Robotic luggage handling system

Abstract

The invention relates to a robotic luggage handling system (100), comprising - a robotic unit (200) configured to pick-up, move, and release a luggage item (130) in response to a control signal, - a transportation or conveying element or system (120), e.g. a conveyor (120), configured to transport a plurality of luggage items (130) to a predetermined operational area or zone of the robotic unit (200), - a sensor (140), such as a vision sensor, configured to obtain a signal associated to at least a part of the operational area or zone of the robotic unit (200),- one or more control units (400) configured to receive the signal, or a processed or derived version thereof, and to provide the control signal in response thereto and wherein the robot is a collaborative robot.

Description

ROBOTIC LUGGAGE HANDLING SYSTEMField of the invention

[0001] The present invention relates generally to a robotic luggage handling system and related methods. More specifically, the present invention relates to a robotic luggage handling system comprising a robotic unit configured to pick-up, move, and release a luggage item in response to a control signal, to such a robotic unit, and related methods.Background

[0002] Automatic or semi-automatic handling of luggage in an airport is still a nontrivial and very complex task.

[0003] The typical airport luggage is extremely varied and for example comes in many non-standardised shapes and sizes (even if there are some upper size or dimension limits, at least for normal airport luggage). Furthermore, the weight of respective pieces of luggage often vary from piece to piece, and the various pieces of luggage consists of quite different materials (hard or semi-hard plastic, soft fabric, etc.) making it hard to handle consistently and efficiently. Additionally, the weight distribution is often irregular and may even shift during transportation and handling by the equipment of the airport. For example, items within a piece of luggage like a sports bag or similar will typically shift around unless very tightly packed. Additionally, sports bags or similar may change shape during handling, in particular if handled by so-called ‘grippers’ or the like.

[0004] This make it challenging to design a system that can handle airport luggage, in particular in a fast, reliable, and efficient manner.

[0005] To address some of these challenges, some present luggage handling and sorting solutions include very large scale automated solutions or facilities that are very costly and additionally take even years to construct, test, and fully implement. Additionally, construction delays also happen due to the great scale and complexity ofsuch solutions. Furthermore, such facilities have a relatively large footprint and have operational areas where humans are prohibited from entering due to safety concerns. An example of a size of a robotic cell of such a facility is e.g. 5x8x5 meters.

[0006] Maintenance of such large scale solutions or facilities are also complex and expensive and a break-down may close down a significant portion, if not the whole, of the facility.

[0007] Thus there is a need for an improved luggage handling system.Summary

[0008] It is an object to provide a luggage handling system alleviating one or more of the above-mentioned drawbacks at least to an extent.

[0009] An aspect of the invention is defined in claim 1.

[0010] Accordingly, in one aspect, one or more of these objects is / are achieved at least to an extent by a robotic luggage handling system, comprising

[0011] a robotic unit (one or more) (also referred to herein as robot or cobot) configured to pick-up, move, and release a luggage item (also referred to herein as luggage piece or simply luggage) in response to a control signal or one or more control signals, (the robotic unit may e.g. pick up in / from a 1st zone or area, move to and release in / at a 2nd zone or area),

[0012] a transportation or conveying element or system, e.g. a conveyor, configured to transport a plurality of luggage items (e.g. or preferably one at a time, i.e. a stream of luggage) to a predetermined operational area or zone of the robotic unit, (in case of two or more robotic units, the transportation or conveying element or system is or may be configured to transport luggage to at least one robotic unit),

[0013] a sensor (140) configured to (ongoingly, in real-time, near / substantially realtime or at least sufficiently intermittently) obtain a signal of at least a part of the operational area or zone of the robotic unit,

[0014] one or more control units configured to receive the signal, or a processed or derived version thereof, and to provide the control signal in response thereto.

[0015] The robotic unit may be a collaborative or cooperative robot (e.g. sometimes referred to as a cobot) configured to safely allow human beings and the robotic unit to work or be together in a same or shared general workspace.

[0016] The robotic unit may preferable include a lifting unit, e.g. suspended in a robotic arm. Preferably, the lifting unit is vacuum operated in the sense the lifting engages luggage to be lifted by means of a vacuum.

[0017] In this way, a robotic luggage handling system is provided that consistently, reliably, timely, and efficiently enables automated or semi-automated luggage handling which is especially challenging given the very non-uniform and piece-to- piece varying character of such luggage. It may be fully automated with no a priori knowledge of the luggage items. Additionally, the system can also fairly easily be implemented in the existing infrastructure of an airport thereby avoiding very expensive and time consuming airport extensions or at least postponing the need for such.

[0018] Furthermore, this is done while allowing human works to co-work in the same area, which may increase the efficiency, etc. even further.

[0019] The one or more control units may e.g. be integrated in the robotic unit, in an external unit or device (capable of communicating with the robotic unit), in the vision sensor, and / or combinations thereof. The one or more control units may e.g. be distributed with some logic / methods being performed in / by the robotic unit, some in an external unit or device; some in vision sensor, etc. or it may be non-distributed.

[0020] In an embodiment, the sensor (140) is a vision sensor configured to obtain a signal associated to at least a part of the operational area or zone of the robotic unit (200),

[0021] In some embodiments, the robotic unit comprisesa robotic arm comprising a plurality of arm segments and plurality of robot joints between at least some of the arm segments, and a lifting unit, and wherein the robotic arm is configured to move or at least control the movement of the lifting unit, and wherein the robotic unit is configured to engage with and lift a luggage item with the lifting unit in response to an appropriate control signal.

[0022] In some embodiments, the robotic unit comprises a lifting unit and the robotic unit is configured to engage with and lift a luggage item with the lifting unit in response to an appropriate control signal.

[0023] In some embodiments, the lifting unit is or comprises a vacuum lifting unit, e.g. or preferably with controllable adjustable vacuum or suction, configured to lift a luggage item vertically or substantially vertically.

[0024] In some embodiments, the robotic unit comprises a robotic arm and a gripping unit or the like, the robotic arm comprising a plurality of arm segments and plurality of robot joints between at least some of the arm segments, and wherein the robotic arm and gripping unit or the like is configured to pick-up, move, and release a luggage item in response to the control signal.

[0025] In some embodiments, the robotic unit comprises, or is in connection with, a load unit configured to determine or estimate the load of a luggage item picked up by the robotic unit, and if the determined or estimated load exceed a predetermined threshold, then release the picked up luggage item, e.g. or preferably so that the luggage item lands or is received by the transportation or conveying element or system.

[0026] In some embodiments, the vision sensor is or comprises a 3D vision sensor.

[0027] In some embodiments, the one or more control units is / are configured to estimate, prior to picking up, the length or extent in two (X, Y) or three (X, Y, Z) dimensions of a luggage item, located in or on the transportation or conveying elementor system, in response to the vision signal, or a processed or derived version thereof, and to modify the control signal in response thereto. In some further embodiments, the one or more control units is / are further configured to estimate an orientation (in X, Y and e.g. Z) of the luggage item.

[0028] In some embodiments, the robotic luggage handling system comprises a sensor configured to determine one dimension (Z) or the height of a luggage item as it is being moved away or lifted up from the transportation or conveying element or system.

[0029] In some further embodiments, a starting Z or height position (of when the robot begins lifting a luggage item of the robot or the lifting unit (or another reference point) may be obtained and a sensor is e.g. configured to detect when the luggage item leaves the conveyor or similar and obtains the Z position of the robot or the lifting unit (or another reference point) when that happens. The difference in Z positions (from start lifting to leaving the conveyor) is the Z extent of the luggage item (or a very good estimate thereof). Alternatively, other estimation methods may be used.

[0030] In some embodiments, the one or more control units is / are configured to determine or estimate an appropriate or optimal location of a luggage item, located in or on the transportation or conveying element or system, of where to engage and move or lift the luggage item, the determination or estimation being carried out in response the vision signal or a processed or derived version thereof and / or one or more additional parameters and / or signals (e.g. load).

[0031] In some embodiments, the robotic unit is configured to move and release a picked up luggage item to / into a luggage receiving and / or transportation vessel, e.g. a luggage waggon, luggage cart, container unit also referred to as a ULD, or similar.

[0032] 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 ofrobot 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.

[0033] 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.

[0034] 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.

[0035] 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 therobot, 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.

[0036] 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 of baggage 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.

[0037] 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’s may typically be loaded on to carts, cars or wagons and the transported to / from an airplane to a baggage handling system.

[0038] A luggage 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.

[0039] 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 typicallyhold 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.

[0040] In an embodiment of the invention the robot is a collaborative robot.

