An automated baggage handling robot

Abstract

The invention relates to a stand alone automated baggage handling robot comprising: a robot automatically operating a baggage vacuum lift tool, a controller controlling said robot, a conveyor, the robot operating within a working zone, wherein the robot is communicatively coupled with at least one sensor, the controller establishing a safety zone on the basis of sensor input received from said at least one sensor, the working zone comprising a picking zone and a placing zone where vacuum lifted baggage is automatically delivered by the robot via a first baggage exit of the picking zone to the placing zone, wherein the picking zone includes an automatically fed second baggage exit. A system, a method and use thereof are also disclosed.

Description

AN AUTOMATED BAGGAGE HANDLING ROBOTField of the inventionThe present invention relates to a stand-alone automated baggage handling robot, a method of operating the baggage handling robot and a method of retrofitting the baggage-handling robot.Background of the invention

[0001] A challenge in relation to handling of baggage, in particular airport luggage, is that handling of baggage requires an efficient airport infrastructure ensuring that the baggage to be transported can be checked in easily and then, including different kinds of checks, be routed to the correct airplane and follow the related passenger to the destination where the passenger can retrieve his / her luggage. This is a relatively complex task and the required manhandling is significant.

[0002] Different ways of handling such baggage have been known for years and different kinds of automation has been applied. A way of handling baggage has been described in WO2023057368 (Al). A challenge with new automation solutions is however that such solutions may either be extremely expensive and / or flawed with errors introducing a degree of unreliability which is not desired, at least.Summary of the invention

[0003] The inventors have identified the above-mentioned problems and challenges related to baggage handling, and subsequently made the below-described invention which may help in an airport with bagging handling efficiency.

[0004] An aspect of the invention relates to an automated baggage handling robot comprising: a robot (ROB) configured for automatically operating a baggage vacuum lift tool (BVL), a controller (CON) configured for controlling said robot (ROB),a conveyor (CONV), the robot (ROB) configured for operating within a working zone (WZ), wherein the robot (ROB) is communicatively coupled with at least one sensor (SENS), the controller (CON) configured for establishing a safety zone (SZ) on the basis of sensor input received from said at least one sensor (SENS), the working zone (WZ) comprising a picking zone (LZ) and a placing zone (AOFFZ) where the robot (ROB) is configured for automatically delivering vacuum lifted baggage via a first baggage exit (EXI) of the picking zone (LZ) to the placing zone (AOFFZ), wherein the picking zone (LZ) includes an automatically fed second baggage exit (EX2).

[0005] The robot may be understood as a robot, e.g. a collaborative robot, where the robot is transferring baggage from a picking zone to a placing zone. The robot may be suited for lifting baggage from one zone to another zone, but the robot may not be suited for lifting all types of baggage, luggage, bags, or suitcases. The limitations of robot may be due to baggage turning upside down or being placed on a wrong side. The baggage could also comprise straps or not be properly closed which would limit the robot for lifting the baggage. It is therefore to be expected that the robot will be limited to lift only a certain percentage of all baggage passing through. The robot may typically be used in e.g., an airport where baggage is to be transported to a plane. The limitation of the robot is handled by a baggage handler (BH) which may be able to transfer the baggage that the robot could not lift or handle. The robot may be configured to both actively and passively bypass baggage that the robot is not capable of handling, lifting, or transferring.

[0006] The robot may e.g. be regarded as a stand-alone installation which may be retrofit to existing baggage handling infrastructure of e.g. airport, thereby avoiding installing of industrial robots which are expensive in use. A stand-alone robot in the present context cooperates with an associated conveyor.

[0007] The robot may be understood as an articulated robot, where different parts of the robot are being connected with joints for rotating and turning the robot. The robot may be a robot arm with a simple a two-jointed structure or a robot arm with multiple interacting joints and parts to define the different parts of the robot, e.g., shoulder, elbow and wrist or the robot. The robot may typically have 6 degrees of the freedom for moving and rotating in space.

[0008] The term working zone may to be understood as a volume defined by an area in ground level and the or some of the volume above this area. The volume above the area in the ground level may be defined as the volume vertical or perpendicular above the area in the ground level, but is may also be defined as some of the area above the area in question, depending on where the baggage handling robot are expected to operate. The area in the ground level is defined as an area from the placement of the robot to the farthest from the robot. The distance farthest away from the robot may to be understood as the place where the robot may reach in all directions while the robot lifts a piece of baggage. The distance furthest away may be the distance from the placement of the robot on the ground and to a point on a piece of baggage held by the robot, where the robot is in full length in a direction away from the placement of the robot including baggage length. The distance could also be the point of the robot which is farthest from the placement of the robot on the ground. The working zone may always comprise the robot that automatically is operating the baggage vacuum lift tool (BVL). The volume of the working zone is typically limited by the ground and may typically be limited by a roof or another part of the house, or building, above the ground area and robot. It should be noted that the working zone may include whatever is relevant to define the intended automatic working space of the baggage handling robot, with or without baggage.

[0009] A part of the working zone is defined as a picking zone, where the picking zone is to be understood as the zone where baggage enters the working zone. The picking zone is also the part of the working zone where the robot lifts the baggage with the baggage vacuum lift tool (BVL). The picking zone (LZ) may typically only have space for one piece of baggage at a time and the distance between two pieces ofbaggage may e.g. be at least 10cm for the sensor to detect if it is one or two pieces of baggage. The baggage in the picking zone may typically be baggage, luggage or suitcases with a weight up to approximately 32kg. A very small amount of the pieces of baggage could weigh up to 40kg. A piece of baggage may also be understood as two or more bags which are bound together by straps or two or more suitcases which are locked together. The picking zone (LZ) may typically comprise a part of a conveyor, where the conveyor conveys baggage to the picking zone (LZ). The baggage could typically come from either check-in or another place in the process prior to handling over the baggage to the cart or unit load device which may transfer the baggage to e.g., an airplane. The conveyor may be a lateral or chute for conveying the baggage to the picking zone (LZ). The conveyor may also be a carrousel where the baggage are being looped around the same conveying path until the baggage is being unloaded by e.g., the robot (ROB) or a baggage handler (BH). The conveyor could also be a straight regular conveyor that conveys baggage from a point a to b in a straight line or a line with some turns.

[0010] A unit load device (ULD) may be understood as a container to load baggage, freight, cargo or mail in e.g., aircrafts. The unit load devices may typically come in two different forms either pallets or containers. The pallets may typically be rugged sheets of aluminium with rims designed to lock onto cargo net lugs. The pallets may then typically comprise a net to secure the baggage or cargo to the pallet. The containers, also known as cans and pods, are closed containers often made of aluminium or a combination of aluminium (frame) and Lexan (walls) but there are examples of containers made of glass reinforced plastic (GRP) with an insulating foam core. The containers may both be loaded with baggage or cargo from the top or from the side depending on the type of ULD. Depending on the nature of the goods to be transported, ULDs may have built-in refrigeration units. Examples of common ULDs and their specifics are listed below. The different types of ULD’ s may vary from fabricant to fabricant depending on which type of airplane the ULD may be transported in. Some ULD may e.g., be better suited to an Airbus and other ULD’s may be better suited to a Boing depending on the size, shape and dimensions of the ULD. The ULD’smay typically be loaded on to carts, cars or wagons and the transported to / from an airplane to a baggage handling system.

[0011] A cart for baggage may typically comprise wheels compared to the pallet of the unit load device. The carts may have rims or sides from zero to four when the cart is square shaped. The cart may comprise sides which may be in an open or closed position according to baggage being loaded / unloaded or the cart is moving with the baggage. The carts may further comprise a roof for baggage or cargo to shield for rain, where the baggage may be loaded from the side instead of the top. The cart may typically me coupled to a car or wagon and the transported to / from an airplane to a baggage handling system.

[0012] The carts and ULD’s may be placed inside a placing zone when baggage may be loaded into the carts or ULD’s. The ULDs and carts may be fully enclosed inside the placing zone or be partially inside the placing zone in order to have the baggage handling robot to place the baggage in either the carts or ULDs. The placing zone may also be understood as a zone inside the ULD or cart. The carts and ULD may typically hold still when the baggage handling robot are loading baggage or when the placing zone is being setup by one or more sensors and a controller. The carts may also be configured to move when baggage is being placed in the cart. The placing zone may dynamically when baggage is being placed in the placing zone. The dynamic placing zone may take into account that baggage has already been placed in the placing zone or the some pieces of baggage has tilted, shaped-shifted or change position by a manual correction from a worker after the robot placed the baggage. The dynamic placing zone may be dependent on sensors inputs to know where the latest pieces of baggage has actually been placed inside the placing zone or if any free space in the placing zone is available for the next piece of baggage.

[0013] The term first baggage exit (EXI) is to be understood as an exit from the picking zone (LZ), where the baggage in the picking zone (LZ) is being lifted away from the picking zone (LZ) by the baggage vacuum lift tool (BVL) controlled by the robot. The first baggage exit (EXI) may also be understood as a way out of the picking zone (LZ) defined by the end location of the baggage in the placing zone where thebaggage is to be delivered. Movement patterns by the baggage when being transported from the picking zone to the placing zone may be different as long as you pick up the baggage in the picking zone and deliver in the placing zone. The different movement patterns out of the picking zone (LZ) would still be defined as taking the first baggage exit (EXI).

[0014] In an exemplary embodiment of the invention the picking zone (LZ) may avoid being completely shielded or blocked by e.g., walls or panels together with the placing zone (AOFFZ). When the conveyor is open and without e.g., walls it may help baggage handlers (BH) for an easier removal of unintended items or baggage in the picking zone (LZ) that may stop or block the robot. It is advantageous to avoid a total enclosed conveyor and picking zone (LZ) if the robot stops unintended or a piece of baggage is in the wrong place, a baggage handler (BH) could easily get to the picking zone (LZ). It could also be the possibility for a baggage handler (BH) to place baggage back in the picking zone (LZ) if the baggage e.g., has been falling off the conveyor or has been moved to the buffer zone (BZ).

[0015] The picking zone could also comprise a small wall or panels for securing that the baggage would not be able to fall off the conveyor from the picking zone. The picking zone could also comprise a wall or panel on one side of the conveyor to secure the baggage being on the conveyor and prevent people to come in contact with the baggage in the picking zone.

[0016] The term an automatically fed second baggage exit (EX2) is to be understood as an exit from the picking zone (LZ), where the baggage in the picking zone (LZ) is being transported out of the picking zone (LZ) by another item or device than the robot. The baggage may be transported out of the picking zone (LZ) by e.g., a conveyor or rollers where the baggage may already be placed. The automatically fed second baggage exit (E2) is used as a way out of the picking zone (LZ) when the robot is not capable of lifting the baggage. The robot could fail in lifting the baggage and the baggage could then be transferred out of the picking zone (LZ) by the automatically fed second baggage exit (EX2). The baggage may also be analysed by a sensor or camera, and the baggage may be concluded to be unable to be lifted by the robot andthereby be transferred out of the picking zone via the automatically fed second baggage exit (EX2).

[0017] Another part of the working zone is defined as a placing zone, where the lifted baggage by the robot is transferred to and offloaded. The placing zone could typically comprise a cart or a unit load device (ULD) for baggage, where the baggage may be offloaded by the robot. The placing zone may hold or keep as many pieces of baggage as the cart, or the unit load device (ULD), is capable of stacking within the space of either e.g., the cart or the unit load device.

[0018] The term safety zone is to be understood as a volume, a space, where the volume is typically defined as minimum a part of the volume from the working zone. The safety zone may in a variation enclose all of the working zone. In an additional embodiment of the invention the safety zone may be the entire working zone and with an additional volume added all around the working zone to define the safety zone for the safety of managers, personal and other items which could be damaged. The safety zone may comprise both the working zone, the picking zone and the placing zone. The safety zone may comprise all of the working zone, all of the picking zone and all of the placing zone.

[0019] The point of a safety zone is that the automatic work performed in the working zone by the baggage handling robot should be optimized for automatic handling of baggage from a conveyor to a placing zone with as little interruption as possible from e.g. baggage handlers handling the baggage the baggage robot is unable to handle. In this context interruption may be understood as an automatic halt of the baggage handling robot or a reduction in handling speed if relevant sensors has detected a person or other relevant objects which may interfere with the automatic baggage handling. This may of course include the situation where a person has entered the working zone, more precisely the safety zone, and where it should be avoided that the person in question may be hit by the baggage handling robot, but is may also be a situation where e.g. a baggage cart or a ULD has entered the working zone and where it damage to the robot should be avoided. The safety zone may be established in numerous different ways within the scope of the invention with use of one or morerelevant sensors enabling the desired security. It goes without saying that the safety zone may be designed considering the baggage handling design. If the baggage handling robot is a so-called collaborative robot, where the robot joints are monitored in realtime for e.g. indication of collision between the baggage handling robot and any object, dead or alive, the safety zone may optionally be designed as little more lenient as the collaborative robot is not very likely to hurt anything or anybody, whereas a robots having the power to do so, should be monitored extremely careful at locations where collision between the surroundings, including persons, and the robot may arise.

[0020] It is advantageous to have more than one exit from a picking zone in a standalone automated baggage handler. The first baggage exit is used for transferring baggage to a placing zone, like a cart or a unit load device (ULD), where the automatically fed second baggage exit for transferring baggage or luggage away from the robot is advantageous to prevent breakdowns and stops for the stand alone automated baggage handler. Most of the baggage may be lifted and transferred out of the picking zone by the robot to the placing zone by the baggage vacuum lift tool (BVL) through the first baggage exit. In some cases, the robot is not capable of lifting the baggage in the picking zone by the baggage vacuum lift tool (BVL). When the robot is not capable of lifting the baggage in the picking zone it is advantageous to automatically pass along the baggage through the automatically fed second baggage exit (EX2) to make space for the next piece of baggage and prevent the stand alone automated baggage handler to breakdown.

[0021] It is advantageous to have a robot for lifting baggage in e.g., an airport to prevent personal from a lot of continuous lifting. The continuous lifting could be a lot of heavy lifting or lifting in ergonomic bad positions for the body of the baggage handler. The robot could further be advantageous to support the baggage handler (BH) in staying within the regulatory interventions, where a lot of countries has regulations for baggage handlers (BH) limiting the lifting per day to e.g., 6000kg, or approximately 260 pieces of baggage.

[0022] It is also advantageous to a have robot for assisting the baggage handlers (BH) where baggage may not be lifted by baggage handlers but only just flipped, turned orplaced correctly for the robot to lift the baggage. Two pieces of baggage could also be placed to close to each other on the conveyor and the robot may not be able to handle the two pieces. It is advantageous for the baggage handler to just move or hold back one of the two pieces of baggage away from the other piece of baggage to ensure that the robot is able to lift both pieces of baggage.

