Method and system for controlling a movement of transport units

Abstract

The invention relates to a method and a system for controlling a movement of transport units (2.1, 2) inside a control area (4) of an installation. A transport unit (2.1) is first of all initially captured and identified at a known position. The transport unit (2.1) is subsequently moved and the positions of the transport units (2.1, 2) within the control area (4) are continuously captured over time using a position capture means (8) and are transmitted to a background system. On the basis of the initial position, the background system assigns the captured positions of the transport units (2.1, 2) to the captured identity of the relevant transport unit (2.1, 2) and maps the positions of the transport units (2.1, 2), in particular of the identified transport unit (2.1), in the control area (4). This allows the movement to be controlled without the need for a separate marking of the transport unit (2, 2.1) for the position capture means (8).

Description

[0001] Method and system for controlling a movement of transport units

[0002] The present invention relates to a method and system for controlling a movement of transport units.

[0003] The present invention particularly relates to the technical field of transporting transport units within an airport for baggage and general cargo, in particular containers such as unit load devices (ULDs), trays (luggage trays), and tray racks. However, the method and system according to the invention are also suitable for broad application in other logistics areas with other transport units.

[0004] A transport unit or logistics unit is an individually assembled collection of loading units such as general cargo (in the airport sector, particularly baggage and cargo) for the purpose of transport and / or intermediate storage, typically a pallet, a container, or a transport tray. However, even a single piece of general cargo (with or without transport aids such as ULDs, pallets, containers, etc.) can constitute a transport unit.

[0005] Many areas of logistics operations, such as airports, are handled manually or in a mixed automatic-manual operation using manual conveyor elements such as castor platforms, ball transfer platforms, slave pallets, etc. to move transport units (loading units, ULDs, larger transport goods, trays, pieces of luggage, AGVs, etc.). These manual conveyor elements are used for loading and unloading, as well as for internal transport and for storing and sorting transport units. They are modular, therefore highly flexible and are well suited to peak loads; however, the options for computer-assisted technical material tracking are limited.

[0006] Equipping all transport units with their own RFID tags or similar devices does enable tracking, but sensors are required to detect the RFID tags and, in addition, the transport units must be recorded and checked out each time they are brought into and out of the facility, as no established, airport-wide systems exist.

[0007] The state of the art is the selective detection of transport units and, if applicable, their loading units using handheld scanners or control keyboards at hubs, particularly when entering an automated system or during loading and unloading of a transport unit. This allows, for example, general cargo loaded into a ULD to be linked to that ULD. However, the process is completely manual, which means it is also prone to errors, as it requires accurate input from the operating personnel.

[0008] The location (scan point) of the transport unit is only known at the moment of capture and in the automatic transport area. If the captured transport unit is moved within the facility from its capture location or from the automatic area, no further information is available and the position of the transport unit is not mapped in the IT system. Which containers are pushed from which entrance to which further point is not digitally mapped. The position of parked containers is also not recorded. This means that the manual area cannot be managed by an IT system because the exact position of the loading unit is not known. This is problematic because transport units can get lost or forgotten within the manual area. Finding them again requires additional time and personnel, particularly if this means that ULDs can no longer reach their planned flight.Therefore, there is a need for improved position tracking, especially when transport units are moved manually.

[0009] The present invention is therefore based on the object of providing a method and system for controlling transport units in a system, which allows the positions of manually moved transport units to be mapped and thus the movement of the transport units to be controlled in an IT system with minimal equipment expenditure. This object is achieved by the features specified in the independent claims.

[0010] The solution according to the invention relates to a method for controlling a movement of transport units with assigned sorting criteria within a control area of ​​a system, comprising the following method steps: First recording of the identity and time stamp of one or more transport units at a known, initial position (same or different position for different transport units). The first, initial recording of identity and time stamp occurs in particular in connection with the introduction of the corresponding transport unit into the control area. Moving at least one of the transport units, in particular the identified transport unit.Recording the positions of the transport units within the control area over a period of time using a position recording means designed to record positions of transport units without the need for separate marking of the transport units. Continuous transmission of the recorded data to a background system. Continuous assignment of the recorded positions of the transport units to the recorded identity of the transport unit in question by the background system, starting from the initial position. Mapping of the positions and / or position changes of the transport units, in particular of the identified transport unit, in the control area by the background system.