[0041] The international federation of robotics (TFR), 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 within a building, to industrial robots that help automate unergonomic tasks such as helping people moving heavy parts, or machine feeding or assembly operations.

[0042] The IFR defines four levels of collaboration between industrial robots and human workers:

[0043] Coexistence: Human and robot work alongside each other without a fence, but with no shared workspace.

[0044] 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.

[0045] Cooperation: Robot and human work on the same part at the same time, with both in motion.

[0046] Responsive Collaboration: The robot responds in real-time to movement of the human worker.

[0047] 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.

[0048] 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.

[0049] 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).

[0050] 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.

[0051] 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 12100.

[0052] In some embodiments, the robotic luggage handling system further comprises at least one additional vision sensor arranged above a drop-off area or zone.

[0053] In some embodiments, the robotic luggage handling system further comprises two additional vision sensor arranged, e.g. or preferably with overlapping fields of view, above the drop-off area or zone. In some further embodiments, the two vision sensors are 2D or more preferably 3D.

[0054] In some embodiments, the luggage receiving and / or transportation vessel and / or the drop-off area or zone is divided into a 2D grid comprising a predetermined plurality of zones in a substantially horizontal plane and / or divided into a plurality of layers in a substantially vertical plane, and the robotic luggage handling system is configured to move and release a picked-up luggage item in accordance with the zones and / or layers.

[0055] In some embodiments, the robotic luggage handling system or the robotic unit is configured to controllably push a previously released luggage item by a carried or just released (e.g. realised ‘in-air’ before touching a floor or similar of a drop-off zone or the luggage receiving and / or transportation vessel) luggage item thereby packing the luggage items more closely or densely. In some embodiments, the robotic unit is configured to move the luggage item in a movement pattern approaching its destination in a diagonal or slanted fashion as this increases the likelihood of avoiding underway obstacles.

[0056] In an embodiment, the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories(TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured to engage with and lift a luggage item (130) with the lifting unit (220) in response to an appropriate control signal.

[0057] In an embodiment, the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted in the direction of gravity (Z- direction) and wherein the robotic unit (200) is configured to engage with and lift a luggage item (130) with the lifting unit (220) in response to an appropriate control signal.

[0058] In an embodiment, the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured for determining a trajectory which is the lowest possible.

[0059] In an embodiment the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured for determining a trajectory which is the fastest possible.

[0060] In an embodiment, the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured for determining a trajectory which is extending higher in the Z- direction if the luggage item lifted or to be lifted is measured to be expanding the Z- direction prior to or during the lift.

[0061] In an embodiment, the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured for determining a trajectory which is extending higher in the Z- direction if the luggage item lifted or to be lifted is estimated to be expanding the Z- direction prior to or during the lift.

[0062] It is furthermore an object to provide a robot or robotic unit alleviating one or more of the above-mentioned drawbacks at least to an extent.

[0063] Accordingly, in a second aspect, one or more of these objects is / are achieved at least to an extent by a robotic unit for a robotic luggage handling system, the robotic unit configured to pick-up, move, and release a luggage item in response to a control signal, pick-up the luggage item from a first predetermined operational area or zone, and release the luggage item in the first predetermined operational area or zone (e.g. if it is too heavy or there is not sufficient lifting power within a safety margin with respect to losing it underway) or after being moved in a second predetermined operational area or zone, wherein the robotic unit is a collaborative robot (e.g. sometimes referred to as a cobot) configured to safely allow human beings and the robotic unit to work or be together in a same or shared general workspace.

[0064] In some embodiments, the robotic unit comprises, or is in connection with, a load unit configured to determine or estimate the load of a luggage item picked up by the robotic unit, and if the determined or estimated load exceed a predetermined threshold, then release the picked up luggage item, e.g. or preferably so that the luggage item lands or is received by the transportation or conveying element or system.

[0065] In some embodiments, the robotic unit is configured to move and release a picked up luggage item to / into a luggage receiving and / or transportation vessel, e.g. a luggage waggon, luggage cart, container unit, or similar.

[0066] In some embodiments, the luggage receiving and / or transportation vessel is divided into a 2D grid comprising a predetermined plurality of zones in a substantially horizontal plane and / or divided into a plurality of layers in a substantially vertical plane, and the robotic luggage handling system is configured to move and release a picked-up luggage item in accordance with the zones and / or layers.

[0067] In some embodiments, the robotic unit is configured to controllably push a previously released luggage item by a carried or just released (e.g. realised ‘in-air’ before touching a floor or similar of a drop-off zone or the luggage receiving and / or transportation vessel) luggage item thereby packing the luggage items more closely or densely.

[0068] Even though a robotic luggage handling system and a robot is described in the context of luggage handling, it is to be understood that aspects, embodiments, etc. may be applicable in other pick-and-place settings or contexts.

[0069] Then invention, moreover relates to a method of lifting a luggage item in a robotic luggage handling system according to any of the claims 1-22 or in a robotic unit according to any of the claims 23-27, wherein the method comprises the steps of

[0070] determining and / or estimating a dynamic change of dimensions of a luggage item being lifted and / or to be lifted,

[0071] modifying the lifting trajectory from a lifting zone to a placing zone at least in the Z-direction on the basis of said determined and / or estimated dynamic change of dimension of the luggage item being lifted and / or to be lifted.

[0072] The z-direction may typically understood as being the direction of gravity.In an embodiment, the method comprises the steps of determining and / or estimating a dynamic change of dimensions of a luggage item being lifted and / or to be lifted, determining the lifting trajectory from a lifting zone to a placing zone at least on the basis of said determined and / or estimated dynamic change of dimension of the luggage item being lifted and / or to be lifted and lifting the luggage item according to the determined lifting trajectory.In an embodiment, the method comprises the steps of determining and / or estimating a dynamic change of dimensions of a luggage item being lifted and / or to be lifted, modifying the lifting trajectory from a lifting zone to a placing zone at least in the Z- direction on the basis of said determined and / or estimated dynamic change of dimension of the luggage item being lifted and / or to be lifted.In an embodiment, the estimating of dynamic change of dimensions of a luggage item is based on luggage descriptive data describing the luggage item to be lifted.In an embodiment, the method comprises the steps of, the luggage descriptive data are obtained on the basis of vision data associated to the luggage item.In an embodiment, the determining of dynamic change of dimensions of a luggage item being lifted and / or to be lifted is performed prior to lifting or immediately after initiation of lifting the luggage item.In an embodiment, the robotic luggage handling system is provided according to any of the claims 1-22 or in a robotic unit according to any of the claims 23-27 or a method according to claim 28-32, wherein the robot is compliant with one or more of following standards: ISO 10218-1, ISO 10218-2, ISO 15066, ISO 12100.Definitions

[0073] All headings and sub-headings are used herein for convenience only and should not be constructed as limiting the invention in any way.

[0074] The use of any and all examples, or exemplary language provided herein, is intended merely to better illuminate the invention and does not pose a limitation on the scope of the invention unless otherwise claimed. No language in the specification should be construed as indicating any non-claimed element as essential to the practice of the invention.

[0075] This invention includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law.Brief description of the drawings

[0076] Figures la and lb schematically illustrate a side and top view, respectively, of one exemplary luggage handling system as disclosed herein;

[0077] Figures 2a and 2b schematically illustrates a partitioning in zones (Figure 2a) and layers (Figure 2b) of a luggage receiving and / or transportation vessel or the like;

[0078] Figure 3 schematically illustrates one embodiment of a robot comprising a robot arm and a vacuum based (vertical) lifting unit e.g. or preferably to be part of the system of Figures la and lb according to some embodiments;

[0079] Figure 4 schematically illustrates one embodiment of a robot comprising a robot arm and a gripper or the like e.g. or preferably to be part of the system of Figures la and lb according to some embodiments;

[0080] Figures 5a and 5b schematically illustrates a side and top view, respectively, of one exemplary luggage handling system as disclosed herein;

[0081] Figure 6 schematically illustrates a functional block diagram of embodiments of a control unit in the form of an electronic data processing device or system configured to implement various embodiments and aspects of functionality and / or methods as disclosed herein;

[0082] Fig 7a-c illustrate differentiated lifting of luggage by moving the lifting unit based on the dimensions of the luggage to be lifted or the dimensions of the luggage when the luggage is lifted;

[0083] Fig. 8a illustrates the dynamic dimensions of the luggage to be considered during a lift and where

[0084] Fig. 8b and 8c illustrate different further considerations in connection with a lift from and in particular to transportation vessel.Detailed description

[0085] Various aspects and embodiments of a luggage handling system, a robotic unit, and related methods as disclosed herein will now be described with reference to the figures.