[0023] It is advantageous to have an automatically second exit for the baggage the robot is not able to lift. The baggage could then be passed along and the robot could lift the next piece of baggage and prevent the robot for standing still for to long. It is further advantageous to have baggage which are not lifted by the robot to be transfer automatically away from the picking zone to keep a higher efficiency of the total baggage loading.

[0024] Moreover, it is noted that the use of vacuum for lifting the baggage by the baggage vacuum lift tool may be extremely attractive in relation to the handled baggage as the use of mechanical may be reduced or preferably avoided.

[0025] It should also be noted that a robot according to the invention may advantageously reduce the repeated manual work and thereby form a personal assistant to a person, a baggage handler, which may reduce the load and strain on the individual baggage handler by reducing the number of lifts that baggage handler has to perform by e.g. at least 90%.

[0026] In the present context, vacuum may be understood as a condition below normal atmospheric pressure and is measured in units of pressure. A vacuum can be created by removing air from a space using a vacuum pump or by reducing the pressure using a fast flow of fluid, as in Bernoulli’s principle.

[0027] The created vacuum must be strong enough to enable attachment of baggage weighing up to e.g. 32 kg.

[0028] The baggage handling robot may e.g. be an automated baggage handling version of a robot as described in EP 3720801 Bl or WO 2023 94686 Al.

[0029] In an embodiment of the invention the baggage not lifted or not to be lifted by the baggage handling robot is automatically fed to a buffer zone via said second baggage exit.

[0030] Whether the baggage can be lifted or not can be determined in numerous different ways. One way may e.g., by visual inspection combined with prediction. Another way may be a simple try and error performed by the baggage handling robot.

[0031] In an embodiment of the invention the picking of baggage in the picking zone and placing of the same baggage in the placing zone is referred to a pick and place sequence and where a pick and place sequence is initiated when a baggage item has entered the picking zone or is about to enter the picking zone.

[0032] A pick and place sequence may typically be automatically initiated every time a baggage item has entered the picking zone or is about to enter it. It goes without saying that such automatic triggering of a pick and place sequence may be overlayered by automatic supplementing decision making subroutines e.g. considering whether the pick and place sequence should be synchronized with other pick and place sequence performed by other robots.

[0033] In an embodiment of the invention the picking of baggage in the picking zone and placing of the same baggage in the placing zone is referred to a pick and place sequence and where a pick and place sequence is initiated when a baggage item has entered the picking zone or is about to enter the picking zone and when placing is possible at the placing zone.

[0034] A pick and place sequence may also typically be correlated with whether there is space available at the placing zone. This availability may furthermore be correlated with information of further approaching baggage items and whether these subsequently arriving items should be handled by the baggage handling robot first in order to fit into an optimal placing pattern.

[0035] In an embodiment of the invention a pick and place sequence is automatically omitted and / or terminated if a baggage entering or about to enter the picking zone isdetermined unsuitable for picking by the baggage handling robot on the basis of sensor signals received from at least one baggage sensor.

[0036] The automatic omission of the execution of a pick and place sequence may e.g advantageously be based on sensor inputs, e.g. vision and / or other relevant sensor technology, facilitating a prediction of whether a baggage in the lifting zone or approaching the lifting zone may in fact be lifted by the baggage handling robot. Such prediction may e.g. be based on assumed weight, dimension, baggage type, baggage surface, etc, and the pick and place cycle may simply be omitted and the baggage item may automatically be automatically fed in such instance via the second baggage exit for other handling. Such handling may simply be a manual lift and placing of the baggage item in question or e.g. a manual adjustment of the baggage item position on the conveyor which may enable the baggage handling robot may be able to pick and place the baggage item in a subsequent pick and place sequence.

[0037] The automatic omission or termination of the pick and place sequence may facilitate a fast bypass of the baggage item instead of risking a failing pick and place sequence and facilitate that the baggage handling frequency is improved as a failed pick and place sequence where the robot is either simply not able to lift the baggage items or if it loose the baggage item will decrease the handling frequency significantly.

[0038] In an embodiment of the invention the baggage handling robot comprises a robot arm formed by a number of robot arm parts connected by at least one, wherein the robot arm is mounted on a robot base, wherein the robot arm is mounted with the baggage vacuum lift tool, wherein a robot controller is programmed to control the robot arm, including the at least one joint, to automatically attach the baggage vacuum lift tool by vacuum pressure to a baggage item located in the picking zone and lift the baggage item by the robot arm and position and release the baggage item in the placing zone by movement of the robot arm and thereby the vacuum lift tool between the picking zone and theplacing zone and by controlling vacuum pressure for attachment and release of the baggage item in the picking zone and the placing zone, respectively.

[0039] In an embodiment of the invention the robot arm comprises at least two joints.

[0040] In an embodiment of the invention the positioning and releasing of the baggage item is performed automatically under the control of the controller according to a placing pattern.

[0041] Placing patterns may be adapted for any kind of desired and suitable placing strategy fitting the placing zone, specifically fitting a placing pattern fitting a baggage cart or a ULD. The placing patterns may simply establish a kind of baggage tetris in two dimensions with little or no stacking on top of each other or the placing pattern may be a more three dimensional strategy where baggage is automatically stacking on top of each other for optimal use of e.g. a ULD.

[0042] In an embodiment of the invention the placing pattern includes at least a preprogrammed algorithm establish for automatically positioning baggage items in the placing zone in the form of a baggage cart according to a placing pattern.

[0043] In an embodiment of the invention the placing pattern includes at least a preprogrammed algorithm establish for automatically positioning baggage items in the placing zone in the form of a unit load device according to a placing pattern.

[0044] In an embodiment of the invention the placing patterns are determined on the basis of artificial intelligence.

[0045] In an embodiment of the invention the placing patterns are determined on the basis of machine learning.

[0046] In an embodiment of the invention the placing patterns are determined on the basis of supervised machine learning.

[0047] In an embodiment of the invention the robot arm comprises multiple joints and where the joints are capable of rotating 360 degrees.

[0048] In an embodiment of the invention the robot is an articulated robot.

[0049] In an embodiment of the invention the robot comprises a baggage vacuum lift tool which is supplied with vacuum by a vacuum source fluidly connected with the vacuum lift tool communicatively coupled with the controller and wherein the vacuum source is controlled by the controller.

[0050] It is advantageous to use a vacuum tool for lifting the baggage when the baggage is being e.g., conveyed along a conveyor when the robot is able to use the free space above the baggage for securing and lifting the baggage. The robot may not need to be able to get under the baggage for lifting the baggage away from the picking zone. The robot may not need to squeeze or clamp around the baggage to lift the baggage away from the picking zone.

[0051] In an embodiment of the invention the automatic picking of baggage at the picking zone is controlled by the controller of the robot on the basis of at least one baggage sensor detecting the location of baggage fed into the picking zone.

[0052] In an embodiment of the invention the picking automatic placing of baggage at the placing zone is controlled by the controller of the robot on the basis of at least one sensor at least detecting the location or physical boundaries of baggage already present at the placing zone.

[0053] In an embodiment of the invention the baggage vacuum lift tool is fluidly connected to a vacuum source by one or more hoses / hoisting tube.

[0054] In an embodiment of the invention the vacuum source is configured for a variable suction under the control of said controller.

[0055] It is advantageous to have a variable suction where the pressure between the baggage vacuum lift tool BVL and the baggage could be changed. The change in suction could be used to save energy when lifting the baggage, where the vacuum source (VAC) may be reduced and still facilitate lifting of the baggage attached to the vacuum lifting tool and / or facilitate attachment of the baggage to the baggage vacuum lifting tool.

[0056] Further, the suction could be increased when the robot may sense that a baggage is about to be dropped or could fall off from the robot. The robot may then increase the suction to keep the baggage secured to the robot until the baggage may be placed in the placing zone.

[0057] The vacuum source (VAC) may e.g. be a vacuum source as the vacuum source described in EP 3720801 Bl or WO 202394686 Al.

[0058] The sensor suction is particular helpful at first when gripping baggage since it will not lift without adequate suction. This is advantageous to avoid dropping baggage.

[0059] In an embodiment of the invention the vacuum source is at least partly controlled by said controller on the basis of sensor input indicating the type, dimension and / or other feature of a baggage entered or entering the picking zone.

[0060] In an embodiment of the invention the vacuum source is configured for a continuous suction.

[0061] It is advantageous to have a continuous suction in order for not to turn on and off the suction during operation of handling baggage.

[0062] In an embodiment of the invention the controller is configured for changing suction provided by the vacuum source in response to pressure measured in relation to said baggage vacuum lift tool during picking, lifting, and placing.

[0063] In an embodiment of the invention the controller is configured for changing suction provided by the vacuum source in response to a pressure change measured in relation to said baggage vacuum lift tool during picking, lifting, and placing.

[0064] In an embodiment of the invention the controller is configured for increasing suction provided by the vacuum source in response to a pressure drop measured in relation to said baggage vacuum lift tool during picking, lifting, and placing.

[0065] In an embodiment of the invention the stand alone automated baggage handler comprises a power supply, where cables from said power supply to said robot is enclosed in the floor and out of said working zone and said safety zone.

[0066] It is advantageous to have the cables for the power supple in the floor, to avoid any personal or machine to fall or step on the cables and thereby avoid injuries on personal or damages on devices. The cables may also be placed in a cable hider or safety construction on along on the floor. The cables may also be provided along the ceiling and hanging down from the ceiling to the robot.

[0067] In an embodiment of the invention the first baggage exit is a transition between said picking zone and said placing zone.

[0068] It is advantageous to have a first baggage exit defined by the zone where the baggage automatically ends up being placed after being lifted to ensure that baggage is being lifted the right way away from the picking zone.

[0069] In an embodiment of the invention the automatically fed second baggage exit is configured for transferring baggage from the picking zone to a buffer zone enclosed inside a manual zone.

[0070] In an embodiment of the invention the automatically fed second baggage exit is configured for transferring baggage from the picking zone to a buffer zone located within a manual zone.

[0071] The buffer zone may be understood as a zone for baggage which the robot either can / could or would not lift away from the picking zone. The buffer zone may thus be used for baggage that could be turning with a wrong side up, baggage that would be too heavy for the robot or baggage that would fit better later in the placing zone due to e.g. size of the baggage. The buffer zone may be placed outside of the safety zone to ensure that personal can access the baggage in the buffer zone while the robot is lifting and transferring baggage from the picking zone to the placing zone. The buffer zone may thus be dedicated for baggage which may not be handled automatically by the baggage handling robot for one reason or another. Thus situationmay be established automatically in different ways. It may either simply happen and the baggage is then automatically fed to the buffer zone for further handling. Further handling could e.g. be a manual placing of the baggage item in question by a baggage handler in a relevant placing zone, e.g. a placing zone such as one or more baggage cars / ULDs currently used by the robot for automatically placing of the baggage. Further handling may also be a manual or automatically assisted repositioning of the baggage in order to facilitate an automatic lift by the baggage handling robot. This may be advantageous as such a repositioning, e.g. by turning the baggage or repositioning straps / handles to facilitate the automatic vacuum lift may facilitate an uninterrupted automatic pick and place sequences.

[0072] The buffer zone may also be dedicated for baggage which is predicted to be not-liftable, either because the baggage is simply not liftable automatically by the baggage handling robot or because it has to be repositioned before even letting the baggage handling robot trying lifting it.

[0073] A buffer zone may also, in the same application(s) be applied for supplemental sorting, i.e. for automatically by-pass of baggage in relation to the baggage handling robot if the baggage is to be handled in some kind of special way.

[0074] It should thus be noted that the buffer zone has to be adapted to fit the intended purpose, i.e. as a kind of waiting zone dedicated for bypassed baggage items. In particular such as buffer zone or multiple buffers zones should preferably be adapted to ensure that the automatic baggage handling process of the baggage handling robot is not interrupted simply because of overflow in the buffer zone. It least, the buffer zone should be designed to ensure that a normal work process is not interrupted too much.

[0075] Moreover, it should also be noted that a buffer zone preferably should by relatively aligned in the vertical direction in order to provide a smooth transfer from the picking zone to the buffer zone without damaging the baggage.

[0076] The manual zone is to be understood as a zone, where people can walk around or stand without stopping or slowing the robot from lifting and placing baggage fromthe picking zone to the placing zone. The manual zone may fully enclose the buffer zone to ensure that personal may be able to pick up baggage from the buffer zone while the robot is also picking up baggage from the picking zone.

[0077] It is advantageous to have a buffer zone for baggage to keep the robot running with lifting and transferring baggage and prevent unintended stops and breakdowns of the robot. The buffer zone could be used to place the baggage correct by moving straps or flipping baggage upside down. The baggage could after being placed correct being put back to a position either on the conveyor prior to the picking zone or directly to the picking zone for being lifting by the robot.

[0078] In an embodiment of the invention a pusher, an opening, a switch and / or other suitable apparatus is automatically operated to move a baggage item from a conveyor if the baggage has been transferred from the picking zone via the second baggage exit by the conveyor.

[0079] In an embodiment of the invention the transferring baggage from picking zone to buffer zone via the automatically fed second baggage exit is done automatically.

[0080] It is advantageous to transfer the baggage from the picking zone to the buffer zone via the automatically fed second baggage exit automatically to avoid having people walking into the working zone and thereby stopping or slowing the robot. By keeping personal out of the working zone the robot could be active for a longer period of time and thereby increase the efficiency of lifting and placing baggage from the picking zone to the placing zone.

[0081] In an embodiment of the invention the automatic transferring is by a band, a conveyor, a roller bed, a drone or any combination thereof.

[0082] In an embodiment of the invention the buffer zone is configured for transferring baggage to said placing zone.

[0083] In an embodiment of the invention the transferring from buffer zone to said placing zone is done manually.

[0084] In an embodiment of the invention the transferring from buffer zone to said placing zone is performed by a baggage handler picking the baggage from the buffer zone and placing it in the placing zone.

[0085] In an embodiment of the invention the transferring from buffer zone to said placing zone is performed by a baggage handler picking the baggage from the buffer zone and placing it in the picking zone or placing it for automatic re-entering into the picking zone by the conveyor.

[0086] By facilitating a re-entering into the picking zone it may be possible for a baggage handler to re-position the baggage on the conveyor and thereby facilitate an automatic successful pick and place sequence by the baggage handling robot as many unsuccessful lifts may be the result of a wrong positioning of the baggage item on the conveyor in the lifting zone.

[0087] In an embodiment of the invention the buffer zone is configured for returning baggage back to said picking zone via said second baggage exit when it fits with the baggage handling robot’s pick and place sequence.

[0088] It goes without saying that the pick and place sequence should be synchronized with the baggage items arriving at the picking zone or at least approaching. This may be done passively, or as a kind of slave based on the operation of the relevant conveyor(s) and the baggage items transported by these. It may also be synchronized by given the controller of the baggage handling robot at least some control of the conveyor(s) transporting baggage items to and from the picking zone and optionally to and from the buffer zone.

