DE102011007958A1 - Baggage handling system and method - Google Patents

Abstract

In the case of a luggage loading system (1) with a handling device (2) for the automatic loading of luggage (9, 10, 11) from a transfer point of a luggage conveyor system (12, 8) into one to be loaded with a plurality of luggage (9, 10, 11) Container (13) is provided that the handling device (2) comprises a gripping tool (4) which can be moved between the transfer point and the interior of the container (18) and which has a base plate (5) serving as a support for a piece of luggage (9, 10, 11) to be loaded ) and a scraper (7) arranged displaceably on the base plate (5) for stripping off an item of luggage (9, 10, 11) lying on the base plate (5). It is also provided that the gripping tool (4) has at least one hold-down device (6) which can be moved or pivoted in the direction of the base plate (5) for pressing the item of luggage (9, 10, 11) against the base plate (5) of the gripping tool (4) and that the baggage loading system (1) comprises a measuring and evaluation unit (20, 21) which interacts with the hold-down device (6) of the gripping tool (4) and is set up to determine a parameter which determines the consistency of the between the at least one hold-down device ( 6) and the base plate (5) located luggage (9, 10, 11) reflects.

Description

The present invention relates to a baggage handling system comprising a handling device for automatically loading pieces of luggage from a transfer point of a baggage handling system into a container to be loaded with a plurality of pieces of luggage, the handling device comprising a gripping tool movable between the transfer point and the container interior, and wherein the gripping tool is a support For a piece of luggage to be transported serving base plate and a displaceable on the base plate arranged scraper for stripping a lying on the base piece of luggage. Furthermore, the present invention relates to a baggage loading method using such a baggage loading system.

The present invention relates in particular to the loading of luggage at airports in a largely automated or automated system, in which the z. B. at different check-in counters checked luggage are transported fully automatically by means of a baggage conveyor system to a respective destination associated transfer trestle and there - again as fully automatic - to be loaded into containers.

An identification of the items of luggage during baggage promotion from the check-in counter to the transfer station or the assignment of the subsidized baggage to the destination or the container intended for this purpose, in which the luggage in question is to be loaded, takes place z. B. by means suitably attached to the luggage trailers containing the information on the destination and the class of flight (and, if necessary, further information) and the preferred during the conveying process without contact, z. B. optically or electronically, can be read.

Luggage is usually transported to a respective destination associated with the transfer point and from there - by means of a suitable handling device - in a respective destination (and possibly the class of flight) assigned container loaded, each with a plurality of luggage to be loaded container then be spent on the aircraft in question, where then preferably the container in question or the entire baggage in the respective container - if necessary. Manual - be loaded into a hold of the aircraft. Of course, each flight is usually associated with a plurality of containers. As a container in the presently relevant sense can thus also be considered a luggage car or trailer for transporting luggage to an aircraft.

Extensive automation of baggage handling, sorting and loading has long been sought to reduce personnel costs at airports.

Automated baggage handling systems for targeted transport and, if necessary, already a suitable sorting of the baggage checked in by passengers at airports are known in many embodiments. This is already described in the US patent US 3,260,349 from the year 1966 an automated baggage conveyor system, with which pieces of baggage are transported to airports to the correct destination transfer point for the luggage, in which also early checked baggage using a cache automatically and at the right time of the destination concerned transfer point for the other Loading the luggage can be supplied. Also in the patent published in 1975 GB 1,384,593 A largely automated baggage handling system is already described.

Furthermore, from the EP 1 070 664 B1 a method and an arrangement for the automated transport, sorting and loading of luggage in airports known, in which the transport of the luggage to various Verlademitteln, in particular the order of the pieces of luggage to be loaded, depending on previously independently detected characteristics of the checked baggage such. B. whose weight, shape, volume, consistency and class of flight, is controlled. In this way, the loading of the luggage according to a classification according to their weight and consistency can be done gently by hard and / or heavy luggage first be placed close to the ground and soft and light luggage later stacked on it. To determine the consistency of a piece of luggage while the use of a combination of metrological devices is provided, for. B. tactile sensors and image processing systems. The subsequent loading of the luggage in Verlademittel should by means of automated loading tools, such. B. robots and / or gripping tools done, however, are not described in detail. A retrofit of the in the EP 1 070 664 B1 The system described at airports is likely to be difficult because this system for the purpose of baggage sorting intervention in the usually pre-installed luggage conveyor systems of an airport or their control must be made.

Also the DE 38 44 597 A1 relates to the handling of passenger luggage at an airport, where luggage is loaded into a container and the container is then placed in an aircraft. In this connection, a specifically designed device for loading containers with a plurality of items of luggage is described, which may be preceded by a measuring device with which the dimensions of each item of luggage to be loaded can be detected, so that can be determined via a control on the basis of the known dimensions of the container is, at which point of the container which baggage stowed and what storage space then still remains in the container. The device used for baggage loading, which comprises a height-displaceable along a column and attached to horizontally movable telescopic slides luggage piece holding device, which in turn has a fork for receiving a piece of luggage, luggage pieces, however, only in the predetermined orientation laterally insert into a container, which is with regard to the most flexible use of given in a container storage space proves to be disadvantageous.