[0086] When / if relative expressions such as "upper" and "lower", "right" and "left", "horizontal" and "vertical", "clockwise" and "counter clockwise" or similar are used in the following terms, these typically refer to the appended figures and not necessarily to an actual situation of use. The shown figures are schematic representations for which reason the configuration of the different structures as well as their relative dimensions are intended to serve illustrative purposes.

[0087] Some components may only be disclosed in relation to a single embodiment of the invention, but may be meant to be included in the other embodiments without further explanation.

[0088] Figures 1 A and IB schematically illustrate a side and top view, respectively, of one exemplary luggage handling system as disclosed herein.

[0089] Illustrated is a luggage handling system 100 for installation and use in an airport or the similar according to some embodiments / aspects. Alternatively, the system 100 may be installed and used in other facilities handling luggage or other objects or packages to be handled in some appropriate form.

[0090] The system 100 comprises a robot or robotic unit 200 (herein / in the following equally referred to only as robot) and a conveyor or other type of transport mechanism 120 (herein / in the following equally referred to only as conveyor) where the conveyor 120 is configured to move one or more objects 130 towards a working, operational, or engagement area, zone, or space (herein / in the following equally referred to only as operational zone) of the robot 200. The objects 130 are generally moved in a direction as indicated by the arrow (going from right to left in the illustration), at least some of the way. The direction of transportation or movement may also be referred to as thedownstream direction. Illustrated in the Figure is also a reference coordinate system X, Y, Z (height) added for easy reference. According to the illustrated reference system, the downstream direction is in the X direction. It is to be understood that different reference systems could be chosen.

[0091] The conveyor 120 is - at least in some embodiments - configured to move (more or less continuously or alternatively intermittently) a ‘stream’ of luggage pieces towards an operational zone of the robot 200 so that the robot can handle the luggage pieces as disclosed herein according to various embodiments and preferably by handling a single piece at a time.

[0092] In this way, the conveyor 120 ‘feeds’ the robot 200 with objects or luggage pieces 130 to be appropriately handled according to an assigned task. Herein the luggage pieces 130 may also be referred to as luggage items 130. Other equipment or systems, as generally known, may in turn ‘feed’ or provide luggage to the conveyor 120 typically at or towards the opposite end of where the robot 200 is located. Typically a luggage receiving and / or sorting system in some form will provide the luggage pieces 130 to the conveyor 120. Provided luggage pieces 130 may e.g. all be sorted to be sent to the same destination (i.e. by the same airplane) or they may still be unsorted in this respect. In some embodiments, the conveyor 120 may be several smaller segments or unit allowing for a more controllable and / or enhanced singular flow of luggage 130 to the robot 200.

[0093] A significant task of the robot is to pick up and move (pick-and-place) luggage pieces 130 (e.g. or preferably one at a time) from the conveyor 120 for release in or within a placement or drop-off area, space, or zone. The placement or drop-off area, space, or zone may at least occasionally coincide with a luggage receiving and / or transportation vessel, vehicle, cart, ULD, waggon, etc. or other equipment for further handling and / or (luggage) processing.

[0094] As an example, and as illustrated in Figure lb, the luggage is, at least some embodiments, moved so as to be placed in a luggage waggon 300 or similar, where a number of such luggage waggons may form a train or similar that eventually is broughtto an airplane that needs to have all the luggage pieces brought on board for transportation to a destination. Some such luggage waggons 300 are top-wise open whereby the robot 200 then needs to (or at least is able to) put picked-up luggage into the waggon 300 directly via the open top, i.e. they are top-loaded. Such waggons 300 may e.g. have 1, 2, 3, or 4 non-open sides (where all still are top-loaded. Other luggage waggons may be top-closed whereby luggage pieces needs to be introduced e.g. from a side, the front, etc. Other examples of a luggage receiving vessels are e.g. containers (typically side-loaded), etc.

[0095] The luggage pieces may additionally or alternatively be picked up from the conveyor 120 and put at another conveyor or other transport mechanism (not shown) for further transport, put at a working or engagement zone of another robot (not shown), and / or at a working or engagement zone of human worker 110, etc. In some embodiments, the robot 200 is programmed to drop off luggage items at two or more different zones e.g. according to one or more predetermined criteria. The robot 200 can also be programmed to pick of luggage pieces from more than one source / convey or and so on, including various combination. While only a single robot 200 is illustrated, it is to be understood that two (or more) robots may be located along the conveyor 120 and such a plurality of robots may e.g. be configured to pick up and move luggage pieces to the same destination or different destinations or a mix thereof.

[0096] It should be emphasized that appropriately handling (picking up and placing) objects in the form of luggage pieces is by no means a simple or trivial feat. As mentioned, airport luggage pieces are generally very varied for example with respect to size / dimension, weight, weight distribution (that may even change during handling), shape (that also may change during handling e.g. due the material or fabric of the luggage), and so on.

[0097] While suitcase shapes overall often have a similar rectangular shapes (with some deviations and difference in sizes), airport luggage also comprises luggage like sport bags, backpacks, and other types of bags that may change shape, at least to some extent, when handled (e.g. or in particular when ‘gripped’). Furthermore, whilesuitcases may have a similar overall shape, its profile seen from a side is not always necessarily straight or flat as it may have pockets on the front, enlarged or reduced sections, etc. Luggage may also have external features like zippers, straps, handles, etc. that may interfere with automatic handling.

[0098] This makes automated or semi-automated luggage handling especially challenging, in particular with respect to handling it consistently, reliably, timely, and efficiently. A relatively large busy modern airport handles a huge amount of luggage every day.

[0099] In at least some embodiments, the robot 200 is preferably a so-called collaborative robot, also sometimes referred to a cobot, signifying that - while it is an industrial robot - it is safe for humans to be in and operate in the vicinity of the robot when it is working enabling humans and the robot to work together or at least work in the same or shared general workspace. This is especially advantages in an airport luggage handling system as disclosed herein as the presence, even just occasionally, of a human worker 110, can increase the overall efficiency and reliability of the robot 200 and thereby of the overall system 100. For example, the human worker 110 can e.g. adjust pieces of luggage on the conveyor 120 prior to reaching the robot 200 so they will be more ready or simpler for the robot to handle well and efficiently (e.g. with respect to time needed to handle). It has been experienced that a human worker (experienced with respect to luggage handling) can increase the throughput of a robot 200. A human worker 110 may e.g. ongoingly adjust the luggage pieces such as adjusting the orientation of respective luggage pieces, removing (too) heavy pieces, take luggage on top of another piece and separate them. A human worker 110 may even (e.g. occasionally) take luggage away from the conveyor 120 that according to experience is especially difficult or ‘time-consuming’ for the robot 200 to handle (e.g. due to size, shape, material-type, etc.) and e.g. place them directly at the end location (e.g. the waggon, cart, etc.) thereby by-passing the robot 200.

[0100] How to make or implement such a collaborative robot is as such by itself and in other contexts generally known and may e.g. include various sensors monitoring forpresence of a human being within a certain distance and take appropriate measures (like slowing down movements or halting movements completely) when a human being is detected to be within a certain distance and other types of even more advanced measures such as force-sensing and / or collision detection elements.

[0101] This robot-human collaborative approach is in contrast to all-encompassing fully automated large-scale luggage handling systems where human beings are often prohibited to enter into or near the operational areas due to safety concerns. Furthermore, such robot-human collaborative system (even if comprising several robots), at least as disclosed herein, has a significantly smaller footprint than such fully automated large-scale luggage handling systems. Additionally, a greater amount of flexibility and versatility is typically offered.

[0102] In at least some embodiments, the robot 200 and thereby the system 100 is autonomous whereby it does need the involvement of any human being 110, even though additional benefits can be obtained by human involvement as explained.

[0103] The luggage handling system 100 as disclosed herein may also comprise one or more vision sensors or systems 140 (e.g. a camera) and / or one or more sensors 150.

[0104] In at least some embodiments, the at least one vision sensor or system 140 is or comprises at least one 2D or 3D vision sensor or system 140 (herein / in the following equally referred to only as a vision sensor, even if comprising several such). While a 2D vision sensor can be adequate in some situations (depending on the setup), a 3D vision sensor is preferred because it can measure or at least estimate the size of a piece of luggage 130 including its height (Z direction) providing information of where (approximately) the robot 200 is to engage the luggage 130.

