DE102011052299A1 - Cargo hold for aircraft, has robot with robot arm and receiving tool for receiving packages, where robot is arranged on ceiling structure or on wall structure of cargo hold, and holding unit is fastened on ceiling structure - Google Patents

Abstract

The cargo hold has a robot (10) with a robot arm (20) and a receiving tool for receiving packages. The robot is arranged on a ceiling structure (120) or on a wall structure of the cargo hold. A holding unit is fastened on the ceiling structure, particularly with a linear guide. A holding device has a circumferential linear guide, at which two robots are fastened.

Description

The invention relates to a cargo hold of an aircraft, comprising a robot with at least one robot arm, an aircraft and a freight storage device.

In the commercial aircraft sector, a distinction is made between wide body aircrafts, narrow body aircrafts and regional jets. In the widebody aircraft, standardized cargo units, in particular freight containers and / or freight pallets, are usually loaded in the lower deck cargo compartments. At the rear of the widebody aircraft, there is usually a smaller bulk cargo compartment to load bulky luggage and / or late baggage that must be quickly returned to service after landing (e.g., wheelchairs). Typically, the cargo holds of such large-capacity aircraft are about 1.6 meters high and can be loaded with containers of the type LD-3.

In contrast, the lower deck cargo space of a standard fuselage aircraft is much smaller. When loading these freight compartments, it is sometimes not possible to resort to corresponding freight units (for example freight containers). Instead, a so-called bulk cargo loading ("bulk loading") takes place. The individual pieces of freight are placed outside the aircraft on a conveyor belt, which brings them to the entrance area or to the hatch of the cargo hold. There sits a person who throws the luggage further back into the interior of the hold or pushes. Inside the cargo hold is another person who gradually piled up the luggage. These cargo holds are usually about 1 meter high, so that the loading staff can move it difficult. There are standard fuselage aircraft (e.g., the A320 series) that allow for loading of special cargo containers. Loading these containers is problematic.

For feeder aircraft there is a special, also small cargo space behind the cabin, e.g. at the same height as the cabin. Furthermore, there are corresponding aircraft that have very small cargo compartments underneath the cabin, which correspond essentially to the lower deck cargo holds of the standard full-body aircraft. However, these are very small, usually have only the cross section of a single suitcase and a height of less than half a meter. A loading of such cargo holds is usually completely manual.

In the past, attempts have been made to simplify loading for standard fuselage aircraft because the traditional, mainly manual loading procedures are time-consuming - thus expensive - and unhealthy for ground crews. Thus, ground crews are forced to lift and stow heavy cargo (e.g., 35 kg) in crowded spaces.

For example, it was envisaged to install cargo conveyors within the cargo holds which stowed the cargo in an unordered manner within the cargo hold ( WO 2008/118076 A1 ).

One currently common solution is the "sliding carpet". Here, the floor area and parts of the side area of the hold are lined with a conveyor belt. A person sitting in the foyer of the aircraft layers the incoming suitcases into a series or wall of cargo. Thereafter, the conveyor belts are moved such that there is room for the layering of another row. The process is repeated until the entire cargo space is completely loaded. During unloading, the individual rows are successively removed again and the conveyor belts are moved in a corresponding manner.

A disadvantage of this loading method is that the installation of the conveyor belts consumes cargo space and the weight of the device contributes significantly to the overall weight of the aircraft. This means that less freight can be carried and fuel consumption increases. This leads to higher transport costs. Furthermore, you have to keep certain distances to the side walls ("lining") and to the ceiling ("ceiling"), otherwise the cargo pieces will rest during the movement of the conveyor belts. This can lead to damage to the aircraft, the falling over of an already stacked freight line or the wedging of freight. Furthermore, it proves to be extremely problematic to secure the loaded freight in a suitable manner. In this way, it is not possible to draw in intermediate nets which pick up loads occurring during the flight along the longitudinal direction-X direction-of the aircraft and divert them into the fuselage of the aircraft. If such networks are lacking, the individual freight items can move as one unit in the entire cargo hold.

From the WO 98/5073 a loading system is known in which the ground staff is supported by means of an extendable conveyor belt and a arranged at the end of this conveyor belt loading table. This system is used only as a loading and unloading aid and then remains on the ground. in the Eventually, within the aircraft, several small conveyor belts are successively arranged so as to provide along the longitudinal direction a narrow continuous conveyor belt extending from the cargo hatch to the rear of the cargo hold. Incoming cargo is loaded onto this conveyor and transported to the end of the cargo hold. There is then a stacking of the freight items, as already described. As soon as a row is full, the conveyor belt with the associated loading table is withdrawn successively. This solution has several disadvantages. First, the loading system is expensive and very maintenance-prone. In addition, cargo often falls off the narrow cargo band, which in turn forces ground personnel to manually assist. Finally, there is a significant risk that the aircraft will be damaged during temporary installation of the cargo loading system. The ground personnel must be trained accordingly to be able to accomplish the installation safely.

Further solutions are known (eg from the WO 2009/007549 A2 ), all of which, however, bring considerable disadvantages.

In general, therefore, efforts are increasingly being made to use freight units, in particular freight containers, for the rapid loading and unloading of aircraft. However, the use of freight containers also has numerous disadvantages. So you need different containers for different types of aircraft (for example, wide-body aircraft, standard fuselage aircraft). If the individual freight containers are not used, they must be stored. However, many airports do not currently have sufficient capacity to store these freight containers in an appropriate manner. Cargo containers have a relatively high weight, so that their transport in the aircraft is expensive. Furthermore, freight containers must be relatively simple, so that it is not possible to optimally adapt them to the structure of the aircraft. In this respect, the use of freight containers leads to a loss of usable cargo space. It should also be noted that both the maintenance and the purchase of freight containers cause significant costs.