Other devices for loading carried in aircraft containers or devices for gripping and loading or reloading or loading of luggage are from the DE 100 12 090 A1 , of the DE 199 59 622 C2 , of the DE 20 2007 015 169 U1 , of the DE 10 2005 022 828 B4 and the DE 100 18 385 known.

It shows the DE 100 12 090 A1 a generic piece of baggage loading system with a baggage lifting device arranged at the end of a robot arm, with which pieces of baggage with a blade plate (serving as a base plate) are gripped on each of its lower side, wherein the container is loaded through an opened vertical side of the container. The blade plate is received on the robot arm projecting and adjustable in inclination. On the blade plate a luggage slide is provided, which is movable for the purpose of unloading a lying on the blade plate luggage along the blade plate to near the front free edge. In that regard, it is disadvantageous that the pieces of luggage to be loaded can only be loaded in their lying on the blade plate orientation and that in the in the DE 100 12 090 A1 described system, as well as the one from the DE 38 44 597 A1 the consistency of a piece of baggage to be loaded is not taken into account as a criterion for determining a suitable position and / or orientation of the baggage within the container.

Finally, it shows - not concerning the loading of baggage at airports - DE 10 2007 046 919 A1 a gripper for automatically gripping packing units of different size and texture. Here, the gripper has a relative to a support frame horizontally movable support which rests on a pack unit to be gripped, and a hold-down, wherein the hold-down is movable vertically in the direction of the carrier, so that the packing unit can be pressed by mechanical clamping against the carrier. It is also proposed to determine by means of suitable sensors, the hold-down force exerted by the hold-down in order to avoid damage to sensitive products. Furthermore, in the DE 10 2007 046 919 A1 described gripper on a scraper disposed above the carrier, with which the withdrawal of the carrier, the delivery of the packing unit can be effected. Incidentally, the arrangement of the support frame located above the hold-down, to which a connection plate for connecting the gripper is provided with a robot arm holding the gripper from above, for the tight space in the context of loading a container accessible only through a side loading opening if necessary Luggage not suitable.

Against the background of the state of the art explained above, the present invention is intended to provide a piece of baggage loading system of the type mentioned above which can be retrofitted at airports as well as a corresponding method for loading baggage items, with which an automated, reliable and gentle loading of luggage into one Container can be ensured with optimal packing density. In addition, the coming to use gripping tool for loading luggage of various sizes and properties in the container, possibly in different orientations, be suitable.

The above object is achieved with a luggage loading system according to claim 1 and a method according to claim 10.

The baggage loading system according to the invention is in addition to the already mentioned features in that the gripping tool at least one movable in the direction of the base plate or pivotable, advantageously perpendicular to the base plate, hold down for pressing the luggage against the base plate of the gripping tool and that the luggage loading system further comprising cooperating with the hold-down of the gripping tool measuring and evaluation, which is adapted to determine a characteristic, which the Consistency of the present between the at least one hold-down and the base plate luggage reflects.

The inventively provided gripping tool, which has a - in plan view z. B. rectangular or rounded at a free end - base plate, a - z. B. from a rear end to a front free end of the base plate out - displaceably arranged scraper and at least one relative to the base plate perpendicular between a respectively releasing the luggage to be gripped baggage and a luggage piece against the base plate pressing position movable hold-down, is ideal for secure gripping of luggage of various designs. The gripping tool can be designed to be compact at the same time, so that in the confined space of a - possibly already partially loaded - container to be loaded luggage at such positions - and, if necessary, in a this respect to the original orientation of the luggage on the baggage conveyor changed orientation - discontinued may be, taking into account the determined consistency of the luggage to achieve the highest possible packing density.

A piece of luggage to be loaded with the piece of baggage loading system according to the invention can first be deposited on the base plate of the gripping tool positioned suitably in the area of the transfer point, at the transfer point, for example - with the hold-down device in an open position. B. by the luggage in question is transported by means of baggage handling system directly to the base plate of the gripping tool. Subsequently, the at least one hold-down device from the open position in which it was suitably far away from the base plate for receiving the respective piece of luggage, be driven in the direction of the base plate until the bag from the at least one hold-down -. B. under a predetermined force or under a baggage dependent (eg., Depending on the determinable when closing the blank holder consistency of the luggage) force to be determined against the base plate, which the bag safely in the gripping tool (between base plate and hold-down) is held and preferably also in a possible rotation of the gripping tool is held in a fixed position about at least one axis.

Subsequently, the gripping tool of the inventively provided handling device - with the aid of suitable positioning means, such as. B. a robotic arm carrying the gripping tool (see below) - moved into the interior of the container to a suitable storage position for the respective piece of luggage, where the bag under the process of at least one hold-down in a baggage-releasing position - and, if necessary, with the aid of Scraper - stored in an advantageous arbitrarily specifiable orientation within the container or can be pressed or "stuffed" with the aid of the scraper in an existing space in the container.