[0105] In some preferred embodiments, the vision sensor 140 is arranged above the conveyor 120 at or in the operational (pickup) zone of the robot 200 or at least so the operational zone of the robot 200 is sufficiently viewable by (in the field of view of) the vision sensor 140. In some further embodiments, the vision sensor 140 is arranged substantially perpendicular (with its general viewing direction) to a horizontal planesubstantially parallel or coinciding with a plane of the conveyor 120 (i.e. the X, Y plane of the illustrated reference coordinate system). The vision sensor 140 is fixed but may alternatively be movable (either its field of vision and / or the vision sensor itself). The vision sensor 140 configured to ongoingly obtain (e.g. in real-time, near real-time or sufficiently intermittently) a vision or image signal of at least a part of the operational zone of the robot 200.

[0106] This allows the system 100 to track a piece of luggage 130, to estimate the dimensions of a piece of luggage at least in the X, Y directions but potentially also in the Z (height) direction with a 3D vision sensor 140, and( / or) control the robot’s movement in relation to a piece of luggage 130 to be picked up from the conveyor 120. This may e.g. be done in response to the vision signal (or a processed or derived version thereof) and to modify the control signal(s) in response thereto. In some embodiments, the system 100 also determine the orientation, respectively, of the luggage as it may be rotated on the conveyor, which then may be corrected (or be optimised) when placed in the waggon, cart, etc.

[0107] In at least some embodiments, the robot 200 is configured to pick-up, move, and release a luggage item or piece 130 in response to one or more control signals. The one or more control signals (as well as one or more signals provided on the basis of these, e.g. by appropriate processing) is or may be supplied by one or more control units 400.

[0108] The one or more control units 400 may e.g. be integrated in the robot 200, in one or more external unit or devices (such as a PC, laptop, tablet, etc.) communicating with the robot 200, in the vision sensor 140, and / or any combinations thereof. The control signal(s) may be modified using various input such as one or more signals from the vision sensor 140, the sensor(s) 150 (as will be elaborated upon in the following), sensors (not shown) of the robot 200, etc. as well as processed versions thereof and / or parameters derived therefrom in order to provide a desired functionality and as otherwise disclosed herein.

[0109] In some embodiments (and as illustrated), the robot 200 comprises a robotic articulating arm 210 or similar and a lifting unit 220, where the robotic arm 210 comprises a plurality of arm segments or links and plurality of robot joints between at least some of the arm segments where the joints and thereby the arms may be controlled to control the movement of the robot 200. In at least some embodiments, the robotic arm 210 is configured to move (or at least control the movement of) the lifting unit 220 so that the lifting unit 220 (in response to an appropriate control signal) can be controlled to engage with and lift a piece of luggage item 130. In at least some embodiments, the lifting unit 220 is suspended from a beam or similar 230 or otherwise supported to better support the load of any held and moved piece of luggage 130. This takes away or reduces the load on the robotic arm 210. In some alternative further embodiments, the robot 200 does not comprise a robotic arm 210 but only a lifting unit 220 and other elements for moving that.

[0110] In some further embodiments (with a lifting unit 220), the lifting unit 220 is or comprises a vacuum based lifting unit 220 configured to engage with and lift a piece of luggage vertically or substantially vertically, e.g. or preferably using a vacuum suction head and vacuum system. A more detailed view of an embodiment of such a robot 200 with a robot arm 210 and a vacuum based (vertical) lifting unit 220 is given in Figure 3 as an example. Such vacuum based (vertical) lifting solutions has been shown to be able to reliably lift and handle a payload up to as much as 45 kilograms and even more for all applicable movement / handling patterns of the present context of luggage handling, which may increase further going forward. Simpler and less powerful versions may also be employed. For example, reliably handling a payload of about 20 - about 25 kilograms (e.g. about 23 kilograms) would be able to address far more than 90% of all pieces of luggage of travelling persons in a typical airport.

[0111] In alternative embodiments, the robot 200 comprises a robotic arm 210 (e.g. as explained above) and a gripping unit or the like instead of a lifting unit / a vacuum based lifting unit where the robotic arm 210 and the gripping unit or the like is configured to controllab ly move, and release a piece of luggage 130 in response to one or more control signals. A more detailed view of an embodiment of such a robot 200is given in Figure 4 as an example. Such robotic arm and gripper solutions has been shown to be able to reliably lift and handle a payload up to about 20 to about 23 kilograms for all applicable movement / handling patterns of the present context of luggage handling, which may increase further going forward.

[0112] In some embodiments, the sensor(s) 150 comprise(s) a load unit or sensor 150 configured to determine or estimate a load or weight of a piece of luggage 130 when it is being picked up (or (shortly) after) by the robot 200. If the determined or estimated load or weight exceeds a predetermined threshold (e.g. indicating it cannot be lifted or lifted within a safety margin to avoid risk dropping it, etc.), then the robot 200 or the system 100 should handle the luggage piece appropriately. This may e.g. be (appropriately ‘quickly’) releasing the luggage back to the conveyor 120. The conveyor 120 may to this effect comprise or be in connection with a buffer zone or element (not shown) located more downstream than the robot 200. In addition or alternatively, the system 100 may comprise another element or mechanism for handling a piece of luggage being determined to be too heavy.

[0113] In some further embodiments, the system 100 may operate with two thresholds, a first and a second threshold, when checking whether a load or weight exceeds or is likely to exceed. The first threshold could be lower than the second threshold so that exceeding the first but not the second threshold could signify ‘caution’ which may prompt a first action and exceeding the second threshold could signify ‘critical’ that could prompt a second different action more urgently releasing or removing the too heavy luggage piece 130.

[0114] The load unit or sensor 150 may e.g. be connected (potentially wirelessly) with one or more of the control units 400 to provide a signal thereto for processing or alternatively to provide an already processed signal e.g. in order to determine whether a load or weight threshold is exceeded or likely to be exceeded.

[0115] In some embodiments, the sensor(s) 150 comprise(s) one or more sensors configured to determine the extent in one dimension (Z) (i.e. the height) of a piece of luggage 130 as it is being moved away or lifted up from the conveyor 120. In somefurther embodiments, this sensor comprises an element configured to determine a point in time when piece of luggage (the last part of it) leaves the conveyor 200. This element may e.g. comprise an ultrasonic emitter and detector, a laser (e.g. a sweeping laser) emitter and detector, etc. Knowing or determining a distance (in Z) between the top surface of the conveyor and a point of the luggage where the luggage is engaged or lifted (e.g. by determining where the robot is at the with the engagement surface (in Z)), a point in time of when the luggage is begun to be lifted (e.g. using a load sensor), a point in time of when the piece of luggage leaves the conveyor 120 (using a sensor as mentioned above), and the vertical velocity of the robot from starting to lift to the luggage leaving the surface of the conveyor, it is possible to determine or estimate the vertical extent or length of the luggage being lifted. In a simpler version, the luggage is lifted (from a known / determined Z position of the robot 200) until the last part of the luggage leaves the conveyor 120 (using a sensor as mentioned herein) whereby the Z position of the robot 200 can be read, which directly provides the Z extent of the luggage (in a lifted state). Such determination needs to be sufficiently quick in order to allow for a sufficiently quick and efficient luggage handling. It is noted, that this and corresponding methods importantly can determine the extent (in Z) or height of pieces of luggage that extend / stretch / ’ deform’ (as may happen for bags, sport bags, or other non-rigid luggage) when being fully lifted (i.e. being fully suspended from the robot 200). Knowing the extent (in Z) / height is typically significant for efficiently handling a piece of luggage e.g. when placing the luggage at an appropriate location, such as a luggage waggon or similar and in particular when placing from the top (e.g. as explained in connection with Figures 2a and 2b). In other embodiments, the extent (in Z) / height is determined or estimated in another suitable way.

[0116] In at least some embodiments, the one or more control units 400 is / are configured to determine or estimate an appropriate or optimal location of where to engage and move or lift a piece of luggage 130 while still on the conveyor 120, where the determination or estimation is - at least in some embodiments - carried out in response to the vision signal or a processed or derived version thereof and / or taking into account one or more additional parameters and / or other signals (e.g. a parameteror signal representing or estimating a load or weight of the piece of luggage in question).

[0117] In relation to a luggage handling system such as disclosed herein and as illustrated (according to one embodiment) in Figures la and lb it is typically significant to efficiently and timely handle a piece of luggage. This includes efficiently and quickly (but still reliably) moving the piece of luggage to its destination, e.g. to into the waggon 300 or similar. This also includes efficiently packing the waggon 300 or similar as this will allow for more luggage to be packed potentially requiring less waggons 300 or similar, potentially requiring less time used replacing / switching to new waggons 300 or similar, etc.

