WO2012092939A1

WO2012092939A1 - Baggage-loading system and method

Info

Publication number: WO2012092939A1
Application number: PCT/EP2011/005646
Authority: WO
Inventors: Michael Neumaier
Original assignee: Autoloader Gmbh
Priority date: 2011-01-05
Filing date: 2011-11-10
Publication date: 2012-07-12
Also published as: DE102011007958B4; DE102011007958A1; EP2661394A1

Abstract

In the case of a baggage-loading system (1) having a handling apparatus (2) for automatically loading baggage (9,10,11) from a transfer location of a baggage-conveying system (12, 8) into a container (13) which is to be charged with a plurality of baggage items (9, 10, 11), it is provided that the handling apparatus (2) comprises a gripping tool (4) which can be moved between the transfer location and the container interior (18) and has a base plate (5), which serves as a bearing means for a baggage item (9, 10, 11) which is to be loaded, and a stripping means (7), which is arranged in a displaceable manner on the base plate (5) and is intended for stripping off a baggage item (9, 10, 11) located on the base plate (5). It is also provided that the gripping tool (4) has at least one holding-down means (6) which can be displaced or pivoted in the direction of the base plate (5) and is intended for pressing the baggage item (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 holding-down means (6) of the gripping tool (4) and is set up in order to determine a characteristic variable which reflects the consistency of the baggage item (9, 10, 11) located between the at least one holding-down means (6) and the base plate (5).

Description

Baggage handling system and method

The present invention relates to a baggage handling system comprising a handling device for automatically loading luggage from a transfer point of a baggage handling system into a container to be loaded with a plurality of pieces of baggage, the handling device comprising a gripper tool movable between the transfer point and the container interior, and wherein the

GreifWerkzeug serving as a support for a piece of luggage to be transported 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

Use of such baggage loading system.

In particular, the present invention relates to the loading of luggage at airports in a system that is to be automated or automated as far as possible, in which the items of luggage abandoned by the passengers, for example at different check-in counters, are automatically assigned to a respective destination by means of a luggage conveyor system Transfer point are transported and there - again as fully automatic - to be loaded in containers. Identification of the luggage during baggage handling from the check-in counter to

Transfer station or the assignment of the conveyed baggage to the destination or the container intended for this, in which the piece of luggage in question is to be loaded, takes place e.g. by means of trailers suitably attached to the baggage bag, containing the information on the destination and the class of service (and, if applicable, further information) and which are preferably non-contact during the transport process, e.g. optically or electronically, can be read out.

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 staffing 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. For example, US Pat. No. 3,260,349, issued in 1966, describes an automated baggage conveyor system with which items of luggage at airports correspond to the correct destination

Transfer point for the luggage are transported, in which also early checked baggage can be supplied using a cache automatically and at the right time of the relevant destination destination transfer point for the further loading of the luggage. The patent document GB 1,384,593 published in 1975 also describes a largely automated baggage conveyor system.

Furthermore, EP 1 070 664 B1 discloses a method and an arrangement for the automated transport, sorting and loading of items of baggage in airports, in which the transport of the pieces of luggage to different loading means, in particular the sequence of the pieces of luggage to be loaded, is automatic depending on previously recorded characteristics of the established luggage, such as its weight, shape, volume, consistency and class of flight. 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. In order to determine the consistency of a piece of luggage, the use of a combination of metrological devices is provided, eg of tactile sensors and image processing systems. The subsequent loading of the baggage in Verlademittel should be done by means of automated loading tools, such as robots and / or gripping tools, which are not described in detail. A retrofitting of the system described in EP 1 070 664 Bl at airports is likely to make difficult, since this system for the purpose of baggage sorting an intervention in the usually pre-installed luggage conveyor systems of an airport or their control done uss.