Many airports also lack the equipment to load cargo containers quickly and efficiently. Finally, the loading and unloading of freight containers also takes time, so the advantages and disadvantages of using containers must be carefully evaluated in order to achieve the best possible result. Therefore, aircraft will continue to be equipped with bulk baggage departments.

Another problem that occurs with the air transport of packages for passengers is that the abandonment of packages is already undesirable for many passengers. Thus, the passenger prefers to take all pieces of luggage into the passenger compartment, so as to have access to these pieces of luggage at all times. A lengthy abandonment of the freight at a switch then eliminated. Likewise, there is the advantage for the passenger that when leaving the aircraft he does not have to wait for his luggage to be unloaded and finally handed over to him. Thus, a trend is emerging in which more and more freight items are taken into the passenger compartment. However, existing passenger spaces often lack sufficient capacity to hold all of these freight. Even if the cargo can be accommodated by providing sufficient storage space in the passenger compartment, not least for the aircraft operator considerable problems. Firstly, the luggage must be examined very carefully to avoid terrorist attacks. Furthermore, improperly stowed luggage can lead to injury to passengers. Finally, the provision of appropriate storage spaces also means that only a small amount of space remains in the passenger compartment for the passengers. This affects the well-being of the passenger.

To at least partially take this problem into account, the WO 2007/051593 to provide suitable freight containers immediately at the entrance of the aircraft, which can be loaded by the passengers. These freight containers are then brought into the hold of the aircraft, transported and placed again after landing so that the passengers can remove their own freight. During the flight, however, these freight items can not be accessed.

Based on this prior art, it is an object of the present invention to provide a better equipped aircraft, so that a comfortable and efficient transport of freight can be done. Furthermore, the loading and unloading of the cargo space should be simplified. Overall, it should be possible for the passenger to give up his freight as quickly and easily as possible, whereby he can access them at any time.

This object is achieved inter alia by a cargo hold according to claim 1.

In particular, the object is achieved by the cargo compartment of an aircraft, which comprises a robot with at least one robot arm with at least one receiving tool for receiving of cargo, the robot being slidably mounted on a ceiling structure of the cargo hold.

This ceiling construction may be, for example, the center ceiling of the aircraft or any structure located above the cargo deck. If one uses a corresponding hanging robot system, then the cargo space can be optimally utilized. The loading process can be carried out fully automatically even in confined cargo spaces, whereby the robot takes over the loading and unloading process. The cargo space can then be optimally utilized, since, among other things, walk-in areas can be dispensed with. Furthermore, it is not necessary to provide standardized tracks on which freight containers or freight pallets can be transported. Even areas that are, for example, between the frames of the aircraft construction, can be fully utilized. The system is particularly suited to operate in small cargo spaces (e.g., at a low altitude).

The cargo space may comprise a holding device attached to the ceiling construction, in particular with at least one linear guide, and a drive unit for moving the robot fastened to the holding device, preferably at least along a longitudinal axis of the aircraft.

It is conceivable that the robot arm is equipped such that a statically mounted robot has access to all necessary areas of the cargo hold. Alternatively, it would also be possible to arrange a plurality of robots in such a way that they carry out the loading and unloading in a cooperation. For example, a first robot can transfer a freight item to a second robot. Preferably, however, the robot can be moved within the hold so that greater distances can be covered. In one embodiment, linear guides are provided for this purpose on the ceiling construction, on which the robot is suspended, wherein the drive unit ensures that the robot can be moved along these linear guides. This holding device should preferably be configured at least such that the robot can be moved along the longitudinal axis of the aircraft.

The method of the robot along the holding device leads to a more efficient use and makes it possible to transport cargo with high weight, since the robot arm can be designed significantly shorter (low lever).

In one embodiment, the holding device may comprise a circumferential linear guide on which at least two robots are mounted. The efficiency of the charging system can thus be further increased by providing a plurality of robots, which can each be moved along an intended holding device. If the holding device is an encircling linear guide, the robots can act side by side in parallel, without causing conflict situations. For example, a first robot can pick up a first freight item at the cargo hatch of the aircraft and transport it to the interior of the cargo compartment. Thereafter, a second robot can pick up a second piece of cargo at the hatch and follow the first robot. While the second robot is still busy with the stowage of the cargo, the first robot can drive on a parallel linear guide back to the hatch for receiving more freight. This results in a kind of circular operation, which leads to a very fast loading and unloading.

The cargo space may comprise a freight deck with preferably passive freight conveyors, in particular ball mats and / or rollers and / or roller conveyors, wherein the robot is designed and / or arranged for moving freight units, in particular freight containers and / or freight pallets, stored on the freight conveyors. The robots can therefore not only be used to pick up and load individual pieces of freight virtually manually. Rather, the robots can also be used to bring freight containers to a predetermined position. Theoretically, it is conceivable that the robot is dimensioned in such a way that it raises corresponding freight units and places them at the predetermined position in the manner of a crane. Preferably, however, passive freight conveyors, for example freight conveyors without their own particular electric drive, are provided on which the freight units can be moved with little effort. In the end, the freight conveyors take up the main load of the freight container. The robot is only used to move, in particular to push, the freight units on the freight conveyors in a predetermined direction. In this respect, it is possible to dispense with active freight conveyors, for example, roller drive units (PDU, Power Drive Unit). The robot does not have to be equipped in such a way that it can carry the entire load independently.