[0089] In an embodiment of the invention the working zone fully encloses said picking zone and said placing zone.

[0090] In an embodiment of the invention the working zone is fully enclosed in said safety zone.

[0091] The working zone may be understood as a changeable zone according to size if e.g., the robot is being reprogrammed, moved or the robot is lifting larger pieces ofbaggage. It is advantageous to have the working zone fully enclosed in the safety zone to minimize the risk of damages or injuries for both devices and personal in the working zone.

[0092] In an embodiment of the invention the buffer zone and said picking zone has the same placing zone.

[0093] It is advantageous to have the same group of baggage from the conveyor to be packed in the same placing zone even though the baggage is lifted from the picking zone or buffer zone. The baggage may be travelling with e.g., the same airplane and therefore it may be an advantage to have the same buffer zone. By having the same placing zone for the buffer zone and the picking zone the baggage could be handled both automatically by the robot or manually by personal from respectively the picking zone or the buffer zone.

[0094] In an embodiment of the invention placing baggage in the placing zone is performed automatically according to an algorithm determining one or more placing baggage patterns at the placing zone.

[0095] In an embodiment of the invention placing baggage in the placing zone is performed automatically according to an algorithm determining one or more placing baggage patterns at the placing zone and wherein the placing zone is coinciding with a space inside a baggage cart or a unit load device.

[0096] In an embodiment of the invention a pick and place sequence it initiated by performed by attaching by means of vacuum the baggage vacuum lift tool to a baggage item located in the picking zone from above.

[0097] In an embodiment of the invention the baggage vacuum lift tool is controlled to release said baggage item in said placing zone from above.

[0098] In an embodiment of the invention the baggage vacuum lift tool is configured for releasing said baggage item in said placing zone horizontally.

[0099] It is advantageous to stack the baggage in e.g., a unit load device by releasing baggage from the baggage vacuum lift tool horizontal when the unit load device is almost full. By releasing the baggage horizontal it may be possible to stack the baggage even higher in the unit load device because the space above the stacked baggage is not needed in the horizontal releasing of the baggage.

[0100] In an embodiment of the invention the baggage vacuum lift tool is configured for releasing said lifted baggage in said placing zone vertically.

[0101] It is advantageous to stack the baggage in e.g., a cart or unit load device by releasing baggage from the baggage vacuum lift tool vertical.

[0102] In an embodiment of the invention the baggage vacuum lift tool is configured for releasing said lifted baggage in said placing zone vertically, horizontally or in any angle between horizontal and vertical.

[0103] In an embodiment of the invention the robot comprises robot arm tiltable baggage vacuum lift tool from horizontal to vertical and back.

[0104] In an embodiment of the invention the controller is configured for controlling said conveyor.

[0105] It is advantageous to control the conveyor with the controller to stop the conveyor when a piece of baggage is inside the picking zone. The robot may then be able to lift the baggage from the conveyor while the baggage is not moving along with the conveyor. The lifting of the baggage while the conveyor is not moving may be an advantage for better securing the baggage before lifting the baggage away from the picking zone.

[0106] In an embodiment of the invention the picking zone is dynamic.

[0107] It is advantageous to have a dynamic picking zone if the conveyor keeps moving while the robot is lifting the baggage away from the conveyor.

[0108] In an embodiment of the invention the picking zone includes a part of a baggage conveyor converted into a part of the automated baggage handling robot.

[0109] In an embodiment of the invention the picking zone is forming part of a baggage conveyor of a preexisting baggage conveyor by retrofitting said baggage handling robot.

[0110] In an advantageous embodiment, a preexisting fixed baggage handling infrastructure, such as baggage conveyors and offload areas of e.g. an airport has been used without relocation of e.g. existing conveyor.

[0111] In an embodiment of the invention the baggage handling robot is retrofit to a manual baggage handling infrastructure, the baggage handling infrastructure including at least one baggage conveyor.

[0112] In an embodiment of the invention the safety zone is monitored by at least one sensor.

[0113] In an embodiment of the invention the at least one sensor is a motion sensor.

[0114] In an embodiment of the invention the at least one sensor is a pressure sensor.

[0115] It is advantageous to have a mat or any kind of runner on the floor with a pressure sensor to register if any person or item is placed in the safety zone.

[0116] In an embodiment of the invention the at least one sensor is an IR sensor.

[0117] In an embodiment of the invention the at least one sensor is a distance sensor.

[0118] In an embodiment of the invention the at least one sensor is at least two or more sensors, wherein said two or more sensor is a combination of a motion sensor, a distance sensor, pressure sensor, IR sensor and / or audio sensor.

[0119] The at least one sensor may be understood as a safety sensor to ensure that unintended objects or people are not within the safety zone while the robot is working.

[0120] The at least one sensor may also be understood as a sensor for sensing if a baggage is available for picking in the picking zone. The at least one sensor may further sense if the baggage available in the picking zone is liftable for the robot. The at least one sensor (SENS) may be able to sense if the baggage is available for being picked up by the robot before the baggage has entered the picking zone (LZ).

[0121] The at least one sensor (SENS) may also be understood as a sensor for sensing the placing zone (AOFFZ) and where to place the next baggage in the placing zone (AOFFZ). The at least one sensor may be used to establishing sensing data which may be used as a basis for automatically placing the baggage in the placing zone in suitable placing patterns. The at least one sensor may sense where the latest baggage was placed / where the current baggage is placed and the distance to both the other baggage items and the boundaries of the cart or unit load device.

[0122] The at least one sensor (SENS) may also be understood as a sensor for sensing if the baggage is lifted from the conveyor (CONV) in the picking zone (LZ). The sensor may be sensing in a two-dimensional plane right above the conveyor and when a baggage is picked by the baggage vacuum lift tool (BVL) the sensor may sense when the baggage if being lifted from the conveyor (CONV). The sensor is coupled to the controller, where the controller can compare the movement and position of the baggage vacuum lift tool (BVL) and the sensor input from the two-dimensional plane. A suitcase would typically be lifted from the conveyor (CONV) immediately when the baggage vacuum lift tool (BVL) starts moving, where a softer piece of baggage, e.g., a sports bag would be stretched out by the baggage vacuum lift tool (BVL) before being lifted from the conveyor (CONV).

[0123] The at least one sensor may be placed on the floor, in the ceiling, above the conveyor (just above the conveyor and in the ceiling above the conveyor), above the cart, or unit load device, for baggage. The at least one sensor may also be placed directly on the robot, directly on the conveyor, directly in the cart or unit load device.

[0124] It is to be understood that the at least one sensor may be sensing for multiple aspects or a combination of aspects. The sensor could be sensing both for safetyreasons (no unintended people in the safety zone) and for placing baggage in the placing zone (AOFFZ) the most optimal place in the e.g., cart. The sensor may also be able to detect presence of heat from e.g., a person or baggage handler (BH). The detection of heat may also detect e.g., lithium batteries which could be advantageous to avoid a risk of fire.

[0125] It is advantageous to have more sensor for having a higher safety. The higher safety could be an additional safety zone or a copy of the normal safety zone, where other sensors are used to registerer if any unintended items or persons are in the safety zone while the robot is transferring baggage. The additional sensor could work as an extra safety if the first sensors stops working or should be out of function in any kind of way.

[0126] In an embodiment of the invention the safety zone is a dynamic safety zone, where the dynamic safety zone is configured for changing in size over time.

[0127] In an embodiment of the invention the safety zone is divided in more than one safety zone.

[0128] In an embodiment of the invention the more than one safety zone comprises a first safety zone and a second safety zone, where said first safety zone is configured for stopping the robot if any unintended object is in said first safety zone, and said second safety zone is configured for slowing down the robot if any unintended object is in said second safety zone.

[0129] It is advantages to divide the safety zone into multiple safety zone to graduate the different zones according to the danger of a person being hit by baggage or the robot. The robot could also be crashing baggage or the robot into any unintended objects in the which is to be avoided by stopping the movement of the robot. In other areas of the safety zone it could be useful to keep the robot running and the transferring the baggage, but with e.g., personal also transferring baggage manually to e.g., a cart for baggage. The personal could load the baggage from the other side of the cart and thereby it would be efficient to keep the robot running, but at a lower speed for the safety of the personal.

[0130] In an embodiment of the invention the safety zone is configured for stopping the robot if any unintended object is either entering said safety zone or in said safety zone.

[0131] In an embodiment of the invention the safety zone is configured for activating the robot if any unintended object is leaving said safety zone.

[0132] It is advantageous to have an automatic start of the robot, when wither an item is removed from the safety zone or a person is leaving the safety zone for keeping the efficiency of the transferring of baggage higher.

[0133] In an embodiment of the invention the robot is configured for starting again by pushing a button outside of said safety zone.

[0134] In an embodiment of the invention the button is placed outside of the safety zone.

[0135] It is advantageous to have a user interface such as a button for a manual restart of the robot to ensure that any personal is outside of the safety zone when restarting the robot for transferring baggage.

[0136] The robot and the system for lifting baggage is configured to handle baggage which have failed to be lifted by the robot. It is advantageous to have a system and / or robot which is both configured to handle baggage by lifting it and handle baggage which the robot failed to lift. The failed lifted baggage still has to be taking care of in order for the robot to lift the next piece of baggage coming along a conveyor. The process of failed baggage lifting may also further need a soft restart or soft reset to remove baggage from the picking zone. The baggage which is not being lifted correctly by the robot may also drop the baggage between the picking zone and the placing zone where a manual handling of the baggage is required. The manual handling may also require the soft reset or restart to quickly remove the dropped baggage and manual place it correctly in the placing zone. The soft restart may then facilitate a quick process in order for the robot to get back to full function again. The soft restart may prevent a longer stop or breakdown of the baggage handling robot and therebyfacilitate a greater output in the system where baggage may be dropped or not be lifted correctly from the picking zone. The process of restarting or rebooting the system may be as standard to use as when the robot is fully working due to the quick and fast restart of the robot.

[0137] In an embodiment of the invention the safety zone adjoin said manual zone.

[0138] In an embodiment of the invention the placing zone comprises a cart for transporting baggage and wherein said vacuum lifted baggage is automatically delivered by the robot via a first baggage exit of the picking zone to said cart.

[0139] In an embodiment of the invention the placing zone comprises a unit load device for transporting baggage and wherein said vacuum lifted baggage is automatically delivered by the robot via a first baggage exit of the picking zone to said unit load device.

[0140] It is advantageous to automatically transfer the baggage from the picking zone to the either a cart or a unit load device. It is advantageous to save people working with baggage from continuously lifting baggage during the day to avoid injuries or wear over the years.

[0141] In an embodiment of the invention the robot is limited to lift a maximum weight of either 20kg, 25kg or 32kg.

[0142] It is advantageous to lift baggage that weighs up to a certain amount and let heavier baggage automatically bypass the robot to prevent damages on the robot. By avoiding the heavier lifts for the robot it could increase the lifetime of the robot lifting and transferring the baggage.

[0143] It should be noted that the limitation in lift may simply originate in the capacity of the baggage handling robot chosen for the purpose.

[0144] It should however be noted that there are several reason for applying a robot with a limited lift within the scope of the invention. First of all, due to the automatictransfer through the second exit, the automatic pick-and places sequences may not necessarily be interrupted and the limitation in lift is thereby acceptable.

[0145] It should however also be noted that the reduced lifting force also facilitates efficient and reliable lifting without risking injuries to baggage handlers assisted by the baggage handling robot.

[0146] Moreover, the limited lift may be attractive in terms of energy consumption / CO2 footprint.

[0147] In an embodiment of the invention the robot is limited to lift a maximum distance away from the center of the robot of either 1.5m, 1.75m, 2m or 2.5m.

[0148] It is advantageous to have a reach for a robot to grip baggage from the conveyor and to place it e.g., furthest inside a unit load device. The robot could be placed with a distance to the conveyor and still be able to lift and transfer baggage from the picking zone to the placing zone. It is advantageous to limit the reach of the robot to approximately 2 meters to ensure that the robot is capable of lifting the baggage.

[0149] In an embodiment of the invention the robot is configured for sorting vacuum lifted baggage via said first baggage exit of the picking zone to said placing zone or a second placing zone.

[0150] In an embodiment of the invention the automated baggage handling robot coworks with a further stand-alone baggage handling robot.

[0151] Typically co-working baggage handling robots may pick baggage from the same conveyor and co-working robots may thus be designed and programmed to perform a combined and optimal pick and placing of the baggage items and thereby basically assist each other with the same task, e.g. loading one or more baggage carriers, e.g. baggage car(s) or ULD(s) e.g. for one airplane.

[0152] In an embodiment of the invention the robot and said second robot are configured for sorting vacuum lifted baggage via said first baggage exit to two different placing zones.

[0153] Two co-working baggage handling robots may also be applied for sorting the baggage items while lifting the baggage items off the conveyor to their relevant placing zone. Such as an application may e.g. be the case when one baggage handling robot is dedicated for one baggage destination and the other baggage handling robot for another destination.

[0154] In an embodiment of the invention the robot is a mobile robot placed on a track along said conveyor.

[0155] By the application of a “mobile” robot, it may be possible to place baggage items onto a sequence of interconnected baggage carts, thereby facilitating the a baggage train of several carts may be filled with baggage items without interrupting the pick and place sequences when baggage carts has to be switched.

[0156] In an embodiment of the invention the robot is a mobile robot associated with a mobile baggage conveyor.

[0157] In an embodiment of the invention the conveyor is mobile and wherein said baggage handling robot is movable with the conveyor.

[0158] In an embodiment, the conveyor associated with / included as a part of the baggage handling robot is mobile and the baggage handling robots moves together with the conveyor. Such an application may be advantageous e.g. when the invention is applied for unloading an airplane. Also here, it is advantageous that the baggage handling robot may vacuum lift most of the baggage and place the baggage items in a suitable placing pattern in baggage carts applied for transporting baggage from the airplane to a baggage hub or a baggage end location at the airport.

[0159] In an embodiment of the invention the mobile robot is configured for sorting vacuum lifted baggage to different placing zones.

[0160] Another aspect of the invention relates to a method of handling baggage with a baggage handling robot according to any of the claims 1 - 79, wherein the baggage handling robot automatically feed baggage to the second baggage exit if the baggage cannot be lifted by said vacuum lift tool.

[0161] In an embodiment of the invention the baggage handling robot automatically feed baggage to second baggage exit if the baggage cannot be lifted by said vacuum lift tool is performed by automatic pre-evaluation of the baggage to automatically omit a pick and place sequence by the baggage handling robot if the pre-evaluation indicates that the baggage cannot be lifted.

[0162] In an embodiment of the invention the baggage handling robot automatically feed baggage to second baggage exit if the baggage cannot be lifted by said vacuum lift tool is performed by automatic feeding the baggage to the second exit if a pick and place sequence by the baggage handling robot fails.

