WO2025017287A1

WO2025017287A1 - Apparatus, systems, and vehicles for airside container loading and unloading

Info

Publication number: WO2025017287A1
Application number: PCT/GB2024/051831
Authority: WO
Inventors: David Keene; Simon Brewerton
Original assignee: Richmond Design and Marketing Limited
Priority date: 2023-07-14
Filing date: 2024-07-12
Publication date: 2025-01-23
Also published as: GB202310834D0

Abstract

The present invention relates to a vehicle (8) comprising a platform (81) for supporting a container C and a loading system configured to push a container C from the platform (81) onto a structure adjacent the vehicle (8) and/or pull a container C from a structure adjacent the vehicle (8) onto the platform (81). The loading system may be used to load a container onto the platform and/or unload a container from the platform. The vehicle (8) may be an airside vehicle and the container C may be a unit load device (ULD). The loading system may comprise one or more loading arms 3a, 3b which may extend to push a container from the platform and/or retract to pull a container onto the platform. Also disclosed are a loading arm and methods of loading and/or unloading a container.

Description

APPARATUS, SYSTEMS, AND VEHICLES FOR AIRSIDE CONTAINER

LOADING AND UNLOADING

TECHNICAL FIELD

The present invention relates to a loading apparatus for unloading objects, such as containers, goods, or cargo, or people off of an airside vehicle and loading objects, such as containers, goods, or cargo, or people onto an airside vehicle, a loading system comprising the loading apparatus, and an airside vehicle comprising the loading apparatus or the loading system.

BACKGROUND

Airside vehicles transport cargo, baggage, equipment, and passengers within an airside airport environment. Airside vehicles include dollies, tugs, and tractors, and airside airport environments include baggage halls and airport aprons. Airside vehicles operate as part of wider systems for handling baggage, cargo, and equipment. The aim of such systems is to ensure that aircraft are properly loaded and unloaded and prepared in time for scheduled departures. It is therefore desirable for airside vehicles to be configured to maximise the efficiency of these systems. This means, for example, minimising the size of airside vehicles, such that utilisation of space within an airside airport environment can be maximised, and maximising the functionality of airside vehicles such that they can perform tasks without having to wait for assistance from a human operator or other vehicles or equipment.

One example of a task that may be carried out by an airside vehicle is transporting a container, such as a unit load device (ULD), within an airside airport environment. The container may be used to contain baggage or cargo, with the container as a whole being loaded onto an aircraft. The container may be loaded onto the airside vehicle from a lateral, i.e., a horizontal surface for supporting the container, and unloaded off of the lateral onto the airside vehicle. The lateral may form part of a container storage arrangement or part of a vertical lift for loading the container onto an aircraft. In some cases, the container may be directly loaded onto the aircraft from the airside vehicle and unloaded from the aircraft directly onto the airside vehicle. It is desirable to maximise the efficiency of transporting a container to and from an aircraft, unloading the container off of an airside vehicle and onto the aircraft, and loading the container off of the aircraft and onto the airside vehicle.

SUMMARY

According to a first aspect of the invention, there is provided a vehicle, comprising: a platform for supporting a container; and a loading system configured to push a container from the platform onto a structure adjacent the vehicle and/or pull a container from a structure adjacent the vehicle onto the platform.

The loading system may be configured to contact a vertical surface of a container to push the container from the platform onto a structure adjacent the vehicle, and/or contact a vertical surface of a container to pull the container from a structure adjacent the vehicle onto the platform. In use, the vertical surface may be perpendicular to the platform or at an angle between 0 and 90 degrees to the platform.

In use, the loading system may not support the weight of a container, either at all or substantially at all, or may not support much of the weight of a container. Advantageously, this reduces the requirement for the loading system to support the weight of the container, thereby reducing the structural requirements of the loading system and enabling lighter weight materials to be used to construct the loading system.

In one embodiment, in use, the platform supports the weight of a container on the vehicle. As the loading system pushes the container onto a structure adjacent the vehicle, such as a lateral or another vehicle, the weight of the container is supported by the platform and the structure. Once the loading system has pushed the container entirely off of the platform and onto the structure, the weight of the container is supported by the structure. At no point does the loading system support any of the weight of the container. In other embodiments, the loading system may at least partially support the weight of the container before, during, or after the loading system has pushed the container entirely off of the platform and onto the structure.

Contacting a vertical surface of a container to push the container from the platform onto a structure adjacent the vehicle or pull the container from a structure adjacent the vehicle onto the platform, while the weight of the container is supported by the platform, advantageously improves the stability of the container while the container is pushed from the platform or pulled onto the platform.