Overall, the robot can thus be used in different types of loading, with individual pieces of freight being loaded in the manner of a bulk goods loading and freight units with a large number of pieces of freight.

The above object is further achieved by a cargo storage device for a cargo hold of an aircraft having a plurality of cargo compartments, each formed by a plurality of side walls and having at least one cargo opening for loading and unloading cargo, wherein at least some of the side walls are so flexibly and / or rotatably and / or displaceably connected to each other, that the dimensions of at least one cargo compartment due to the displacement of at least one side wall can be changed.

Such a cargo storage device may be a kind of shelf that is arranged or integrated on the side walls of the cargo compartment. Alternatively, this cargo storage device may also be disposed on the floor of the cargo hold so that the cargo compartments extend substantially perpendicular to the floor surface with the openings facing upward.

The freight storage device according to the invention makes it possible, in particular, to load individual freight items, for example suitcases, bags, rucksacks, etc., efficiently. The cargo is suitably placed in the cargo compartments, which are adapted to the size of the cargo after or before. In this respect, the available space can be optimally utilized, with a separate freight compartment being provided for each freight item. A later retrieval of the freight item is greatly facilitated. In this respect, individual freight items can be unloaded or temporarily made available to the passenger. The cargo storage device according to the invention also makes it possible to compress soft packages so that the available space is better utilized.

Theoretically, it is possible to use any materials for the side walls of the cargo compartments. For example, a hanging shelf made of cloth can be used according to the invention. In one embodiment, however, rigid materials, in particular plastics and / or metal alloys, are used.

The cargo storage device may include longitudinal partitions and transverse partitions to form the side walls. Preferably, the longitudinal partitions can be moved relative to the transverse partitions and / or the transverse partitions with respect to the longitudinal partitions. Such a shift may be a parallel shift. It is conceivable to arrange several subdivisions in the manner of a grid to form the individual cargo compartments. Preferably, at least one longitudinal subdivision or at least one transverse subdivision can be displaced such that the dimensions of the associated freight compartments are adapted to the corresponding freight items.

At least one cargo compartment can have a closure device, in particular a roller blind and / or a network for at least partially closing the cargo opening. It is advantageous if the cargo openings are closed during the flight, so that the stored cargo can not fall out.

The described cargo storage device can be advantageously used in any cargo hold, in particular in a cargo hold as already described. Also in connection with the described robot numerous positive synergy effects are present.

The aforementioned object is further achieved by a cargo hold of an aircraft, which comprises at least one cargo storage device with a plurality of cargo compartments, wherein at least one of the freight compartments is designed such that it can be viewed from above, in particular in a direction perpendicular to a cargo deck of the cargo compartment , is loadable. The aforementioned cargo storage facility may be a cargo storage facility as previously described. It is possible to equip any cargo space, including those already described, with a corresponding lying cargo storage facility.

The said cargo storage device can better utilize existing areas in the cargo hold of an aircraft. For example, the concave areas that result from the design of the aircraft in the ground area, can be fully utilized. The described cargo storage device is particularly adapted to be loaded by a robot, which is preferably arranged on a ceiling structure. When loading by robot, a walk-in bar for the staff can be dispensed with, so that the cargo space can be used very efficiently.

The object mentioned at the outset is furthermore achieved by an aircraft having at least one passenger compartment and at least one cargo compartment, wherein the cargo compartment is preferably configured as already described. A robot may be provided for stowing cargo from the passenger compartment in the cargo hold.

This robot can be designed as already described. However, it is also possible to use a differing robot. A suitably equipped aircraft makes it possible for the passengers to take individual pieces of freight, preferably hand luggage, into the passenger compartment. There, the freight is then delivered and stored not in the passenger compartment, but in the cargo hold. Preferably, the aircraft is equipped in such a way that the passenger can access the freight item again during the flight. For example, the robot can search for a stowage of the freight this again on request and handed over directly or indirectly to the passenger.

The robot may comprise at least one, preferably at least two receiving tools for receiving packages. A corresponding plurality of picking tools makes it possible to pick up and transport different pieces of freight in a suitable manner.

The aircraft, in particular the robot, may comprise at least one image capture device for providing at least one image of a cargo to be transported, wherein the robot is adapted to select from the image of one of the capture tools for receiving the cargo to be transported. It is conceivable to control the selection of a suitable picking tool by any mechanism. For example, freight items for a first pick-up tool in a first area and packages for a second pick-up tool in a second area can be provided. Further, the packages may be provided with a corresponding digital tag (e.g., RFID, Bluetooth, 2D codes, 3D codes) so that the robot can use that information to identify which picking tool to use. Furthermore, in the task of the freight item an input can be made, which makes it possible to select a suitable picking tool. Preferably, however, selection is made on the basis of a digital imaging system in which various pieces of cargo (e.g., backpack, hard case) are automatically recognized. Alternatively or additionally, detection can be based on mechanical test results. For example, the robot may have a gripping tool which compresses (slightly) the freight item to be transported and determines the hardness of the freight item by means of one or more force sensors.

