Abstract:
The application relates to freight loading systems for transporting freight items. Corresponding freight loading system comprises a freight deck having a plurality of freight handling devices, a control device which is communicatively connected to the freight handling devices in order to handle at least one freight item on the freight deck, and a remote control, which is communicatively connected to the control device in order to output control signals to the control device. The control device is intended to comprise a position determination unit for determining a remote control position on the freight deck and/or the orientation of the remote control, wherein the control unit is designed to select a number of freight handling devices and drive same depending on the control signals received and the remote control position and/or orientation of the remote control. This allows easier control of the freight items on the freight deck.

Description:
RELATED APPLICATIONS 
     This patent application is a U.S. nationalization under 35 U.S.C. §371 of International Application No. PCT/EP2012/050953, filed Jan. 23, 2012, which claims priority to German Patent Application No. 10 2011 000 820.9, filed Feb. 18, 2011. 
     BACKGROUND 
     The invention concerns a freight loading system and a method for controlling a plurality of freight handling devices on a freight deck. 
     To transport air freight, the freight items to be transported, in particular containers or pallets which are preferably produced to specific standards, are attached inside the cargo hold by means of locking elements on the freight deck of the cargo hold. Such locking elements frequently form freight loading tracks between which the standard freight items can be positioned. To position the freight items at the locations provided for them, loading systems or freight loading systems are used which assist the ground staff in loading and unloading. The loading systems are intended to accelerate the loading and unloading process and frequently have a plurality of actuators and sensors and a control computer which is adapted to evaluate the signals received, where applicable to output signals and implement a suitable control strategy for the actuators. The loading systems used must be very easy to operate since ground staff often receive no training in relation to a specific freight loading system. Also both loading and unloading take place under high pressure of time, whereby incorrect operation can easily occur. Such incorrect operation must absolutely be prevented. A faulty freight loading system, either because of incorrect operation or because of natural wear, can lead to substantial costs since operation of wide-bodied aircraft is very costly. Every minute a wide-bodied aircraft spends on the ground costs the operator money. Furthermore, a faulty freight loading system or incorrect operation can lead for example to damage to the cargo hold. Repair of the cargo hold is very expensive. 
     To structure the loading and unloading process as efficiently as possible, the freight deck has ball mats which allow the freight items to be transported on the freight deck with minimum force. Furthermore freight handling devices (PDUs: power drive units) are provided which supply the force necessary for transport. The control computer controls these freight handling devices to allow preferably substantially automatic loading and unloading. Nonetheless, on loading and unloading of aircraft, ground staff are still essential since many loading processes are highly individual because of the different dimensions of the freight items, their projections etc. So modern freight loading systems have input devices which allow the ground staff to give control commands to the control computer. 
     DE 10 2008 052 468 A1 shows for example a freight loading system for an aircraft comprising a control computer and a plurality of freight handling devices in communicative connection with the control computer. The control computer operates the freight handling devices such that the freight items are positioned in a suitable manner on the freight deck of the aircraft. DE 10 2008 052 468 A1 furthermore describes a remote control which enables the user to move freely on the freight deck and give suitable control commands in the form of control signals. Handling of this remote control is relatively complex. A further freight loading system is known from EP 0 937 643. 
     Corresponding freight loading systems are also used in logistics centres. Such logistics centres are located for example at major transhipment airports which daily receive thousands of freight items and pass these on for further transport in a suitable manner. Also frequently freight decks are provided in corresponding logistics centres, which are equipped with corresponding rollers to convey the freight items with as little friction as possible. Here too, freight handling devices can be provided which communicate with a control computer to transport the freight items in a suitable manner on the freight deck. In fact similar requirements to those already described above apply to freight loading systems in logistics centres. In particular it is necessary to make their operation as simple as possible. 
     Starting from DE 10 2008 052 468 A1, an object of the present invention is to provide a freight loading system which can be operated simply and efficiently. Furthermore a corresponding method is provided for controlling a plurality of freight handling devices of a freight loading system. 
     In particular the object is achieved by a freight loading system comprising: 
     a freight deck with a plurality of freight handling devices; 
     a control unit which is in communicative connection with the freight handling devices for the transport of at least one freight item on the freight deck; 
     a remote control which is in communicative connection with the control unit for the output of control signals to the control unit. 
     An essential concept of the present invention is that the control unit is equipped with a position determination unit to determine a remote control position on the freight deck and/or the orientation of the remote control, wherein the control unit is adapted to select a quantity of freight handling devices and drive these as a function of the control signals received and the remote control position and/or orientation of the remote control. 