Also DE 38 44 597 AI relates to the handling of passenger luggage at an airport, with luggage loaded into a container and the container is then placed in an aircraft. In this context, a specifically designed device for loading containers with a plurality of pieces of luggage is described, which may be preceded by a measuring device with which the dimensions of each individual can be loaded. Denden luggage can be detected, so that it is determined by a control on the basis of the known dimensions of the container, at which point of the container which luggage is 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.

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

DE 100 12 090 A1 shows a generic baggage loading system with a baggage lifting device arranged at the end on a robot arm, with which pieces of baggage with a blade plate serving as a base plate are respectively grasped on its lower side, the container passing through an opened vertical side of the container bela- that will. The blade plate is received on the robot arm projecting and adjustable in inclination. A luggage slide is provided on the blade plate, which is used for the purpose of abrading a piece of luggage lying on the blade plate along the

Blade plate is moved close to the front free edge. In that regard, it is disadvantageous that the pieces of luggage to be loaded can only be loaded in their orientation lying on the blade plate and that in the system described in DE 100 12 090 A1, as well as in that of 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 piece of baggage within the container.

Finally, DE 10 2007 046 919 A1, which does not concern the loading of baggage at airports, shows a gripper for automatically gripping packing units of different dimensions and quality. 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, the In DE 10 2007 046 919 AI described gripper on a scraper 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 above-described state of the art, the present invention is intended to provide a luggage loading system of the type mentioned above which can be retrofitted at airports in the simplest possible way, as well as a corresponding baggage loading method, with which an automated, as reliable and gentle as possible

Loading luggage into a container with optimal packing density can be guaranteed. 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. δ

The luggage loading system according to the invention is in addition to the already mentioned features in that the GreifWerkzeug at least one traversed in the direction of the base plate or

pivotable, advantageously movable perpendicular to the base plate, hold-down for pressing the luggage against the base plate of the GreifWerkzeugs and that the luggage loading system further comprises a cooperating with the hold of the gripping tool measuring and evaluation, which is adapted to determine a characteristic which the consistency of reflects between the at least one hold-down and the base plate located luggage.

The inventively provided gripping tool, which - a rounded in plan view, for example, rectangular or at a free end - base plate, one on it - for example, from a rear end to a front free end of the base out slidably disposed scraper and at least one with respect to the base plate perpendicularly between a each releasing luggage to be gripped and includes a piece of luggage pushing against the base plate position displaceable hold-down is ideal for secure gripping luggage pieces of various designs. The GreifWerkzeug can be made compact at the same time, so that in the confined space of a - possibly already partially loaded - container to be loaded luggage in such positions - and, if necessary, in a direction opposite to the original orientation of the item of luggage on the baggage conveyor system changed orientation - can be sold, which are suitable 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 at the transfer point - with hold-down device in an open position - on the base plate of the gripping tool suitably positioned in the region of the transfer point, eg by the piece of baggage in question directly onto the base plate of the gripping tool by means of the baggage conveyor system is transported. 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 baggage, be driven in the direction of the base plate until the bag from the at least one hold-down - eg under a predetermined force or under a depending on the determinable when closing the blank consistency of the luggage) force to be determined against the base plate are pressed, whereby the bag is securely held in the GreifWerkzeug (between base plate and hold-down) and preferably also in any rotation of the gripper - Tool is held firmly in 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 a robotic arm carrying the gripper 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 method of at least one hold-down in a position releasing the luggage again - and possibly. With the aid of the scraper - stored in an arbitrarily predetermined 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 has one with the hold-down of the

Gripping tool cooperating measuring and evaluation unit, which is adapted to determine the consistency of the held-down and base plate piece of luggage reflecting indicator, as this taking into account the determinable during the loading process consistency characteristic of the bag a suitable storage location and orientation for the bag within of the container can be determined or in any case can be checked whether the baggage piece to be loaded taking into account the determined consistency characteristic for Storage at a possibly initially independent of this calculated storage location and orientation within the container is suitable. If this is not the case, by means of the evaluation unit or another computer unit connected thereto (eg a computer system controlling the entire loading process, which may optionally contain the aforesaid evaluation unit), taking into account the determined consistency parameter, either a suitable other position and orientation for the Storage of baggage within the container determines and the handling device

be 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 invention during the loading process

ascertainable consistency parameter is to allow a classification of the pieces of luggage to be loaded in different consistency classes and is in the smallest requirement of the measurement and evaluation system one