After the image recognition of the freight item, which preferably also detects coarse dimensions thereof, an "odor identification" can take place. For example, corresponding sensors may be provided to identify suspicious chemicals (e.g., bombs). This test can be carried out in an advantageous manner with the already described compression of the freight item. After or during the odor identification, an additional density test can be carried out as already described. This density test can additionally be used to determine the maximum closing force for the picking up of a particular item of freight.

One can make a weight determination by suitable sensors. The weight determination can be used, for example, to slower and / or more careful move particularly heavy items. Furthermore, the particular weight can be decisive for where the corresponding freight item is stored. If, for example, a shelf is used to deposit the freight item, then heavy freight items should be stored considerably lower than light freight items.

The picking tool may comprise at least one vacuum head for holding packages with an at least partially air-impermeable outer skin. By means of a corresponding tool head, corresponding freight items can be picked up and transported very easily and very efficiently.

As already explained, at least one of the receiving tools may comprise at least one gripping tool for gripping pieces of freight and / or at least one conveyor belt for receiving and depositing pieces of freight. Such receiving tools are particularly suitable for receiving and transporting air-permeable freight items and / or freight items made of a soft material.

The picking tool may in these cases be a kind of mini-conveyor belt which charges or discharges the bag by driving the conveyor belt.

A receiving tool provided with a corresponding conveyor belt may further have side boundaries which, if desired, compress the cargo after picking up and thus grip. Furthermore, this mechanism can be used to determine the density of the cargo or to make other measurements.

Alternatively, a kind of "gripper fork" can be used, as used for example in overhead cranes. Theoretically, it would also be conceivable to provide gripping tools which essentially simulate human hands, wherein flexible sections are provided, for example, in the fork contour.

It is conceivable to optimize said gripping tools in such a way that they are optimized for gripping pieces of freight with a maximum dimension of approximately 55 × 40 × 20 cm.

The object mentioned at the outset is further achieved by an aircraft having at least one passenger compartment, at least one cargo compartment and at least one freight administration device, wherein the freight administration device has at least one freight piece receiving device for receiving a freight item, at least one input device for detecting one codes associated with the freight item and at least one freight piece loading device, in particular a robot. The freight management device is preferably designed, after the entry of a code, to control at least the freight piece loading device such that the associated freight item is made available from the cargo space in the cargo receiving device in the passenger compartment. The aircraft may be configured as already described. Furthermore, the aforementioned cargo space can be designed in such a way as has already been described. In particular, the freight piece loading device may comprise a robot having the features already explained.

By means of said freight management device, it is made possible for passengers to be given a code by means of a code for a freight item that is not in the passenger compartment. This process can be performed automatically. In this respect, the passenger compartment can be substantially free of freight items that are not needed. The cargo management device makes it possible to optimize the boarding and / or boarding operation, since the passengers with their luggage can enter and leave the aircraft. On additional baggage task and pickup operations can be waived at least partially.

The freight piece receiving device may comprise a lift and / or a connection opening and / or a chute for transporting the freight items from the passenger compartment into the cargo compartment. The freight piece receiving device can thus be the connecting link between the passenger compartment and the cargo compartment, so that the delivery and retrieval of the freight items is optimized.

The input device may comprise a reading device for an identification device preferably arranged on or in the freight item, in particular a passive transponder and / or a 2D and / or 3D code. In this respect, it is possible to automatically assign an identification number or a corresponding code to a particular freight item so that it can always be clearly identified. Among other things, this code can be used to carry out a pick-up of the freight item at a later time. For example, a passenger in the passenger compartment may enter a corresponding code at the cargo piece receiving facility so that the cargo management facility knows which cargo is being requested. Alternatively, it is conceivable to associate the passenger with an identification number or an identification code, wherein the freight administration device knows which freight items are to be assigned to which passenger. Corresponding data can be stored in a memory device provided for this purpose. For example, a tabular assignment of person codes to package codes can be made.

The freight management device can be designed to determine a storage position for a freight item entered in the freight piece receiving device, to control the freight piece loading device such that the freight item is stowed in the storage position, preferably in the cargo compartment, and the storage position preferably in connection with a code which is associated in particular with the freight item and / or a person. As such, the cargo management facility does not have to search for a particular piece of cargo, but knows exactly where it is stowed. Accordingly, the pickup operation of the packages can be optimized.

In one embodiment, the cargo management device may include a passenger detection device for detecting the position of at least one passenger and for providing corresponding position data, wherein the cargo management device is configured to take into account the position data during a discharge process. This also allows an unloading process to be optimized. For example, it is conceivable that after a landing all passengers want to access the freight items they have delivered. The freight management device according to the invention is designed in such a way that provision may possibly be made of the freight items only at predetermined positions within the passenger compartment. For example, the cargo may be provided by one or more cargo receiving devices. After the aircraft has landed, there may be a random order of passengers in which they may seek out a corresponding cargo holding facility. The data of the passenger detection device may advantageously be used to determine the order in which certain packages are picked up. As such, the freight management facility can take this order into account. For example Pauses arising from the freight piece loading device can be used to deposit freight items in a suitable position, so that they can be made available to a specific passenger in a timely manner.

Preferably, the passenger detection device comprises a device for detecting preferably passive transponders. The individual passengers can be advantageously equipped with appropriate transponders, so that they can be easily identified.

The invention will be described by means of several embodiments, which are explained in more detail with reference to figures.