     The freight loading system according to the invention can be used both in aircraft and at any other location, in particular in logistics centres. A core concept of the invention is that the control unit knows the precise or approximate position and/or the precise or approximate orientation of the remote control, and interprets the control signals output by the remote control differently as a function of these parameters. As a result it is possible to design the remote control substantially more simply, since for example selection of the freight item to be transported on the freight deck can be made automatically. For example the control unit can assume that the freight item to be transported is always the one closest to the remote control. 
     It is even conceivable to allow the remote control to communicate with the control unit by hard-wired connection, but preferably a wireless communication is used. The remote control can be adapted to transmit the control signals at least partly wirelessly, in particular by means of light waves, to the control unit. To this extent it is possible for the user to move freely about the freight deck. 
     The position determination unit can be adapted to determine at least one freight item position of the at least one freight item on the freight deck, wherein the control unit is adapted to drive the freight handling devices as a function of the control signals received, the remote control position and/or the orientation of the remote control, and the position of the at least one freight item. 
     Insofar as the control unit knows both the position of the remote control and/or its orientation, and the position of the at least one freight item, these parameters can be taken into account in the interpretation of the control signals. It is for example easily possible to determine the freight item closest to the user, or the freight item which he is looking at directly. The control unit can be configured such that it assumes that the control signals output by means of the remote control always relate to the freight item which the user is looking at, that to which the remote control is pointing and/or that which is closest to the remote control. 
     The control device can be adapted to take into account the remote control position and/or the orientation of the remote control relative to the at least one freight item. It is however also possible to change the function method of the remote control depending on the relative position and/or orientation. 
     The remote control can comprise at least one first actuation device to which a “follow” control signal is allocated, wherein the control device is adapted, on reception of the “follow” control signal, to determine a transport direction in which the at least one freight item is to be transported in the direction towards the remote control position, and controls the handling device such that the at least one freight item is transported in the calculated transport direction. 
     The remote control can thus be used in the manner of an “electronic lead”, wherein actuation of the first actuation device leads to the output of control signals which cause the control device to move a selected freight item towards the user or towards the position of the remote control. To this extent the user can walk ahead of the freight item and, by actuating the first actuation device, cause a selected freight item to follow him. The actual control of the freight handling device and the selection of a suitable transport direction need therefore no longer be made by the user, since the control device knows the position of the freight item and the position of the remote control and possibly its orientation. 
     Consequently the remote control can comprise at least one second actuation device to which a “back” control signal is allocated, wherein the control device is adapted, on reception of the “back” control signal, to determine a transport direction in which the at least one freight item is moved in a direction away from the remote control position, and controls the handling devices such that the at least one freight item is transported in the calculated transport direction. Similarly the remote control can have thus a second actuation device, actuation of which leads to the output of control signals which cause the control unit to move a selected freight item away from the user or from the remote control. To this extent it would for example be conceivable for the user to walk behind the freight item and guide this ahead of him. Preferably this second transport mode is used to park the freight items for example in a space without danger to the user. Theoretically it is conceivable to provide one or more further actuation devices which allow rotation of the freight item. Here too theoretically the transport strategy implemented by the control device can depend on the position and/or orientation of the remote control relative to the freight item. 
     Furthermore it is possible, by detecting the position of the remote control, to implement various safety mechanisms which allow protection of the user and the equipment used. For example the control device can comprise a distance determination device to determine an actual distance between the freight item position and the remote control position, and be adapted to deactivate at least the selected number of freight handling devices if the actual distance is less than a predefined safety distance. Thus for example a freight item can be prevented from running over the user. Furthermore it is conceivable to use the teaching according to the invention on a freight deck in which a plurality of users are active with a plurality of remote controls. By taking into account the distance between the remote controls and the freight items, accidents can also be avoided in which a user is run over by a “foreign” freight item. 
     The control system can be adapted, using the remote control position and orientation of the remote control, to select from a plurality of freight items one which is to be transported according to the control signals. To this extent the teaching according to the invention simplifies the allocation of the control signals to a specific freight item to which they relate. 