In the context of the present invention, it proves to be of particular advantage that the piece of baggage loading system according to the invention comprises a measuring and evaluation unit cooperating with the holding-down device of the gripping tool, which is set up to determine a parameter reflecting the consistency of the piece of luggage held between the holding device and the base plate, as a result taking into account the ascertainable consistency characteristic of the item of luggage during the loading process, a suitable storage location and orientation for the item of luggage within the container can be determined or at least it can be checked whether the piece of luggage to be loaded, taking into account the determined consistency parameter for filing at a possibly. First, regardless of this calculated storage location and orientation within the container. If this is not the case, either a suitable other position can be determined by means of the evaluation unit or another computer unit connected thereto (eg a computer system which controls the entire loading process, which may optionally include the aforesaid evaluation unit, taking into account the determined consistency parameter Orientation for the storage of baggage within the container determines and the handling device are controlled accordingly or sorted out the piece of luggage for later manual loading and stored for this purpose at a suitable location outside of the container.

The consistency parameter ascertainable according to the invention during the loading process is intended to make it possible to divide the pieces of luggage to be loaded into different consistency classes and to make a distinction between "hard luggage" in the smallest possible requirement of the measuring and evaluation system. H. low to low deformable luggage, and "soft luggage", d. H. A division into further intermediate classes (eg a division into a total of three, four, five or even more different consistency classes) or a continuous parameter for the consistency or the "degree of firmness" However, the "deformability" of a piece of luggage can also be beneficial.

The determination in the context of the invention during the loading process with the gripping tool determination of a consistency characteristic as explained above is particularly useful for determining suitable storage positions and orientations for the remaining space of a container to be loaded luggage, as z. B. soft luggage - unlike hard luggage - bad for settling in an upright orientation is suitable (unless it can be set off or pressed by the gripping tool in an upright orientation in a suitably sized space between two pieces of luggage) or because soft luggage in a container preferably above the Hartgepäcks is to arrange.

The consistency parameter which can be determined in cooperation with the hold-down device reflects the consistency, ie in particular the deformability of the item of luggage to be loaded in the direction perpendicular to the base plate, which - depending on the type of item of luggage - is not necessarily consistent with the consistency or deformability of the item of clothing Baggage item must match. In this respect, it is considered to be particularly advantageous within the scope of the invention if a measuring and evaluation unit interacting with the scraper is additionally provided in a baggage loading system according to the invention, which is set up to determine a further parameter which determines the consistency of the item of luggage with regard to a force application reflected in the direction of movement of the scraper. For this purpose, the scraper can be pressed against the luggage in a suitable manner, while it is already pressed by the hold-down with predetermined (in particular constant) force against the base plate, so that, under evaluation of the caused by the scraper deformation of the luggage or exerted by the scraper Force or the pressure exerted in this case is a characteristic for the consistency of the luggage under force in a direction perpendicular to the base plate direction can be determined.

In order to calculate a suitable storage location and orientation of a piece of luggage to be loaded into the container, the geometric dimensions of the piece of luggage to be loaded are used in a suitable manner, for which, within the scope of the present invention, for example. For example, an optical measuring device may be provided in the region of the baggage conveyor system or may be integrated into the handling device (eg arranged on the gripper tool). With additional consideration of the consistency parameter that can be determined within the scope of the present invention, it can then be advantageously considered during the loading process how far the piece of luggage to be loaded or previously loaded pieces of luggage deform, possibly in different directions, under the given force, so that in this respect The quality of the packing layers and the utilization of the free space in the container can be optimized. Thus, it follows that, if necessary. On the basis of pure bag dimensions for too small found free spaces in the container can still be suitable for receiving a piece of luggage to be loaded, either because the baggage to be loaded is deformable such that it - z. B. with simultaneous compression by the hold-down - can be pressed or stuffed by means of the scraper in a actually too small space for the luggage in question, or because z. B. a piece of hard luggage to be loaded taking into account the given (and determined in previous loading operations) deformability of one or more of the already loaded luggage in a the or the luggage in question adjacent space of the container can be pressed. Thus, with a system according to the invention, taking into account the consistency characteristic (s) of the luggage items determined during the loading process, the packing density achievable within the container can be increased compared to a mere adjustment to the geometric dimensions of the respective items of luggage and the given clearances. It is thus within the scope of the invention of particular advantage if the processing unit controlling the loading operation for determining a suitable storage position and orientation for the piece of luggage to be loaded not only the dimensions of each piece of luggage to be loaded and the dimensions and position of the container and the therein ( still) existing free space taken into account, but also - if necessary, in different directions different - consistency of the loaded and / or already loaded luggage considered. In the context of the present invention, these data are thus preferably stored in a suitable memory unit of the computing unit controlling the loading process of the piece of baggage loading system according to the invention, so that they can be taken into account within the scope of determining a suitable storage position and orientation for the respective piece of luggage to be loaded.

The transfer point at which the pieces of luggage are transferred from the baggage conveyor to the gripping tool can be advantageously formed in the context of the present invention by a free end of a luggage conveyor belt. For the purpose of receiving the item of luggage in the gripping tool, the gripping tool is then preferably positioned at the free end of the conveyor belt to be controlled for transfer purposes, so that the pieces of luggage transported by the conveyor belt are automatically conveyed to the base plate of the gripping tool, e.g. B. pages its front free end and / or from another side of the base plate.

For this purpose, it can be advantageously provided that the gripping tool for taking over a piece of luggage with the front free end of its base plate at the free end of the conveyor belt (immediately adjacent thereto and facing this) can be positioned. Advantageously, the base plate can be brought into a tilted (backwards) position by a suitable adjustment of the position of the gripping tool, so that the piece of luggage in question automatically slides into the free space within the gripping tool, which is limited rearwardly by the wiper. Subsequently, the piece of luggage can be fixed on the base plate by means of a suitable method of the hold-down and, at the same time, the corresponding consistency characteristic of the item of luggage can be determined.