Hereby show:

1 a schematic external view of an aircraft;

2 a cross section through the fuselage of the aircraft 1 , with lower deck cargo space, passenger compartment and upper deck cargo space;

3 a first longitudinal section through the fuselage 2 ;

4 a second longitudinal section through the fuselage 2 ;

5 a similar cross-section as the one out 2 , wherein the lower deck cargo space is equipped with two robots;

6 individual components of a freight management facility;

7 an end portion of a robot with a gripping tool;

8th a plan view of a part of the gripping tool 7 ;

9 a side perspective view of a storage tool; and

10 a top view of a lower deck.

Hereinafter, the same reference numerals will be used for the same and like parts.

1 shows a side view of an aircraft 100 , The plane 100 extends substantially along a longitudinal axis, namely the aircraft longitudinal direction X, wherein at the front part of the bow 103 and at the rear the stern 102 located. Transverse to the aircraft longitudinal direction X upwards extends the Z-axis of the aircraft 100 , At the side of the plane 100 there is a hatch 101 , about the cargo in the plane 100 be invited and unloaded from this again.

2 shows a cross section through the aircraft 100 out 1 , The fuselage 105 of the plane 100 is formed substantially circular and by an upper deck 130 and a middle deck 120 in essentially three segments, namely a upper deck cargo space 131 ("Crown" area), a passenger compartment 121 and a lower deck cargo room 111 , divided. The lower deck cargo space 111 and the upper deck cargo space 131 serve to accommodate freight items, the passenger compartment 121 is designed for the accommodation of passengers. In the in 2 The embodiment shown is the lower deck cargo space 111 with a robot 10 as well as with a first freight shelf 50 , a second cargo shelf 50 ' and a ground freight pickup 60 fitted. The upper deck cargo space 131 has no corresponding equipment. However, it would be easily possible, even the upper deck cargo space 131 equip in a similar manner. It would also be conceivable, only the upper deck cargo space 131 with a robot 10 . 10 ' , Cargo shelves 50 . 50 ' and / or the ground freight pickup 60 to provide. The freight shelves 50 . 50 ' and the ground freight pickup 60 are cargo storage facilities that serve to receive cargo.

According to a first inventive idea, the robot becomes 10 with a suitable robot arm 20 used for the cargo storage facilities, especially the cargo shelves 50 . 50 ' and the ground freight pickup 60 to load with freight. Furthermore, the robot can 10 be used to take out cargo from the cargo storage facilities and thus the aircraft 100 to unload. For example, the cargo at the hatch 101 be placed on a conveyor belt provided there.

According to another inventive aspect, the robot becomes 10 used to hold cargo items by a passenger in the passenger compartment 121 be abandoned, in the lower deck cargo room 111 to load. There is a lift for this 30 provided the freight in the passenger compartment 121 receives and by means of a lift cabin 31 (see. 3 ) in the lower deck cargo room 111 promotes. The robot 10 can then take the freight from the elevator cabin 31 take and for example in the cargo bay 50 lay.

According to another inventive idea, the robot becomes 10 also used for cargo from the lower deck cargo space 111 in the passenger compartment 121 provide. This can during a stay of the aircraft 100 done at an airport or during the flight. As soon as a particular piece of cargo is requested, the robot removes it 10 This cargo from one of the cargo storage facilities and puts this in the elevator cabin 31 so the lift 30 the freight in the passenger compartment 121 can bring.

3 shows, among other things, a front view of the lift 30 , This has an upper lift opening 33 and a lower lift opening 34 on. The upper lift opening 33 flows into the passenger compartment 121 , The lower lift opening 34 flows into the lower deck cargo space 111 and is in the first cargo shelf 50 integrated. At the side of the lift 30 are an input device 221 and an output device 222 arranged. In one embodiment, a passenger carries a piece of cargo into the elevator cabin 31 put this in the lower deck cargo room 111 transported. The robot 10 then load the cargo into a cargo storage facility. The output device then shows 222 a code eg a number code. The passenger can remember or write down this number code. To retrieve his freight, he must enter the number code in the input device 221 which identifies the freight item and from the robot 10 can be provided.

In a further embodiment, the freight item has an RFID tag, so that an RFID reading device 223 (see. 6 ) can capture an identification number stored on that day. It is possible for the passenger to have another RFID tag which can be assigned to the RFID tag of the freight item. In this respect, a display of an identification number on the output device 222 unnecessary. In order to recover his cargo, the passenger simply presents his RFID tag or positions himself in a position where the RFID reader 223 can capture this RFID tag. Thereafter, the associated freight item is automatically determined and by the robot 10 from the lower deck cargo room 111 fetched.

To ensure fast access to the cargo for the passengers, several robots can 10 . 10 ' (see. 5 ) and / or several lifts 30 be provided.

Another inventive idea is reflected in the cargo storage facilities. The first freight shelf 50 For example, it has a large number of freight compartments 51 to 51 ''' , The individual freight compartments 51 to 51 ''' are each surrounded by four side walls, partially by longitudinal dividing boards 52 . 52 ' and transverse division boards 53 . 53 ' are formed. For example, the cargo compartment becomes 51 ' from the first longitudinal division board 52 , the second longitudinal division board 52 ' , the second cross division board 53 and the third cross division board 53 '' surround. The first cross division board 53 forms a conclusion of the first freight shelf 50 ,

In one embodiment, the transverse partition boards are 63 ' . 63 '' arranged so slidably on a rail that the cargo compartments 51 '' . 50 ''' make it smaller than you like. This allows the first cargo shelf 50 optimally loaded with freight. Alternatively, the transverse partition boards 52 . 52 ' be arranged slidably.