[0011] With regard to a device, the above-mentioned object is achieved by a system for controlling a movement of transport units with assigned sorting criteria in a system. The system comprises a means for detecting the identity and time stamp of one or more transport units at a known, initial position. The system comprises a position detection means designed to detect positions of transport units within the control area over a period of time without separate marking of the transport units being necessary. The system comprises a means for transmitting the detected data to a background system, wherein the background system is designed to continuously assign the detected positions of the transport units to the detected identity of the transport unit in question and to map the detected positions of the identified transport units.The system is designed to carry out the method according to the invention.

[0012] The identity of a transport unit is understood to mean the unique identifiability of the transport unit in question, such as a baggage identification number on a baggage tag or similar, whereby this identity remains unchanged even if the physical properties of the transport unit change (e.g. due to a slight change in shape, removal of objects from the transport unit, accidental removal of the baggage tag, etc.). The simplest way to record this identity is by capturing / reading a baggage tag (paper form, RFID tag, ...) using a recording device designed for this purpose. Based on the recorded positions, a movement and thus the position of a transport unit that has been identified once can be determined at any time of recording.The recording times should be close enough in time that the recorded positions of a transport unit at two consecutive recording times can be clearly assigned to that transport unit. Thus, faster movements and / or a high density of transport units and / or other objects require more frequent recording times. Otherwise, an assignment can be made based on the recorded physical properties of the transport unit.

[0013] The device has, insofar as transferable, the same advantages which are listed in relation to the method presented. The description given so far of advantageous embodiments of the invention contains numerous features, some of which are summarized in several in the individual subclaims. However, these features can also be expediently considered individually and combined to form further useful combinations. In particular, these features can each be combined individually and in any suitable combination with the method according to the invention, the functional unit according to the invention and the sorting system according to the invention. Method features can therefore also be seen as objectively formulated as a property of the corresponding device unit and vice versa.

[0014] This can result in the following additional benefits:

[0015] The inventive solution is characterized in that the background system is able to map the position of every identified, but also (as yet) not identified, transport unit in its detection area at any detection time. This means that detected and unrecorded transport units can be localized. Starting from the known initial position of the first detection, a further position determination is carried out through continuous comparison, and the background system creates a movement image of the control area. It is possible to continuously map the changes in position of all transport units, including the associated detected or unknown identity of the transport unit. Knowledge of the positions allows the detection area to be monitored. Starting from the initial detection, the movement of transport units within the control area is automatically tracked.

[0016] The inventive solution enables position control without the need for further steps to record the identity of the transport unit – the normal process is not affected. The moving transport units do not need to be equipped with their own detection elements (RFID tags, tracking sensors, etc.). Manually performed movements can be digitized. The solution is also easy to retrofit, both in indoor and outdoor systems. The only components required for a retrofit are the position detection device and the background system.

[0017] Advantageous embodiments of the invention emerge from the subclaims.

[0018] According to one embodiment, the position detection means can comprise a LIDAR unit (Light Detection And Ranging) and / or a camera system (in particular optical and / or TOF cameras) and / or a light grid and / or an optical sensor (e.g. macro sensor, photoelectric sensor, light barrier, light grid, light scanner or similar). All systems that are able to differentiate between individual transport units in the detection area are suitable as position detection means, i.e. the detected contrast of the image must be sufficient to clearly depict individual transport units. In addition, the position of the detected transport units must be assignable to the actual position in space.

[0019] According to one embodiment, a shape (2D or 3D) of the identified transport unit(s), but also of any unidentified transport units, can be detected within the control area over a time course (at the same or a different detection rate as for position detection) using the position detection means or another device designed to detect and thus track a shape (volume or dimension) of objects, in particular transport units. This allows loading and unloading processes to be mapped, but also allows damage to the transport units to be detected.