     The freight loading system can comprise a plurality of receiver units for receiving the control signals and preferably arranged covering the surface of the freight deck, wherein the position determination device knows the positions of the receiver units and from the positions of the receiver units which receive a control signal output by the remote control, determines the remote control position. Theoretically it is possible to determine the position of the user of the remote control or of the remote control itself by means of additional devices (e.g. GPS or local position determination systems). Preferably however the position is determined with sufficient accuracy that the control signals are received only by one or by few receiver units from the plurality of receiver units. The positions of the receiver units which receive the control signals give a sufficiently precise conclusion on the positions of the remote control or the position of the user of the remote control. It is conceivable to reduce the transmission power of the remote control such that only very few, preferably only one receiver unit receives the control signals in a particular position. Theoretically the receiver units can also be adapted to allocate to the received control signal a direction from which this is received, so that firstly the position determination is more precise and secondly conclusions can be drawn on the orientation of the remote control. Theoretically it is furthermore possible to structure the transmitter of the remote control such that individual receiver units can be addressed. This is easily possible in particular if infrared signals are used. To this extent the user can direct the remote control at a specific receiver unit which for example is allocated to a specific freight item, and thus make a selection from the freight items. 
     In particular the object is achieved by a method for controlling a plurality of freight handling devices of a freight loading system, in particular of a freight loading system as already described, wherein the method comprises the following steps: 
     reception of a control signal from a remote control, in particular by means of an IR receiver device; 
     determination of at least one remote control position of the remote control; 
     determination of at least one freight item position of at least one freight item on a freight deck; 
     selection of a quantity of freight handling devices arranged on the freight deck; 
     determination of a transport direction for each freight handling device from the selected quantity as a function of the control signal received, the remote control and the freight item position; 
     driving of the freight handling devices in the respective transport direction. 
     According to the method therefore the remote control positions and where applicable the freight item position are taken into account in the interpretation of the control signal or signals received. By taking into account these parameters, both the operating comfort and the safety can be increased during control of the plurality of freight handling devices. 
     The selected quantity of freight handling devices can be dependent on the remote control position determined and/or the orientation of the remote control. It is also possible using the position data not only to influence the manner in which a specific freight item is transported in response to the reception of a specific control signal, but also the selection of the freight item to be transported can depend on these data. 
     Determination of the remote control position can comprise determination of a primary receiver unit from a plurality of receiver units arranged on or close to the freight deck, and determination of the position of the primary receiver unit on the freight deck, wherein the primary receiver unit is the receiver unit which receives the control signal from the remote control. Naturally it is conceivable for several receiver units to receive a particular control signal. In this case for example the primary receiver unit could be the receiver unit which receives the strongest control signal. With the method specified, the position of the remote control can easily be determined. 
     The method can comprise calculation of an actual distance between the freight item position and the remote control position, wherein the selected freight handling devices are driven only when the actual distance is greater than a predefined safety distance. To this extent safety mechanisms can be implemented to protect the user and the equipment. 
     The method can comprise calculation of at least one freight distance between a first freight item and a second freight item, wherein the selected freight handling devices are driven only when the calculated freight distance between the first and second freight items, between which the remote control is located according to the specific remote control position, is greater than a predefined safety distance. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The invention is described below by means of several embodiment examples which are explained in detail with reference to specific diagrams. 
         FIG. 1  shows a top view of a portion of a freight deck of an aircraft with numerous freight handling devices; 
         FIG. 2  is a detailed view of a freight handling device from  FIG. 1 ; 
         FIG. 3  is a detailed view of a further freight handling device; 
         FIG. 4  is a top view of a freight deck in a logistics centre; 
         FIG. 5  shows a diagrammatic depiction of individual components of the freight loading system; 
         FIG. 6  shows a diagrammatic depiction of a freight item; and 
         FIG. 7  shows the remote control for the output of control signals for a control computer. 
     
    
    
     DESCRIPTION 
     In the description which follows, the same reference numerals are used for the same parts and those with the same effect. 
       FIG. 1  shows a top view of a freight deck  10  with a freight loading system according to the invention. The portion of the freight deck  10  shown is substantially rectangular and extends in the X-Y plane (the Y direction corresponds to the longitudinal direction of the aircraft and the X direction to the transverse direction) of the aircraft and is delimited by a left side wall  1  and a right side wall  2 . The left side wall  1  is interrupted in portions to form a door opening  7  and has an input device  24  for the input of control commands. A freight container  30  can be introduced into the cargo hold through the door opening  7 . The freight loading system according to the invention is particularly suitable for transporting freight containers efficiently on the freight deck  10  under constant supervision by a user. A corresponding freight container  30  is shown for example in  FIG. 6  and has a length l, a width b and a predefined height h. 
