DE102009052547A1 - Robot system and working method of a robot system - Google Patents

Abstract

The invention relates to a loading system for loading items of luggage (90, 90a-90f) at an airport with a transport system (10) with at least one feed section (14a-14c, 16a-16c) for feeding the luggage (90, 90a-90f), with a robot (46, 48) for removing items of luggage (90, 90a-90f) from the feed section (14a-14c, 16a-16c) of the transport system (10) and for storing the items of luggage (90, 90a-90f) in a mobile Loading container (60a-60d) and with at least one loading container (60a-60d) for receiving the items of luggage (90, 90a-90f). According to the invention it is provided in particular that at least two loading containers (60a-60d) are provided for receiving the items of luggage (90, 90a-90f) and the robot (46, 48) is designed in such a way that it can handle the items of luggage (90, 90a-90f) can store in the at least two loading containers (60a-60d) without the loading containers (60a-60d) having to be moved for this purpose. The invention serves in particular to increase the flexibility of a generic loading system.

Description

Field of application and state of the art

The invention relates to a loading system for loading luggage at an airport. Such a generic loading system has a transport system with a supply section for supplying the luggage, a robot for removing the luggage from the feed section of the transport system and for storing the luggage in a mobile loading container and at least one such loading container for receiving the luggage.

Generic Verladesysteme are designed to stow the luggage of passengers who come from a check-in area of the airport, automatically stowed in shipping containers. In particular, such loading containers may be luggage trolleys which merely serve to transport the items of luggage onto an airfield. However, the loading containers may also be in the form of containers (unit load devices) which are intended to be stowed as a whole in an aircraft.

For loading luggage, it is still common practice that the reloading of a transport system, such as a conveyor belt, done manually in the loading container. However, this reloading is due to the very different pieces of luggage a very health-demanding activity, so that there is a need to automate this activity, at least in part.

In generic systems, this is achieved in that a robot for removing the luggage from a feed section of the transport system and for storing these pieces of luggage is provided in a mobile loading container. This robot is adapted to take on the feed section of the transport system supplied luggage with a gripper and to place after a pivoting movement of the robot arm used for this purpose and thus the gripper in the mobile loading container.

However, in the generic loading systems known hitherto, there are some disadvantages that are attributable, in particular, to the fact that the robot used is not able to fully utilize the loading containers, which applies in particular to the containers mentioned, which are only laterally but not from above , can be loaded. In addition, in known generic systems, the order of the pieces of baggage supplied to the robot can be influenced only to a very limited extent, so that an unfavorable sequence of pieces of luggage also leads to a non-optimal reception of the pieces of luggage in the loading containers.

Task and solution

The object of the invention is to improve a generic loading system to the effect that the robot in interaction with the transport system and / or the loading containers can more flexibly control the insertion of luggage in the loading container. Another object is to further develop the generic loading system in such a way that the cooperation of the robot and of persons during the parallel loading of a loading container is improved.

According to a first aspect of the loading system, this is achieved in that at least two loading containers are provided for receiving the luggage and that the robot is designed such that it can store pieces of luggage in the at least two loading containers, without the loading container must be moved for this.

The loading containers, which may be in particular baggage carts or ULD containers, are thus arranged in corresponding receptacles or on corresponding parking spaces, which are adapted to the robot and its mobility such that the robot with its gripper from the feed of the Transporting originating luggage can optionally place in one of at least two loading containers. This gives the robot or the control system controlling the robot a much greater flexibility, since it can decide on a case-by-case basis whether a specific piece of luggage is better to be arranged in the first or in the second loading container. In addition, the number of required transport operations of the loading container is reduced because they do not have to be supplied to the loading system individually, but can be supplied in groups.

The robot is a robot adapted for handling luggage, which means in particular that on a robot arm pivotally mounted on a robot base a gripper is provided which is suitable for gripping luggage. This gripper is movable over the robot arm and optionally via further movement systems such that it can insert pieces of luggage into the at least two loading containers. Preferably, the robot is associated with a gripper magazine in which several adapted to each different types of luggage grippers are kept.

A second aspect of the invention, which is preferably implemented together with the above-mentioned first aspect of the two loading containers, provides that the transport system has at least one main section for the common transport of all the luggage to be loaded from the loading system and at least two feed sections for the separate onward transport of luggage from Main section to the robot has. In this case, at least one distribution device is provided, by means of which it can be controlled which piece of luggage is assigned to which feed section. Furthermore, the robot is designed such that it can remove pieces of luggage from the two Zuführabschnitten.