[0020] According to a further embodiment, the background system can detect deviations in the recorded shape of the transport units, in particular the identified transport unit, at different recording times and signal and / or save them with a message. This allows unintentional deviations (e.g., damage) as well as intentional deviations (e.g., confirmation that loading / unloading has taken place) to be mapped to the previous state.

[0021] According to a further embodiment, the loading and / or unloading of a transport unit with one or more load units within the control area, as well as the movement of the transport unit, can be monitored by the background system. The initial position of the load unit is recorded, and through continuous position monitoring, the position of each identified load unit in the transport unit is also mapped by the background system.

[0022] According to a further embodiment, for efficient loading processes, loading and / or unloading can be controlled with movement commands. All process steps and features described for the method relating to the transport unit are also applicable to the loading unit.

[0023] According to a further embodiment, the background system can check the residence time of the identified and / or recorded transport units in the control area, or if the residence time is known in several control areas in the system, and signal with a message if the residence time exceeds a predetermined value (this can vary depending on the task / application). This prevents transport units from being forgotten or remaining in the control areas of the system for too long (perishable goods, medications, etc.), even if the initial recording was inadvertently not carried out.

[0024] According to a further embodiment, further objects in the control area can be detected using the position detection means or another device designed to detect further objects, in particular moving objects such as people, and the detected data can be transmitted to the background system. The background system or the detecting device can be designed to recognize and, if necessary, classify the detected further objects. In addition, a warning can be issued if the further object is located in the immediate vicinity of a transport unit. This allows transport units to be safely separated from operating personnel. Manipulation of the ULD can be detected while it is taking place.Access security can be set up by prohibiting the occupancy of objects (a warning is issued if this is ignored) and automatic movements of those transport units in the immediate vicinity of the detected object can be restricted.

[0025] According to a further embodiment, the background system can issue instructions for an intended movement of the identified transport unit, wherein these instructions can be implemented by operating personnel and / or automatically. Preferably, the background system can detect deviations between the intended and actually detected movement and signal them with a message. The instructions can be determined depending on the sorting criteria of the identified transport unit and depending on the arrangement and / or movement commands of the other transport units within the control area. This movement command can include specific movement instructions, but can also be a simple instruction such as the final destination - in this case, only excessively great distances from the final destination are signaled. The instructions can be carried out by operating personnel in manual mode.In systems with automated, movable transport units, the corresponding conveying devices (transport vehicles, e.g., forklifts, AGVs, and / or conveyors, e.g., conveyor belts) can also be controlled directly. This allows transport orders to be transmitted, and a transport vehicle located near the transport unit to be moved can carry out the instruction. This allows the manual processes to be incorporated and controlled by the background system. The conveying device can be included in the transport unit.

[0026] According to one embodiment, the control area can be divided into sub-areas and universal or transport unit-specific occupancy prohibitions (i.e., no transport unit may be moved into this sub-area) can be assigned to one or more of the sub-areas and / or free and / or occupied sub-areas can be displayed.

[0027] For the movement instructions, occupancy restrictions and the fill level of the sub-areas are naturally taken into account, as well as the detected presence of (moving) objects (transport units or others) in or near the sub-areas. Furthermore, the sorting destinations or intended movements of other transport units can be optimized for each other.

[0028] According to one embodiment, the system can have two or more control areas with different requirements for accuracy and / or frequency of detection by the position detection means. The two or more control areas can, but do not have to, have a different type and / or number and / or sensitivity of position detection means - depending on the requirements for the type of monitoring. For example, a first control area can be a loading and / or unloading area with high requirements for the accuracy of the monitoring, while for a second control area as a pure transport area, a lower accuracy is sufficient. The position tracking of smaller transport units requires a higher level of accuracy than that of larger transport units at the same movement speed. According to one embodiment, the system can comprise manual conveyor elements and / or the transport units (2nd1) are movable automatically. The term "manual conveyor element" encompasses any transport element / means that is not a fully automated conveyor system but requires an operator (Castorf conveyors, ball transfer rollers, slave pallets, etc., as well as forklifts or other industrial trucks). However, the inventive solution is also suitable for position determination on non-manual conveyor elements, e.g., to detect deviations from the intended transport path.