[0163] In an embodiment of the invention the baggage is automatically fed to a buffer zone from said second exit.

[0164] In an embodiment of the invention the baggage handled in the pick and place sequences performed by the baggage handling robot is automatically placed in the placing zone according to placing patterns.

[0165] In the present context, it is highly advantageous that the baggage, the baggage items, are automatically placed in a placing pattern fitting the placing zone, e.g. a baggage cart or a ULD. The placing patterns may be performed according to relatively simply algorithms in order to establish an efficient packing of baggage items according to predetermined placing strategies. Such strategies may e.g. include placing according to one or more packing lines associated with a certain type of baggage cart, but it may also be performed as a more advanced “baggage item tetris” performed on the basis of e.g. machine learning, e.g. supervised machine learning.

[0166] Whatever placing strategy is applied, it should fit the available baggage carts.

[0167] It is advantageous to either actively or passively have the robot bypassing baggage that the robot may not be able to lift form the picking zone. It could be a baggage that a sensor is sensing by e.g., weighing or by visual inspection that the robot would not be capable of lifting the baggage away from the conveyor and the picking zone. It could also be if two pieces of baggage is being placed to close to each other, where the robot may bypass one of them or both of them.

[0168] It is further advantageous to bypass baggage and having the automatically fed second baggage exit for a total higher efficiency of baggage being lifted and transferred away from the picking zone. It could help the robot avoiding breakdowns and unwanted stops.

[0169] Another aspect of the invention relates to a method of retrofitting a baggage handling location with a robot, the (ROB) comprising a baggage vacuum lift tool (BVL), the baggage handling location comprising a picking zone (LZ) defining a part of an existing baggage conveyor (CONV) establishing a baggage handling location comprising an off-picking zone (AOFFZ) within an operating range of the robot (ROB), in a controller (CON) of the robot establishing an automatic process of lifting baggage from the picking zone (LZ) to the off-picking zone on the basis of inputs received from at least one baggage sensor (SEN), the automatic process of lifting baggage from the picking zone (LZ) to the off-picking zone (AOFFZ) is performed such that the baggage is lifted from the picking zone (LZ) to the off-picking zone (AOFFZ) via first exit (EXI), the off-picking zone fitting a baggage carrier (CAR) such as a baggage cart and / or a unit load device (ULD),establishing one or more safety zone (SZ) based on input from at least one sensor and interrupting the automatic process of lifting the baggage on the basis of said input from the at least one sensor and optionally establishing a buffer zone automatically fed by said conveyor via second exit (EX2) associated with the conveyor.

[0170] In an embodiment of the invention the baggage handling location is a baggage chute of an airport baggage handling infrastructure.

[0171] In an embodiment of the invention the picking zone is forming part of a conveyor of an existing baggage chute of an airport baggage handling infrastructure.

[0172] In an embodiment of the invention the placing zone is forming part of an existing area for parking of baggage carriers of an existing baggage chute of an airport baggage handling infrastructure.

[0173] In an embodiment of the invention the baggage handling location is a location is at and / or in the vicinity baggage handling carrousel of an airport baggage handling infrastructure.

[0174] In an embodiment of the invention the baggage handling robot is provided according to any of the claims 1-78 for retrofitting.

[0175] In an embodiment of the invention the robot is a collaborative robot.

[0176] The international federation of robotics (IFR), a global industry association of robot manufacturers and national robot associations, recognizes two main groups of robots: industrial robots used in automation and service robots for domestic and professional use. Service robots could be considered to be collaborative robots (cobots) as they are intended to work alongside humans. Industrial robots have traditionally worked separately from humans behind fences or other protective barriers, but cobots remove that separation. Cobots can have many uses, from information robots in public spaces (an example of service robots), logistics robots that transport materials withina building, to industrial robots that help automate unergonomic tasks such as helping people moving heavy parts, or machine feeding or assembly operations.

[0177] The IFR defines four levels of collaboration between industrial robots and human workers:

[0178] Coexistence: Human and robot work alongside each other without a fence, but with no shared workspace.

[0179] Sequential Collaboration: Human and robot are active in shared workspace but their motions are sequential; they do not work on a part at the same time.

[0180] Cooperation: Robot and human work on the same part at the same time, with both in motion.

[0181] Responsive Collaboration: The robot responds in real-time to movement of the human worker.

[0182] In industrial applications including a cobot, the cobot and human worker share the same space but complete tasks independently or sequentially (Co-existence or Sequential Collaboration.) Co-operation or Responsive Collaboration are presently less common.

[0183] In an embodiment of the robot system, the evaluation comprises establishing a value for the one or more operation parameters and compare the established value with the associated safety limit. The values for the operation parameters may be established by sensors providing input to the robot process / safety controller or the robot process / safety controller reading input from sensors. Alternative, a value of an operation parameter may be derived from measurements of two or more different operation parameters. The evaluation may include comparison of the result of calculation / measuring of operation values calculated or measured from two independent controllers / sensors performing redundant calculation or measurement. At least part of the evaluation may be performed e.g. by appropriate equipment located in the individual joints. An example hereof could be the redundant calculation / measurement in a joint performed by at least two processors and / or sensors.

[0184] In an embodiment of the robot system, the safety rating of the robot safety controller is higher than the safety rating of the robot process controller. This is advantageous in that it has the effect, that by using such safety rated controller, likelihood of hazardous situations is reduce in that the robot safety controller complies with requirements to the safety integrity level (SIL; Safety Integrity Level) 2 or level 3 and / or complying with requirements of the functional safety standard (IEC61508).

[0185] Robots for collaborative operation may preferably comply with certain ISO standards (e.g. ISO 10218-1), which specify standards for such collaborative operation (i.e. without safety guards between the robot and the operator). If a parameter limit is exceeded, an emergency safety stop is issued to protect the environment of the robot or the robot itself.

[0186] In an embodiment of the invention the robot is compliant with one or more of following standards: ISO 10218-1, ISO 10218-2, ISO 15066, ISO 121OO.In an embodiment of the invention the baggage vacuum lifting tool (BVL) has a lifting capacity of less than 25 kg or less than 32kg.

[0187] In an advantageous embodiment, the baggage vacuum lifting tool BVL has a lifting capacity which is less that the total expected capacity range. When accepting that some of the baggage cannot be lifted and providing a supplementary automatic removal from the picking zone thereby freeing the robot to work with the next baggage arriving at the picking zone, it is possible to establish a loading of baggage carriers such as baggage carts, ULD, etc which is based on a cheap and lean automated loading of a large part of the baggage unto the carrier where a second part of the baggage may be loading onto the baggage carriers with other means. Such other means may be partly automated or manually operated.

[0188] In an embodiment, the working zone (WZ) is an open working zone. In other words, the working zone is implemented fenceless. When implementing the working zone fenceless, there should be safety measures for allowing humans to interact with the robot. This may e.g. be obtained through the use of a collaborative robot.

[0189] In an embodiment, the said safety zone (SZ) is an open safety zone.

[0190] In an embodiment, the said safety zone (SZ) is in open connection with surroundings.

[0191] In an embodiment, the working zone (WZ) is enclosed (within a fence).

[0192] In an embodiment, the said robot is compliant with one or more of following standards: ISO 10218-1, ISO 10218-2, ISO 15066, ISO 12100.The drawings

[0193] Various embodiments of the invention will in the following be described with reference to the drawings where fig. 1 illustrates a stand-alone baggage handling robot according to an embodiment of the present invention, fig. 2 illustrates a controller for a stand-alone baggage handling robot according to an embodiment of the present invention, fig. 3a-g illustrate a stand-alone baggage handling robot placed next to a conveyor according to an embodiment of the present invention, fig. 4a-b illustrate one, or two, stand-alone baggage handling robot(s) placed next to a conveyor for sorting baggage according to an embodiment of the present invention, fig. 5a-b illustrate a placing zone for two different conveyors according to an embodiment of the invention, fig. 6a-e illustrate different types of conveyors and controller(s) for different embodiments of the invention, fig. 7a-h illustrate different aspects of sensors, placement of sensor and how a safety zone is defines according to an embodiment of the invention, fig. 8 illustrate sensors and safety zone for an embodiment of the invention, fig. 9a-b illustrate a system with multiple stand-alone baggage handling robots according to an embodiment of the invention, fig. lOa-b illustrate two ways for a robot to place a piece of baggage according to two embodiments of the invention,Fig. 1 la-b illustrate two ways of a placing pattern for placing the baggage in a placing zone.Detailed description

[0194] Fig. 1 illustrates a robot ROB comprising a plurality of joints connecting a robot ROB from a robot base RBA to a baggage vacuum lift tool BVL. A base joint FJO is configured to rotate the robot ROB around a base axis FAO as illustrated by rotation arrow RAO; a first joint FJ1 is configured to rotate the robot ROB around a first axis FA1 as illustrated by rotation arrow RAI; a second joint FJ2 is configured to rotate the robot ROB around an second axis FA2 as illustrated by rotation arrow RA2, a third joint FJ3 is configured to rotate the robot ROB around a first third axis FA3 as illustrated by rotation arrow RA3 and a fourth joint FJ4 is configured to rotate the robot ROB around a fourth axis FA4 as illustrated by rotation arrow RA4. Fifth joint FJ5 is a tool joint comprising the baggage vacuum lift tool BVL, which is rotatable around a fifth axis FA5 as illustrated by rotation arrow RA5. The illustrated robot ROB is thus a six-axis robot ROB with six degrees of freedom with six rotational robot joints, however it is noticed that the present invention can be provided in robots comprising less or more robot joints and also other types of robot joints such as prismatic robot joints providing a translation of parts of the robot for instance a linear translation.

[0195] A baggage vacuum lift reference point VRP also known as a TCP is indicated at the baggage vacuum lift tool BVL and defines the origin of a baggage vacuum lift coordinate system defining three coordinate axis xvacuum, yvacuum, zvacuum. In the illustrated embodiment the origin of the baggage vacuum lift coordinate system has been arrange on the fifth axis FA5 with one axis (zvacuum) parallel with the fifth axis and with another axis xvacuum, yvacuum parallel with the outer surface of the baggage vacuum lift tool BVL. Further a base reference point BRP is coincident with the origin of a robot base coordinate system defining three coordinate axis xbase, ybase, zbase. In the illustrated embodiment the origin of the robot base coordinate system has been arrange on the base axis FAO with one axis (zbase) parallel with the base axis FAO axis and with another axis xbase, ybase parallel with at the bottom surface of the robot base.

[0196] The robot ROB comprises at least one controller CON configured to control robot ROB and can be provided as a computer comprising an interface device IFDenabling a user to control and program the robot ROB. The controller CON can be provided as an external device as illustrated in fig. 1 or as a device integrated into the robot ROB (not shown) or as a combination thereof. The interface device IFD can for instance be provided as a teach pendent as known from the field of industrial robots which can communicate with the controller CON via wired or wireless communication protocols. The interface device IFD can for instanced comprise a display and a number of input devices such as buttons, sliders, touchpads, joysticks, track balls, gesture recognition devices, keyboards etc. The display may be provided as a touch screen acting both as display and input device. The interface device IFD can also be provided as an external device configured to communicate with the robot controller, for instance as smart phones, tablets, PCs, laptops, etc. The interface device IFD can be a teach pendent or handle or smartphone communicating wired or wireless with the robot controller.

[0197] The baggage vacuum lift tool BVL comprises a force-torque sensor FTS integrated into the baggage vacuum lift tool BVL. The force-torque sensor FTS provides a baggage vacuum lift force signal indicating a force-torque provided at the baggage vacuum lift tool BVL. In the illustrated embodiment the force-torque sensor FTS is integrated into the baggage vacuum lift tool BVL and is configured to indicate the forces and torques applied to the baggage vacuum lift tool BVL in relation to the baggage vacuum lift reference point VRP. The force-torque sensor FTS provides a force and torque signal indicating a force and torque provided at the baggage vacuum lift tool BVL. In the illustrated embodiment the force-torque sensor FTS is integrated into the baggage vacuum lift tool BVL and is configured to indicate the forces-torque applied to the baggage vacuum lift tool BVL in relation to the reference point VRF and in the baggage vacuum lift coordinate system. However, the force-torque sensor FTS can indicate the force-torque applied to the baggage vacuum lift tool BVL in relation to any point which can be linked to the baggage vacuum lift coordinate system. In one embodiment the force-torque sensor FTS is provided as a six-axis force-torque sensor FTS configured to indicate the forces along and the torques around three perpendicular axis. The force-torque sensor can for instance be provided as any forcetorque sensor capable of indicating the forces and torques in relation to a referencepoint. However, it is to be understood that the force sensor in relation to the present invention not necessarily need to be capable of sensing the torque applied to the baggage vacuum lift tool BVL. It is noted that the force-torque sensor FTS may be provided as an external device arranged at the baggage vacuum lift tool BVL or omitted.

[0198] An acceleration sensor AS is arranged at the fifth joint FJ5 and is configured to sense the acceleration of the fifth joint FJ5 and / or the acceleration of the baggage vacuum lift tool BVL. The acceleration sensor AS provides an acceleration signal indicating the acceleration of the fifth joint FJ5 and / or the acceleration of the baggage vacuum lift tool BVL. In the illustrated embodiment the acceleration sensor AS is integrated into the fifth joint FJ5 and is configured to indicate accelerations of the fifth joint FJ5 in the baggage vacuum lift coordinate system. However, the acceleration sensor AS can indicate the acceleration of the fifth joint FJ5 in relation to any point which can be linked to the baggage vacuum lift coordinate system. The acceleration sensor AS can be provided as any accelerometer capable of indicating the accelerations of an object. The acceleration sensor AS can for instance be provided as an Inertial Measurement Unit capable of indicating both linear acceleration and rotational accelerations of an object. It is noted that the acceleration sensor AS may be provided as an external device arranged at the baggage vacuum lift tool BVL or omitted.