Distinction of "hard luggage", ie little to small deformable baggage, and "soft luggage", ie to external forces medium to heavy compliant luggage dar. A division into other 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 hardness" or the "deformability" of a piece of luggage may also be advantageous. The determination of a consistency parameter as explained above during the loading process with the gripper is particularly useful for determining suitable storage positions and orientations for the piece of luggage to be loaded in the remaining free space of a container, for example soft luggage - unlike hard luggage - bad for settling in an upright orientation is suitable (unless it can be set off or pushed into a suitably sized space between two pieces of luggage using the GreifTerkzeug in upright orientation) or because soft luggage in a container preferably above the hard luggage is to be arranged.

The in cooperation with the downholder

ascertainable consistency parameter 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 luggage - does not necessarily have to coincide with the given perpendicular consistency or deformability of the luggage. In this respect, it is considered within the scope of the invention to be particularly advantageous if in a luggage loading system according to the invention in addition also one with the scraper

cooperating measuring and evaluation unit, which is set up to determine a further parameter which determines the consistency of the item of luggage. reflects a force applied in the direction of movement of the scraper. For this purpose, the scraper can be pressed in a suitable manner against the luggage piece, while it is already pressed by the hold-down with predetermined (in particular constant) force against the base plate, so that under evaluation caused by the scraper deformation of the luggage or the scraper

a force for the consistency of the item of luggage when force is applied in a direction perpendicular to the base plate direction is determined applied force or the pressure applied here.

In order to calculate a suitable storage location and orientation of a piece of luggage to be loaded into the container, use is made of the geometrical dimensions of the item of luggage to be suitably determined, for which purposes an optical measuring device is provided in the area of the luggage conveyor system, for example integrated into the handling device (eg, arranged on the gripping tool) can be. In addition, taking into account the consistency parameter that can be determined in the context 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, if necessary in different directions, under the given force, so that in this respect 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 but can be suitable for receiving a piece of luggage to be loaded, either because the baggage to be loaded is deformable so that it - for example, at the same time Compression by the hold-down - can be pressed or stuffed by means of the scraper in an actually too small space for the item in question, or because, for example, 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 pieces of luggage into one or the other

Baggage 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 loading process controlling computing unit to determine 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 existing (still) free spaces takes into account, but also the - if necessary. Different in different directions - Consistency of the loaded and / or the 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 baggage loading and unloading system according to the invention, so that they can be used within the scope of the present invention

Determining a suitable storage position and orientation can be taken into account for each 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 recording the

Baggage in the gripper tool, the gripping tool is then preferably at the free end of the

Transfer positions suitable to be controlled conveyor belts, that the transported by the conveyor belt items are automatically transported to the base plate of the gripping tool, e.g. from its front free end and / or from another side of the base plate.

For this purpose, it can thus be advantageously provided that the gripper 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 to this and the sem facing) is positionable. Advantageously, the base plate can be brought into a tilted position (by a suitable adjustment of the position of the gripping tool), so that the piece of luggage in question automatically slips into the free space within the gripping tool, which is bounded to the rear 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 may also be useful if the GreifWerkzeug is alternatively positioned by appropriate design and arrangement of the gripper tool carrying robotic arm at the end of the conveyor belt, that the baggage the GreifWerkzeug not laterally from the free end of the base plate, but is supplied laterally, so in the With regard to the possible orientations of the baggage during its subsequent storage in the container greater flexibility exists. at

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 quickly closed so that the conveyed from the conveyor belt on 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 wiper can be brought into a position, in particular to accelerate the loading process with already known geometry of the piece of luggage to be picked up beforehand, in a position which accommodates the item of luggage in the bag