     The freight deck  10  of the aircraft shown in  FIG. 1  is configured such that a first freight loading track A and a second freight loading track B are provided to receive individual freight containers  30 . For this centre locks  11 ,  11 ′,  11 ″,  11 ′″ are arranged along a centre plane  5  of the freight deck  10 . The freight loading tracks A, B have a width which substantially corresponds to the width B of the freight container  30 . Usually further function elements are provided to fix the freight container  30  to the freight loading tracks A, B in a suitable manner. 
     The freight deck  10  is equipped with ball mats so that the freight container  30  can be transported thereon with relatively low resistance. Furthermore a network of freight handling devices  50  to  50 ″″′ is provided to drive the freight container  30 . Preferably the freight handling devices  50  to  50 ′ are distributed over the freight deck  10  such that a freight container  30  to be loaded, with a freight floor outline  33 , irrespective of its position, is always in engagement with at least one freight handling device  50  to  50 ″″′. Since the loading and unloading region is often used to rotate and align the freight containers  30 , here a higher number of freight handling devices  50  to  50 ″″′ can be provided. 
     On either side of the door opening  7 , RFID sensor devices  25 ,  25 ′ are arranged which can detect an RFID tag  34  on the freight container  30  (see  FIG. 6 ). To this extent a control computer  20  connected with the RFID sensor devices  25 ,  25 ′ (see  FIG. 5 ) can unambiguously identify an incoming freight container  30 . An identification number obtained can be used to determine the freight container width b and freight container length l, i.e. the dimensions of the freight container  30 . Alternatively the RFID tag  34  can comprise concrete information on these dimensions. In a further embodiment example a laser scanner can be arranged at the door opening  7  or at any other suitable position to determine the dimensions of the incoming freight container  30 . Both the RFID sensor devices  25 ,  25 ′ and a corresponding laser scanner are purely optional equipment of the freight loading system according to the invention, which facilitate positioning of the freight container  30  on the freight deck  10 . A corresponding freight item position determination can however also take place without these devices. 
     In a first embodiment example of the invention, the control computer  20  knows the position of the freight container  30  (see freight floor outline  33 ) and that of a user (see user outline  8 ) holding a remote control  40  (see  FIG. 7 ) in his hand. A corresponding remote control  40  can comprise various control elements, namely a forward button  41 , a back button  42  and a rotation button  43 . Furthermore a remote control transmitter  44  is provided which allows direct or indirect communication with the control computer  20 . By means of the remote control  40  therefore control signals can be output depending on the control device actuated. According to the invention the control computer  20  is formed such that on actuation of the forward button  41 , a selected freight container  30  moves towards the user, while actuation of the back button  42  leads to the selected freight container  30  moving away from the user. 
     If we consider for example the embodiment example shown in  FIG. 1  with the user outline  8  and the freight floor outline  33 , actuation of the back button  42  leads to the control computer calculating a transport direction r which transports the freight item, in particular the freight container  30 , away from the user. In the concrete embodiment example shown, actuation of the back button  42  leads to the control computer  20  calculating the transport direction r, selecting a quantity of freight handling devices covered by the freight container  30 , namely a first freight handling device  50 , a second freight handling device  50 ′, a third freight handling device  50 ″ and a fourth freight handling device  50 ′″, orienting and driving these such that the freight container  30  is moved in the transport direction r. 
     In the embodiment example, the freight handling devices  50  to  50 ″″′ are in communicative connection with the control computer  20  via a bus (e.g. a CAN-bus) and serve as sensors and actuators for this. As shown in  FIG. 2 , a freight handling device  50  consists of an annular frame  55  and a circular rotation plate  53  arranged in the frame  55 . The rotation plate  53  is mounted rotationally mobile within the frame  55  such that this can be rotated in the X-Y plane about a rotation axis. The freight handling device  50  has corresponding actuators and sensors so that the rotation plate  53  can be oriented arbitrarily within the frame  55 . Sensors give information on the orientation of the rotation plate  53  within the frame  55 . 
     The rotation plate  53  accommodates a roller drive unit  57  which drives the drive rollers  52   a ,  52   b . The drive rollers  52   a ,  52   b  are adapted to drive the freight container  30  in a direction transverse to the rotation axis of the drive rollers  52   a ,  52   b  substantially within the X-Y plane. For the expert active in this field, it should be clear that the freight container  30  can also be transported in the opposite direction by driving the drive rollers  52   a ,  52   b  in the opposite direction of rotation. 