[0118] In some embodiments, the robot 200 is configured to move and release a picked up piece of luggage 130 to / into a luggage receiving and / or transportation vessel 300, e.g. a luggage waggon 300 or similar.

[0119] One embodiment of a particular efficient way of top-loading a luggage waggon 300 or similar is illustrated and explained in connection with Figures 2a and 2b.

[0120] Figure lb schematically illustrates the same system 100 as Figure la but seen from above rather than the side. Compared to Figure la some elements are omitted for clarity (e.g. the human worker 110, the vision sensor 140, etc.) but a luggage receiving and / or transportation vessel here - as an expedient example - in the form of a waggon 300 or similar where the robot 200 is to place (at least some) picked-up pieces of luggage 130. As seen, the waggon 300 already comprises a number of luggage pieces 130.

[0121] It should be noted, that the conveyor 120 need not be a straight line conveyor but can e.g. be a carrousel type conveyor or any other suitable type of conveyor for luggage pieces in the present contexts. The conveyor 120 may e.g. also be or comprise several conveyors connected in series or similar.

[0122] In the shown example, the robot is stationary but in alternative embodiment, the robot may be movable.

[0123] Accordingly, a very versatile system 100 is provided efficiently handling even very varied luggage / objects without any a priori knowledge readily available and capable of handling such luggage / object sufficiently fast and reliably.

[0124] In some embodiments, the system 100 further comprises one or more sensors 150 configured to monitor the flow of pieces of luggage and to reduce the speed or even (temporarily) halt the movement of luggage pieces towards the robot 200 if it is determined or estimated (e.g. by the control unit(s) receiving data or signals from this / these sensors) that the robot needs or likely needs additional time to handle the luggage pieces. An aim is or can be to optimize the number of handled luggage for a given time period without overloading the robot 200.

[0125] As mentioned, while the system 100 is particularly beneficial in the context of luggage handling in an airport or other, it is to be understood that the various embodiments and / or elements of the system 100 can be beneficial in other contexts as well. These contexts could e.g. be handling other non-uniform and varying objects or packages to be handled in some appropriate form by a robot. It could for example be in a context of filling one or more (shipping or other) containers with a plurality of objects or parcels, package / object handling in a warehouse / storage, and so on.

[0126] Figures 2a and 2b schematically illustrates a partitioning in zones (Figure 2a) and layers (Figure 2b) of a luggage receiving and / or transportation vessel or the like.

[0127] Illustrated is a luggage receiving and / or transportation vessel, as an expedient example here in the form of a luggage waggon 300 or similar for receiving a plurality of pieces of luggage from a (at least one) luggage handling robot (see e.g. 200 in Figures la and lb and elsewhere) e.g. or preferably as disclosed herein. In at least some (preferred) embodiments, one robot handles one piece of luggage at a time, i.e. it is put in the vessel / waggon 300 before the robot proceeds to pick up the next piece of luggage. The waggon 300 is seen from above and is, as an example, top-open, i.e.luggage is mainly or only loaded by the robot(s) via the top opening of the vessel / waggon 300.

[0128] As illustrated in Figure 2a, the vessel or waggon 300 is ‘computationally’ or data processing wise partitioned or segmented into a number of zones 350 according to a predetermined layout - as illustrated a rectangular shape partitioned into a number of equally sized squares resulting in a 2D grid (in the X, Y directions) of squares at least (substantially) spanning the interior of the vessel or waggon 300 as seen from above (i.e. as seen along the Z or height direction). The layout may vary according to type of vessel / waggon 300 and / or size of vessel / wagon 300 and / or potential other parameters or considerations. The 2D grid may be used, at least in some embodiments, as a reference system to determine, by one or more control units (see e.g. 400 in Figures la and lb), where a piece of luggage is in relation to the grid, i.e. in which zone(s). The 2D grid may be used in connection to obtained data representing an image of the vessel / waggon 300 e.g. as seen from above, as will be explained further in the following.

[0129] In some embodiments, the number of zones is e.g. 24, 32, 48, 64, 68, and so on, but may be any suitable number (plurality) of zones 350 as long as the number is sufficiently granular to allow for at least sufficient luggage handling or better to allow for enhanced luggage handling. The number of zones 350 may e.g. depend on estimated typical or average size or extent (in X, Y; and / or also in Z as the luggage may be put into place ‘standing up’ or in any suitable / optimised orientation) of luggage pieces to handle and / or the (X, Y) size of the vessel / waggon 300.

[0130] In the exemplary layout, the number of zones 350 are (as an example) fifty and labelled Z1 to Z50 where the first zone Z1 (as a matter of choice) is located in a corner (the lowest rightmost comer with respect to the illustrated exemplary reference coordinate system X, Y) and the zones progress / increases with respect to numbering or labelling in the X direction until a row is filled and then progresses to the lowest zone (with respect to X) in the next row and so on. Particularly good results have been achieved dividing into 48 and 68 zones. The first zone Z1 is, at least in someembodiments, located more or less furthest away from where the luggage ‘enters’ the vessel / waggon 300. In some embodiments, the pieces of luggage may enter from the side with zones Z46 / Z47 to Z50 and / or the side with zones Z30 / Z40 to Z50 but it will typically depend on the orientation of the vessel / waggon 300 in relation to the robot.

[0131] As illustrated in Figure 2b, the vessel or waggon 300 is ‘computationally’ or data processing wise partitioned or segmented into a number of layers 360 according to a predetermined layout.

[0132] In some embodiments, the number of layers is e.g. 2, 3, 4, or 5 and so on, but may be any suitable number (plurality) of layers 360 as long as the number is sufficiently granular to allow for at least sufficient luggage handling or better to allow for enhanced luggage handling. The number of layers 360 may e.g. depend on estimated typical or average size or extent (in Z and / or also in X, Y as the luggage may be put into place ‘standing up’ or in any suitable / optimised orientation) of luggage pieces to handle and / or the (Z) size of the vessel / waggon 300.

[0133] Alternatively, the zones 350 and / or layers 360 may be of different size(s) instead of (generally) equal size; e.g. some zones / layers having a first predetermined size and other zones / layers having a second predetermined size different from the first.

[0134] Illustrated is also a number vision sensors 140 (e.g. camera(s)), here two as an example. In other embodiments, the number is one or more than two. In at least some embodiments, the two vision sensors 140 are arranged spaced apart side by side.

[0135] In some preferred embodiments, the vision sensors 140 are arranged (as illustrated) above the vessel / waggon 300 at or in the operational (drop-off) zone of the robot or at least so the operational (drop-off) zone of the robot is sufficiently viewable by (in the field of view of) the vision sensors 140. In some further embodiments, the vision sensors 140 are arranged substantially perpendicular (with their respective general viewing directions) to a horizontal plane substantially parallel or coinciding with a plane of the vessel / waggon 300 (i.e. the X, Y plane of the illustrated reference coordinate system). The vision sensor 140 may e.g. be fixed or may alternatively bemovable (either its field of vision and / or the vision sensor itself). The vision sensors 140 are configured to ongoingly obtain (e.g. in real-time, near real-time or sufficiently intermittently) a respective vision or image signal of at least a part of the operational zone of the robot / the vessel / waggon 300.

[0136] In at least some embodiments, the at least one vision sensor 140 is or comprises a 2D or 3D vision sensor 140. While a 2D vision sensor can be adequate in some situations (depending on the setup), a 3D vision sensor is preferred. A 2D sensor may e.g. be used to estimate an extent or size of a piece of luggage as well as its location for example in the illustrated X and Y directions. A 3D sensor may e.g. be used to additionally estimate an extent or size of a piece of luggage as well as its location in an additional direction, for example in the Z direction. There may readily also be other ways to perform these estimations in 3D, for example having a 2D vision sensor ‘above’ and another 2D vision sensor from a side (then requiring that vision sensor is able to ‘see’ through the appropriate side of the vessel / waggon 300, which may not be possible for all types of vessel s / waggons), and so on.

[0137] Using the signal from the vision sensor(s) 140, one or more control units (see e.g. 400 in Figures la and lb) is / are able to ongoingly or intermittently track a piece of luggage in 2D (X, Y) or 3D (X, Y, Z) as it is being moved by the robot and relate the location of the luggage to the zones 350 and / or layers 360 so the control units are ‘aware’ of where a piece of luggage is at appropriate times and knowing or deriving a determined destination, the control units can control the robot to bring the luggage to a determined destination in a reliable and preferably sufficiently speedy way.

[0138] In at least some further embodiments (with at least two vision sensors 140), the vision sensors 140 are arrange so that their respective fields of view overlaps partly.