Gripping tool allow, however, in the case of the hold down the least possible route for pressing the bag against the base plate and / or in the case of the scraper the least possible route for stripping the bag (at later discontinuation of the bag in the container) condition. In particular, at 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 GreifWerkzeug if necessary. First, be brought into a forward position and then, if the bag is in the correct position, in a moved backwards so that the piece of luggage gently and with continuous contact with the scraper completely on the base plate of the

Gripping tool slips. 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 on which the gripper tool projects forward from one end of the robot arm protruding base plate is fixed and with which the gripping tool between the transfer point and the interior of a suitably positioned container 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. Thus, for example, by means of the baggage conveyor system in lying orientation on the base plate of the gripping tool conveyed luggage in an upright orientation in the container settle, 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 wiper applied force) and / or by the hold-down or the wiper at a given Contact pressure (or force) caused deformation of the baggage determined. If necessary. can for comparison purposes on the previously determined in the unloaded state geometric dimensions of the luggage

be resorted to.

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 deformation corresponding and thus ultimately the bag a characteristic is assigned, the consistency of the bag (ie the resistance of the bag against one of hold-down or wiper exercised

Pressure). 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 one of the handling device

upstream measuring device, which is adapted to determine the use of optical measuring means, the geometric dimensions and / or color and / or other surface texture and / or a characteristic edge profile of the baggage to be loaded. This proves to be particularly advantageous when the piece of baggage loading system in a further development of the invention has a consistency estimating device that is adapted to a piece of luggage as a function of its geometric dimensions and / or its color and / or the other surface conditions and / or a Characteristic edge profile of the baggage to be loaded to assign an estimated characteristic for its presumptive consistency, wherein the assignment of the estimated characteristic with the aid of a database with known correlations of different luggage piece geometries or colors and associated consistency characteristics is done. This is based on the knowledge that based on the geometric dimensions and / or on the basis of color and / or a particular surface property, such as the surface texture or the reflection properties of the surface and / or characteristic edge profiles of luggage the nature of the luggage in question and thus its Consistency already estimated with high reliability, the reliability of such a consistency estimator through continuous improvement / expansion of the database used and the

Abstellstellung on several of the aforementioned parameters can improve continuously during operation. When using CCD cameras, e.g. for the purpose of edge detection, for the determination of surface properties or for the determination of geometrical dimensions on common image recognition and image recognition

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.), can thus be controlled by means of the loading process Arithmetic unit - taking into account the "estimated" consistency characteristic for each piece of luggage - first a suitable storage position and orientation for the luggage items in the container to be loaded to achieve the best possible packing density are calculated. 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 parameter determined in cooperation with the at least one hold-down device and / or the wiper of the gripping tool during the loading of the respective item of luggage is made. consistency of the item of baggage, so that in a relevant discrepancy between "estimated" and determined (ie actual) consistency of the piece of baggage if necessary, a recalculation of another storage location (and orientation) or a sorting of the item in question for a later manual loading can be done in the container. It should be noted that it may be useful to increase the reliability of a piece of baggage loading system according to the invention, if all pieces of luggage with special properties (eg very soft or very light luggage weighing less than 5, 4 or 3 kilograms, for example) of the gripping tool generally one manual loading be supplied (by being stored, for example, at a suitable container near predetermined location), what then in the first automatically loaded container preferably still suitable free space for manually loaded

Luggage should be left.

Furthermore, it proves to be advantageous in the context of the present invention if the baggage loading system is a sorting device for controlling the order of the transfer point by means of

Baggage conveyor system has supplied luggage, the order of the baggage depending on the estimated characteristic for the

Consistency of the pieces of luggage to be loaded takes place. As a result, then also the order of the transfer point supplied luggage in terms of a space-saving and careful loading of luggage in the respective container to be controlled.