     The freight handling device  50  and every other freight handling device  50 ′ to  50 ″″′ can furthermore comprise four light sensors  54   a ,  54   b ,  54   c ,  54   d  which are arranged on the frame  55 . To this extent the orientation of the rotation plate  53  does not affect the position of the light sensors  54   a ,  54   b ,  54   c ,  54   d . Preferably the light sensors  54   a ,  54   b ,  54   c ,  54   d  are arranged in pairs on opposite sides of the frame  105 . Thus the first light sensor  54   a  is arranged at the 45° region of the freight handling device  50 , the second light sensor  54   b  in the 135° region, the third light sensor  54   c  in the 225° region and the fourth light sensor  54   d  in the 315° region. Light sensors  54   a ,  54   b ,  54   c ,  54   d  comprise light-emitting diodes and photodiodes so that the light sensors  54   a ,  54   b ,  54   c ,  54   d  are able to detect the presence of a freight item, in particular a freight container, directly above the light sensors  54   a ,  54   b ,  54   c ,  54   d . By means of the light sensors  54   a ,  54   b ,  54   c ,  54   d  provided on each freight handling device  50  to  50 ″″′, the control computer  20  can determine relatively precisely whether and how far a specific freight handling device  50  to  50 ″″′ is covered by a freight container  30 . To this extent the control computer  20  can determine the position of the freight container  30  relatively precisely from this information. 
     Furthermore the light sensors  54   a ,  54   b ,  54   c ,  54   d  can be adapted to receive the control signals from the remote control  40  which are output via the remote control transmitter  44 . These control signals are then passed on via the bus to the control computer  20 . 
     In the embodiment example described, the transmission power of the remote control transmitter  44  is weak such that control signals can only be received within a radius of a few meters (e.g. up to 2 m). Depending on orientation of the remote control therefore, the control signals allocated to actuation of the back button  42  are received only by light sensors  54   a ,  54   b ,  54   c ,  54   d  of the fifth or sixth freight handling device  50 ″″,  50 ′″′. This information itself is sufficient to determine an approximate position and orientation of the remote control  40  on the freight deck  10 . So by evaluating this information, the control computer  20  knows that the user with the remote control  40  is standing, in the image plane, below the freight floor outline  33 , i.e. the freight container  30 . To this extent the information obtained is sufficient to determine the transport direction r as a function of the position of the remote control  40 . 
     The example already described can be explained in more depth with reference to  FIG. 5  which shows the individual components of the freight loading system. The control signals from the remote control  40  are for example received by the sixth freight handling device  50 ″″′, in particular by the light sensor  54 , and passed on to the control computer  20 . To this extent there is an indirect communication with the control computer  20 . The control computer  20  comprises a position determination device  23  which establishes from which freight handling device  50  to  50 ″″′ the control signals were received. The individual positions of the individual freight handling devices  50  to  50 ″″′ are stored in a memory device  21  so that the position determination device  23  can determine a position of the remote control  40  from identification of the sixth freight handling device  50 ″″′. The position determination device  23  then scans the light sensors  54   a ,  54   b ,  54   c ,  54   d  of all freight handling devices  50  to  50 ″″′ and can establish which of these light sensors  54   a ,  54   b ,  54   c ,  54   d  is covered by a freight container  30 . Since the control computer  20  knows the dimensions of the freight container  30  because of the RFID sensor device  25 , the position of the freight container  30  can be determined relatively precisely, again taking into account the positions of the freight handling devices  50  to  50 ″″′ covered by the freight container  30 . The control computer  20  can thus generate a model of the freight container  30  by means of a model generator  22  to facilitate the position determination by the position determination device  23 . 
     Insofar as the positions of the freight container  30  and the remote control  40  have been determined, the control computer  20  can evaluate the control signals and taking into account these positions, interpret these such that the first freight handling device  50 , the second freight handling device  50 ′, the third freight handling device  50 ″ and the fourth freight handling device  50 ′″ can be selected and actuated such that the freight container  30  is transported in the freight transport direction r. 
       FIG. 4  shows a second embodiment example of a freight loading system according to the invention. This is located in a logistics centre which serves as a transhipment hub for freight containers  30 . Here freight containers  30  can be stored temporarily or transported from a specific input to a specific output.  FIG. 4  shows a freight deck  110  consisting of several elements and equipped with roller tracks in the same manner as the freight deck  10 . Freight handling devices  60  to  60 ″″′ which differ in design from the freight handling devices  50  to  50 ″″′ are arranged in a grid on the freight deck  110 . 