According to this configuration, it is thus possible for the robot to grasp bags of two feed sections, both of which are fed by a common main section. The feed sections and / or the main section are preferably designed as conveyor belts. A distribution device allows the loading system, on a case by case basis, to control with respect to individual pieces of luggage on which of the feeding sections the item of luggage in question is conveyed to the robot. Through this use of two feed sections, the order in which the robot stores the pieces of luggage in the at least one loading container can be flexibly influenced. For example, pieces of baggage which, due to their dimensions or type, are to be stowed at a later time, may be directed to a longer and / or slower conveying delivery section, while pieces of luggage which are to be loaded by the robot in the near future may be transported on a shorter and / or or faster running feed section can be supplied to the robot. To distinguish the luggage is preferably a luggage detection device is provided, which is in particular arranged on the main section and which allows to determine via appropriate sensors property of a piece of luggage as the dimensions of the luggage or its volume, derived therefrom to control the supply of luggage to the robot ,

In a development of the system, the transport system also has a supply section accessible to an operator. Such a feed section is characterized in that a human operator can remove the items of baggage fed to this feed section without being put in danger by the robot. This feed section can either be unreachable by the robot or else the robot is configured so that it does not engage in this area entered by an operator. The accessible to an operator feed section is particularly intended for handling special items of luggage that can not be handled by the robot or only poorly. Also, pieces of luggage for manual stowage can be supplied via this feed section, when the loading container is almost full and a full utilization of the existing space is only possible via a manual insertion of luggage. An operator may take the luggage from the feed section and stow it manually in one of the shipping containers.

The robot is designed in the manner described above in parallel to be able to load two loading containers and / or to be able to detect pieces of luggage from two feed sections of the transport system. This can be achieved by a stationary robot whose robot arm is sufficiently long. However, it is considered advantageous if the robot has a robot base and a robot arm which can be pivoted relative to the robot base, the robot base being designed to be translationally movable along a rail track in order to achieve a high degree of freedom of movement. The robot is thus designed by its mobility along the rail track for being able to reach the two loading containers and / or the two feed sections with his gripper. As a result, even when using a comparatively short robot arm, the robot can reach a plurality of loading containers and / or feed sections of the transport system. The loading containers are preferably arranged in series one behind the other, wherein the rail track may extend parallel to the arrangement of the respective parking spaces or receptacles for the loading container and thus parallel to the loading containers.

The rail track can be provided on the bottom side. However, it is considered to be particularly preferred if the rail track is arranged on the ceiling side, in particular at a height of at least two meters above a floor. This allows an operator, along with the robot, to load the same shipping container and act beneath the robot, which in turn is located below the rail track. It is also possible to provide a plurality of robots, each having its own rail track or using the same rail track together. In particular, when using multiple robots, the rail track preferably has a parking area, in which one of the robots can be moved for maintenance purposes or with less baggage.

The invention relates in particular as a development of the loading systems described also a generic loading system in which the robot is arranged in a freely accessible from the outside safety zone and in which a Person recognition device is provided which is adapted to detect a penetration of a person in this security zone.

The safety zone is understood to be freely accessible if it is not separated from an environment by walls or doors, in particular not facing the feed section accessible to an operator. An operator can thus easily access, with a piece of luggage originating from this feed section, the security zone in which the robot and the loading container are arranged in order to stow a piece of luggage that is not easily handled by the robot manually in the loading container. However, in order to avoid that there is a risk of injury, the person recognition device is provided, which recognizes it when the operator enters the security zone. This can be achieved, for example, via a camera system, via light barriers or via similar devices. The person recognition system allows a control device to take measures, in particular with regard to the robot, which avoid a risk of injury to the entered operator. In addition to a design in which the entire reachable by the robot area is treated as a single security zone, it is also possible to provide several partial safety zones, for example, one partial safety zone per loading container or robot. In such a case, the person recognition device is designed to differentiate to determine in which partial safety zone an operator moves to adjust the activity of the robot only in this partial safety zone or possibly also in the immediately adjacent partial safety zones accordingly.

In addition, the invention more particularly relates, as a development of the loading systems described, to a generic loading system in which a loading detection device is provided, which is designed to detect a respective filling situation of at least one of the loading containers. Such a loading detection device makes it possible, in particular, to determine a manual loading of a loading container, which is loaded in parallel by the robot, in order to be able to take into account the change in the filling situation brought about by this operator during a continued automated loading of the loading container by the robot , The Verladeerkennungseinrichtung may in particular comprise a camera, which is provided for example on the robot itself.