Assuming that only the transverse dividing boards 53 ' and 53 '' movably arranged, so could the robot 10 When loading freight, try to load the same widths of freight in one column of the first freight shelf 50 to arrange and then the transverse division boards 53 ' . 53 '' move so that the freight compartments 51 to 51 ''' , in particular the freight compartments 51 ' . 51 '' , have an optimum width for the corresponding freight items.

Likewise, the ground cargo intake, like this one in 4 in a plan view (looking towards the lower deck 110 ), with sliding transverse partition boards 53 to 53 '' be equipped to the variety of cargo compartments 61 to 61 ''' with respect to their dimensions.

Already the provision of the ground freight pickup 60 like this in the 2 and 5 can be considered as an independent invention. This allows this ground freight pickup 60 a much better use of the lower deck cargo space 111 , This can be ensured by the fact that areas of the cargo hold that could not normally be used are available as storage space. For example, the ground freight pickup 60 a walkable or passable lower deck 110 like this example in 10 is shown replace. It is obvious that the ground freight pickup 60 with its design much better on the concave shape of the fuselage 105 can be adjusted as can be done with a conventional cargo deck. In this respect, no unused cavities remain.

Furthermore, it turns out that a ground freight pickup 60 , which has cargo openings upwards, particularly advantageous by a robot 10 . 10 ' loaded on a ceiling structure.

As already explained, the robot can 10 or the robots 10 . 10 ' Be used to hold cargo over the hatch 101 be stowed. Such a charge is particularly advantageous for aircraft having low-height cargo spaces (eg, standard-body aircraft or feeder aircraft). To ensure a fast loading and unloading, as in 5 shown, several robots are provided. These are preferably suspended from a linear guide, which is a reciprocating the robot 10 from the bow 103 to the stern 102 enable. It is conceivable that the robots 10 . 10 ' each have their own linear guide, and side by side in the lower deck cargo space 111 drive back and forth. Preferably, however, these linear guides are connected to each other, so that the robot 10 . 10 ' on the ceiling of the lower deck cargo room 111 can circulate. In a plan view of the lower deck cargo space 111 For example, a circulation can take place clockwise or counterclockwise.

The equipment of the robotic arm is suitable for transporting the freight items 20 crucial. 7 shows an exemplary equipment of an end portion of this robot arm 20 , This end portion has at least one, preferably at least two tools, namely a gripping tool 70 and a vacuum head arranged opposite thereto 22 , The vacuum head 22 Can be used to suck in impermeable surfaces. For example, the vacuum head 22 be used to suck a hard case and hold it until it is in one of the cargo compartments 51 to 51 ''' . 61 to 61 ''' stowed.

The gripping tool 70 has a first gripper 71a and a second gripper 71b which are adapted to receive soft cargo such as backpacks. The 8th shows a plan view of the first gripper 71a , This is flat, so that it can accommodate larger pieces of freight, for example, with a length of about 50 cm. The second gripper 71b may be formed in a corresponding manner.

Instead of the gripping tool 70 can be a storage tool 80 like in the 9 shown to be used. This has a conveyor belt 81 and two page boundaries 82a . 82b , which alternately on the sides of the conveyor belt 81 are arranged. The conveyor belt can be driven by means of an actuator in a first and a second conveying direction. For receiving a freight item is the conveyor belt 81 from the robot 10 moved so close to the freight that the conveyor belt 81 touches the freight. Thereafter, a promotion takes place in the first conveying direction, so that the freight item on the storage tool 80 is transported. Then the robot can move the freight item to a suitable position and there the conveyor belt 81 operate in such a way that it runs in the second conveying direction and the freight item is unloaded ("spit out").

Numerous other embodiments of the gripper tools are conceivable according to the invention. For example, a gripping tool could be used which is suitable for picking up handles of bags or suitcases.

The described loading and unloading processes can be implemented by a central or a decentralized computer system. Thus, a freight management device according to the invention comprises 200 at least one control unit 210 who are in communicative communication with at least one robot 10 stands. According to the 6 there is a communicative connection to the two robots 10 . 10 ' , The control unit 210 controls these robots 10 . 10 ' , Corresponding control algorithms are on a storage device 211 deposited. Among other things, drive units for moving the robot 10 . 10 ' along the longitudinal direction of the aircraft and servomotors for moving the robot arms 20 from the control unit 210 activated. Also the servomotors for the robot arms 20 Provided tools may be provided by the control unit 210 be operated. Furthermore, the control unit 210 with the freight piece receiving device 220 be in a communicative relationship. This includes in one embodiment, the input device 221 , the output device 222 as well as the RFID reader 223 , Furthermore, the freight piece receiving device includes 220 the lift 30 also from the control unit 210 can be controlled. In this respect, it is possible the activities of the robot 10 . 10 ' with those of the lift 30 to coordinate and to input signals from the input device 221 or the reading device 223 to react.