       FIG. 3  shows a diagrammatic top view of a first freight handling device  60  which comprises a first drive roller  62   a  and a second drive roller  62   b . The drive rollers  62   a ,  62   b  are arranged such that they stand at a 90° angle to each other. By means of the freight handling device  60  therefore, a freight item—in particular a freight container  30 —can be moved in the Y direction or in the X direction, wherein movement is also possible in the opposite X or Y direction by changing the direction of rotation. The freight handling device  60  is furthermore fitted with a light sensor  64  which again, like the light sensors  54   a ,  54   b ,  54   c ,  54   d , contains at least one light-emitting diode and at least one photodiode. To this extent the freight handling device  60  is also able to establish when a specific freight handling device  60  to  60 ″″′ is covered by a freight container  30 . The light sensor  64  can also be formed as a receiver unit for the control signals from the remote control  40 . Alternatively additional receiver units can be provided on the freight handling devices  60  to  60 ″″′ for the control signal from the remote control  40 . It is also conceivable to distribute these receiver units on the freight deck  110  irrespective of the positions of the freight handling devices  60  to  60 ″″′. 
     Also the freight handling devices  60  to  60 ″″′ communicate with a control computer in a similar manner to the control computer  20  as known from  FIG. 5 . According to the embodiment example from  FIG. 4 , the control computer  20  can interpret control signals output in response to actuation of the forward button  41 , the back button  42  or the rotation button  43 , as a function of the position of the remote control  40 . The embodiment example according to  FIG. 4  differs in that the position is not determined by means of the receiver units. According to the embodiment example from  FIG. 4 , the remote control  40  has a GPS system which can pass the actual position of the remote control  40  to the control computer  20 . 
     If for example the user, identified by the user outline  8 , of the remote control  40  actuates the forward button  41 , the GPS device determines the precise coordinates of the remote control  40 . These are transmitted to the control computer  20  together with the corresponding control signals. As already described above, the control computer  20  furthermore determines the precise position of the freight container  30  (see freight floor outline  33 ). The control computer  20  establishes that the freight container  30  is to be transported towards the user and determines the transport direction r which fulfils this requirement. The control computer  20  then selects a first freight handling device  60 , a second freight handling device  60 ′, a third freight handling device  60 ″ and a fourth freight handling device  60 ′″ to implement the movement of the freight container  30 . 
     Correspondingly, rotations can be made by actuation of the rotation button  43  or backward movements by actuation of the back button  42 . 
     In the embodiment examples described above, communication between the control computer  20  and the remote control  40  is always guaranteed indirectly via a freight handling device  50  to  50 ″″′,  60  to  60 ″″′. It is of course easily possible to establish communication between the control computer  20  and the remote control  40  directly in wireless or hard-wired form. For wireless communication, for example light waves or electromagnetic waves can be used. In a preferred embodiment example, infrared signals are used. 
     In the embodiment examples described above, the position of the freight container  30  was determined by means of the light sensors  54   a ,  54   b ,  54   c ,  54   d ,  64 . The expert active in this field will be aware of numerous possibilities for determining the position of the freight container  30  on the freight deck  10  in another way. For example light barriers or GPS receivers can be provided. Also the use of mechanical sensors is conceivable. 
     Two methods have been described above for determining the position of the remote control  40 . For the expert active in this field, there are further possibilities which can easily be integrated in implementation of the invention. 
     LIST OF REFERENCE NUMERALS 
     
         
         
           
               1 ,  2  Side wall 
               5  Centre plane 
               7  Door opening 
               8  User outline 
               10 ,  110  Freight deck 
               11 ,  11 ′,  11 ″,  11 ′″ Centre lock 
               20  Control computer 
               21  Memory device 
               22  Model generator 
               23  Position determination device 
               24  Input device 
               25  RFID sensor device 
               30  Freight container 
               31  Freight floor 
               33  Freight floor outline 
               40  Remote control 
               41  Forward button 
               42  Back button 
               43  Rotation button 
               44  Remote control transmitter 
               50  to  50 ″″′ Freight handling device 
               52   a ,  52   b  Drive rollers 
               53  Rotation plate 
               54   a ,  54   b ,  54   c ,  54   d  Light sensor 
               55  Frame 
               57  Roller drive unit 
               60  to  60 ″″′ Freight handling device 
               62   a ,  62   b  Drive roller 
               64  Light sensor 
             r Transport direction 
             l Freight container length 
             b Freight container width 
             A Freight loading track A 
             B Freight loading track B