[0139] According to some embodiments, a method of efficiently loading and packing pieces of luggage comprises starting with placing a first piece of luggage at Z1 + LI and then extending in the X direction from there until a row is filled and then progressing to the next rightmost free zone (i.e. at lowest X value) and so on. When a given layer is filled (at least partly; luggage can have a Z extent less than a layer andalso more than a layer), then the robot is controlled to put luggage appropriate in the next layer and so on. This is repeated until the vessel / waggon 300 is appropriately / optimally filled, whereby it can be replaced with an empty one. It is noted, that a placed piece of luggage can fill more than one zone or less than one zone (in X and Y) depending on its size. Accordingly, it is important for the control unit(s) to keep track of the state (luggage wise). Also as luggage may shift position, at least a bit, after being placed by the robot, e.g. due to being exposed to weight of other luggage, due to the content of the luggage shifting around after being place, etc.

[0140] For a cobot solution, it is also significant to ongoingly keep track of the state (luggage wise) of the vessel / waggon 300, since it is allowed (and even advantageous) to allow a human worker or similar (see e.g. 110 in Figures la and lb) to e.g. re-arrange luggage in the vessel / waggon 300 (e.g. if spotting something is not optimally packed), pick-up a piece up luggage e.g. from a conveyor (see e.g. 200 in Figures la and lb) prior to reaching the robot / cobot and place the luggage directly in the vessel / waggon 300 if e.g. deciding that a particular piece of luggage in their experience would be difficult or extra time-consuming for the robot / cobot to handle, pick-up and place luggage Given any of these, the state of luggage may change due to outside factors and the system should, at least in some embodiments, preferably be able to handle this - at least for improved luggage handling.

[0141] In at least some embodiments, the method of efficiently loading and packing pieces of luggage comprises determining what (2D or 3D) orientation, a particular piece of luggage is most optimal to place the luggage in, in the vessel / waggon 300.

[0142] In at least some embodiments, the method of efficiently loading and packing pieces of luggage comprises determination, in relation to one or more predetermined criteria, of other locations (zones and potentially also layers) where a piece of luggage more optimally could be put (e.g. in relation to packing most luggage) rather than putting the luggage at the next free zone.

[0143] In at least some embodiments, the robot is controlled or configured, in relation to one or more predetermined criteria, to controllably push an already placed piece ofluggage by a carried piece of luggage when placing the carried piece of luggage (which will become neighbour to the pushed luggage). This will pack the pieces of luggage more densely and thereby more efficiently. The pushing ‘effect’ should preferably be controlled to not potentially be damaging with respect to the luggage (and also with respect to human workers, so it is still a cobot). The pushing ‘effect’ may be obtained e.g. by moving the luggage at a first velocity, reducing the velocity when nearing the already placed piece of luggage, moving the carried piece of luggage a bit too far or releasing the carried piece of luggage before being put on the floor of the vessel / waggon 300 so the momentum of the carried luggage, also after release, is sufficient to move the already placed piece of luggage.

[0144] Accordingly, a method of efficiently packing a vessel or waggon 300 with luggage is provided even without a priori knowing the respective sizes of the luggage that needs to be packed and also without knowing the respective size of the next piece of luggage or of subsequent pieces of luggage.

[0145] While the handling or packing method(s) and variations and embodiments thereof as described herein in connection with Figures 2a and 2, is particularly beneficial when utilised in an airport luggage handling system as disclosed herein and as illustrated and explained in connection with Figures la and lb, it is to be understood that they may be useful independently in other contexts and / or systems. This could e.g. be in the context of filling one or more (shipping or other) containers with a plurality of objects or parcels, package / object handling in a warehouse / storage, and so on.

[0146] Figure 3 schematically illustrates one embodiment of a robot comprising a robot arm and a vacuum based (vertical) lifting unit e.g. or preferably to be part of the system of Figures la and lb according to some embodiments.

[0147] Illustrated is a robot or robotic unit 200 comprising a controller 400, a robotic arm 210 comprising a plurality of arm segments and plurality of robot joints between at least some of the arm segments, and a lifting unit 220 where the robot or robotic unit 200 is configured to pick-up, move, and release a luggage item as disclosed herein.

[0148] The robot 200 may be, and preferably is, as (applicably) described in connection with Figures la and lb and as otherwise disclosed herein.

[0149] In the illustrated and corresponding embodiments, the lifting unit 220 is or comprises a vacuum lifting unit configured to lift a luggage item vertically or substantially vertically and comprises a vacuum suction head 250, an air or vacuum tube 240, a beam or similar 230 supporting the load of any held and moved piece of luggage. The robot 200 further comprises or is connected to an appropriate vacuum system.

[0150] In some embodiments, the lifting unit 220 is a vacuum based lifting unit with adjustable vacuum or suction particularly suitable for handling non-uniform items or objects such a luggage.

[0151] The illustrated robot 200 may e.g. or preferably correspond to the robot described in Applicant’s co-pending application titled “Lifting system and method for lifting” incorporated herein by reference.

[0152] Figure 4 schematically illustrates one embodiment of a robot comprising a robot arm and a gripper or the like e.g. or preferably to be part of the system of Figures la and lb according to some embodiments.

[0153] Illustrated is a robot or robotic unit 200 comprising a robotic arm 210 comprising a plurality of arm segments 270 and plurality of robot joints 260 between at least some of the arm segments 270, and a gripping unit or the like 280 (one or more) where the robotic arm 210 and gripping unit 280 is configured to pick-up, move, and release a luggage item as disclosed herein.

[0154] The robot 200 may be, and preferably is, as (applicably) described in connection with Figures la and lb and as otherwise disclosed herein.

[0155] Figures 5a and 5b schematically illustrates a side and top view, respectively, of one exemplary luggage handling system as disclosed herein.

[0156] Illustrated is Figure 5a is side view corresponding to Figure la but a bit more detailed illustrating a conveyor 120, some pieces of luggage 130, a robot 200, and a transportation and luggage receiving vessel 300, e.g. a luggage waggon, cart, container, etc. herein the form of a waggon or cart.

[0157] Illustrated is Figure 5b is top view of a segment of Figure 5a.

[0158] Figure 6 schematically illustrates a functional block diagram of embodiments of a control unit in the form of an electronic data processing device or system configured to implement various embodiments and aspects of functionality and / or methods as disclosed herein.

[0159] Shown is control unit 400, as an example in the form of an electronic data processing device or system 400 comprising one or more processing units 402 connected via one or more communications and / or data buses 401 to an electronic memory and / or electronic storage 403, and optionally one or more signal or network transmitter and receiver communications elements 404 (e.g. wired and / or wireless communications elements) configured to communicate via a wired and / or wireless network, the Internet, and / or the like. In at least some embodiments, the electronic data processing device 400 is configured to communicate with a robot (e.g. cobot) as disclosed herein (see e.g. 200 elsewhere) (e.g. by sending one or more control signals), potentially other control units (see e.g. 400 elsewhere) to send / receive data, one or more vision sensors (see e.g. 140 elsewhere) e.g. to receive image data, and / or one or more one or more sensors (see e.g. 150 elsewhere) as disclosed herein e.g. to provide control signals and / or receive obtained sensor data or signals. The one or more processing units 402 may e.g. include one or more CPUs, TPUs (tensor processing units), FPUs (floating point units), GPUs (graphics processing units), and / or the like.

[0160] The electronic data processing device 400 may also comprise an optional display 408 and / or one or more optional (graphical and / or physical) user interface or user experience (UX) elements 407 to allow an operator to program the robot, change mode of operation for the robot, set operating parameters, select / active algorithms to execute, set conditions, etc.

[0161] The electronic data processing device 400 can e.g. be one or more (e.g. distributed) programmed computational devices, e.g. like a PC, laptop, computer, client, server, smart-phone, tablet, etc. and is, at least in some embodiments, specially programmed to carry out or execute the method(s) and embodiments thereof as described throughout the specification and variations thereof.

[0162] Fig 7a-c illustrate differentiated lifting of luggage by moving the lifting unit based on the dimensions of the luggage to be lifted or the dimensions of the luggage when the luggage is lifted;

[0163] The illustrated system of fig. 7a-c comprises a robot 200 fitted with a lifting unit 220 attached to and moved by a robot arm 210 according to one or more algorithms stored and associated with a control unit, e.g. a control unit 400 as described above. The algorithm(s) is / are configured for automatic lifting of luggage items 130 from a lifting zone LZ, .e.g. a surface of a conveyor 120, to a placing zone AOFFZ associated to a transportation vessel 300, such as a cart or a ULD.