It can also be useful, if the gripping tool by appropriate design and arrangement of the robotic arm carrying the gripping tool is alternatively positionable at the end of the conveyor belt, that the baggage the gripper tool is not supplied from the free end of the base plate, but laterally, so in the With regard to the possible orientations of the baggage during its subsequent storage in the container greater flexibility exists. With a corresponding side view of a piece of luggage should then - because of the not given in this orientation by the scraper attack - the hold down suitable fast closed so that the conveyed from the conveyor belt to the base plate of the gripping tool luggage does not slip off to the other side of the gripping tool again.

The hold-down device and / or the scraper can already be brought into a position to accelerate the loading process in already known geometry of the piece of luggage to be accommodated, which allow a receptacle of the bag in the gripping tool, but in the case of the blank holder the smallest possible route for pressing the Luggage against the base plate and / or in the case of the scraper the least possible route for stripping the baggage item (later settling the bag in the container) condition. In particular, in a for the purpose of receiving a piece of luggage (slightly) inclined base plate, as already explained above, the scraper to achieve the most gentle and positionally accurate recording of the luggage in the gripping tool, if necessary. First, be brought into a forward position and then when the piece of luggage rests in the correct position, they are moved into a rear position, so that the piece of luggage slips completely onto the base plate of the gripping tool, gently and when it is constantly resting against the scraper. By suitable timing of the movement of the scraper, the "impact" of the item of luggage on the scraper can also already be reduced.

In a further development of the present invention, it may preferably be provided that the handling device comprises a robot arm to which the gripping tool is fastened with base plate projecting forward from one end of the robot arm and with which the gripping tool is interposed between the transfer point and the interior of a container suitably positioned therefor is movable. It can then be provided in a particularly advantageous manner that the gripping tool by means of the robot arm in such a way about at least one axis, advantageously about two mutually orthogonal axes, rotated or tilted, so that the base plate can assume a vertical orientation. In this case, in particular, such an orientation should be taken, in which the base plate with its front free end and / or a lateral edge facing down. So can be z. B. by means of baggage conveyor in lying orientation on the base plate of the gripping tool conveyed luggage in an upright orientation in the container, which is advantageous for optimal utilization of the limited space in the container to be loaded and allows a particularly high packing density.

In a preferred embodiment of the present invention, it is provided that the evaluation unit determines the consistency of the item of luggage by evaluating the contact pressure exerted by the hold-down or by the scraper on the item of luggage in different positions (or by means of the respective drive unit for the downholder or the force applied to the wiper) and / or the deformation of the item of luggage caused by the hold-down device or the wiper for a given contact pressure (or force). If necessary. can be used for comparison purposes on the previously determined in the unloaded state geometric dimensions of the luggage.

The measurement and evaluation unit provided for this purpose thus advantageously evaluates the forces exerted by the hold-down device and / or scrapers in different positions on the item of luggage and the deformation caused thereby, thus to a certain extent the resistance of the item of luggage to one of the respective position Determined by hold-down or scraper corresponding deformation and thus ultimately the bag a characteristic is assigned, which is the consistency of the bag (ie the resistance of the item of luggage against a pressure exerted by hold-down or wiper). In the case of the preferred use of servo drives or servo motors for adjusting the hold and / or the scraper can by means of a suitable measuring device generated by suitable adjustment of the position of the blank holder or scraper current or voltage increase or decrease in the or each used to adjust the blank holder or scraper servomotors are used, which also allows the desired conclusion on the consistency of the luggage.

In an advantageous embodiment of the invention, it is provided that the luggage piece loading system according to the invention further comprises a measuring device upstream of the handling device, which is adapted, using optical measuring means, the geometric dimensions and / or color and / or other surface finish and / or a characteristic edge profile to determine the baggage to be loaded. This proves to be particularly advantageous if the piece of baggage loading system in a further development of the invention has a consistency estimation device which is adapted to a piece of luggage depending on its geometric dimensions and / or its color and / or the other surface texture and / or a characteristic edge profile of the piece of baggage to be loaded to assign an estimated parameter for its presumed consistency, wherein the assignment of the estimated characteristic takes place with the aid of a database with known correlations of different luggage piece geometries or colors and associated consistency characteristics. This is based on the knowledge that based on the geometric dimensions and / or on the basis of the color and / or a special surface property, such. B. the surface texture or the reflection properties of the surface and / or based on characteristic edge courses of luggage the nature of the item of luggage and thus its consistency can be estimated already with high reliability, with the reliability of such Consistency Estimation by continuous improvement / expansion of the database used and the Abstellstellung on several of the aforementioned parameters can improve continuously during operation. It can when using CCD cameras, z. B. for the purpose of edge detection, to determine surface properties or to determine the geometric dimensions of common image recognition and image processing algorithms are used.