It is preferably provided that a baggage recognition device is provided, which is designed to recognize the baggage items supplied to the robot via the transport system. This baggage recognition device can determine properties of the baggage items, in particular their dimensions, their type, their mass and their surface condition in order to be able to determine the correct handling of the baggage items on the basis of this data.

In a further development of the system, a control device is provided, which is designed for evaluating output data of the baggage recognition device, the loading detection device and / or the person recognition device and / or which is designed to control the transport system, the distribution device, the robot and / or the loading container, wherein this control device is designed to carry out the loading process.

It serves, in particular, to evaluate the data of the baggage identification device with regard to the properties of the individual pieces of luggage and their classification based thereon. It also serves to evaluate the output data from the person recognition device, thus in particular the recognition of persons in the security zone or in one of the partial security zones. Furthermore, the control device can be designed to evaluate the output data of the loading detection device and in particular to determine which effects a manually performed loading operation of an operator has caused on the filling situation of a loading container.

Depending on the evaluation of these data, the control device can control the transport system and the distribution device and thus in particular control which piece of luggage is fed on which feed section and at which speed this feed section is operated. Furthermore, the control device can control the robot and in particular specify with which gripper the robot picks a piece of luggage from which feed section. Furthermore, the control device can specify to the robot in which loading container and at which point in this loading container the piece of luggage is to be stored. If appropriate, the control device can also control the transport of the loading containers into their desired position or from their desired position.

In particular, the control device is designed to control the supply of a piece of luggage to one of at least two feed sections of the transport system as a function of the respective current filling of the loading containers and depending on the type of item of luggage. The two feed sections are each those from which the robot can remove the luggage. Depending on which order the baggage still to be loaded in view of the current filling of the loading container seems advantageous, the bag can be assigned to a particular feed section, the feed sections preferably differ in the controlled by the controller transport speed of the baggage to the robot. The control device can thus control when which piece of luggage is available for the robot.

The controller may also be configured to detect if an operator is in the security zone and, in response thereto, to stop or at least slow down the robot located in that security zone. This makes it possible for an operator to intervene in a running loading operation by the robot and in particular to manually insert luggage into the loading container. Also, the operator can safely remove a loading container manually from the security zone.

It is preferably provided that the removal of the person from the security zone is also recognized and leads to the automatic continuation of the loading process by the robot. However, it can also be provided that before a restart of the robot, first a manual confirmation of the operator, for example, by a keystroke is required, with which the operator confirms the completion of his activity in the security zone.

It is advantageous if the filling situation of at least one of the loading containers is determined as soon as the operator has left the safety zone. A manual manipulation of the filling situation of the loading container carried out by the operator is thereby recognized and can be taken into account in the subsequent automated depositing of pieces of luggage in this loading container. The leaving of the safety zone by the operator, if necessary with an explicit confirmation by the operator, therefore leads to the fact that the change made by the operator to the loading containers is automatically detected in order to control the further loading operation based thereon. In particular, it is determined which possibilities exist for the storage of luggage in the loading container after the insertion of a piece of luggage by the operator.

Brief description of the drawings

Other aspects and advantages of the invention will become apparent in addition to the claims from the following description of a preferred embodiment of the invention, which is explained with reference to the figures. Showing:

1 the structure of a loading system according to the invention,

2a to 2e the sequence of a first loading operation with the loading system after 1 and

3a to 3g the sequence of a second loading operation with the loading system after 1 ,

Detailed description of the embodiment

1 shows a loading system according to the invention, which is arranged in the luggage distribution area of an airport.

The loading system has a conveyor belt system 10 trained transport system, by means of which luggage from a check-in area 8th the airport to a robot system 40 can be promoted. This robot system 40 is designed to remove the luggage from the conveyor system 10 in loading containers 60a . 60b . 60c . 60d to load.

Details of the components of the loading system:

The conveyor belt system 10 has a main section 12 , over which all luggage items to be loaded with the loading system shown in the direction of the arrow 1 be supplied. From the main section 12 a total of six feed sections 14a . 14b . 14c . 16a . 16b . 16c to influence on which way a piece of luggage along the conveyor system 10 takes, distribution facilities 18a . 18b . 18c . 18d . 18e are provided. These distribution facilities 18a . 18b . 18c . 18d . 18e allow a piece of luggage on a desired Zufuhrrabschnitt purposefully 14a . 14b . 14c . 16a . 16b or by the fact that no deflection takes place, the baggage the feed section 16c supply. At the main section 12 is still a baggage detection device 70 intended. This baggage detection device 70 is designed as a bridge, under which the luggage items are passed, which are determined by a sensor adapted properties of the luggage, in particular their nature, their dimensions and their mass.