[0164] The lifting unit in the present embodiment, and in all the embodiments of the present application, is a vacuum based lifting head “gripping” luggage automatically by engaging the luggage item by means of vacuum.

[0165] In the present embodiment the robot 200 is configured for dynamically changing the movement path of the lifting unit 220. The movement path may also be referred to as a trajectory defining the movement of the lifting unit 220 in space.

[0166] It should be noted that the lifting from a conveyor to a transportation vessel is the primary move referred to be below, the lifting for a transportation vessel to a conveyor is just as relevant for the below explanation in relation to trajectories of the lifting unit 220.

[0167] In an advantageous embodiment the lifting unit 220 may be moved in different trajectories TRAJ1, TRAJ2,..TRAJn depending on the dimension of the luggage lifted or to be lifted.

[0168] As the luggage in the present context preferably refer to airport luggage, the luggage may have many shapes and sizes, but the dimensions may also change during lift.

[0169] Referring shortly to fig. 8a, a luggage item 130 is shown prior to lift when located in a picking zone LZ on a conveyor 120. When lifted from the picking zone (here to the left) to the placing zone AOFFZ, here to the right, the luggage item 130 may expand as indicated by 130’, e.g. if it is a bag or a type of luggage which will change shape due to influence of gravity during the lift.

[0170] In the present embodiment the dynamics of the luggage when lifted is advantageously dealt with by dynamically determining the actual change of dimension during the lift and / or the expected change of dimension.

[0171] As indicated in fig. 8a change of dimension in the Z-direction, e.g. typically in the direction of the gravity, meaning the some types of luggage may expand in the Z direction and thereby require a higher lift either to be able to be lifted from the lifting zone or to arrive at the placing zone.

[0172] If the placing zone is in or including a transportation vessel, the dynamic change of dimension of a luggage item may be critical as a trajectory based on the luggage to be lifted in its “resting” state on the conveyor may not take into account that the luggage item expands e.g. in the Z-direction and the trajectory may therefore result in that the luggage is not lifted enough to e.g. be lifted above barriers of a transportation vessel or simply not lift the luggage high enough to be able to place it on the intended placing zone surface AOFFZS.

[0173] Fig. 8b and 8c illustrate different further considerations in connection with a lift from and in particular to transportation vessel, where fig 8b e.g. may illustrate a placing zone AOFFZ of a transportation vessel 300 and wherein the placing zone AOFFZ has a specific and dynamically changing placing zone surface AOFFZS, e.g. as illustrated in fig. 8b where the transportation vessel 300 is empty and where the placing zone surface AOFFZS is simply defined as the area of the transportation vesseldesignated for receiving luggage and where the placing zone surface AOFFZS in fig. 8c is defined by earlier placed luggage items 130.

[0174] It should be noted, that a further and very important consideration is that transportation vessels may have different boundaries, e.g. side walls or other types of boundaries, such as smaller or larger fences partly defining the placing zone surface AOFFZS.

[0175] Returning to fig. 7a, this means that a luggage item may need to be lifted in different trajectories TRAJ1, TRAJ2,..TRAJn depending on the dimension of the luggage and in particular depending on how the luggage may change shape / dimension (in particular in the Z direction) during a lift.

[0176] It is noted that the trajectories may be circular of in whatever shape is needed and advisable to the lifted luggage to collide with the boundaries of the transportation vessel and / or the luggage items defining the placing zone surface.

[0177] By facilitating more than one trajectory in the Z direction related to one placing zone surface AOFFZS, e.g. the one illustrated in fig. 7a, it may be possible to make very fast moves of luggage items from the lifting zone to a placing zone as the individual lifts of the luggage items may be optimized.

[0178] The robot 200 may be configured to move or at least control the movement of the lifting unit 220 in at least two different trajectories TRAJ1, TRAJ2, TRAJn depending on a measured and / or estimated dimension change of a luggage item 130 to be lifted / being lifted and wherein the robotic unit 200 is configured to engage with and lift a luggage item 130 with the lifting unit 220 in response to an appropriate control signal.

[0179] The robot may also be configured to move or at least control the movement of the lifting unit 220 in at least two different trajectories TRAJ1, TRAJ2, TRAJn depending on a measured and / or estimated dimension change of a luggage item 130 to be lifted / being lifted in the direction of gravity (Z-direction) and wherein the roboticunit 200 is configured to engage with and lift a luggage item 130 with the lifting unit 220 in response to an appropriate control signal.

[0180] The robot may also be configured to move or at least control the movement of the lifting unit 220 in at least two different trajectories TRAJ1, TRAJ2, TRAJn depending on a measured and / or estimated dimension change of a luggage item 130 to be lifted / being lifted and wherein the robotic unit 200 is configured for determining a trajectory which is the lowest possible. The lowest possible may e.g. TRAJ1, fitting the initially determined height ot the luggage item of e.g. fig. 7a, whereas trajectory TRAJ 2 or TRAJn is a trajectory which has been modified if the luggage dynamically changes dimension (or is expected to change dimension) e.g. in the Z-direction and expands in the Z-direction so that the trajectory fitting the luggage item in its not Z- expanded state (e.g. as it is when resting on a conveyor) is not high enough to either get past e.g. boundaries of a transportation vessel in a placing zone or to be able to get past luggage items on the placing zone surface AOFFZS. In other words, the trajectories TRAJ 2 or TRAJn are higher than the trajectory TRAJ1.

[0181] In other words, it may be desired to have a trajectory which is a low as possible in order to facilitate a fast lift and a power consumption which is as low as possible.

[0182] In another embodiment, it may be desired to have a trajectory which is providing a fast lift.

[0183] The robot may also be configured to move or at least control the movement of the lifting unit 220 in at least two different trajectories TRAJ1, TRAJ2, TRAJn with respect to the Z-direction depending on a measured and / or estimated dimension change of a luggage item 130 to be lifted / being lifted and wherein the robotic unit 200 is configured for determining a trajectory which is extending higher in the Z-direction if the luggage item lifted or to be lifted is measured to be expanding the Z-direction prior to or during the lift.

[0184] The robot may also be configured to move or at least control the movement of the lifting unit 220 in at least two different trajectories TRAJ1, TRAJ2, TRAJn depending on a measured and / or estimated dimension change of a luggage item 130 to be lifted / being lifted and wherein the robotic unit 200 is configured for determining a trajectory which is extending higher in the Z-direction if the luggage item lifted or to be lifted is estimated to be expanding the Z-direction prior to or during the lift.

[0185] Fig. 7b and 7c illustrates different alternative trajectories depending on the estimated or measured dimension(s) of a luggage item 130 to be lifted / being lifted.

[0186] It should be emphasized that the term "comprises / comprising" when used in this specification is taken to specify the presence of stated features, elements, steps or components but does not preclude the presence or addition of one or more other features, elements, steps, components or groups thereof.

[0187] In the claims enumerating several features, some or all of these features may be embodied by one and the same element, component or item. The mere fact that certain measures are recited in mutually different dependent claims or described in different embodiments does not indicate that a combination of these measures cannot be used to advantage.

[0188] In the claims, any reference signs placed between parentheses shall not be constructed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps other than those listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

[0189] The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to an advantage.

[0190] It will be apparent to a person skilled in the art that the various embodiments of the invention as disclosed and / or elements thereof can be combined without departing from the scope of the invention as defined in the claims.

Claims

Claims:

1. A robotic luggage handling system (100), comprising- a robotic unit (200) configured to pick-up, move, and release a luggage item (130) in response to a control signal,- a transportation or conveying element or system (120), e.g. a conveyor (120), configured to transport a plurality of luggage items (130) to a predetermined operational area or zone of the robotic unit (200),- a sensor (140), such as a vision sensor, configured to obtain a signal associated to at least a part of the operational area or zone of the robotic unit (200),- one or more control units (400) configured to receive the signal, or a processed or derived version thereof, and to provide the control signal in response thereto and wherein the robot is a collaborative robot.

2. A robotic luggage handling system according to claim 1, wherein the sensor (140) is a vision sensor configured to obtain a signal associated to at least a part of the operational area or zone of the robotic unit (200) and wherein one or more control units (400) configured to receive the vision signal, or a processed or derived version thereof, and to provide the control signal in response thereto3. The robotic luggage handling system (100) according to claim 1 or 2, wherein the robotic unit (200) comprises a robotic arm (210) preferably comprising a plurality of arm segments and a plurality of robot joints between at least some of the arm segments, and a lifting unit (220), andwherein the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220), and wherein the robotic unit (200) is configured to engage with and lift a luggage item (130) with the lifting unit (220) in response to an appropriate control signal.