With the aid of such a consistency estimation device, which can be installed or retrofitted cost-effectively and simply in the area of the baggage conveyor system of an airport because of the preferred exclusive use of optical measuring means (eg suitable light barriers, light curtains, CCD cameras, etc.), it is thus possible to use the The computing unit controlling the loading process - taking into account the "estimated" consistency parameter for each item of luggage - first of all a storage position and orientation for the luggage in the container to be loaded, which is suitable for achieving the most optimal packing density. However, the baggage loading system according to the invention then expediently also has a comparison unit by means of which a comparison between the estimated and the characteristic quantity determined in cooperation with the least one blank holder and / or the wiper of the gripping tool for the consistency of the item of baggage takes place during loading of the item of luggage in question if there is a relevant discrepancy between the "estimated" and the determined (ie the actual) baggage consistency parameter, a recalculation of another storage location (or orientation) or a sorting out of the baggage item for later manual loading into the container may be possible. It should be noted that it may be useful to increase the reliability of a piece of luggage loading system according to the invention, if all luggage with special properties (eg very soft or very light luggage with a weight of, for example, less than 5, 4 or 3 kilograms ) of the gripping tool are generally supplied to a manual loading (by being stored, for example, at a location suitably close to the container), for which purpose in the initially automated loaded container preferred free spaces should be left for the manually loaded pieces of luggage.

Furthermore, it proves to be advantageous in the context of the present invention if the baggage loading system has a sorting device for controlling the order of the transfer point supplied by the baggage bag conveying system luggage, the order of the baggage depending on the estimated characteristic for the consistency of the pieces of luggage to be loaded , As a result, then, the order of the baggage items supplied to the transfer point can be controlled in terms of the most space-saving and gentle loading of the luggage in the respective container.

In addition, it should be noted that in a piece of luggage loading system according to the invention, if necessary. Also another, the Handling device upstream device for determining the (actual) consistency of the pieces of luggage to be loaded can be provided with the preferred, z. B. using suitable tactile sensors, the consistency of the transfer point supplied baggage, advantageous in terms of Kraftbeauschlagungen in different directions, can be determined, which can then be used for computer-aided planning of the automated loading process.

Furthermore, an optical measuring device can advantageously be provided on the gripping tool with which, using suitable algorithms, the correct storage of a piece of luggage in the container is verified and / or the space (still) available in a container - for example. B. before and / or after filing of each piece of luggage in the container - determined and then the loading process controlling computing unit can be transmitted.

Incidentally, the loading system according to the invention advantageously has a device by means of which always the exact position and orientation of a container to be loaded (in particular relative to the gripping tool or relative to the robot arm), unless this is always exactly predetermined by suitable means, can be determined.

Finally, it should be mentioned that in the context of the baggage loading system according to the invention is of particular advantage when the container to be loaded with containers in its "loading" assumes a relation to the horizontal inclined orientation so that it loaded luggage, especially in the lowest piece of luggage, automatically can slide against a stop formed by a side wall of the container or an adjacent piece of luggage, which facilitates a particularly positionally accurate storage of luggage and thus to achieve a particularly high packing density. For this purpose, since the coming to use containers are usually transported on a kind of trailer, an inclined ramp can be provided on which the trailer is placed with container for the purpose of loading.

• – Positionieren des Greifwerkzeugs im Bereich einer Übergabestelle einer Gepäckstückförderanlage und Aufnahme eines von der Gepäckstückförderanlage übergebenen Gepäckstücks mit dem Greifwerkzeug
• – Anpressen des Gepäckstücks gegen die Grundplatte mittels des Niederhalters
• – Ermittlung der die Konsistenz des Gepäckstücks widerspiegelnden Kenngröße mittels der Mess- und Auswerteeinheit
• – Bewegen des Greifwerkzeugs in das Containerinnere an eine unter Berücksichtigung der Konsistenzkenngröße zur Ablage des Gepäckstücks geeignete Stelle und in einer geeigneten Orientierung
• – Ablegen des Gepäckstücks im Container, wobei das Gepäckstück gegebenenfalls mittels des Abstreifers von der Grundplatte abgeschoben wird.

Furthermore, the present invention relates to a method for baggage loading using a baggage loading system according to one of the preceding claims, comprising at least the following - iteratively repeated steps:

• - Positioning of the gripping tool in the area of a transfer point of a luggage conveyor system and receiving a handed over by the baggage handling unit luggage with the gripping tool
• - Pressing the luggage against the base plate by means of the hold-down
• Determination of the parameter reflecting the consistency of the item of luggage by means of the measuring and evaluation unit
• - Moving the gripping tool in the container interior to a suitable taking into account the consistency parameter for storing the item of luggage and in a suitable orientation
• - Store the baggage item in the container, wherein the baggage is optionally deported from the base plate by means of the scraper.

In order to avoid repetition, reference should be made to the above statements regarding the system according to the invention with regard to the advantages of the method according to the invention as well as preferred refinements and developments of the method which relate in an analogous manner to the method according to the invention.

An exemplary embodiment of the invention is explained in more detail below with reference to the drawing. Showing:

1 a side view of a piece of luggage loading system according to the invention and the

2 - 6 different views of this case coming to use gripping tool at different positions of the blank holder and the scraper.

1 shows an embodiment of a piece of luggage loading system according to the invention 1 with a handling device 2 holding a movable robotic arm 3 and a gripping tool mounted thereon 4 with a base plate 5 , a two-part hold-down device 6 and a scraper 7 includes. The gripping tool 4 will be explained below with reference to the 2 - 6 explained in more detail.