[0199] Each of the joints comprises a joint body and an output flange rotatable or translatable in relation to the joint body and the output flange is connected to a neighbour joint either directly or via an robot arm part(s) RAP as known in the art. The dimension and / or length of the robot arm part(s) RAP may be configured to fit the desired function and / or reach of a robot arm RAM of a specific baggage handling robot. The joint comprises a joint motor configured to rotate or translate the output flange in relation to the joint body, for instance via a gearing or directly connected to the motor shaft. The joint body can for instance be formed as a joint housing and the joint motor can be arranged inside the joint housing and the output flange can extend out of the joint housing. Additionally, the joint comprises at least one joint sensor providing a sensor signal indicative of at least one of the following parameters: anangular and / or linear position of the output flange, an angular and / or linear position of the motor shaft of the joint motor, a motor current of the joint motor or an external force and / or torque trying to rotate the output flange or motor shaft. For instance, the angular position of the output flange can be indicated by an output encoder such as optical encoders, magnetic encoders which can indicate the angular position of the output flange in relation to the robot joint. Similarly, the angular position of the joint motor shaft can be provided by an input encoder such as optical encoders, magnetic encoders which can indicate the angular position of the motor shaft in relation to the joint. It is noted that both output encoders indicating the angular position of the output flange and input encoders indicating the angular position of the motor shaft can be provided, which in embodiments where a gearing have been provided makes it possible to determine a relationship between the input and output side of the gearing. The joint sensor can also be provided as a current sensor indicating the current through the joint motor and thus be used to obtain the torque provided by the motor. For instance, in connection with a multiphase motor, a plurality of current sensors can be provided in order to obtain the current through each of the phases of the multiphase motor. It is also noted that some of the joints may comprise a plurality of output flanges rotatable and / or translatable by joint actuators, for instance one of the joints may comprise a first output flange rotating / translating a first part of the robot ROB in relation to the joint and a second output flange rotating / translating a second part of the robot ROB in relation to the joint. As indicated above, the joint sensor can also be provided as a force and / or torque sensor or acceleration sensor. Such force and / or torque and acceleration sensor may be part of the outmost joint as indicated on fig. 2, however the other parts of the robot ROB may also comprise force / torque sensors.

[0200] The robot ROB is further illustrated with a vacuum source VAC. The vacuum source VAC is used for generating a suction for picking, lifting and placing the baggage by the baggage vacuum lift tool BVL. The vacuum source VAC is connected to the baggage vacuum lift tool BVL for helping generating a suction and a vacuum between the baggage vacuum lift tool BVL and the baggage.

[0201] The robot controller is configured to control the motions of the robot ROB by controlling the motor torque provided to the joint motors based on a dynamic model of the robot ROB, the direction of gravity acting and the sensor signal.

[0202] Fig. 2 illustrates a simplified structural diagram of the robot ROB illustrated in fig. 1. The joints FJO, FJ1 and FJ5 have been illustrated in structural form and the joints FJ2, FJ3 and FJ4 and the robot links connecting the joints have been omitted for the sake of simplicity of the drawing. Further the joints are illustrated as separate elements however it is to be understood that they are interconnected either directly or via robot links as illustrated in fig. 1. The joints comprise an output flange OPO, OP1, OP5 and a joint motor MJ0, MJ1, MJ5 or another kind of actuator, where the output flange OPO, OP1, OP5 is rotatable in relation to the joint body. The joint motors MJ0, MJ1, MJ5 are respectively configured to rotate the output flanges OPO, OP1, OP5 via an output axle OAO, OA1, OA5. It is to be understood that the joint motor or joint actuator may be configured to rotate the output flange via a transmission system such as a gear (not shown). In this embodiment the output flange OP5 of the fifth joint FJ5 constitutes the baggage vacuum lift tool BVL. At least one joint sensor JSO, JS1, JS5 providing a sensor signal SSO, SSI, SS5 indicative of at least one joint sensor parameter Jsensor,o, Jsensor,i , Jsensor,5 of the respective joint. The joint sensor parameter can for instance indicate a pose parameter indicating the position and orientation of the output flange in relation to the robot joint body, an angular position of the output flange, an angular position of a shaft of the joint motor, a motor current of the joint motor. The joint sensor parameter is selected from the list comprising: speed, acceleration, torque, motor torque, force and position. The joint sensor parameters can be measures obtained from sensors or values derived from such sensor values. For instance, the angular position of the output flange can be indicated by an output encoder such as optical encoders, magnetic encoders which can indicate the angular position of the output flange in relation to the robot joint. Similar, the angular position of the joint motor shaft can be provided by an input encoder such as optical encoders, magnetic encoders which can indicate the angular position of the motor shaft in relation to the joint. The motor currents can be obtained and indicated by current sensors.

[0203] The robot controller CON comprises a processer and memory and is configured to control the joint motors of the joints by providing motor control signals MS0, MSI, MS5 to the joint motors. The motor control signals MS0, MSI, MS5 are indicative of the motor torque Tmotor,o, Tmotor,i, and Tmotor,5 that each joint motor shall provide to the output flanges and the robot controller is configured to determine the motor torque based on a dynamic model of the robot ROB as known in the prior art. The dynamic model makes it possible for the controller CON to calculate which torque the joint motors shall provide to each of the joint motors to make the robot ROB perform a desired movement. The dynamic model of the robot ROB can be stored in the memory MEM and be adjusted based on the joint sensor parameters Jsensor,0, Jsensor,l , Jsensor,5 For instance, the joint motors can be provided as multiphase electromotors and the robot controller can be configured to adjust the motor torque provided by the joint motors by regulating the current through the phases of the multiphase motors as known in the art of motor regulation.

[0204] Fifth joint FJ5 comprises the force-torque sensor FTS providing a baggage vacuum lift force-torque signal FTSS indicating a force-torque FTvacuum provided to the baggage vacuum lift tool BVL. For instance, the force signal -torque FTvacuum can be indicated as a force vector FSensormand a torque vectorin the baggage vacuum lift coordinate system: eq. 1

[0205] where Fx, sensor is the indicated force along the xvaCuum axis, Fy se sor is the indicated force along the yvacuum axis and Fz e^sor is the indicated force along theZyacuum axis.

[0206] The torque can be indicated as a torque vector in the baggage vacuum lift coordinate system:

[0207] where T^sensor is the indicated torque around the xvacuum axis, T^sensor is the indicated torque around the yVacuum axis and T™ensor is the indicated torque around the Zvacuum axis. It is noted that the force vector and torque vector can be provided as separate signals and that a separate force sensor and / or torque sensor can be provided.

[0208] Fifth joint FJ5 may comprise the acceleration sensor AS providing an acceleration signal ASS indicating the acceleration of the baggage vacuum lift tool BVL where the acceleration may be indicated in relation to the baggage vacuum lift coordinate system

[0209] is the sensed acceleration along the xvacuum axis, Ayasc^™ris the sensed acceleration along the yVacuum axis and Azasce^%. is the sensed acceleration along the Zvacuum axis.

[0210] In an embodiment where the acceleration sensor AS is provided as a combined accelerometer / gyrometer the acceleration sensor can additionally provide an angular acceleration signal indicating the angular acceleration of the output flange in relation to the baggage vacuum lift coordinate system, for instance as a separate signal or as a part of the acceleration signal. The angular acceleration signal can indicate an angular acceleration vector agensor1inthe baggage vacuum lift coordinate system eq. 3

[0211] where axasensor is the angular acceleration around the xvacuum axis, cr^sensor is the angular acceleration around the yVacuum axis andis the angular acceleration around the zvacuum axis.

[0212] The force-torque sensor FTS and acceleration sensor AS of the illustrated embodiment are arranged at the fifth joint FJ5; however, it is to be understood that the force-torque sensor FTS and acceleration sensor AS can be arrange at any part of the robot ROB and in some embodiments be omitted.Fig. 1 and 2 illustrates two exact embodiments of the invention but they are also illustrated as a guide for the skilled person within the field of baggage handling. The skilled person may use a robot with any number of joints e.g., 3, 4, 5, 7 or higher instead of the illustrated 6 joints in the figure. Further the number of motors and motors signals may also be an inspiration for the person skilled in the art to change the number of motor and / or motor signals in order to control the robot for baggage handling. The skilled person may also be inspired by the combination of fig. 1 and 2 to have a controller for the robot which is configured to have the system running and handling baggage by lifting. The controller and memory may be used to secure that the baggage have been lifted or if not and further for what the robot may do in the next according to what happened to the previous piece of baggage. The system and / or the method for picking and placing baggage with a baggage handling robot may be design with more or less joints or motors and with a controller and / or memory configured for lifting and placing the baggage. The person skilled in the art may be inspired to create or facilitate different embodiments of the invention, where e.g., the number of joints are different than compared to the illustrated embodiment in fig. 1 and 2.Fig- 3a-g

[0213] In an airport baggage are being transported from the people checking in their baggage and dropping the baggage on a conveyor to the baggage being placed and stacked inside an airplane. In the process of transporting baggage from e.g., a baggage owner to the airplane the baggage may be transported by conveyor, car, baggage handler or other ways to ensure that the baggage comes with the airplane. In theprocess some baggage lifting is done which may be done by a robot or a baggage handler. The following description illustrates devices, systems, methods, and use of a stand-alone automated baggage handling robot for baggage.

[0214] Fig. 3a illustrates a robot ROB within a working zone WZ and a safety zone SZ. The robot ROB is placed between a picking zone LZ and a placing zone AOFFZ. The robot ROB is illustrated as reaching into the picking zone LZ for a piece of baggage. The robot ROB is also capable of reaching the placing zone AOFFZ from the placement of the robot ROB between the picking zone LZ and the placing zone AOFFZ. The picking zone LZ and the placing zone AOFFZ is also placed within both the working zone WZ and the safety zone SZ. Fig. 3a further illustrates a conveyor CONV for baggage, where the conveyor CONV passes through the picking zone LZ (therefore also through the working zone WZ and safety zone SZ) and to a manual zone MANZ and a buffer zone BZ. The manual zone MANZ encloses the buffer zone BZ and within the manual zone MANZ is also a baggage handler BH. The picking zone LZ comprises two different exits for the baggage that has been conveyed to the picking zone LZ. The first baggage exit EXI is the exit, where the baggage is being picked and lifted away from the picking zone LZ by the robot ROB to the placing zone AOFFZ. The other exit from the picking zone LZ is the automatically fed second baggage exit EX2 where the baggage in the picking zone LZ is not being picked and lifted by the robot ROB, but the baggage is being conveyed along the conveyor CONV from the picking zone LZ (and working zone WZ and safety zone SZ) to the buffer zone BZ in the manual zone MANZ. The baggage handler BH in the manual zone MANZ may typically pick the baggage from the buffer zone BZ and place the baggage in the placing zone AOFFZ without entering the working zone WZ. The baggage handler BH may enter the safety zone SZ and place the baggage in the placing zone AOFFZ, which could slow the robot ROB in the process but avoid stopping the robot ROB in the process.

[0215] Even though the picking zone LZ is illustrated as broader than the conveyor CONV in fig. 3 a it may in some embodiments of the invention be the same size as the conveyor CONV in the width of the conveyor CONV (not shown).

[0216] In an embodiment of the invention the placing zone AOFFZ is all placed within the working zone WZ (not shown). The placing zone may have all space within the working zone WZ for the robot to optimize the placing of baggage.

[0217] Fig. 3b illustrates the same setup with baggage, robot ROB, different zones and a conveyor CONV as illustrated in fig. 3a. Fig. 3b further illustrates an additional placing zone AOFFZ 1 and AOFFZ2. The placing zone AOFFZ2 may work as the placing zone AOFFZ illustrated in fig. 3a, where the placing zone AOFFZ2 works as zone for baggage that exits the picking zone LZ by the first baggage exit EXI by the robot ROB. The placing zone AOFFZ 1 in the manual zone MANZ may be used by the baggage handler BH for placing baggage from the buffer zone BZ. By keeping the baggage handler BH in the manual zone MANZ may also prevent the baggage handler BH from entering the safety zone SZ. The robot ROB may work as a collaborative robot along side the baggage handler BH, where the robot ROB is placed inside the working zone WZ and safety SZ and the baggage handler BH may work in the manual zone MANZ. The baggage handler BH may only enter the safety zone SZ if the robot stops or there is a problem with a piece of baggage.

[0218] In fig. 3c a variant of the invention is illustrated, where the placing zone AOFFZ is partly placed in the safety zone SZ and the working zone WZ and the other part of the placing zone AOFFZ is placed in the manual zone MANZ. The robot ROB can place baggage from the picking zone LZ in the part of the placing zone AOFFZ which is in the working zone WZ. The baggage handler BH may be capable of placing baggage from the buffer zone BZ in the part of the placing zone AOFFZ which is placed inside the manual zone MANZ. The baggage handler BH may also be able to place baggage in part of the placing zone AOFFZ in the working zone WZ. When the baggage handler BH would place baggage in the part of the placing zone AOFFZ inside the working zone WZ it would either stop or slow the robot ROB while the baggage handler BH has entered the safety zone SZ.

[0219] In fig. 3c that manual zone MANZ and the safety zone SZ is illustrated with a space in between the two zones, but in an embodiment of the invention the manual zone MANZ and the safety zone SZ may share the same border (not shown) next toeach other and have no space between the two zones. One of the borders from the manual zone MANZ and one of the borders of the safety zone SZ may be aligned and the two zones may still not overlap. When the manual zone MANZ and the safety zone SZ shares the same border the automatically fed second baggage exit EX2 may be understood as a transition between the two zones. In another embodiment the buffer zone BZ may also share the same border as the safety zone SZ (not shown) in the same way as the manual zone MANZ may share the same border.

[0220] Fig. 3d illustrates an embodiment of the invention where the robot ROB is placed on a track TRA which makes it possible for the robot to be a mobile robot along the track TRA. The robot ROB may move along the track TRA when e.g., the placing zone AOFFZ1 has been filled with baggage and then start to place baggage in the other placing zone AOFFZ2. When the robot ROB moves along the track TRA the working zone WZ, safety zone SZ and picking zone LZ may move along (not shown) to secure the picking of baggage within safety procedures. In an embodiment of the invention both placing zones AOFFZ1 and AOFFZ2 would be a part of the working zone WZ and the safety zone SZ at the same time. In the same embodiment the picking zone LZ may also be bigger or longer in size along the conveyor CONV. The zones would typically be defined before the first piece of baggage has been picked by the robot ROB or a pick and place sequence PPSEC has been initiated (not shown).

[0221] The robot ROB may also a mobile robot (not shown) where the robot ROB is moveable without being on a track TRA. The robot ROB could be moved between two placing zones according to where the baggage is to be placed. The robot may further be moved to another conveyor CONV to pick and place baggage at the conveyor CONV or to assist another robot at the conveyor CONV. The robot ROB may also be moved with the conveyor CONV. The robot ROB may also be fitted to the conveyor CONV and moved with the conveyor CONV.

[0222] Fig. 3e illustrates a baggage handling robot, where an additional robot ROB2 has been placed along the conveyor CONV. The second robot ROB2 is placed within a second working zone WZ2, a second safety zone SZ2 and has a second picking zone LZ2 surrounding the same conveyor CONV as picking zone LZ1 at a location prior tothe first picking zone LZ1. The robot ROB1 and the second robot ROB2 each has a placing zone AOFFZ1 and AOFFZ2, where baggage are being placed after being picked and lifted away from the respective picking zones LZ1, LZ2 and through baggage exit EXI. The second robot ROB2 works as the primary robot and the first robot ROB1 works as a safety robot or emergency robot if baggage are not being pick by the second robot ROB2. Baggage that are not being picked by the second robot ROB2 are being conveyed along the conveyor CONV through the automatically fed second baggage exit EX2. The baggage may then enter a second buffer zone BZ2, where a second baggage handler BH2 may twist, turn or place the baggage correct in order for the first robot ROB1 to pick up the baggage and place it in the placing zone AOFFZ1. The buffer zone BZ is still available if the robot ROB1 does not pick up the baggage.