[0029] (e.g., uncontrolled sliding on conveyor surfaces, blockages, etc.) must be detected and signaled. Automated movement can be achieved by vehicles (AGVs, forklifts, etc.) or other conveying equipment.

[0030] According to one embodiment, the detected position for a selected identified and / or detected transport unit can be displayed. An additional camera image can be linked to the image of the background system, or the background system can provide positioning instructions to an operator for easy location.

[0031] Embodiments of the invention are explained in more detail below with reference to the figures.

[0032] Figure 1 shows a schematic view of a sorting area for transport units within an airport;

[0033] Figure 2 a transport unit;

[0034] Figures 3a, 3b Transport instructions for an identified transport unit; and

[0035] Figure 4 shows a system with two control or processing areas.

[0036] The exemplary embodiments described in detail below relate to an airport facility 6 with ULD transport units 2. However, the invention is not limited to airports, but is applicable to a wide range of facilities 6 and transport units 2 in other logistics areas, e.g. in order picking or in mail sorting, in particular in the parcel and package area.

[0037] Figure 1 shows, according to one embodiment, a sorting area 4 for ULDs 2 within an airport facility 6. The ULDs 2 are fed to the sorting area 4 on a feed line 24. The sorting (intermediate) destinations of airport ULDs 2 are determined by the sorting criteria of the ULDs 2, which are determined by the sorting information of their loaded piece goods 26 (suitcases, cargo); each ULD 2 is clearly marked. Depending on the area, the ULDs 2 are moved manually, with manual assistance, or controlled by conveyors, i.e., with a means of transport. The ULDs 2 are sorted both directly and temporarily stored.

[0038] During introduction, during the transition between the automatic and (semi-) manual areas 24, 4, a ULD 2 is initially detected (first detection) using detection technology (handheld scanner, detection gate, etc.). The initial detection takes place either always at the same position (detection gate or similar) or at a variable position (handheld scanner which provides a position in addition to the scan data) - the only important thing is that the position can be determined at the initial time of detection and thus the sorting criterion for this now identified ULD 2.1 is known. The detected data is transferred to a background system. If the initial detection takes place in connection with the introduction of the ULDs 2 into the control area 4, all ULDs 2.1 in the control area 4 are identified. This facilitates the detection and classification of further objects 12 in the control area 4. In control area 4, the ULDs 2, 2.1 are moved to their sorting destinations and, if necessary, temporarily stored.The sorting area 2 is recorded by recording technology 8 at short time intervals, i.e. almost continuously, and the positions and / or position changes of the recorded ULDs 2, 2.1 are mapped so that the position and identity of a ULD 2.1 that has been identified and located once and is subsequently moved can be tracked and thus the position of the identified ULD 2.1 and the other objects 2, 12 is known at any time of recording. The background system then records the position and identity of each ULD 2.1 that has been identified once, without the recording technology 8 itself having to be able to read out the sorting criterion or the ULD identity again, i.e. to identify the identified ULD 2.1. The position is recorded after a cycle time has elapsed when the recording means 8 detects a change in position or in response to a command.

[0039] The detection technology 8 detects the position of the ULDs 2, 2.1 without requiring separate marking of the ULDs 2.1, 2. It is therefore a position detection device 8 and must be able to clearly distinguish and localize the individual ULDs 2, 2.1 within the control area 4 from each other and from the background. Based on the initially known position, the identity of the ULDs 2.1 is assigned, since position changes are incremental at a sufficient detection rate, so that the assignment is unambiguous. In principle, however, identification of the ULD 2 can also occur later.

[0040] All elements (ULDs 2, cargo 26, other objects 12) located within the control area 4 and known to the background system are tracked quasi-permanently, and their positions are continuously mapped by the background system. The control area 4 encompasses, at most, the detection range of the position detection device 8, at which the required sensitivity and resolution are guaranteed. By using additional position detection devices 8, the control area 4 can be expanded. The control area 4 can also be made smaller.