In the in 1 shown position is the gripping tool 4 by means of the robot arm 3 at a transfer point immediately adjacent to the free end 15 a driven in the conveying direction F conveyor belt 8th a luggage conveyor system, not shown 12 an airport positioned with which in the container 13 to be loaded luggage 9 . 10 . 11 successively the gripping tool 4 be supplied. Here is the base plate 5 of the gripping tool 4 with its front, free end 14 the free end 15 of the conveyor belt 8th facing and to her from the conveyor belt 8th tilted away from the side down, so that the gripping tool 4 next delivered case 9 when he's off the conveyor 8th in the conveying direction F over the free end 15 of the conveyor belt 8th is transported out, automatically into the gripping tool 4 on whose baseplate 5 slips until it stops at the scraper in a rear position 7 comes to the plant. Then the piece of luggage 9 in the gripping tool 4 be gripped safely by the hold down 6 in the direction of the base plate 5 will proceed until he gets the luggage 9 with a predetermined contact pressure against the base plate 5 pushes, leaving the luggage 9 regardless of the orientation and movement of the gripping tool 4 always kept safe.

Once the piece of luggage 9 in the gripping tool 4 is held securely, the gripping tool 4 by means of the robot arm 3 through one of an open lid 16 shared access opening 17 into the hereby partly from above and partly laterally accessible inside 18 of the container 13 to be moved. The robot arm 3 mounted gripping tool 4 with the end of the robot arm 3 forwardly protruding base plate 5 can be tilted in particular by movement of the end of the robot arm according to double arrow P about the axis L and together with another part of the robot arm 3 be rotated or pivoted about the axis M according to double arrow Q, whereby the base plate 5 of the gripping tool 4 for the purpose of an upright settling of initially lying on the base plate 5 held luggage pieces can be brought into different substantially vertical orientations. The movement of the robot arm 3 also allows pivotal movements of its components according to double arrows R and S about the axes N and O and can also total according to double arrow T on its base 19 be rotated about a vertical axis, so that a total of a large range of motion for the means of the robot arm 3 moving gripping tool 4 provided.

The entire loading process, including the movement of the conveyor belt 8th , the movement of the robot arm 3 or of the gripping tool 4 around the mentioned axes as well as the adjustment of the hold-down 6 and the scraper 7 , is from a central processing unit 20 which also has a suitable storage position and orientation for each in the container 13 to be loaded piece of luggage 9 . 10 . 11 determines, as far as this is not z. Because of a momentarily (or generally) inappropriate dimension or consistency - like that of the gripper tool 4 in a previous process on a storage table 23 dropped luggage 24 - must be sorted out for manual loading.

The arithmetic unit 20 serves in cooperation with suitable measuring equipment (in 1 not shown), the hold-down 6 or the scraper 7 are assigned, at the same time as an evaluation unit 21 . 22 to take into account one of the hold down 6 or the scraper 7 on the respective piece of luggage to be loaded 9 . 10 . 11 applied force or a deformation of the luggage caused thereby 9 . 10 . 11 a parameter for the given in the respective direction of action consistency of the luggage 9 . 10 . 11 then for the planning of the further loading process or the determination / verification of a suitable storage position and orientation within the container 13 is taken into account.

The one on a trailer 25 located containers 13 is due to one at the loading position for the container 13 located ramp 26 on which the trailer 25 comes to a stand - arranged in an inclined orientation (angle α) relative to the horizontal, so that a means of handling device 2 internally 18 of the container 13 near the side wall at the sloping end of the container floor 27 stored baggage item 28 (shown in pencil) on the sloping bottom surface of the container 13 according to arrow V in the direction of the side wall 27 slips and comes to selbiger to the plant, bringing a particularly positionally accurate storage of luggage 28 . 9 . 10 . 11 inside the container 13 is possible.

Furthermore, in 1 schematically one - in the area of the conveyor belt 8th arranged and thus the handling device 2 upstream - measuring device 29 with two CCD cameras installed in the conveyor belt area 30 . 31 shown, with which the pieces of luggage conveyed past 9 . 10 . 11 from different directions (here: from above and one side) can be detected optically. As a result, in cooperation with the arithmetic unit 20 , which signals the CCD cameras 30 . 31 First, the relevant for the loading process geometric dimensions of the luggage 9 . 10 . 11 can be determined and secondly, so far as the arithmetic unit 20 also as a consistency estimator 32 acting by evaluating the dimensions, the ascertainable color of a piece of luggage, any other surface property and / or characteristic edge profiles of the item of luggage and recourse to a relevant correlations database containing a presumed characteristic for the consistency of the item in question 9 . 10 . 11 determined and utilized to determine a suitable storage position and orientation. The arithmetic unit 20 then also acts as a comparison unit 33 By, during the subsequent loading process of a piece of luggage 9 . 10 . 11 the (or actual) consistency characteristics determined during the loading process with those previously determined by the consistency estimation device 33 compares established parameters for the consistency in the respective direction, so that in the case of deviations relevant to that extent, if necessary, a new storage location for the item of luggage within the Containers or a sorting of the baggage for manual loading with storage of the luggage on the table 23 is initiated.