[0223] The two baggage handlers BH1 and BH2 illustrated in fig. 3e could be one person, where the manual zone MANZ would include the space between the two safety zones SZ1, SZ2 (not shown). The baggage handler could then be placed next to the second buffer zone BZ2, where the baggage handler BH could prepare and handle the baggage for the robot ROB1 and still be picking the baggage in the buffer zone BZ and placing the baggage in either of the placing zone AOFFZ1, AOFFZ2 afterwards or along.

[0224] Fig. 3f illustrates an embodiment of the invention where the automated baggage handling robot also comprises a buffer zone BZ2 before the picking zone LZ1. The buffer zone BZ before the picking zone LZ1 may be used for baggage that has been e.g., disqualified for being picked by the rob ROB 1 , to take away the baggage or place the baggage correctly for the robot ROB 1.

[0225] Fig. 3g illustrates a conveyor CONV where the baggage being conveyed are being conveyed out of e.g., an airplane. The buffer zone BZ is placed perpendicular to the conveyor CONV to use the total length of the conveyor CONV. The robot ROB used for the automated baggage handling robot may be a mobile robot or the robot ROB may be fitted to the conveyor CONV. The robot ROB and the conveyor CONV may be suited for picking and placing baggage outside and next to e.g., an airplane.

[0226] In an embodiment not shown in fig. 3g the buffer zone BZ and the robot ROB and the safety zone SZ may be placed on the same side of the conveyor CONV. In another embodiment not shown in fig. 3g the baggage handling robot may comprise an additional buffer zone before the picking zone, like the buffer zone BZ2 in fig. 3f.

[0227] The robot ROB illustrated in fig. 3a-g may be a robot or a variant thereof according to the description above and / or fig. 1-2.Fig. 4a-b

[0228] Fig. 4a illustrates an embodiment of the invention where the baggage handling robot comprises two robots ROB1, ROB2 and each robot ROB1, ROB2 is used for sorting baggage along a conveyor CONV. The sorting of baggage may be a sorting where business class baggage is being placed in one placing zone AOFFZB and monkey class baggage is being placed in a another placing zone AOFFZA. The sorting of baggage may also be due to the weight of the baggage or fast-track baggage. The sorting of the baggage may also be sorted in baggage and transfer baggage. In the figure two safety zones SZ1, SZ2 are illustrated, but in a not shown embodiment the safety zone could be one large safety zone comprising both safety zones in the one safety zone.

[0229] An additional embodiment of the invention which is not shown in fig. 4a may be that the second robot ROB2 may be switched with a baggage handler (not shown). The baggage handler may pick baggage from the picking zone LZ2 and place it in the placing zone AOFFZB. If the baggage e.g., is sorted according to business / monkey class and all business class should be placed in the placing zone AOFFZB the baggage handler may be sorting for business class baggage.

[0230] Fig. 4b illustrates an embodiment of the invention where a robot ROB is placed between two placing zones AOFFZA, AOFFZB in a direction along a conveyor CONV. The placement of the robot ROB makes the robot ROB capable of sorting the baggage to either one or the placing zones AOFFZA, AOFFZB. It is advantageous to sort the baggage e.g., in business or monkey class. The figure further illustrates a working zone WZ where both the placing zones are and a picking zone LZ. Thepicking zone LZ is configured with two exits where a first baggage exit EXI is for picking and placing baggage in the placing zone or an automatically fed second baggage exit EX2 for transferring baggage to a buffer zone BZ.

[0231] The placing zones AOFFZA, AOFFZB shown in both fig. 4a-b may be provided as one of the carriers CAR / placing zones, e.g., cart of unit load device, is being filled with baggage. When providing e.g., a new cart for baggage the cart may be provided by and placed in the working zone WZ according to sensor indicating where to place the cart. This may be indicated by go, stop and other signs which may indicate if the cart is placed correctly in the working zone WZ (not shown).Fig. 5a-b

[0232] Fig. 5a illustrates a part of the conveyor CONV where the picking zone LZ is placed. The conveyor CONV is being controlled by a controller CON and the controller CON is also a controller for the robot ROB (not shown). The controller CON is configured for starting and stopping the conveyor CONV. The controller CON would stop the conveyor CONV when a baggage is fully enclosed inside the picking zone LZ for an easier pick for the robot ROB (e.g., a robot as illustrated in fig. 1 and 2). The controller CON is configured for starting the conveyor CONV again once the robot ROB has fully lifted the baggage from the conveyor CONV. The controller CONV is also configured for starting the conveyor CONV again if the robot is unable to pick and lift the baggage or if the baggage is better suited for being pick later due to a better placing spot in the placing zone AOFFZ (not shown) according to an algorithm. The conveyor CONV illustrated in fig. 5a is limited in length from a starting point to an end point of the conveyor CONV. After the end point of the conveyor CONV there may typically be a buffer zone BZ (not shown) to secure baggage that exits the picking zone LZ by the automatically fed second baggage exit EX2.

[0233] Fig. 5b illustrates a picking zone LZ placed with a conveyor CONV. The conveyor CONV is controlled by a controller CON, where the controller CON only controls the conveyor. The controller CON may also be able to control the robot (not shown). Another controller (not shown) may also be used to control the robot (notshown) for picking and placing baggage. The conveyor CONV illustrated is an “infinitely long” conveyor, e.g., a carousel, where the baggage would keep coming back after a piece of time when the baggage has been transported all the way around on the conveyor CONV. The conveyor CONV would therefore be moving along all the time and the controller for the robot may not be able to stop the conveyor while the robot is picking the baggage from the picking zone LZ. The stopping of the conveyor CONV may be impossible due to a lot of other baggage being transported at other positions on the conveyor to other destinations at the same time. It is therefore necessary to keep the conveyor CONV moving.

[0234] The picking zone LZ in fig. 5b may be larger than the picking zone LZ illustrated in fig. 5a because the robot may need time for adjusting to the baggage on the conveyor CONV before picking up the baggage.

[0235] For both fig. 5a and fig. 5b the picking zone LZ is illustrated as broader than the conveyor CONV. The picking zone LZ may in another embodiment be the same width as the conveyor CONV or the width of the picking zone LZ may be smaller than the width of the conveyor CONV. The picking zone LZ may also be placed with one side of the picking zone LZ reaching further then the side of the conveyor CONV and the other side of the picking zone LZ as limited to the side of the conveyor CONV or shorter than the side of the conveyor CONV.

[0236] The picking zone LZ may in both fig. 5a and 5b have a length along the conveyor CONV starting from the point where a sensor (not shown) is sensing if a piece of baggage is available and pickable for the robot ROB (not shown). The length of the picking zone LZ may have another end along the conveyor CONV to where the baggage has either left the picking zone LZ by the first baggage exit EXI or the automatically fed second baggage exit EX2.Fig. 6a-e

[0237] For fig. 6a-e the robot (not shown) used may be a robot as described above and illustrated in fig. 1-2.

[0238] Fig. 6a illustrates a conveyor CONV with a picking zone LZ with two different exits for baggage, a first baggage exit EXI and an automatically fed second baggage exit EX2. The conveyor CONV is controlled by a controller CON and the controller CON is also configured for controlling the robot (not shown) for picking and placing baggage from the picking zone LZ to a placing zone (not shown). The controller CON is configured for controlling the CONV like the controller illustrated in fig. 5a. The end of the conveyor CONV is placed next to a buffer zone BZ where a baggage handler BH may pick up baggage if the baggage had been through the automatically fed second baggage exit EX2 from the picking zone LZ.

[0239] Fig. 6b illustrates a conveyor CONV where baggage is being delivered from to a picking zone LZ. The picking zone LZ is placed on a second conveyor. The picking zone LZ may in another embodiment be the entire second conveyor (not shown). The second conveyor is being placed next to the conveyor CONV and in extension of the conveying direction for both the conveyor CONV and the second conveyor. In a further extension of the second conveyor in the conveying direction is placed a third conveyor which is illustrated as a buffer zone in fig. 6b. The conveyor CONV and the buffer zone BZ is placed on each side of the second conveyor with the picking zone LZ. A controller CON is configured for controlling the conveyor CONV, the second conveyor with the picking zone LZ and the third conveyor with the buffer zone BZ. The controller CON is configured for starting and stopping the different conveyors illustrated independently on each other. The conveyor CONV could be transferring a piece of baggage (not shown) to the second conveyor with the picking zone LZ. When the piece of baggage is fully enclosed inside the picking zone LZ the controller CON may stop both the conveyor CONV and the second conveyor with the picking zone LZ until the robot (not shown) has picked up the piece of baggage from the picking zone LZ and transferred the piece of baggage through the first baggage exit EX1. The controller could also start both the conveyor CONV and the second conveyor again if the robot is not capable of picking up the piece of baggage and thereby transferring the piece of baggage through the automatically fed second exit EX2 to the third conveyor with the buffer zone BZ. The piece of baggage may then be handled in the buffer zone BZ by a baggage handler BH while the conveyor CONV istransferring a new piece of baggage to the second conveyor and the picking zone LZ. When the baggage handler BH has handled the piece of baggage in the buffer zone BZ so a robot would be capable of picking up the baggage, the conveyor CONV would be stopped by the controller CON. If the picking zone LZ is empty for baggage the controller CON would transfer the handled piece of baggage back to the picking zone LZ from the buffer zone BZ by changing the direction on the third and second conveyor. When the handled piece of baggage is fully enclosed inside the picking zone LZ it would be picked by the robot and transferred through the first baggage exit EXI to a placing zone (not shown). If the robot is still not able to pick up the handled piece of baggage the baggage would be send through the automatically fed second baggage exit EX2 again to the buffer zone BZ.

[0240] In fig. 6c an additional conveyor, a returning conveyor RCONV, is added to transfer baggage from a buffer zone (not shown) to a baggage handler BH placed at the end of the returning conveyor RCONV and next to the conveyor CONV prior to the picking zone LZ. The baggage is being pushed from the conveyor CONV in the buffer zone (not shown) to the returning conveyor RCONV by a pushing member PUSH. The pushing member PUSH is controlled by a controller CON, where the controller also may be coupled to the robot (not shown) and / or configured for controlling the robot. The pushing member PUSH is placed after the picking zone LZ and is ready for baggage the has been through the automatically fed second baggage exit EX2.

[0241] Fig. 6d illustrates a conveyor CONV formed as a carousel where the conveyor CONV loops itself and baggage place on the conveyor may be transported around in a circle like a carousel. A part of the conveyor comprises a picking zone LZ where baggage may be picked by a robot (not shown) and placed in a placing zone (not shown) by taking a first baggage exit EXI according to an embodiment of the invention. The picking zone LZ has an automatically fed second baggage exit EX2 where baggage is conveyed along to a buffer zone BZ. The buffer zone illustrated in the figure 6d is the part of the conveyor CONV not included in the picking zone LZ. If a piece of baggage is not suited for being placed in the placing zone the robot maybypass the piece of baggage and wait for another piece of baggage which may have a better fit for the space in the placing zone. This may be due to size, shape or what material the piece of baggage is made of when the robot is to decide to pick or bypass a piece of baggage.

[0242] Fig. 6e illustrates a conveyor CONV formed as a carousel like in fig. 6d and with a part of the conveyor being inside a picking zone LZ and the rest of the conveyor CONV within a buffer zone BZ. The figure further illustrates that a further buffer zone BZ is placed next to a controller CON and a switch SWI. The controller CON is configured for controlling the switch SWI for automatically transferring baggage from the buffer zone BZ on the conveyor CONV to the part of the buffer zone BZ next to the conveyor CONV. The switch SWI is illustrated as being connected with the conveyor CONV at the outer side of the conveyor CONV, which typically may also be the button at an inclined carrousel conveyor CONV. The carrousel conveyor CONV may be constructed with an angle or slope from the outside and up to the inside of the conveyor CONV. The switch SWI may also be placed on the inside or the top of the inclined conveyor CONV (not shown). The buffer zone BZ next to the conveyor CONV may be used to take baggage of the infinite conveyor CONV or put baggage on the conveyor CONV. Baggage may be taking off the conveyor CONV and to the buffer zone BZ next to the conveyor CONV to either flip, turn, twist or place the baggage correct in order for a robot (not shown) to pick up the baggage in the picking zone LZ. The controller CON may also be configured for controlling the robot when to pick up different pieces of the baggage according to e.g., how much space is available in the placing zone (not shown).

[0243] The conveyor CONV may comprise more switches SWI and buffer zones BZ (not shown) placed next to the conveyor CONV along a round of the conveyor CONV. It may be helpful to load or unload pieces of baggage at different places along the conveyor CONV while the conveyor CONV keeps moving. All the different switches SWI and buffer zones BZ next to the conveyor may be control by the same controller CON or by individual controller (not shown) at each switch SWI / buffer zone BZ. The conveyor could also comprise more picking zones (not shown) along the way aroundthe conveyor CONV. The illustrated switch SWI and buffer zone BZ may be used as both on- and offloading zones or picking and placing zones around the conveyor CONV.

[0244] For both fig. 6d and 6e pieces of baggage may be tagged by a sensor or scanner (not shown) to indicate if a specific piece of baggage is waiting for e.g., a baggage handler (not shown) to replace the baggage in order for the robot to pick up the baggage in the picking zone LZ. The pieces of baggage may also be tagged with e.g., a light source that indicates if a piece of baggage is supposed to be taking either the first baggage exit EXI or the second baggage exit EX2 from the next picking zone LZ. The light sources may be placed along the conveyor CONV and indicate the specific tag of the baggage as the baggage passes along the light source. The tagging may also be indicated as light on a screen with e.g., a color or a symbol to indicate the sorting of the baggage.Fig. 7a-h

[0245] Fig. 7a-d illustrates different embodiments of the invention used to sense and watch a safety zone SZ. The figures illustrates different placement of sensors used to sense and define the safety zone SZ. The safety zone SZ may comprise one sensor as shown in fig. 7c and 7d, where the sensor may be placed both outside and inside the safety zone SZ. Fig 7b illustrates that two sensor may be used to for sensing and in fig. 7a four sensors are illustrated outside the safety zone SZ for sensing. The number of sensors may vary from one to multiple sensors (not shown). The placement of the sensors may be inside, on the edge, above, below, next to the safety zone SZ or any combination thereof. The sensors may be placed on the floor, in the floor, in the ceiling, on the robot, on the conveyor, next to the conveyor or robot, in the cart / unit load device, in the working zone, in the picking zone, in the placing zone or anything related to a stand-alone baggage handling robot described above.