The robot system 40 has two rail tracks 42 . 44 on, along each of which a robot 46 . 48 is movable. The robots 46 . 48 themselves consist of one along the respective rail track 42 . 44 movable robot base 46a . 48a , on which a multi-link robot arm 46b . 48b is hinged pivotally. These robot arms 46b . 48b each have a gripper 46c . 48c on the is designed to baggage, in particular luggage pieces of a certain type, to take. The robot system 40 also has a gripper magazine 50 It's the robots 46 . 48 allows, on a case-by-case basis and in particular, depending on the item of luggage to be taken, an optimal gripper for this purpose 52 instead of the gripper 46c . 48c to dock. Both rail tracks 42 . 44 each have a parking area 42a . 44a in which each robot 46 . 48 can be positioned when they are not needed.

The arrangement of the robot system 40 relative to the conveyor belt system 10 is such that the robots 46 . 48 at least on the feeder sections 14a . 14b . 16a . 16b in the direction of the arrows 2 can take the supplied luggage directly from the conveyor belt to load them. The two outer feed sections 14c . 16c are not for handling by the robots 46 . 48 intended. Instead, they each have a human operator 30 . 32 who handles those pieces of baggage which are transported via the feeding sections 14c . 16c into the removal sections associated with the feed sections 15 . 17 were promoted.

Opposite to those by the robots 46 . 48 accessible feed sections 14a . 14b . 16a . 16b are on the opposite side of the rail tracks 42 . 44 the receptacles 60a to 60d provided for this purpose dashed slots shown 62 to 62d positioned. In the present embodiment, there are wheeled luggage car, which are unloaded as intended on the tarmac in the aircraft again. Alternatively, containers may also be used, in particular ULD containers, which are specifically adapted to aircraft, and for which the parking spaces 62 - 62d may optionally be designed as customized recordings.

As from the dashed representations 46 ' of the robot 46 can be seen, the robot can 46 due to the mobility of his robotic arm 46b and because of its mobility along the rail track 42 Luggage from the two feeder sections 14a . 14b remove and place them in the two shipping containers 60a . 60b insert. True, one of those can be the robot 46 . 48 in the present embodiment, if necessary, all four supply sections 14a . 14b . 16a . 16b as well as all four loading containers 60a to 60d to reach. As intended, however, provision is made in the present case for each of the robots 46 . 48 each two Zuführabschnitte and two loading containers are assigned.

Both robots each have a loading detection device 46d . 48d located directly on the robot base 46a . 48a is attached, and preferably has a camera. Through this camera it is possible for the robots, the current filling situation of the loading containers 60a to 60d to recognize, the purpose of which will be explained below.

The robots 46 . 48 each act in a dotted security zone 80 . 82 , which is designed so large that in each case by the respective robot 46 . 48 in the course of achieving the two feed sections and the two loading containers crossed area is thereby completely covered. In addition to a not shown and for the operator 30 . 32 recognizable visual marking of the security zones 80 . 82 These are by a person recognition device 84 additionally secured. This person recognition device 84 can be formed for example by light barriers or by a camera system. It is designed to be the entry of one of the operators 30 . 32 in the security zones 80 . 82 to recognize, so that the movement of each robot 46 . 48 can be adjusted. Further encapsulation of the security zones 80 . 82 , For example, by partitions or grids, is not present, since it is intended that the operator 30 . 32 the security zones 80 . 82 enter and because this should not be complicated.

The loading system further comprises a control device 72 on, the lines indicated by dashed lines 74 with the robot system 40 and thus also with the loading detection devices 46d . 48d , with the conveyor belt system 10 , with the baggage recognition device 70 and with the person recognition device 84 connected is. This control device 72 controls the entire loading process. Even if the controller 72 In the embodiment shown as an integral unit, it can of course also be formed by a plurality of cooperating units. For example, a robot control unit can be designed as a separate subunit.

The loading system shown allows luggage to be taken from the check-in area 8th come through the baggage detection device 70 and analyze it via the feed sections 16a . 16b . 14a . 14b the robots 46 . 48 supply, which automates the loading of luggage in the loading container 60a to 60d make. The loading system also allows pieces of luggage over the feed sections 14c . 16c human servers 30 . 32 to feed these pieces of luggage manually in the loading containers 60a to 60d can place.