[0041] A unit comprising lidar sensors is particularly suitable as the position detection means 8. However, other systems, e.g., a camera system (time-of-flight camera, conventional cameras, etc.), light grids, or optical sensors—single or combined—can also be used. However, camera systems only function well for position tracking if the contrast between the ULDs 2 and the surroundings is always sufficient, as this is the only way to ensure unambiguous position tracking by the background system.

[0042] Lidar units 8, which use a laser to generate a point cloud, are particularly well-suited because contrast issues are not relevant and very good depth resolution can be achieved. Lidar sensors 8 are also commercially available for different detection sensitivity requirements. The computational effort is limited even at high sampling rates, and proven methods exist for optimizing the measured values ​​(noise suppression, background correction, position correction transformation).

[0043] Lidar sensors 8 allow, in addition to detecting the position, the detection of the three-dimensional shape of the objects 2, 12 in the control area 4. The shape can also be detected using stereo cameras 8 or other means. However, optical cameras 8 have the disadvantage that personal data is recorded. A lidar unit 8 does not recognize faces, so there are no privacy or data protection issues. Since lidar units 8 are very well suited to creating a surface model and therefore to determining distances between individual objects 2, 2, 1, 12, a very accurate image of the occupancy situation by the background system is possible. The contrast problem of optical cameras does not exist.

[0044] The position detection means 8 detects not only ULDs 2, 2. 1 in the detection area 4, but also other objects 12, including persons 12. The background system is designed to detect and, if necessary, classify the other detected objects so that a warning can be issued in the event of danger. If a person enters the control area 4, this is detected by the background system and all automatic movements around the person (plus the safety area) can be stopped by blocking the area of ​​the control area 4 occupied by the person 12 as well as any safety area for automated ULD movements. Manual movements of the ULD 2 initiated by the person are now detected by the LiDAR system 8 and sent to the background system.

[0045] In addition, the detection system 8 can monitor whether people are present in an area used for mixed operations. This has the advantage of preventing automatic movements in this area involving people.

[0046] To avoid dangerous situations, a warning is issued if another object 12 is located in the immediate vicinity of a ULD 2. Preferably, the background system or the detecting device 8 is configured to detect and, if necessary, classify the detected additional objects 12.

[0047] According to one embodiment, the control area 4 is divided into sub-areas. Universal or transport unit-specific occupancy prohibitions are assigned to one or more of the sub-areas, i.e., a specific identified ULD 2.1 or all ULDs 2 may not be moved into these sub-areas, e.g., if persons 12 have been detected in or near the sub-areas. Alternatively or additionally, sub-areas occupied and / or vacant by objects 2.1, 2, 12 are displayed. The occupancy level of the control area 4 is thus monitored.

[0048] Preferably, the control area 4 is divided into sub-areas of a grid, with the sub-areas representing individual locations to which a ULD 2 can be assigned. The more detailed the grid, the better the utilization of the sub-areas can be controlled by the background system.

[0049] In the special case of modular Castor areas 14 which are formed from individual conveyor elements 14 in an automatic-manual mixed operation, a Castor conveyor element 14 comprises one or more sub-areas.

[0050] Figure 2 shows an identified transport unit 2.1 imaged by a lidar unit 8, which comprises individual load units 26 and is not yet fully packed. The free space 28 can be detected by the lidar unit 8. The operator can then be instructed to load the free space 28 with another load unit 26 of the corresponding size, whereby the size of the additional load unit 26 can also be determined using the lidar unit 8.

[0051] According to a further embodiment, the shape (volume, dimensions) of transport units within the control area 4 is recorded over a time course at the same or different recording rate as the recording of the positions, in particular during a loading or unloading process. The background system detects and signals with a message and / or stores deviations between the initially and subsequently recorded shape of a specific transport unit 2.1, 2 at different recording times. Unintentional deviations (e.g. damage to the transport unit 2.1, 2, theft of individual loading units 26), but also intentional deviations (e.g. confirmation that loading or unloading has taken place) are detected and stored by the background system so that they can be accessed later.