[0246] The sensors shown in fig. 7a-d is used for sensing multiple aspects of the invention. The sensors may sense if any unintended objects are placed or entering the safety zone SZ. The sensors may also sense if people are inside the safety zone SZ orentering the safety zone SZ. The sensors may also be able to sense when a piece of baggage (not shown) is being conveyed along a conveyor to picking zone (not shown). The sensors may screen and track the piece of baggage to get information for the controller (not shown) to indicate if the piece of baggage can be picked up by a baggage handling robot ROB (not shown). The sensors may also be used to sense where a picked-up piece of baggage may be placed in the placing zone (not shown) by the robot ROB according to the space available in the placing zone and the baggage already placed in the placing zone. The sensors may also sense when a piece of baggage is completely lifted from the picking zone, which may indicate by the controller (not shown) if the piece of baggage has expanded while being lifted by the robot ROB. A sensor may be capable of sensing one or more of the above-mentioned things or any combination thereof.

[0247] The sensors used for a stand-alone baggage handling robot may be either a distance, infrared IR, motion, video, picture, audio, pressure, heat sensor or any combination thereof. The stand-alone baggage handling robot may comprise multiple sensors chosen from the above mentioned list or in a combination thereof.

[0248] Fig. 7e-h illustrates different safety zones where the safety zone is configured as a dynamic safety zone SZ. The dynamic safety zone illustrated in fig. 7e-h shows a safety zone SZ comprising to parts of a safety zone where the first part of the safety zone is configured for a hard stop of a robot (not shown) and the second part of the safety zone is configured for a slow stop (slowing down) the robot. As illustrated from fig. 7e to fig. 7g one part of the safety zone SZ has grown in size and the other part of the safety zone SZ is smaller. The change in size of the different parts of the safety zone SZ may be done according to the size of the baggage being picked and placed or may be done because the robot is paused / working in one of the two illustrations. The two parts of the safety zone SZ may also switch placed according to fig. 7e and 7h where the e.g., hard stop and soft stop has switched places. The safety zone may comprise more than two different parts (not shown) configured for different situations of the robot (not shown) or multiple parts of the same situation inside the safety zone. The different parts of the safety zone may both change in size and function over timeaccording to the stand-alone baggage handling robot (not shown) if the robot is paused, working, has dropped baggage or any other kind of action regarding the robot or anything related inside or neat the safety zone SZ.

[0249] The robot (not shown) may also be able for replacing baggage that is unable to be scanned by a sensor. The robot may replace the baggage and thereby a sensor may be able to scan the baggage to e.g., check if the baggage is being conveyed to the correct place.Fig- 8

[0250] Fig. 8 illustrates an embodiment of the invention where multiple sensors are configured for sensing baggage BSENS in both picking zone and placing zone (shown as working zone) and anything related to a safety zone SZ. A robot ROB for picking and placing baggage from a conveyor CONV is illustrated with an emergency button BUT next to the robot ROB for a manual stop of the robot ROB. The figure further shows two buttons BUT placed outside of the safety zone for stopping the robot or reactivating the robot ROB after it has been stopped or slowed down. The safety zone SZ may also reactive or start the robot ROB if a baggage handler (not shown) leaves the safety zone after the baggage handler entered the safety zone SZ in the first place.Fig. 9a-b

[0251] Fig. 9a illustrates a system comprising multiple stand-alone baggage handling robots seen from above. The stand-alone baggage handling robot has been retrofitted to an existing conveying baggage system in e.g., an airport. The baggage are being handled from check-in to being placed in a cart that transfers the baggage to an airplane. The stand-alone baggage handling robot may help in the process of transferring the baggage from the check-in to the cart or unit load device ULD.

[0252] A conveyor CONV conveys baggage along a part of the conveyor CONV, e.g., the main conveyor. Pieces of baggage are being transported from the main part of the conveyor CONV to a branch off the conveyor which leads to a specific picking zone LZ for the baggage. Next to the branches of the conveyors are a robot placedROB1, ROB2, ROB3 for transferring baggage from a picking zone LZ (not shown) to a placing zone (in fig. 9a-b the placing zones are illustrated as CAR1, CAR2, CAR3). At the end of each conveyor branch a buffer zone BZ is placed where a baggage handler BH1, BH2, BH3 may pick up the baggage and place the baggage in the CAR. Each cart CAR1, CAR2, CAR3 may be for the same e.g., airplane or it may be for different airplanes.

[0253] In an additional embodiment of the invention there may be either one, two or more than three conveyor branch(es) each with a stand-alone baggage handling robot (not shown). Each conveyor branch may also comprise more than one stand-alone baggage handling robot, e.g., as illustrated in fig. 3e or 4a.

[0254] Fig. 9b shows a side view of the system illustrated in fig. 9a. where the difference in height from the main part of the conveyor to the branch of the conveyor CONV is shown.Fig. lOa-b

[0255] Fig. lOa-b illustrates two different ways of placing a piece of baggage in a placing zone (not shown) according to an embodiment of the invention. The placing of the pieces of baggage as illustrated is controlled by a controller CON where the controller is optimized by an algorithm or machine learning. As illustrated in both fig. 10a and lOba a conveyor CONV is placed next to a robot ROB. The robot ROB has pick up a piece of baggage BAG from the conveyor CONV and in both cases the piece of baggage was lifted vertically indicated by the dotted lines and how the piece of baggage was turned.

[0256] For fig. 10a the baggage BAG is being transferred from the picking zone (not shown) via the first baggage exit (not shown) to the placing zone (not shown). The robot ROB is controlled by a controller (not shown), where the controller is configured for placing the baggage BAG according to the size and shape of the baggage BAG and the space available in e.g., a cart or unit load device (not shown). The robot ROB comprises a baggage vacuum lift tool BVL which is configured for picking the baggage BAG and the baggage vacuum lift tool BVL can be rotated as described aboveand in fig. 1 and 2. The baggage BAG illustrated in fig. 10a is being placed vertically in the placing zone.

[0257] The baggage BAG shown in fig. 10b has been rotated due to the baggage vacuum lift tool BVL which has rotated according to the robot ROB. The placing of the baggage in fig. 10b is done horizontally because of the space available compared with the size and shape of the baggage BAG. The horizontally placing of the baggage BAG may also be done because there is not enough space available above the already placed baggage in the placing zone to fit both the next piece of baggage BAG being placed and the robot ROB / baggage vacuum lift tool BVL.

[0258] The placing of a piece of baggage may also be any combination of the horizontally and vertically or any angle in between the two. The placing of the baggage may be done according to where a sensor is sensing there is enough space for the specific piece of baggage. The next piece of baggage may be a piece of baggage from the picking zone or a piece of baggage from a buffer zone (not shown). The algorithm for placing the baggage may also be used for transferring a piece of baggage from the picking zone through the automatically fed second baggage exit to a buffer zone for optimizing the space used for baggage in e.g., a cart or unit load device. The piece of baggage transfer to the buffer zone may fit better later on in the placing zone when other baggage has been placed (not shown).Fig. lla-b

[0259] Fig. l la-b illustrate two ways of a placing pattern for placing the baggage in a placing zone AOFFZ, e.g. a baggage carrier such as a baggage cart or a ULD.In fig 1 la a placing pattern is obtained by the handling robot automatically performing pick and place sequences, e.g. according to any of the previous figures. The placing in the placing zone may in fig, 1 la be established by placing along a placing line in the baggage carrier, here from left to the right.In this embodiment a placing pattern will evolve having the baggage stored in one line.In fig 1 lb a placing pattern is obtained by the handling robot automatically performing pick and place sequences, e.g. according to any of the previous figures except fig. I la. The placing in the placing zone may in fig, 1 lb be established by placing along two placing lines PL in the baggage carrier, here from left to the right. In this embodiment a placing pattern will evolve having the baggage stored in two rows along two picking lines PL.The above embodiments may be combined in different configurations freely as long as the basic and inventive functionality is obtained.

[0260] List of reference signs:ROB RobotROB2 Second robotRBA Robot baseBVL Baggage vacuum lift toolCON ControllerCONV ConveyorRCONV Returning conveyorWZ Working zoneSENS At least one sensorBSENS Baggage sensorLZ Picking zoneAOFFZ Placing zoneEXI First baggage exitEX2 Automatically fed second baggage exitSZ Safety zoneDSZ Dynamic safety zoneBH Baggage handlerULD Unit load deviceBZ Buffer ZoneMANZ Manual ZoneFJO Base jointFJ1 First jointFJ2 Second jointFJ3 Third jointFJ4 Fourth jointFJ5 Fifth jointFAO Base axisFA1 First axisFA2 Second axisFA3 Third axisFA4 Fourth axisFA5 Fifth axisRAO, RAI, RA2, RA3, RA4, RA5 Rotation arrow IFD Interface deviceFTS Force-torque sensorVRP Baggage vacuum lift reference pointBRP Base reference pointAS Acceleration sensorFTSS Force-torque sensor signalASS Acceleration sensor signalOPO, OP1, OP5 Output flangeMJO, MJ1, MJ5 Joint motor OAO, OA1, OA5 Output Axle JSO, JS1, JS5 Joint sensor SSO, SSI, SS5 Sensor signal MEM MemoryPROC ProcessorVAC Vacuum sourcePS Power supplyRAP Robot arm part(s)RAM Robot armBAG Baggage itemPAPA Placing patternPPSEC Pick and place sequenceBUT ButtonTRA TrackPUSH Pushing memberPL Placing lineCAR Carrier

Claims

Claims1. An automated baggage handling robot comprising: a robot (ROB) configured for automatically operating a baggage vacuum lift tool (BVL), a controller (CON) configured for controlling said robot (ROB), a conveyor (CONV), the robot (ROB) configured for operating within a working zone (WZ), wherein the robot (ROB) is communicatively coupled with at least one sensor (SENS), the controller (CON) configured for establishing a safety zone (SZ) on the basis of sensor input received from said at least one sensor (SENS), the working zone (WZ) comprising a picking zone (LZ) and a placing zone (AOFFZ) where the robot (ROB) is configured for automatically delivering vacuum lifted baggage via a first baggage exit (EXI) of the picking zone (LZ) to the placing zone (AOFFZ), wherein the picking zone (LZ) includes an automatically fed second baggage exit (EX2).

2. An automated baggage handling robot according to claim 1, where picking of baggage in the picking zone (LZ) and placing of the same baggage in the placing zone (AOFFZ) is referred to a pick and place sequence (PPSEC) and where a pick and place sequence is initiated when a baggage item (BAG) has entered the picking zone (LZ) or is about to enter the picking zone (LZ).

3. An automated baggage handling robot according to claim 1 or 2, where picking of baggage in the picking zone (LZ) and placing of the same baggage in the placing zone (AOFFZ) is referred to a pick and place sequence (PPSEC) and where a pick and place sequence (PPSEC) is initiated when a baggage item (BAG) has entered the pickingzone (LZ) or is about to enter the picking zone (LZ) and when placing is possible at the placing zone (AOFFZ).

4. An automated baggage handling robot according to any of the previous claims wherein a pick and place sequence (PPSEC) is automatically omitted and / or terminated if a baggage entering or about to enter the picking zone is determined unsuitable for picking by the baggage handling robot on the basis of sensor signals received from at least one baggage sensor.

5. An automated baggage handling robot according to any of the previous claims, wherein the baggage handling robot comprises a robot arm (RAM) formed by a number of robot arm parts (RAP) connected by at least one joint (FJO; FJ1; FJ2; FJ3; FJ4; FJ5), wherein the robot arm (RAM) is mounted on a robot base (ROB), wherein the robot arm (RAM) is mounted with the baggage vacuum lift tool (BVL), wherein a robot controller (CON) is programmed to control the robot arm, including the at least one joint, to automatically attach the baggage vacuum lift tool (BVL) by vacuum pressure to a baggage item (BAG) located in the picking zone (LZ) and lift the baggage item by the robot arm and position and release the baggage item (BAG) in the placing zone (AOFFZ) by movement of the robot arm and thereby the vacuum lift tool (BVL) between the picking zone (LZ) and the placing zone (AOFFZ) and by controlling vacuum pressure for attachment and release of the baggage item in the picking zone (LZ) and the placing zone (AOFFZ), respectively.

6. An automated baggage handling robot according to any of the previous claims wherein the robot arm (RAM) comprises at least two joints (FJO; FJ1; FJ2; FJ3; FJ4; FJ5).

7. An automated baggage handling robot according to any of the previous claims wherein the positioning and releasing of the baggage item is performed automatically under the control of the controller according to a placing pattern (PAPA).

8. An automated baggage handling robot according to any of the previous claims wherein the placing pattern includes at least a pre-programmed algorithm establish for automatically positioning baggage items in the placing zone (AOFFZ) in the form of a baggage cart according to a placing pattern (PAPA).

9. An automated baggage handling robot according to any of the previous claims wherein the placing pattern (PAPA) includes at least a pre-programmed algorithm establish for automatically positioning baggage items (BAG) in the placing zone (AOFFZ) in the form of a ULD according to a placing pattern (PAPA).

10. An automated baggage handling robot according to any of the previous claims, wherein the placing patterns are determined on the basis of artificial intelligence.

11. An automated baggage handling robot according to any of the previous claims, wherein the placing patterns are determined on the basis of machine learning.

12. An automated baggage handling robot according to any of the previous claims, wherein the placing patterns are determined on the basis of supervised machine learning.

13. An automated baggage handling robot according to any of the previous claims, wherein said robot arm (RAM) comprises multiple joints and where the joints are capable of rotating 360 degrees.

14. An automated baggage handling robot according to any of the previous claims, wherein the robot (ROB) is an articulated robot.

15. An automated baggage handling robot according to any of the previous claims, wherein said robot (ROB) comprises a baggage vacuum lift tool (BVL) which is supplied with vacuum by a vacuum source (VAC) fluidly connected with the vacuum lift tool (BVL) communicatively coupled with the controller and wherein the vacuum source (VAC) is controlled by the controller (CON).

16. An automated baggage handling robot according to any of the previous claims wherein the automatic picking of baggage at the picking zone (LZ) is controlled by thecontroller (CON) of the robot (ROB) on the basis of at least one baggage sensor (BSENS) detecting the location of baggage fed into the picking zone.

17. An automated baggage handling robot according to any of the previous claims wherein the picking automatic placing of baggage at the placing zone is controlled by the controller of the robot on the basis of at least one sensor (BSENS) at least detecting the location or physical boundaries of baggage already present at the placing zone.

18. An automated baggage handling robot according to any of the previous claims wherein said baggage vacuum lift tool (BVL) is fluidly connected to a vacuum source (VAC) by one or more hoses / hoisting tube19. An automated baggage handling robot according to any of the previous claims wherein said vacuum source (VAC) is configured for a variable suction under the control of said controller (CON)20. An automated baggage handling robot according to any of the previous claims wherein the vacuum source (VAC) is at least partly controlled by said controller (CON) on the basis of sensor input indicating the type, dimension and / or other feature of a baggage entered or entering the picking zone (LZ).