In a further embodiment are in the passenger compartment 121 additional RFID reading devices 131 . 131 ' , These are mounted so that they can detect the positions of RFID tagged passengers. As far as it is before the lift 30 comes to a queue of passengers, the RFID reading devices 131 . 131 ' determine the order of the individual passengers within the queue (eg by triangulation). In the end, the RFID reader devices 131 . 131 ' in the passenger compartment 121 are installed, a passenger detection device 230 ready, which is also in communication with the control unit 210 can stand. As far as the control unit 210 It is possible for a given passenger to assign a specific piece of freight on the basis of its RFID tag, it is possible to meet the individual requirements of the lift 30 must serve, predict. In this respect, the freight administration facility 200 already make arrangements to the to be able to process upcoming orders (eg pick-up of a specific freight item) in a timely manner. In this connection, it is also possible to provide a buffer area near the lift area. This buffer area can be used to temporarily cache cargo until it is requested or until the elevator car is ready for it.

Another idea according to the invention is the robot 10 or the robots 10 . 10 ' not only for the loading of individual pieces of freight. Rather, the robots can 10 . 10 ' also be used to load freight containers.

10 shows a plan view of an inventive cargo deck. In the right area are cargo shelves 50 . 50 ' intended to accommodate individual freight items. In the end, therefore, can be done here a Einzelfrachtstückverladung. Left side of the hatch 101 is the lower deck 110 , which is suitable to accommodate freight containers. For this purpose, in the ground area passive cargo drive units, namely the ball mats 112 and the roller conveyors 113 . 113 ' intended. Furthermore, there are locking elements 114 which make it possible to fix the freight containers at certain positions. For loading a freight container, for example, this via a conveyor belt in the hatch 101 be introduced. After that, the robot drives 10 zoom in and move the freight container to the left on the roller conveyors 113 . 113 ' , Once the cargo container has reached its destination position, the robot can 10 be used to lock elements 114 to activate in such a way that the freight container is held in the predetermined position. For example, the locking elements 114 Have latch claws, which can be pivoted from a rest position to a holding position. This Verschwenkungsvorgang can by the robot 10 to be triggered. For this purpose, the robot arm 20 optional, as in the 7 shown with a latch claw 21 - in the end a hook - be equipped.

The described robots 10 . 10 ' can also be equipped to harness nets as cargo compartment divisions. On the other hand, such networks can also be used in connection with the cargo shelves 50 . 50 ' or the ground freight pickup 60 used to drop out the cargo from the cargo compartments 51 to 51 ''' . 61 to 61 ''' to prevent.

The operation of the described cargo management facility 200 can be used by providing image capture devices. For example, a corresponding image capture device on the robots 10 . 10 ' be provided to detect the rough design of a piece of freight, which is to be transported. Also when "parking" the cargo in the cargo compartments 51 to 51 ''' . 61 to 61 ''' Image capture can be helpful.

In addition to the sensors already mentioned, heat, smoke, fire sensors can also be provided for the functionality of the freight management device 200 to improve and avert possible dangerous situations.

Theoretically, it would also be possible to use intelligent, in particular self-learning, systems for the cargo management device 200 to improve.

LIST OF REFERENCE NUMBERS

10, 10 '

 robot

20

 robot arm

21

 latch claw

22

 Vacuum head

30

 lift

31

 lift cabin

33

 upper lift opening

34

 lower lift opening

50, 50 '

 cargo shelf

51, 51 ', 51' ', 51' ''

 cargo compartment

52, 52 '

 Longitudinal subdivision board

53, 53 ', 53' '

 Transverse partition board

60

 Floor cargo receiving

61, 61 ', 61' ', 61' ''

 cargo compartment

63, 63 ', 63' '

 Transverse partition board

70

 gripping tool

71a, 71b

 grab

80

 filing tool

81

 conveyor belt

82a, 82b

 page limit

83

 fastener

100

 plane

101

 loading hatch

102

 Rear

103

 bow

105

 fuselage

110

 Lower deck

111

 Lower deck cargo compartment

112

 ball mat

113, 113 '

 roller conveyor

114

 locking element

120

 middle deck

121

 cabin

130

 upper deck

131

 Upper deck cargo space ("crown area")

200

 Freight management facility

210

 control unit

211

 memory device

220

 Freight item pickup device

221

 Input means

222

 Output device

223

 RFID reader

230

 Passenger detection device

231, 231 '

 RFID reading device

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

• WO 2008/118076 A1 [0006]
• WO 98/5073 [0009]
• WO 2009/007549 A2 [0010]
• WO 2007/051593 [0014]

Claims (19)