[0052] According to a further embodiment, the loading and / or unloading of a ULD 2.1 with load units 26 within the control area, as well as the movement of the ULD 2.1, is monitored by the background system. Instead of the movement of the ULD 2.1, the movement of the load unit 26 is monitored, with the initial detection of the position of the load unit 26 being performed first. Subsequently, through continuous position detection, the position of each identified load unit is known and can be mapped by the background system. Loading and unloading can also be controlled with instructions related to the load units.

[0053] Figure 3a shows a section of a control area 4, wherein an identified ULD 2.1 is moved at least partially manually. The movement is carried out by an operator, who receives navigation instructions on a screen 18 as a movement command for an intended movement of the ULD 2.1. The movement instructions are determined depending on the sorting criterion and can be issued as specifically as desired. Only the final destination can be specified, or the exact route. The occupancy status of the sub-areas is taken into account for the movement commands, since the ULD 2.1 can of course only be moved into or over free sub-areas.

[0054] The movement commands can be issued not only to a human operator, but also by a transport vehicle (AGV, forklift, etc.). The background system then selects a transport vehicle, e.g., one located nearby, and controls it via movement instructions from the ULD 2.1, which the transport vehicle executes. This allows the background system to incorporate and control the manual processes.

[0055] Since the position of the identified ULD 2 . 1 is continuously monitored, deviations between the intended and actually detected movement can be detected in the background system and signaled with a message. The more detailed the movement instruction, the smaller the deviation at which a message is signaled. If the final destination is specified as the only movement instruction, only large distances from the final destination or clear movements in the opposite direction that are not required due to the occupancy situation are signaled.

[0056] For example, when transport instructions are given to the operating personnel, the detection technology verifies whether the correct unit is being moved as intended. A detected operating error is signaled accordingly. According to one embodiment, the detected position of a ULD 2.1 that is being sought (e.g., because of urgent loading of the assigned flight) can be displayed at any time.

[0057] ULDs 2 cannot be lost and the time an operator spends searching for a specific ULD 2.1 is minimized.

[0058] Optionally, an additional camera image is linked to the image of the background system or the background system can give positioning instructions to an operator to easily locate the ULD 2.1 being sought.

[0059] According to one embodiment, in the background system, which can be comprised of the higher-level IT transport system, a retention period of the identified and / or recorded, but

[0060] (As yet) unidentified transport units 2.1, 2 are checked in the control area 4. If the dwell time exceeds a predetermined value, this is signaled with a message. This prevents ULDs 2.1, 2 that have been standing for too long (i.e., longer than the respective predetermined time) from being forgotten, with or without initial detection.

[0061] According to one embodiment, Figure 3b shows a display 18 depicting the control area 4'. Not only are the movement commands 32 displayed, but also the intended and / or actual movement 30' of a transport unit 2.1, 2 is displayed in the virtual image of the control area 4'.

[0062] : Adapting the size of the control area 4 and / or the detection rate and / or the number and / or sensitivity of the position detection means 8 (technical or device-related) is advisable because a larger control area 4 or a high detection rate or a high resolution is associated with a high computing effort. Figure 4 shows a system 6 with two differently defined control areas 4a, 4b. The first control area 4a with a high level of monitoring granularity covers the area of ​​loading and / or unloading of ULDs 4 at charging stations 16. For precise monitoring of the charging process, many and / or sensitive sensors 8 are required. The second control area 4b covers a transport and storage area 4b of the system 6. Since no charging processes and therefore no charging units 26 (which are naturally smaller than their corresponding ULDs 2.1, 2) need to be monitored, a lower level of monitoring granularity is sufficient.

[0063] The delimitation of the control areas 4a, 4b is achieved either by selecting the position detection means 4, but can also be achieved purely technically by including less detection data when detecting the second control area 4b, even if a higher detection sensitivity would actually be possible since more detection data is available. In this way, the computational effort can be minimized without requiring any equipment adjustments.