It should also be pointed out that in a piece of baggage loading system according to the invention, if necessary, a further device preceding the handling device can be provided for determining the (actual) consistency of the pieces of baggage to be loaded, with which, for example, e.g. with the use of suitable tactile sensors, the consistency of the baggage supplied to the transfer point, with respect to advantageous

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 gripper tool with which, with the use of suitable algorithms, the correct deposit of a piece of luggage in the container is verified and / or the free space (still) present in a container - e.g. before and / or after the storage of each piece of luggage in the container - determined and then the processing unit controlling the loading process 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 load to be loaded Containers (in particular relative to the gripper 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.

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 gripper tool in the area of a transfer point of a baggage conveyor system and Picking up a piece of luggage handed over by the baggage handling unit with the gripping tool Pressing the piece of luggage against the base plate by means of the hold-down device

Determination of the consistency of the item of luggage reflecting characteristic by means of the measuring and evaluation unit

Moving the gripping tool into the container interior to a suitable place under consideration of the consistency parameter for storing the item of luggage and in a suitable orientation

Depositing the item of luggage in the container, wherein the item of luggage is optionally deported from the base plate by means of the scraper.

To avoid repetition of the advantages of the method according to the invention and preferred embodiments and developments of the method to the above statements on the

referenced system according to the invention, which relate to the method according to the invention in an analogous manner.

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

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

Fig. 2 - 6 different views of this one for

Use of the next gripping tool different positions of the blank holder and the scraper.

1 shows an exemplary embodiment of a piece of baggage loading system 1 according to the invention with a handling device 2 which comprises a movable robot arm 3 and a gripping tool 4 mounted thereon with a base plate 5, a two-part hold-down device 6 and a wiper 7. The gripping tool 4 will be explained in more detail below with reference to FIGS. 2-6.

In the position shown in Fig. 1, the gripping tool 4 by means of the robot arm 3 at a

Transfer point immediately adjacent to the free end 15 of a driven in the conveying direction F conveyor belt 8 of a baggage conveyor system 12 of an airport, not shown, with which the to be loaded into the container 13 pieces of baggage 9, 10, 11 are successively fed to the gripper tool 4. Here, the base plate 5 of the gripping tool 4 faces with its front, free end 14 of the free end 15 of the conveyor belt 8 and inclined to its side facing away from the conveyor belt 8 side down, so that the

Gripping tool 4 next supplied case 9 when it is transported by the conveyor belt 8 in the conveying direction F beyond the free end 15 of the conveyor belt 8, automatically slides into the gripping tool 4 on the base plate 5, until it at the scraper located in a rear position. 7 comes to the plant. thereupon the baggage item 9 can be gripped securely in the gripper tool 4 by moving the hold-down device 6 in the direction of the base plate 5 until it presses the item of luggage 9 against the base plate 5 with a predetermined contact pressure, so that the item of luggage 9 is independent of the orientation and movement of the gripping tool 4 is always securely held.

As soon as the item of luggage 9 in the gripping tool 4 has been held securely, the gripper tool 4 can be moved by means of the robot arm 3 through an access opening 17 released from an opened cover 16 into the interior 18 of the container 13, which is hereby accessible from above and partly laterally , The gripping tool 4 mounted on the robot arm 3 with the base plate 5 protruding forwardly from the end of the robot arm 3 can be tilted about the axis L, in particular by moving the end of the robot arm according to the double arrow P and together with another part of the robot arm 3 according to the double arrow Q around the axis M can be rotated or pivoted, whereby the base plate 5 of the gripping tool 4 for the purpose of an upright deposition of initially lying on the base plate 5 held luggage can be brought into different substantially vertical orientations. The movement of the robot arm 3 further allows pivotal movements of its components according to double arrows R and S about the axes N and O and can also be rotated altogether according to double arrow T on its base 19 about a vertical axis, so that a total of a large range of motion for the gripping tool 4 moved by means of the robot arm 3.