Cargo hold of an aircraft ( 100 ), comprising a robot ( 10 . 10 ' ) with at least one robot arm ( 20 ) with at least one picking tool ( 21 . 22 . 70 . 80 ) for receiving freight. Cargo hold of an aircraft ( 100 ) according to claim 1, characterized in that the robot ( 10 . 10 ' ) slidably on a ceiling construction ( 120 ) and / or wall construction of the cargo hold ( 111 ) is arranged. Cargo compartment according to claim 1 or 2, characterized by - one on the ceiling construction ( 120 ) fixed holding device, in particular with at least one linear guide, and - a drive unit for moving the robot fastened to the holding device ( 10 . 10 ' ), preferably along a longitudinal axis of the aircraft. Cargo compartment according to one of the preceding claims, in particular according to claim 3, characterized in that the holding device comprises a circumferential linear guide on which at least two robots ( 10 . 10 ' ) are attached. Cargo compartment according to one of the preceding claims, characterized in that the cargo compartment is a cargo deck ( 110 ) with preferably passive freight conveyors, in particular ball mats ( 112 ) and / or rollers and / or roller tracks ( 113 . 113 ' ), wherein the robot ( 10 . 10 ' ) is designed and / or arranged for moving freight units, in particular freight containers and / or freight pallets, stored on the freight conveyors. Cargo compartment according to one of the preceding claims, in particular according to claim 5, characterized in that the cargo deck ( 110 ) at least one functional element, eg a bolt ( 114 ), which has at least one first and at least one second function setting, in particular a functional position, eg a holding position and a rest position, wherein the robot arm (FIG. 20 ) preferably at least one tool ( 21 ) for switching between the function settings. Freight storage device for a cargo hold of an aircraft ( 100 ) with a large number of freight compartments ( 51 - 51 ''' . 61 - 61 ''' ), each formed by a plurality of side walls and having at least one cargo opening for loading and unloading of freight items, characterized in that at least some of the side walls are so flexibly and / or rotatably and / or sliding connected to each other, that the dimensions of at least one Freight compartment ( 51 - 51 ''' . 61 - 61 ''' ) are variable due to the displacement of at least one side wall. Cargo storage device according to claim 7, characterized by longitudinal partitions ( 52 . 52 ' ) and transverse divisions ( 53 . 53 ' . 63 . 63 ' . 63 '' ) for forming the side walls, wherein at least one longitudinal subdivision ( 52 . 52 ' ) substantially parallel to the transverse divisions ( 53 . 53 ' . 63 . 63 ' . 63 '' ) and / or at least one transverse subdivision ( 53 . 53 ' . 63 . 63 ' . 63 '' ) substantially parallel to the longitudinal partitions ( 52 . 52 ' ) are slidably mounted in the cargo storage device. Cargo storage device, in particular according to claim 7 or 8, characterized in that at least one freight compartment ( 51 - 51 ''' . 61 - 61 ''' ) has a closure device, in particular a roller blind and / or a net, for at least partially closing the cargo opening. Cargo hold of an aircraft ( 100 ), in particular according to one of claims 1 to 6, characterized by at least one freight storage device, in particular according to one of claims 6 to 8, with a plurality of freight compartments ( 51 - 51 ''' . 61 - 61 ''' ), whereby at least one of the freight compartments ( 51 - 51 ''' . 61 - 61 ''' ) is designed and / or arranged such that it is from above, in particular in a direction perpendicular to a / the cargo deck ( 110 ) of the hold ( 111 ), is loadable. Aircraft having at least one passenger compartment and at least one cargo compartment according to one of claims 1 to 6, 10, characterized in that the robot ( 10 . 10 ' ) for stowing cargo from the passenger compartment ( 121 ) in the cargo hold ( 111 ) is trained. Aircraft according to claim 10 / cargo compartment according to one of claims 1 to 6, 10, characterized in that the robot ( 10 . 10 ' ) at least one, preferably at least two receiving tools ( 21 . 22 . 70 . 80 ) for holding cargo and the aircraft ( 100 ), in particular the robot ( 10 . 10 ' ), at least one image capture device for providing at least one image of a freight item to be transported, wherein the robot ( 10 . 10 ' ) is adapted to look at the image of one of the recording tools ( 21 . 22 . 70 . 80 ) to pick up the freight to be transported. Aircraft according to claim 11 or 12 / cargo compartment according to one of claims 1 to 6, 10, 12, characterized in that the receiving tool ( 21 . 22 . 70 . 80 ) at least one Vacuum head ( 22 ) for holding packages with an at least partially air-impermeable outer skin. Aircraft according to one of claims 11 to 13 / cargo compartment according to one of claims 1 to 6, 10, 12, 13, characterized in that the receiving tool ( 21 . 22 . 70 . 80 ) at least one gripping tool for gripping pieces of freight and / or at least one conveyor belt ( 81 ) for receiving and depositing packages. Aircraft, in particular according to one of Claims 11 to 14, having at least one passenger compartment ( 121 ), at least one hold ( 111 ) preferably according to one of claims 1 to 6, and at least one freight administration device ( 200 ), the cargo management facility ( 200 ) at least one freight piece receiving device ( 220 ) for receiving a freight item, at least one input device ( 221 ) for detecting a code preferably assigned to the freight item and at least one freight piece loading device, in particular a robot ( 10 . 10 ' ), wherein the freight management device ( 200 ) is adapted, after the input of a code, to control at least the freight piece loading device such that the associated freight item from the cargo space ( 111 ) in the freight piece receiving device ( 220 ) in the passenger compartment ( 121 ) provided. Aircraft according to one of Claims 11 to 15, in particular according to Claim 15, characterized in that the / a freight piece receiving device comprises a lift ( 30 ) and / or a connection opening and / or a chute for transporting the freight items from the passenger compartment into the cargo compartment. Aircraft according to one of Claims 11 to 16, in particular according to Claim 15 or 16, characterized in that the input device ( 221 . 223 ) comprises a reading device for an identification device preferably arranged on or in the freight item, in particular a passive transponder and / or a 2D and / or 3D code. Aircraft according to one of Claims 11 to 17, in particular according to one of Claims 15 to 17, characterized in that the freight management device ( 200 ) is adapted to be loaded into the freight piece receiving facility ( 220 ) to determine a storage position, to control the freight piece loading device such that the freight item in the storage position, preferably in the cargo hold ( 111 ), and storing the storage position preferably in connection with a code which is associated in particular with the freight item and / or a person. Aircraft according to one of claims 11 to 18, characterized by a passenger detection device ( 230 ) for detecting the position of at least one passenger and for providing corresponding position data, the freight management device being designed to take into account the position data during a discharge process.

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