. 19. The method of claim 18,

    The transfer rail determining unit circulating vertical transfer system, characterized in that for determining the number of carriers operated for each transfer rail according to the ratio of the number of call signals per unit time for each platform on which the transfer rail is arranged.
20. 20. The method of claim 19,

    The transfer rail determining unit circulating vertical transfer system, characterized in that the difference in the number of carriers operated for each transfer rail does not exceed a reference value.
21. The method of claim 1,

    The transport rail further comprises a third vertical section connected by the upper and lower horizontal sections, together with the first and second vertical sections,

    The control panel includes the third vertical section in the circulation path of the carrier or does not include the circulation type vertical conveying system, characterized in that not included.
22. 22. The method of claim 21, wherein the control panel

    a path determining unit for determining the circulation path to include at least two vertical sections among the first to third vertical sections; and

    Circulation-type vertical conveying system, characterized in that it comprises a carrier operating unit for operating and controlling the carrier to travel according to the determined circulation path.
23. 23. The method of claim 22,

    The control panel further includes a section state determination unit for determining an abnormal state of the first to second vertical sections,

    When it is determined that the first to second vertical sections are in a normal state, the path determining unit determines the circulation path to include the first to second vertical sections, and any one vertical section of the first to second vertical sections If it is determined that the abnormal state, the circulation type vertical transport system, characterized in that for determining the circulation path so that the third vertical section is included in place of the vertical section of the abnormal state.
24. 23. The method of claim 22,

    The control panel further comprises a carrier state determining unit for determining the abnormal state of the carrier,

    Circulation characterized in that the carrier operating unit operates and controls the carrier so that the carrier determined to be in an abnormal state departs from the circulation path and parks in a vertical section not included in the circulation path among the first to third vertical sections Expression vertical conveying system.
25. 25. The method of claim 24,

    If the carrier in an abnormal state is in a state in which movement is impossible on the circulation path, the path determining unit determines the circulation path so that a vertical section in which the carrier is not able to move is excluded from the circulation path. Expression vertical conveying system.
26. 24. The method of claim 23,

    When the first to second vertical sections are determined to form the circulation path, the carrier operating unit operates and controls any one of the carriers to reciprocate along the third vertical section that is not included in the circulation path. Circular vertical conveying system.

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