The 2 to 6 show the gripping tool 4 in different views and at different positions of the hold-down 6 and the scraper 7 ,

2 shows the gripping tool 4 in a perspective view obliquely from the front with a suitably wide open hold-down for receiving a piece of luggage 6 , where the hold-down 6 two laterally spaced apart, in plan view, substantially rectangular, above the base plate and arranged respectively parallel thereto aligned flat hold-down elements 6a . 6b which, as explained in more detail below, in a direction perpendicular to the base plate 5 lying axis are movable to one on the base plate 5 lying luggage against it to press. The hold-down elements 6a . 6b Thus, starting from the in 2 shown position according to arrow B are moved in the direction of the base plate until it is not shown here piece of luggage with z. B. predeterminable force against the base plate 5 Press and hold securely. A suitable adjustment of the (maximum) exercisable force can prevent damage to the luggage (or its contents).

Further, on the base plate 5 at the rear, the free front end 14 remote. End in two guide grooves 33 . 34 linearly displaceable guided scraper 7 in the form of a perpendicular to the base plate 5 oriented stripper plate 35 arranged starting from the in 2 shown position for the purpose of pushing off a on the base plate 5 lying luggage item according to arrow A on selbiger to the free end 14 the base plate 5 can be moved, as this - with also wide open holddown 6 - in 6 is shown.

Each hold-down element 6a . 6b is at a substantially parallel to the base plate extending arm 36 . 37 attached, which to achieve a compact design to behind the plane of the Abstreiferplatte 35 extends in its rearmost position and which there in turn on a vertically displaceable guided guide rail 38 . 39 attached, one by one (behind the scraper 7 arranged) servomotor 40 . 41 via one traction drive each 42 . 43 (here: in the form of a positive toothed belt drive) is adjusted.

The control of the two servomotors 40 . 41 takes over the already in 1 illustrated central processing unit 20 , which at the same time as a measuring and evaluation unit 21 to determine the characteristic for the consistency of one by means of hold-down elements 6a . 6b against the base plate 5 pressed piece of luggage is used. For if - with known geometry of the luggage - the respective servo motor 40 . 41 from the arithmetic unit 20 is controlled so that the hold-down elements 6a . 6b Press with predetermined force on the bag, then can be out of each by means of the computing or evaluation 20 . 21 in cooperation with the electronics of the servomotor 40 . 41 determinable position of the respective hold-down element 6a . 6b (ie the distance between hold-down element 6a . 6b and base plate 5 ) and determine by comparison with the previously known geometric dimensions of the non-kraftbeaufschlagten luggage piece, how far that by the hold-down elements 6a . 6b deformed with predetermined force baggage, which allows an immediate conclusion on its consistency and thus the determination of a suitable characteristic for this. Because of the use of two, each separately by means of a separate servomotor 40 . 41 adjustable hold-down elements 6a . 6b may be present - depending on the particular piece of luggage - if necessary. When placed on the individual hold-down holder elements 6a . 6b give different consistency characteristics, if the bag z. B. in the region of the first hold-down element 6a more compliant than in the region of the second hold-down element 6b , Depending on the specific system design and / or specific application can then z. B. in the sense of an approximation formed by the mean of the two parameters characteristic as for the consistency of the luggage (in the relevant direction) are determined significantly or it can - for further calculations - of a spatially inhomogeneous consistency of the luggage in question, as determined , are assumed. With more than two juxtaposed and separately driven by a servo motor hold-down elements even better statement on the spatially inhomogeneous consistency of the items to be loaded could be achieved, which if necessary. Computer-assisted loading of luggage could be improved again.

The through the scraper plate 35 formed scrapers 7 is by means of - in the 2 - 6 unrecognizable servomotor driven, which is approximately midway below the base plate 5 is arranged. Again, this can at the same time the luggage firmly holding down device 6 in cooperation with the also by the central processing unit 20 formed measuring and evaluation unit 22 , as already described above, a value for the consistency of the item of luggage in the feed direction of the scraper are determined.

The 3 - 5 show the gripping tool 4 with closed, ie brought up close to the base plate hold-down 6 in different views from diagonally forward ( 3 ), from diagonally behind ( 4 ) and from the side ( 5 ). In particular in 4 is the mounting plate 44 with which the gripping tool 4 at a free end of the already in 1 shown robot arm 3 is attached, easy to recognize. Furthermore, one is with the mounting plate 44 connected support structure 45 to recognize at which z. B. the two guide rails 38 . 39 are guided linearly displaceable and to which the base plate 5 is attached.