The entire loading operation, including the movement of the conveyor belt 8, the movement of the robot arm 3 and the gripping tool 4 about the said axes and the adjustment of the hold 6 and the scraper 7, is controlled by a central processing unit 20, which is also a respectively suitable Storage position and orientation for each to be loaded in the container 13 baggage 9, 10, 11 determines, if not this example because of a momentarily (or generally) inappropriate dimension or consistency - such as the baggage 24 deposited by the picking tool 4 in a previous process on a delivery table 23 - has to be sorted out for the purpose of manual loading.

The arithmetic unit 20 serves in cooperation with suitable measuring means (not shown in FIG. 1), which are associated with the hold-down 6 and the scraper 7, at the same time as an evaluation unit 21, 22, taking into account one of the hold-down 6 and the scraper 7 on the respectively to be loaded piece of luggage 9, 10, 11 force exerted or a deformation of the baggage piece 9, 10, 11 caused thereby to determine a parameter for the given in the respective direction of action consistency of the baggage piece 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 container 13 located on a trailer 13 is - due to a located at the loading position for the container 13 ramp 26 on which the trailer 25 comes to rest - arranged in an inclined orientation (angle) relative to the horizontal, so that by means of the handling device. 2 in the interior 18 of the container 13 near the side wall 27 located at the sloping end of the container bottom 27 (shown in broken lines) 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 rest on the same, which is a particularly positionally accurate Storage of luggage pieces 28, 9, 10, 11 is made possible within the container 13.

Furthermore, a measuring device 29 arranged in the region of the conveyor belt 8 and thus upstream of the handling device 2 is shown schematically with two CCD cameras 30, 31 installed in the region of the conveyor belt, with which the luggage items 9, 10 conveyed past it 11 from different directions (here: from above and one side) can be optically detected. In this way, in cooperation with the arithmetic unit 20, to which the signals of the CCD cameras 30, 31 are transmitted, firstly, the geometrical dimensions of the luggage pieces 9, 10, 11 that are relevant for the loading process can be determined and secondly Insofar as the arithmetic unit 20 also functions as a consistency estimation device 32, by evaluating the dimensions, the ascertainable color of a piece of luggage, another surface property and / or characteristic edge profiles of the respective item of luggage and using a database containing relevant correlations

Probable characteristic for the consistency of the item of luggage 9, 10, 11 determined and utilized to determine a suitable storage position and orientation. The arithmetic unit 20 then also functions as a comparison unit 33 in that during the subsequent loading process of a piece of luggage 9, 10, 11 the or the determined during the loading process characteristics for the (actual) consistency with the previously determined by the consistency estimation means 33 characteristics for Consistency in the respective direction compares, so that in the case of relevant deviations if necessary, a new storage location for the item of luggage within the container is determined or a sorting of the item of luggage for manual loading under the luggage item on the storage table 23 is caused.

2 to 6 show the gripper tool 4 in different views and at different positions of the blank holder 6 and the scraper. 7

Fig. 2 shows the gripping tool 4 in a perspective view obliquely from the front with for receiving a Luggage suitably wide open hold-down 6, wherein the hold-6 has two laterally spaced, in plan view substantially rectangular, above the base plate arranged and aligned parallel thereto flat hold-down elements 6a, 6b, which, as explained below, in a perpendicular to Base plate 5 lying axis are movable to press a lying on the base plate 5 luggage against selbige. The hold-down elements 6a, 6b can thus be moved starting from the position shown in FIG. 2 according to arrow B in the direction of the base plate until they press a piece of luggage not shown here with eg specifiable force against the base plate 5 and thus keep safe. 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 end facing away from the free front end 14 a in two guide grooves 33, 34 guided linearly guided scraper 7 in the form of an oriented perpendicular to the base plate 5 Abstreiterplatte 35, starting from the position shown in Fig. 2 for the purpose of pushing off a lying on the base plate 5 luggage item according to arrow A on selbiger can be moved to the free end 14 of the base plate 5, as shown - with also widely opened hold-6 - in Fig. 6. Each hold-down element 6a, 6b is disposed on a substantially parallel to the base plate

Support arm 36, 37 attached, which to achieve a compact design up behind the level of

Scraper plate 35 extends in its rearmost position and which in turn there is in turn attached to a vertically displaceably guided guide rail 38, 39 of each one (behind the scraper 7) arranged servomotor 40, 41 via a respective traction drive 42, 43 (here: in Type of positive toothed belt drive) is adjusted.