21. An automated baggage handling robot according to any of the previous claims wherein said vacuum source (VAC) is configured for a continuous suction22. An automated baggage handling robot according to any of the previous claims wherein the controller (CON) is configured for changing suction provided by the vacuum source (VAC) in response to pressure measured in relation to said baggage vacuum lift tool (BVL) during picking, lifting, and placing.

23. An automated baggage handling robot according to any of the previous claims, wherein the controller (CON) is configured for changing suction provided by the vacuum source (VAC) in response to a pressure change measured in relation to said baggage vacuum lift tool (BVL) during picking, lifting, and placing.

24. An automated baggage handling robot according to any of the previous claims, wherein the controller (CON) is configured for increasing suction provided by the vacuum source (VAC) in response to a pressure drop measured in relation to said baggage vacuum lift tool (BVL) during picking, lifting, and placing.

25. An automated baggage handling robot according to any of the previous claims wherein said automated baggage handler comprises a power supply (PS), where cables from said power supply (PS) to said robot (ROB) is enclosed in the floor and out of said working zone (WZ) and said safety zone (SZ).

26. An automated baggage handling robot according to any of the previous claims wherein said first baggage exit (EXI) is a transition between said picking zone (LZ) and said placing zone (AOFFZ).

27. An automated baggage handling robot according to any of the previous claims wherein said automatically fed second baggage exit (EX2) is configured for transferring baggage from the picking zone (LZ) to a buffer zone (BZ) enclosed inside a manual zone (MANZ).

28. An automated baggage handling robot according to any of the previous claims wherein said automatically fed second baggage exit (EX2) is configured for transferring baggage from the picking zone (LZ) to a buffer zone (BZ) located within a manual zone (MANZ).

29. An automated baggage handling robot according to any of the previous claims wherein a pusher (SWI), an opening, a switch and / or other suitable apparatus is automatically operated to move a baggage item (BAG) from a conveyor (CONV) if the baggage has been transferred from the picking zone (LZ) via the second baggage exit (EX2) by the conveyor (CONV).

30. An automated baggage handling robot according to any of the previous claims wherein said transferring baggage from picking zone (LZ) to buffer zone (BZ) via the automatically fed second baggage exit (EX2) is done automatically.

31. An automated baggage handling robot according to any of the previous claims wherein said automatic transferring is by a band, a conveyor, a roller bed, a drone or any combination thereof.

32. An automated baggage handling robot according to any of the previous claims wherein said buffer zone (BZ) is configured for transferring baggage to said placing zone (AOFFZ).

33. An automated baggage handling robot according to any of the previous claims wherein said transferring from buffer zone (BZ) to said placing zone (AOFFZ) is done manually.

34. An automated baggage handling robot according to any of the previous claims wherein said transferring from buffer zone (BZ) to said placing zone (AOFFZ) is performed by a baggage handler (BH) picking the baggage from the buffer zone (BZ) and placing it in the placing zone (AOFFZ).

35. An automated baggage handling robot according to any of the previous claims wherein said transferring from buffer zone (BZ) to said placing zone (AOFFZ) is performed by a baggage handler (BH) picking the baggage from the buffer zone and placing it in the picking zone (LZ) or placing it for automatic re-entering into the picking zone by the conveyor.

36. An automated baggage handling robot according to any of the previous claims wherein said buffer zone (BZ) is configured for returning baggage back to said picking zone (LZ) via said second baggage exit (EX2) when it fits with the baggage handling robot’s pick and place sequence.

37. An automated baggage handling robot according to any of the previous claims wherein said working zone (WZ) fully encloses said picking zone (LZ) and said placing zone (AOFFZ).

38. An automated baggage handling robot according to any of the previous claims wherein said working zone (WZ) is fully enclosed in said safety zone (SZ).

39. An automated baggage handling robot according to any of the previous claims wherein said buffer zone (BZ) and said picking zone (LZ) has the same placing zone (AOFFZ).

40. An automated baggage handling robot according to any of the previous claims wherein placing baggage in the placing zone (AOFFZ) is performed automatically according to an algorithm determining one or more placing baggage patterns at the placing zone (AOFFZ).

41. An automated baggage handling robot according to any of the previous claims wherein placing baggage in the placing zone (AOFFZ) is performed automatically according to an algorithm determining one or more placing baggage patterns at the placing zone (AOFFZ) and wherein the placing zone is coinciding with a space inside a baggage cart or a unit load device (ULD).

42. An automated baggage handling robot according to any of the previous claims wherein a pick and place sequence it initiated by performed by attaching by means of vacuum the baggage vacuum lift tool (BVL) to a baggage item located in the picking zone from above.

43. An automated baggage handling robot according to any of the previous claims wherein said baggage vacuum lift tool (BVL) is controlled to release said baggage item in said placing zone (AOFFZ) from above.

44. An automated baggage handling robot according to any of the previous claims wherein said baggage vacuum lift tool (BVL) is configured for releasing said baggage item in said placing zone (AOFFZ) horizontally.

45. An automated baggage handling robot according to any of the previous claims wherein said baggage vacuum lift tool (BVL) is configured for releasing said lifted baggage in said placing zone (AOFFZ) vertically.

46. An automated baggage handling robot according to any of the previous claims wherein said baggage vacuum lift tool (BVL) is configured for releasing said liftedbaggage in said placing zone (AOFFZ) vertically, horizontally or in any combination thereof.

47. An automated baggage handling robot according to any of the previous claims wherein the robot (ROB) comprises robot arm tiltable baggage vacuum lift tool (BVL) from horizontal to vertical and back48. An automated baggage handling robot according to any of the previous claims wherein said controller (CON) is configured for controlling said conveyor (CONV).

49. An automated baggage handling robot according to any of the previous claims wherein said picking zone (LZ) is dynamic.

50. An automated baggage handling robot according to any of the previous claims wherein the picking zone (LZ) includes a part of a baggage conveyor converted into a part of the automated baggage handling robot.

51. An automated baggage handling robot according to any of the previous claims wherein the picking zone (LZ) is forming part of a baggage conveyor of a preexisting baggage conveyor by retrofitting said baggage handling robot.

52. An automated baggage handling robot according to any of the previous claims wherein said baggage handling robot is retrofit to a manual baggage handling infrastructure, the baggage handling infrastructure including at least one baggage conveyor.

53. An automated baggage handling robot according to any of the previous claims wherein said safety zone (SZ) is monitored by at least one sensor (SENS).

54. An automated baggage handling robot according to any of the previous claims wherein said at least one sensor (SENS) comprises a motion sensor.

55. An automated baggage handling robot according to any of the previous claims wherein said at least one sensor (SENS) comprises a pressure sensor.

56. An automated baggage handling robot according to any of the previous claims wherein said at least one sensor (SENS) comprises an IR sensor.

57. An automated baggage handling robot according to any of the previous claims, wherein said at least one sensor (SENS) comprises an ultrasonic sensor.

58. An automated baggage handling robot according to any of the previous claims wherein said at least one sensor (SENS) is a distance sensor.

59. An automated baggage handling robot according to any of the previous claims wherein said at least one sensor (SENS) is at least two or more sensors, wherein said two or more sensor is a combination of a motion sensor, a distance sensor, pressure sensor, IR sensor and / or audio sensor.

60. An automated baggage handling robot according to any of the previous claims wherein said safety zone (SZ) is a dynamic safety zone (DSZ), where the dynamic safety zone (DSZ) is configured for changing in size over time.

61. An automated baggage handling robot according to any of the previous claims wherein said safety zone (SZ) is divided in more than one safety zone.

62. An automated baggage handling robot according to any of the previous claims wherein said more than one safety zone comprises a first safety zone and a second safety zone, where said first safety zone is configured for stopping the robot if any unintended object is in said first safety zone, and said second safety zone is configured for slowing down the robot if any unintended object is in said second safety zone.

63. An automated baggage handling robot according to any of the previous claims wherein said safety zone (SZ) is configured for stopping the robot (ROB) if any unintended object is either entering said safety zone (SZ) or in said safety zone (SZ).

64. An automated baggage handling robot according to any of the previous claims wherein said safety zone (SZ) is configured for activating the robot (ROB) if any unintended object is leaving said safety zone (SZ).

65. An automated baggage handling robot according to any of the previous claims wherein said robot (ROB) is configured for starting again by pushing a button outside of said safety zone (SZ).

66. An automated baggage handling robot according to any of the previous claims wherein said button is placed outside of the safety zone (SZ).

67. An automated baggage handling robot according to any of the previous claims wherein said safety zone (SZ) adjoin said manual zone (MANZ).

68. An automated baggage handling robot according to any of the previous claims wherein said placing zone (AOFFZ) comprises a cart for transporting baggage and wherein said vacuum lifted baggage is automatically delivered by the robot (ROB) via a first baggage exit (EXI) of the picking zone (LZ) to said cart.

69. An automated baggage handling robot according to any of the previous claims wherein said placing zone (AOFFZ) comprises a unit load device (ULD) for transporting baggage and wherein said vacuum lifted baggage is automatically delivered by the robot (ROB) via a first baggage exit (EXI) of the picking zone (LZ) to said unit load device (ULD).

70. An automated baggage handling robot according to any of the previous claims wherein said robot (ROB) is limited to lift a maximum weight of either 20kg, 25kg or 32kg.

71. An automated baggage handling robot according to any of the previous claims wherein said robot (ROB) is limited to lift a maximum distance away from the center of the robot (ROB) of either 1.5m, 1.75m, 2m or 2.5m.

72. An automated baggage handling robot according to any of the previous claims wherein said robot (ROB) is configured for sorting vacuum lifted baggage via said first baggage exit (EXI) of the picking zone (LZ) to said placing zone (AOFFZ) or a second placing zone (AOFFZ2).

73. An automated baggage handling robot according to any of the previous claims wherein said automated baggage handling robot co-works with a further stand-alone baggage handling robot (ROB2).

74. An automated baggage handling robot according to any of the previous claims wherein said robot (ROB) and said second robot (ROB2) are configured for sorting vacuum lifted baggage via said first baggage exit (EXI) to two different placing zones (AOFFZ, AOFFZ2)75. An automated baggage handling robot according to any of the previous claims wherein said robot (ROB) is a mobile robot placed on a track along said conveyor (CONV)76. An automated baggage handling robot according to any of the previous claims wherein said robot (ROB) is a mobile robot associated with a mobile baggage conveyor.

77. An automated baggage handling robot according to any of the previous claims wherein said conveyor is mobile and wherein said baggage handling robot is movable with the conveyor.

78. An automated baggage handling robot according to any of the previous claims wherein said mobile robot is configured for sorting vacuum lifted baggage to different placing zones (AOFFZ, AOFFZ2).

79. Method of handling baggage with a baggage handling robot according to any of the claims 1 - 78, wherein the baggage handling robot automatically feed baggage to the second baggage exit if the baggage cannot be lifted by said vacuum lift tool.

80. Method of handling baggage according to claim 79, wherein the baggage handling robot automatically feed baggage to second baggage exit if the baggage cannot be lifted by said vacuum lift tool is performed by automatic pre-evaluation of the baggage to automatically omit a pick and place sequence by the baggage handling robot if the pre-evaluation indicates that the baggage cannot be lifted.

81. Method of handling baggage according to claim 79 and / or 80, wherein the baggage handling robot automatically feed baggage to second baggage exit if the baggage cannot be lifted by said vacuum lift tool is performed by automatic feeding the baggage to the second exit if a pick and place sequence by the baggage handling robot fails.

82. Method of handling baggage according to any of the claims 79-82, wherein the baggage is automatically fed to a buffer zone from said second exit.

83. Method of handling baggage according to any of the claim 79-83, wherein the baggage handled in the pick and place sequences performed by the baggage handling robot is automatically placed in the placing zone according to placing patterns.

84. Method of retrofitting a baggage handling location with a robot (ROB), the (ROB) comprising a baggage vacuum lift tool (BVL), the baggage handling location comprising a picking zone (LZ) defining a part of an existing baggage conveyor (CONV) establishing a baggage handling location comprising an off-picking zone (AOFFZ) within an operating range of the robot (ROB), in a controller (CON) of the robot establishing an automatic process of lifting baggage from the picking zone (LZ) to the off-picking zone on the basis of inputs received from at least one baggage sensor (SEN), the automatic process of lifting baggage from the picking zone (LZ) to the off-picking zone (AOFFZ) is performed such that the baggage is lifted from the picking zone (LZ) to the off-picking zone (AOFFZ) via first exit (EXI), the off-picking zone fitting a baggage carrier (CAR) such as a baggage cart and / or a unit load device (ULD), establishing one or more safety zone (SZ) based on input from at least one sensor and interrupting the automatic process of lifting the baggage on the basis of said input from the at least one sensor andoptionally establishing a buffer zone automatically fed by said conveyor via second exit (EX2) associated with the conveyor.

85. Method of retrofitting a baggage handling location according to claim 84, wherein the baggage handling location is a baggage chute of an airport baggage handling infrastructure.

86. Method of retrofitting a baggage handling location according to claim 84 and / or 85, wherein the picking zone is forming part of a conveyor of an existing baggage chute of an airport baggage handling infrastructure.

87. Method of retrofitting a baggage handling location according to any of the claims 84-86, wherein the placing zone is forming part of an existing area for parking of baggage carriers of an existing baggage chute of an airport baggage handling infrastructure.

88. Method of retrofitting a baggage handling location according to any of the claims 84-87 wherein the baggage handling location is a location is at and / or in the vicinity baggage handling carrousel of an airport baggage handling infrastructure.

89. Method of retrofitting a baggage handling location according to any of the claims 84-88, wherein the robot is a collaborative robot.

90. Method of retrofitting a baggage handling location according to any of the claims 84-89, wherein the baggage vacuum lifting tool (BVL) has a lifting capacity of less than 25 kg or less than 32kg.

91. Method of retrofitting a baggage handling location according to any of the claims 84-90 with a baggage handling robot according to any of the claims 1 - 78.

92. Method of retrofitting according to claim 91, wherein said working zone (WZ) is an open working zone.

93. Method of retrofitting according to claim 91 or 92, wherein said safety zone (SZ) is an open safety zone.

94. Method of retrofitting according to any of the claims 91-93, wherein said safety zone (SZ) is in open connection with surroundings.

95. Method of retrofitting according to any of the claims 91-94, wherein said working zone (WZ) is enclosed (within a fence).

96. Method of retrofitting according to any of the claims 91-95, wherein said method of retrofitting said baggage handling location with said robot is a retrofitting of one robot.

97. Method of retrofitting according to any of the claims 91-96, wherein said robot is compliant with one or more of following standards: ISO 10218-1, ISO 10218-2, ISO 15066, ISO 12100.

98. An automated baggage handling robot according to any of the claims 1-78, wherein said robot is compliant with one or more of following standards: ISO 10218-1, ISO 10218-2, ISO 15066, ISO 12100.

Images