6 again shows in a view obliquely from the front gripper with scraper moved forward 7 and wide open hold down 6 ,

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 3260349 [0006]
• GB 1384593 [0006]
• EP 1070664 B1 [0007, 0007]
• DE 3844597 A1 [0008, 0010]
• DE 10012090 A1 [0009, 0010, 0010]
• DE 19959622 C2 [0009]
• DE 202007015169 U1 [0009]
• DE 102005022828 B4 [0009]
• DE 10018385 [0009]
• DE 102007046919 A1 [0011, 0011]

Claims (10)

Baggage loading system ( 1 ) comprising a handling device ( 2 ) for the automatic loading of luggage ( 9 . 10 . 11 ) from a transfer point of a baggage handling system ( 12 . 8th ) into one of a plurality of pieces of luggage ( 9 . 10 . 11 ) to be loaded ( 13 ), wherein the handling device ( 2 ) between the transfer point and the container interior ( 18 ) movable gripping tool ( 4 ) and wherein the gripping tool ( 4 ) one as a support for a piece of luggage to be loaded ( 9 . 10 . 11 ) serving base plate ( 5 ) and one on the base plate ( 5 ) slidably arranged scrapers ( 7 ) for stripping one on the base plate ( 5 ) ( 9 . 10 . 11 ), characterized in that the gripping tool ( 4 ) at least one towards the base plate ( 5 ) movable or pivotable hold-down device ( 6 ) for pressing the luggage ( 9 . 10 . 11 ) against the base plate ( 5 ) of the gripping tool ( 4 ) and that the baggage loading system ( 1 ) one with the hold-down ( 6 ) of the gripping tool ( 4 ) cooperating measuring and evaluation unit ( 20 . 21 ) which is set up to determine a parameter which determines the consistency of the between the at least one hold-down device ( 6 ) and the base plate ( 5 ) ( 9 . 10 . 11 ). Luggage loading system according to claim 1, characterized in that the baggage loading system ( 1 ) further with the scraper ( 7 ) cooperating measuring and evaluation unit ( 20 . 22 ), which is set up to determine another characteristic which determines the consistency of the item of luggage ( 9 . 10 . 11 ) with respect to a force in the direction of movement (arrow A) of the scraper ( 7 ). Luggage loading system according to claim 1 or 2, characterized in that the handling device ( 2 ) a robot arm ( 3 ), on which the gripping tool ( 4 ) from one end of the robot arm ( 3 ) forward projecting base plate ( 5 ) is attached and with which the gripping tool ( 4 ) between the transfer point and the interior ( 18 ) of a suitably positioned container ( 13 ) is movable. Luggage loading system according to claim 3, characterized in that the gripping tool ( 4 ) by means of the robot arm ( 3 ) can be rotated or tilted about at least one axis (L, M) in such a way that the base plate ( 5 ) can take a vertical orientation. Baggage loading system according to one of the preceding claims, characterized in that the evaluation unit ( 21 . 22 ) the consistency of the item of luggage ( 9 . 10 . 11 ) relevant parameter under evaluation of the hold-down ( 6 ) or the scraper ( 7 ) on the luggage ( 9 . 10 . 11 ) applied in different positions contact pressure and / or by the hold down ( 6 ) or the scraper ( 7 ) deformation of the item of luggage caused by a given contact pressure ( 9 . 10 . 11 ). Baggage handling system according to one of the preceding claims, characterized in that the baggage loading system ( 1 ) further a measuring device upstream of the handling device ( 29 ), which is set up using optical measuring means ( 30 . 31 ) the geometric dimensions and / or the color and / or another surface condition and / or a characteristic edge profile of the item of luggage to be loaded ( 9 . 10 . 11 ) to investigate. Luggage loading system according to claim 6, characterized in that the baggage loading system ( 1 ) a consistency estimator ( 20 . 32 ), which is adapted to a piece of luggage ( 9 . 10 . 11 ) depending on its geometric dimensions and / or its color and / or the other surface condition and / or a characteristic edge profile of the item of luggage to be loaded ( 9 . 10 . 11 ) to associate an estimated characteristic for its presumed consistency, wherein the assignment of the estimated characteristic takes place with the aid of a database with known correlations of different luggage piece geometries or colors and associated consistency characteristics. Luggage loading system according to claim 7, characterized in that it comprises a comparison unit ( 33 ) by means of which, when loading a piece of luggage ( 9 . 10 . 11 ) a comparison between the estimated and in cooperation with the least one hold-down ( 6 ) and / or the scraper ( 7 ) of the gripping tool ( 4 ) for the consistency of the item of luggage ( 9 . 10 . 11 ) he follows. Baggage loading system according to claim 7 or 8, characterized in that the baggage loading system ( 1 ) a sorting device for controlling the order of the transfer point by means of the luggage conveyor system ( 8th . 12 ) ( 9 . 10 . 11 ), the order of the pieces of luggage depending on the estimated characteristic for the consistency of the pieces of baggage ( 9 . 10 . 11 ) he follows. Baggage loading method using a baggage loading system ( 1 ) according to one of the preceding claims, comprising at least the following steps: - positioning of the gripping tool ( 4 ) in the area of a transfer point of a baggage conveyor system ( 12 . 8th ) and receiving one from the baggage handling system ( 12 . 8th ) ( 9 . 10 . 11 ) with the gripping tool ( 4 ) - pressing the luggage ( 9 . 10 . 11 ) against the base plate ( 5 ) by means of the hold-down ( 6 ) - Determination of the consistency of the baggage ( 9 . 10 . 11 ) by means of the measuring and evaluation unit ( 20 . 21 ) - moving the gripping tool ( 4 ) into the container interior ( 18 ), taking into account the consistency parameter for storing the item of luggage ( 9 . 10 . 11 ) and, in a suitable orientation, placing the item of luggage ( 9 . 10 . 11 ) in the container ( 13 ), the bag ( 9 . 10 . 11 ) optionally by means of the scraper ( 7 ) from the base plate ( 5 ) is deported.

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