The control of the two servomotors 40, 41 via the central processing unit 20 already shown in Fig. 1, which at the same time as measuring and evaluation unit 21 for determining the characteristic for the consistency of a pressed by means of the hold-down elements 6a, 6b against the base plate 5 luggage serves. For if - with known geometry of the item of luggage - the respective servo motor 40, 41 is controlled by the arithmetic unit 20 so that the hold-down elements 6a, 6b press with predetermined force on the luggage, then can be from each by means of the computing or evaluation 20, 21 in cooperation with the electronics of the servo motor 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 known geometric dimensions of non-kraftbeaufschlagten baggage as far the baggage piece acted upon by the hold-down elements 6a, 6b with a predetermined force has deformed, which allows an immediate conclusion as to its consistency and thus the determination of a parameter suitable for this purpose. Because of the use of two, each separately by means of a separate servo motor 40, 41 adjustable hold-down elements 6a, 6b may present - depending on the particular piece of luggage - if necessary. When switched to the individual hold-down holder elements 6a, 6b different

Consistency characteristics, if the item of luggage, e.g. in the region of the first hold-down element 6a is more yielding than in the region of the second hold-down element 6b. Depending on the specific system design and / or specific application, then e.g. in the sense of an approximation, a parameter formed by the mean of the two parameters can be essentially determined as the consistency of the piece of luggage (in the relevant direction) or, for further calculations, it can be assumed that the piece of luggage in question has a spatially inhomogeneous consistency, as determined become. With more than two juxtaposed and separately driven by means of a servo motor hold-down elements even better statement on the spatially inhomogeneous consistency of the luggage to be loaded could be achieved, bringing the computerized loading of

If necessary luggage could be improved again. The scraper 7 formed by the stripper plate 35 is driven by means of a - not visible in FIGS. 2-6 servomotor, which is arranged approximately centrally below the base plate 5. Again, with the baggage piece firmly holding down device 6 in cooperation with the measurement and evaluation unit 22 likewise formed by the central processing unit 20, as already described above, a value for the consistency of the item of luggage in the feed direction of the scraper can be determined.

Figs. 3-5 show the gripping tool 4 with closed, i. down to the base plate approached hold-6 in different views obliquely from the front (Fig. 3), obliquely from behind (Fig. 4) and from the side (Fig. 5). In particular, in Fig. 4, the mounting plate 44, with which the gripping tool 4 is attached to a free end of the robot arm 3 already shown in Fig. 1, well visible. Furthermore, a support structure 45 connected to the mounting plate 44 can be seen, to which e.g. the two guide rails 38, 39 are guided linearly displaceable and to which the base plate 5 is attached.

FIG. 6 again shows, in a view obliquely from the front, the gripping tool with the scraper 7 moved forward and the hold-down 6 wide open.

Claims

claims

Baggage loading system (1) comprising a

Handling device (2) for automatic

Loading luggage (9, 10, 11) from a transfer point of a baggage conveyor system (12, 8) into a container (13) to be loaded with a plurality of pieces of luggage (9, 10, 11), the handling device (2) interposing a between the Transfer point and the container interior (18) movable gripping tool (4) comprises and

wherein the gripping tool (4) has a support for a piece of luggage (9, 10, 11) to be loaded

serving base plate (5) and one on the

Base plate (5) arranged displaceably

Scraper (7) for stripping one on the

Base plate (5) lying luggage piece (9, 10, 11),

characterized,

in that the gripping tool (4) travels at least one in the direction of the base plate (5)

having pivotable hold-down device (6) for pressing the luggage item (9, 10, 11) against the base plate (5) of the gripping tool (4) and

in that the piece of luggage loading system (1) furthermore comprises a measuring and evaluation unit (20, 21) cooperating with the holding down device (6) of the gripping tool (4), which is set up for this purpose

Determine characteristic that the consistency of between the at least one hold-down (6) and the base plate (5) located luggage (9, 10, 11) reflects.