Related to the handling of luggage alone with the robots 46 . 48 results from the access of these robots to two associated Zuführabschnitten 14a . 14b . 16a . 16b and to two loading containers 60a . 60b . 60c . 60d a particularly great flexibility of the system. Access to several loading containers allows the robots 46 . 48 Always place pieces of luggage in the loading container in which a particularly suitable place can be found at the given time.

The two separate feed sections, each robot 46 . 48 can be used to influence the feeding order of luggage to be packaged. This is based on the 2a to 2e and the right-sided robot 46 explained.

As the 2a shows are in an initial state, the two loading containers 60a . 60b Almost completely with luggage on a lowest luggage level 90 loaded. On the main section 12 at this moment and in that order will be two large pieces of luggage 90a . 90b and two smaller pieces of luggage 90c . 90d fed. The size of each piece of luggage 90a - 90d is the controller 72 by the recognition at the baggage recognition device 70 known. To get in the two shipping containers 60a . 60b first to completely fill the lowest level controls the controller 72 the distribution facilities 18b . 18c as well as the feeding sections 14a . 14b such that the robot 46 even before the big luggage 90a . 90b the small pieces of luggage 90c . 90d can load. This is the speed of Zuführrabschnitts 14a reduced and by an appropriate control of the distribution facilities 18b . 18c made sure that in the in 2 B shown the smaller pieces of luggage 90c . 90d on the shorter and faster way across the feed section 14b the robot 46 be supplied. The robot 46 Accordingly, in the in 2c clarified way in the two shipping containers 60a . 60b first the smaller pieces of luggage 90c . 90d stow, to only later the larger luggage 90a . 90b in a second level above the smaller pieces of luggage 90c . 90d to place. This is in the 2d and 2e clarified.

By this influence on the order in which the luggage pieces 90a - 90d be loaded, can achieve a much better use of the available space.

Another loading situation is based on the 3a to 3g clarified. It illustrates the special design of the loading system to the effect that both an automated and a manual loading is possible.

Starting from still empty loading containers 60a . 60b in this case are over the main section 12 of the conveyor belt system 10 two pieces of luggage 90e . 90f fed. The luggage 90f is doing by the baggage detection device 70 and the controller 72 recognized as difficult to handle by the robot baggage and therefore by means of the distribution device 18a on the feeding section 14c forwarded, allowing it for manual stowage in the withdrawal area 15 get like that 3b and 3c clarify. The other piece of luggage 90e is manageable by the robot and therefore at the same time by means of the distribution device 18b the feeding section 14b fed and there in the in 3d clarified way by the robot 46 taken to it by the control device 72 given dashed line position 90e ' in the loading container 60a to place.

If now the operator 30 the piece of luggage 90e from the withdrawal area 15 removes and thus into the security zone 80 occurs, this is by the person recognition device 84 to the controller 72 reported which directly the robot 46 stops. The robot 46 persists therefore first in the position of 3d , The operator 30 places the piece of luggage 90f in the loading container 60a and then leaves in the 3e clarified way again the security zone 80 , The person recognition device 84 recognizes this and gives it to the controller 72 further. The control device 72 activates the robot 46 again, wherein this is controlled so that it does not resume the loading process immediately, but in the in 3f clarified manner previously positioned so that it by means of Verladeerkennungseinrichtung 46d visually the loading container 60a checked. This is followed by an evaluation by the control device 72 that recognizes that the originally intended position 90e ' for the luggage 90e is no longer available. The control device 72 therefore optimizes the loading strategy taking into account the inserted baggage item 90f so that the robot the piece of luggage 90e instead of the original position 90e ' at the alternative position 90e '' placed.