4. The robotic luggage handling system (100) according to any of the claims 1-3, wherein the robotic unit (200) comprises a lifting unit (220) and the robotic unit (200) is configured to engage with and lift a luggage item (130) with the lifting unit (220) in response to an appropriate control signal.

5. The robotic luggage handling system (100) according to any of the claims claim 3 -4, wherein the lifting unit (220) is or comprises a vacuum lifting unit (220), e.g. or preferably with controllable adjustable vacuum or suction, configured to lift a luggage item (130) vertically or substantially vertically.

6. The robotic luggage handling system (100) according to any of the claims 1-5, wherein the robotic unit (200) comprises a robotic arm (210) and a gripping unit or the like (270), the robotic arm (210) comprising a plurality of arm segments (260) and plurality of robot joints (250) between at least some of the arm segments (260), and wherein the robotic arm (210) and gripping unit or the like (270) is configured to pick-up, move, and release a luggage item (130) in response to the control signal.

7. The robotic luggage handling system (100) according to any one of claims 1 - 6, wherein the robotic unit (200) comprises, or is in connection with, a load unit configured to determine or estimate the load of a luggage item (130) picked up by the robotic unit (200), and if the determined or estimated load exceed a predetermined threshold, then release the picked up luggage item (130), e.g. or preferably so that the luggage item (130) lands or is received by the transportation or conveying element or system (120).

8. The robotic luggage handling system (100) according to any one of claims 1 - 7, wherein the vision sensor (140) is or comprises a 3D vision sensor (140).

9. The robotic luggage handling system (100) according to any one of claims 1 - 8, wherein the one or more control units (400) is / are configured to estimate, prior to picking up, the length or extent in two (X, Y) or three (X, Y, Z) dimensions of a luggage item (130), located in or on the transportation or conveying element or system (120), in response to the vision signal, or a processed or derived version thereof, and to modify the control signal in response thereto.

10. The robotic luggage handling system (100) according to any one of claims 1 - 9, wherein the robotic luggage handling system (100) comprises a sensor (150) configured to determine one dimension (Z) or the height of a luggage item (130) as it is being moved away or lifted up from the transportation or conveying element or system (120).

11. The robotic luggage handling system (100) according to any one of claims 1 -10, wherein the one or more control units (400) is / are configured to determine or estimate an appropriate or optimal location of a luggage item (130), located in or on the transportation or conveying element or system (120), of where to engage and move or lift the luggage item (130), the determination or estimation being carried out in response the vision signal or a processed or derived version thereof and / or one or more additional parameters and / or signals.

12. The robotic luggage handling system (100) according to any one of claims 1 -11, wherein the robotic unit (200) is configured to move and release a picked up luggage item (130) to / into a luggage receiving and / or transportation vessel (300), e.g. a luggage waggon (300), luggage cart (300), container unit, or similar.

13. The robotic luggage handling system (100) according to any one of claims 1 - 12, wherein the robotic luggage handling system (100) further comprises at least one additional vision sensor (140) arranged above a drop-off area or zone.

14. The robotic luggage handling system (100) according to claim 13, wherein the robotic luggage handling system (100) further comprises two additional vision sensor (140) arranged, e.g. or preferably with overlapping fields of view, above the drop-off area or zone.

15. The robotic luggage handling system (100) according to any of the claims 1-14, wherein the luggage receiving and / or transportation vessel (300) and / or the drop-off area or zone is divided into a 2D grid comprising a predetermined plurality of zones (350) in a substantially horizontal plane and / or divided into a plurality of layers (360) in a substantially vertical plane, and the robotic luggage handling system (100) is configured to move and release a picked-up luggage item (130) in accordance with the zones (350) and / or layers (360).

16. The robotic luggage handling system (100) according to any one of claims 1 - 15, wherein the robotic luggage handling system (100) or the robotic unit (200) is configured to controllably push a previously released luggage item (130) by a carried or just released luggage item (130) thereby packing the luggage items (130) more closely or densely.

17. The robotic luggage handling system according to any of the claims 1-16, wherein the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured to engage with and lift a luggage item (130) with the lifting unit (220) in response to an appropriate control signal.

18. The robotic luggage handling system according to any of the claims 1-17, wherein the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted in the direction of gravity (Z-direction) and wherein the robotic unit (200) is configured to engage with and lift a luggage item (130) with the lifting unit (220) in response to an appropriate control signal.

19. The robotic luggage handling system according to any of the claims 1-18, wherein the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured for determining a trajectory which is the lowest possible.

20. The robotic luggage handling system according to any of the claims 1-19, wherein the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured for determining a trajectory which is the fastest possible.

21. The robotic luggage handling system according to any of the claims 1-20, wherein the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured for determining a trajectory which is extending higher in the Z-direction if the luggage item lifted or to be lifted is measured to be expanding the Z-direction prior to or during the lift.

22. The robotic luggage handling system according to any of the claims 1-21, wherein the robotic arm (210) is configured to move or at least control the movement of the lifting unit (220) in at least two different trajectories (TRAJ1, TRAJ2, TRAJn) depending on a measured and / or estimated dimension change of a luggage item (130) to be lifted / being lifted and wherein the robotic unit (200) is configured for determining a trajectory which is extending higher in the Z-direction if the luggage item lifted or to be lifted is estimated to be expanding the Z-direction prior to or during the lift.

23. A robotic unit (200) for a robotic luggage handling system (100), the robotic unit (200) configured to- pick-up, move, and release a luggage item (130) in response to a control signal,- pick-up the luggage item (130) from a first predetermined operational area or zone, and- release the luggage item (130) in the first predetermined operational area or zone or after being moved in a second predetermined operational area or zone., wherein the robotic unit (200) is a collaborative robot.

24. The robotic unit (200) according to claim 23, wherein the robotic unit (200) comprises, or is in connection with, a load unit configured to determine or estimate the load of a luggage item (130) picked up by the robotic unit (200), and if the determined or estimated load exceed a predetermined threshold, then release the picked up luggage item (130), e.g. or preferably so that the luggage item (130) lands or is received by the transportation or conveying element or system (120).

25. The robotic unit (200) according to claim 23 or 24, wherein the robotic unit (200) is configured to move and release a picked up luggage item (130) to / into a luggagereceiving and / or transportation vessel (300), e.g. a luggage waggon (300), luggage cart (300), container unit, or similar.

26. The robotic unit (200) according to claim 25, wherein the luggage receiving and / or transportation vessel (300) is divided into a 2D grid comprising a predetermined plurality of zones (350) in a substantially horizontal plane and / or divided into a plurality of layers (360) in a substantially vertical plane, and the robotic luggage handling system (100) is configured to move and release a picked-up luggage item (130) in accordance with the zones (350) and / or layers (360).

27. The robotic unit (200) according to any one of claims 23 - 26, wherein the robotic unit (200) is configured to controllably push a previously released luggage item (130) by a carried or just released luggage item (130) thereby packing the luggage items (130) more closely or densely.

28. Method of lifting a luggage item in a robotic luggage handling system according to any of the claims 1-22 or in a robotic unit according to any of the claims 23-27, wherein the method comprises the steps of determining and / or estimating a dynamic change of dimensions of a luggage item being lifted and / or to be lifted, determining the lifting trajectory from a lifting zone to a placing zone at least on the basis of said determined and / or estimated dynamic change of dimension of the luggage item being lifted and / or to be lifted and lifting the luggage item according to the determined lifting trajectory.

29. Method of lifting a luggage item according to claim 28, wherein the method comprises the steps of determining and / or estimating a dynamic change of dimensions of a luggage item being lifted and / or to be lifted,modifying the lifting trajectory from a lifting zone to a placing zone at least in the Z- direction on the basis of said determined and / or estimated dynamic change of dimension of the luggage item being lifted and / or to be lifted.

30. Method of lifting a luggage item according to claims 28 or 29, wherein the estimating of dynamic change of dimensions of a luggage item is based on luggage descriptive data describing the luggage item to be lifted.

31. Method of lifting a luggage item according to any of the claims 28-30, wherein the luggage descriptive data are obtained on the basis of vision data associated to the luggage item.

32. Method of lifting a luggage item according to any of the claims 28 or 29, wherein the determining of dynamic change of dimensions of a luggage item being lifted and / or to be lifted is performed prior to lifting or immediately after initiation of lifting the luggage item.

33. A robotic luggage handling system according to any of the claims 1-22 or in a robotic unit according to any of the claims 23-27 or a method according to claim 28-32. wherein the robot is compliant with one or more of following standards: ISO 10218-1, ISO 10218-2, ISO 15066, ISO 12100.

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