2. Baggage handling system according to claim 1,

characterized,

in that the piece of luggage loading system (1) further comprises a measuring and evaluation unit (20, 22) cooperating with the scraper (7)

is set up to determine a further characteristic which reflects the consistency of the item of luggage (9, 10, 11) with respect to a force application in the direction of movement (arrow A) of the scraper (7).

3. Baggage loading system according to claim 1 or 2, characterized in that

that the handling device (2) has a

Robotic arm (3), on which the

Gripping tool (4) with from one end of the

Robot arm (3) protruding forward

Base plate (5) is fixed and with which the gripping tool (4) between the transfer point and the interior (18) of a suitably positioned container (13) is movable.

4. luggage piece loading system according to claim 3,

characterized,

in that the gripping tool (4) is rotated about at least one axis (L, M) by means of the robot arm (3) or can be tilted that the base plate (5) can assume a vertical orientation.

Baggage loading system according to one of

preceding claims

characterized,

that the evaluation unit (21, 22) the the

Consistency of the item of luggage (9, 10, 11)

relevant parameter under evaluation of the hold-down (6) and the scraper (7) on the bag (9, 10, 11) in different

Positions exerted contact pressure and / or caused by the hold-down (6) or the scraper (7) for a given contact pressure

Deformation of the luggage item (9, 10, 11) determined.

Baggage loading system according to one of

previous claims,

characterized,

in that the piece of baggage loading system (1) also has an upstream of the handling device

Measuring device (29) includes the

is set up, using optical measuring means (30, 31), the geometric dimensions and / or the color and / or another

Surface texture and / or a

characteristic edge of the too

to determine the baggage load (9, 10, 11). Baggage loading system according to claim 6,

characterized,

that the baggage loading system (1) a

Consistency estimation device (20, 32) which is adapted to a piece of luggage (9, 10, 11) in dependence on its geometric

Dimensions and / or its color and / or the other surface texture and / or a characteristic edge profile of the

loading luggage (9, 10, 11) a

estimated characteristic for its presumed

Consistency, the assignment of the estimated characteristic using a database with known correlations

different luggage piece geometries or colors and associated consistency characteristics.

Baggage 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 at least one hold-down device (6) and / or the wiper (7) of the gripping tool ( 4) determined characteristic for

Consistency of the luggage (9, 10, 11) takes place.

Baggage loading system according to claim 7 or 8, characterized

that the baggage loading system (1) a Sorting device for controlling the order of the transfer point by means of

Baggage conveyor system (8, 12) supplied

Baggage (9, 10, 11), wherein the

Order of the baggage depending on the estimated characteristic for the consistency of the pieces of baggage to be loaded (9, 10, 11) takes place.

Method for loading baggage under

Use of a baggage loading system (1) according to one of the preceding claims, comprising at least the following steps:

Positioning the gripper tool (4) in

Area of a transfer point of a

Baggage piece conveying system (12, 8) and receiving a piece of luggage (9, 10, 11) handed over by the baggage piece conveying system (12, 8) with the gripping tool (4)

Pressing the piece of 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) reflecting the characteristic by means of the measuring and

Evaluation unit (20, 21)

Move the gripper tool (4) into the

Container interior (18) to an under

Taking into account the consistency parameter for storing the item of luggage (9, 10, 11) suitable place and in a suitable orientation Place the item of luggage (9, 10, 11) in

Container (13), wherein the baggage item (9, 10, 11) optionally by means of the scraper (7) from the base plate (5) is deported.