[0064] With the system and method according to the invention, the location of each ULD 2.1 in the control area 4 is always known at any time of detection. By determining the shape or volume of the objects 12, 2, 2.1, 26 in the detection area, the quantity and size of the material 26 to be packed at a loading station 16, the ULDs 2.1 to be transported, and the space 28 remaining on them are known at any time of detection. When packing a ULD 2.1, a constant update of the space still available on the pallet is provided. Whether the material 26 assigned to a specific ULD 2.1 has actually been loaded onto this ULD 2.1 can be physically verified.

[0065] The core of the invention is the continuous position tracking of a ULD 2.1 once identified by the background system at sufficiently short detection intervals using a position detection device 8, for which lidar systems or camera systems are suitable, among others. The background system thus always maps the position of the detected ULD 2.1 without further identification of the ULD 2.1 being necessary. Transport instructions can be issued to the operating personnel, and with the help of the detection technology 8, it can be verified whether the correct ULD 2.1 is being moved. A detected operating error is signaled accordingly. The combination of physical control and IT data management enables constantly up-to-date information on the location of each ULD 2.1, 2 in the control area 4. It does not matter whether the ULDs 2, 2.1 are transported to another location automatically or manually.In addition, the detection system can monitor whether people are present in an area used for mixed operations. This has the advantage of preventing automatic movements in an area where people are present.

[0066] ULDs 2.1 can be tracked even when moved manually. The fill level of the control areas 4 is mapped without any further recording steps being required by the operating personnel. The material flow in the control area 4 can be monitored by tracking the mapped transport units 2, 2.1. Operating errors (moving other ULDs 2, moving the intended ULD 2.1 but to the wrong location) are avoided. Operating personnel can be assisted with sorting by issuing movement commands. By monitoring the time the ULDs 2, 2.1 spend in the control area 4, ULDs 2, 2.1 that have not been processed for too long are identified. The loss of material 2, 2.1, 26 is avoided. The status of the ULDs 2, 2.1 can be monitored (damage check, loading / unloading monitoring).

[0067] The detection of people in the controlled area allows ULDs 2 to be separated from personnel, and tampering with the ULDs 2 can be detected. Access control can be implemented and automatic movement restricted by assigning occupancy restrictions to sub-areas.

[0068] Linking the information from the initial acquisition with the continuous position acquisition allows for the localization and tracking of transport units 2 and 2.1 in real time. For better visualization, a link to a camera image can be created.

[0069] If operators are looking for a specific transport unit 2.1, the position can be output from the background system, possibly with additional movement commands for the operators. This ensures quick location of the transport unit, preventing incorrect placement and empty runs.

[0070] The method can be combined with other systems for precise location, for example, a handheld scanner for the initial capture of the identity of the transport unit 2.1 can be marked with an RFID tag to determine the position of the initial capture.

[0071] Deviations between the actual movement of a transport unit 2.1 and a movement intended by the movement commands are signaled with a message according to one embodiment. According to one embodiment, the background system has access to further information, e.g. flight plans. In this way, the handling (loading and unloading processes, collection from intermediate storage, movement to the airside exit) of certain ULDs 2.1 can be prioritized. The background system supports the operating personnel by displaying the next logistics tasks and by providing decision-making support when assembling cargo. Further information (battery level, priority of perishable goods or medicines, temperature for cold chain control) can also be taken into account by the background system to prioritize the work steps to be carried out.

[0072] List of reference symbols

[0073] 2 transport units

[0074] 4 Control area

[0075] 4a first control area, (loading / unloading) loading area

[0076] 4b second control area, storage / transport area

[0077] 6 Appendix

[0078] 8 Position detection device, Lidar sensor

[0079] 12 further object, person

[0080] 14 Conveyor element

[0081] 16 Charging station, workstation

[0082] 18 Advertisement

[0083] 20 Report

[0084] 22 Conveyor element

[0085] 24 Feed line, insertion device

[0086] 26 general cargo, loading units

[0087] 28 free places

[0088] 30 Movement (intended, actual)