The person recognition by the person recognition device 84 and the loading detection device 46d together allow a functional cooperation of the robot 46 with the operator 30 ,

Claims (13)

Loading system for loading luggage ( 90 . 90a - 90f ) at an airport with - a transport system ( 10 ) with at least one feed section ( 14a - 14b . 16a - 16b ) for feeding the luggage ( 90 . 90a - 90f ) - a robot ( 46 . 48 ) for the removal of luggage ( 90 . 90a - 90f ) from the feeding section ( 14a . 14b . 16a . 16b ) of the transport system ( 10 ) and to store the luggage ( 90 . 90a - 90f ) in a mobile loading container ( 60a - 60d ) and - at least one loading container ( 60a - 60d ) for receiving the luggage ( 90 . 90a - 90f ), characterized in that - at least two loading containers ( 60a - 60d ) for receiving the luggage ( 90 . 90a - 90f ) are provided and - the robot ( 46 . 48 ) is designed such that it the luggage ( 90 . 90a - 90f ) in the at least two shipping containers ( 60a - 60d ), without the loading containers ( 60a - 60d ) must be moved for this. Loading system according to the preamble of claim 1 or claim 1, characterized in that the transport system ( 10 ) - at least one main section ( 12 ) for the common transport of all luggage items to be loaded by the loading system ( 90 . 90a - 90f ) and - at least two feed sections ( 14a . 14b . 16a . 16b ) for the separate onward transport of the luggage ( 90 . 90a - 90f ) of the main section ( 12 ) to the robot ( 46 . 48 ), wherein - at least one distribution device ( 18a - 18d ), by means of which it is possible to control which item of luggage ( 90 . 90a - 90f ) which feed section ( 14a . 14b . 16a . 16b ), and - the robot ( 46 . 48 ) is designed such that it the luggage ( 90 . 90a - 90f ) from the at least two feed sections ( 14a . 14b . 16a . 16b ). Loading system according to one of the preceding claims, characterized in that the transport system ( 10 ) a feed section accessible to an operator ( 14c . 16c . 15 . 17 ) having. Loading system according to claim 2 or 3, characterized in that the transport system has a return section, by means of which pieces of luggage can be conveyed from the feed section back to the main section. Loading system according to one of the preceding claims, characterized in that the robot ( 46 . 48 ) - a robot base ( 46a . 48a ) and - one opposite the robot base ( 46a . 48a ) pivotable robot arm ( 46b . 48b ), wherein the robot base ( 46a . 48a ) along a rail track ( 42 . 44 ) is formed translationally movable. Loading system according to the preamble of claim 1 or any one of the preceding claims, characterized in that - the robot ( 46 . 48 ) in a freely accessible security zone ( 80 . 82 ) and - a person recognition device ( 84 ), which is designed to prevent an intrusion of a person ( 30 . 32 ) into the security zone ( 80 . 82 ) to recognize. Loading system according to the preamble of claim 1 or any one of the preceding claims, characterized in that a loading detection device ( 46d . 48d ) is provided, which is adapted to a respective filling situation of at least one of the loading container ( 60a - 60d ) to recognize. Loading system according to one of the preceding claims, characterized in that a baggage recognition device ( 70 ) which is designed to be transported via the transport system ( 10 ) the robot ( 46 . 48 ) ( 90 . 90a - 90d ) to recognize. Loading system according to one of the preceding claims, characterized in that a control device ( 72 ) is provided for the evaluation of output data - the baggage recognition device ( 70 ), - the loading detection device ( 46d . 48d ) and / or the person recognition device ( 84 ) and / or for controlling - the transport system ( 10 ), - the distribution facility ( 18a - 18e ), - the robot ( 46 . 48 ) and / or - the loading container ( 60a - 60d ), wherein the control device ( 72 ) is designed for carrying out one of the methods according to one of claims 10 to 12. Method for operating a loading system according to one of claims 1 to 8, characterized in that the supply of a piece of luggage ( 90 . 90a - 90f ) to one of at least two feed sections ( 14a . 14b . 16a . 16b ) of the transport system ( 10 ) depending on the current filling of the loading container ( 60a - 60d ) and depending on the type of baggage ( 90 . 90a - 90e ) he follows. Method for operating a loading system according to one of claims 6 to 8, characterized in that it is detected whether a person ( 30 . 32 ) in the security zone ( 80 . 82 ) and in case of detection of a person ( 30 . 32 ) in the security zone ( 80 . 82 ) arranged robots ( 46 . 48 ) is stopped or slowed down. A method according to claim 11, characterized in that the filling situation of at least one of the loading container ( 60a ) is determined as soon as the person ( 30 . 32 ) has left the security zone, and at one by the person ( 30 . 32 ) carried out manual manipulation of the filling situation this determined changed filling situation in the subsequent automated storage of luggage ( 90f ) in the loading container ( 60a ) is taken into account. Use of a robot system according to one of claims 1 to 9 in an airport for the purpose of loading baggage in aircraft-specific containers or in transport vehicles ( 60a - 60d ) for the transport of luggage ( 90 . 90a - 90f ) on an airfield of the airport.

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