[0089] 32 Movement command

Claims

Patent claims 1. Method for controlling the movement of transport units (2.1, 2) with assigned sorting criteria within a control area (4) of a system (6), comprising the following steps: a) initial recording of the identity and timestamp of one or more transport units (2.1) at a known initial position, wherein the initial recording of the identity and timestamp is carried out, in particular, in connection with the introduction of a transport unit (2.1) into the control area (4); b) moving at least one of the transport units (2.1, 2), in particular the identified transport unit (2.1); c) recording the positions of the transport units (2.1, 2) within the control area (4) over a period of time using a position recording device (8) designed for recording the positions of transport units (2.1, 2).1, 2) without separate marking of the transport units; d) continuous transmission of the recorded data to a background system; e) continuous assignment of the recorded positions of the transport units (2.1, 2) to the recorded identity of the transport unit in question (2.1, 2) by the background system starting from the initial position; f) mapping of the positions of the transport units (2.1, 2), in particular of the identified transport unit (2.1), in the control area (4) by the background system.

2. Method according to claim 1, characterized in that the position detection means (8) comprises a lidar sensor and / or a camera system and / or a light grid and / or an optical sensor.

3. A method according to any of the preceding claims, furthermore comprising the process step Detecting a shape of the identified transport unit (2.1, 2) within the control area (4) over a period of time using the position detection means (8) or another device designed to detect a shape of objects, in particular transport units (2.1, 2).

4. Method according to claim 3, further comprising the method step of the background system recognizing and signaling with a message and / or storing deviations of the detected shape of the transport units (2.1, 2), in particular of the identified transport unit (2.1), at different detection times.

5. The method of claim 3 or 4, further comprising the process steps - Loading and / or unloading of a transport unit (2.1, 2) with one or more loading units within the controlled area; - Performing the procedure steps a) to f) for the one or more loading units as well as for a transport unit (2.1) .

6. Method according to one of the preceding claims, further comprising the method step in the background system of checking the dwell time of the identified and / or detected transport units (2.1, 2) in the control area (4) , and signaling an exceedance of the dwell time by a predetermined value with a message .

7. A method according to any of the preceding claims, furthermore comprising the process step Detection of further objects (12) in the controlled area (4) with the position detection means (8) or another device designed to detect further objects (12), in particular moving objects (12) such as persons, and transmission of the detected data to the background system.

8. Method according to any of the preceding claims, further comprising the method step in which the background system issues instructions for an intended movement of the identified transport unit (2.1), wherein these instructions are implemented by operating personnel and / or automatically.

9. The method according to claim 7, further comprising the method step in which the background system detects and signals deviations between the intended and actually detected movement with a message.

10. A method according to any of the preceding claims, furthermore comprising the process step Dividing the control area (4) into sub-areas and assigning universal or transport unit-specific occupancy prohibitions to one or more of the sub-areas and / or indicating free and / or occupied sub-areas.

11. Method according to one of the preceding claims, characterized in that the system (6) has two or more control areas (4a, 4b) with different accuracy requirements and / or frequency of detection by the position detection device (8) is shown.

12. Method according to claim 10, characterized in that the two or more control areas (4a, 4b) have a different type and / or number and / or sensitivity of the position detection means (8).

13. Method according to one of the preceding claims, characterized in that the system (6) comprises manual conveying elements (14) and / or the transport units (2.1) are automatically movable.

14. Method according to any of the preceding claims, furthermore comprising the method step Displaying the recorded position for a selected identified and / or recorded transport unit 2.1, 2.

15. System for controlling the movement of transport units (2.1, 2) with assigned sorting criteria in a plant (6) , comprising - a means of recording the identity and timestamp of one or more transport units (2.1, 2) at a known initial position; - a position detection device (8) designed to detect positions of transport units (2.1, 2) within the control area (4) over a period of time without requiring separate marking of the transport units; - Means for transferring the recorded data to a background system, wherein the background system is designed for continuously assigning the recorded positions of the transport units (2.1, 2) to the recorded identity of the transport unit in question (2.1, 2) and for mapping the recorded positions of the identified transport units (2.1, 2 ) ; wherein the system is configured to carry out the method according to any one of claims 1 to 14.

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