The loading system may be configured to exert a pushing force on the container to push the container from the platform. The loading system may be configured to adjust a height of the pushing force relative to the platform. The loading system may be configured to exert the pushing force at a pushing point. The loading system may be configured to adjust a height of the pushing point relative to the platform. The pushing force may be a distributed pushing force. The loading system may be configured to adjust a height of a furthest point from the platform at which the distributed pushing force is exerted. The loading system may be configured to adjust a height of a centre of the distributed pushing force relative to the platform.

The loading system may be configured to exert a pulling force on the container to pull the container onto the platform. The loading system may be configured to adjust a height of the pulling force relative to the platform. The loading system may be configured to exert the pulling force at a pulling point. The loading system may be configured to adjust a height of the pulling point relative to the platform. The pulling force may be a distributed pulling force. The loading system may be configured to adjust a height of a furthest point from the platform at which the distributed pulling force is exerted. The loading system may be configured to adjust a height of a centre of the distributed pulling force relative to the platform.

The loading system may be configured to adjust the height of the pushing force and/or the pulling force relative to the platform at the same time as exerting the pushing force and/or the pulling force on the container. The loading system may be configured to exert the pushing force and/or the pulling force on a lower portion of the container. The loading system may be configured to exert the pushing force and/or the pulling force below the centre of mass of the container.

The loading system may comprise one or more processors configured to determine the magnitude of the pushing force and/or the pulling force exerted by the loading system on the container. The one or more processors may be configured to determine the minimum magnitude of the pushing force required to push a container from the platform and/or the minimum magnitude of the pulling force required to pull a container onto the platform. The one or more processors may be configured to determine the magnitude of a force acting in the opposite direction to the pushing force and/or pulling force. The one or more processors may be configured to determine a mass of the container.

The loading system may comprise one or more memories in communication with the one or more processors. The one or more memories may store a known relationship between energy generated by or provided to the loading system to exert the pushing force and/or the pulling force on the container and the magnitude of the pushing force and/or the pulling force. In some examples, the loading system may comprise one or more hydraulic cylinders configured to generate the pushing force and/or pulling force. In such examples, the known relationship may be between a pressure of a hydraulic fluid supplied to the one or more hydraulic cylinders and the magnitude of the pushing force and/or pulling force. In other examples, the loading system may comprise one or more electromechanical actuators configured to generate the pushing force and/or pulling force. In such examples, the known relationship may be between a voltage or current supplied to the one or more electromechanical actuators and the pushing force and/or pulling force.

The one or more processors may be configured to determine the magnitude of the pushing force and/or the pulling force based on the known relationship. The known relationship may be determined through calibration of the loading system. For example, the loading system may be arranged to exert a pushing force against a load cell which is held stationary. As the energy generated by or provided to the loading system to exert the pushing force is increased, the magnitude of the force measured by the load cell will also increase. Measurements of the energy provided to the loading system and the magnitude of the force measured by the load cell can be used to determine a relationship between the energy provided to the loading system and the magnitude of the pushing force. A relationship between the energy provided to the loading system and the magnitude of the pulling force can be determined in a similar manner.

The loading system may comprise acceleration measurement means configured to determine an acceleration of the container relative to the platform in response to the pushing force and/or the pulling force. The acceleration measurement means may comprise one or more accelerometers or any other suitable means for measuring an acceleration of the container. The one or more processors of the loading system may be configured to receive one or more outputs from the acceleration measurement means indicative of an acceleration of the container relative to the platform in response to the pushing force and/or the pulling force.

The processor may be configured to continuously, or substantially continuously, determine the magnitude of the pushing force and/or the pulling force exerted by the loading system on the container. The acceleration measurement means may be configured to continuously, or substantially continuously, determine an acceleration of the container relative to the platform in response to the pushing force and/or the pulling force. The magnitude of the pushing force or pulling force on receipt of one or more outputs from the acceleration measurement means indicative of an increase in acceleration of the container relative to the platform in the direction of the pushing force or pulling force from zero may be considered to be the minimum magnitude of the pushing force required to push a container from the platform onto a structure adjacent the vehicle or the minimum magnitude of the pulling force required to pull a container from a structure adjacent the vehicle onto the platform, as applicable.

In operation, the magnitude of the pushing force or the pulling force exerted by the loading system on the container will be increased from zero over an initial period of time during which the acceleration of the container relative to the platform will remain at a constant value of zero, i.e., the container will remain stationary on the platform. The magnitude of the pushing force or the pulling force exerted by the loading system on the container will continue to be increased until the pushing force or the pulling force overcomes the inertia of the container. At a point in time ti at which the container begins to move relative to the platform in response to the pushing force or the pulling force, the acceleration of the container relative to the platform will increase from zero. The magnitude of the pushing force or the pulling force at ti may be considered to be the minimum magnitude of the pushing force required to push a container from the platform onto a structure adjacent the vehicle or the minimum magnitude of the pulling force required to pull a container from a structure adjacent the vehicle onto the platform, as applicable.

The processor may be configured to determine the mass m of the container using the following equation: F m = — a where F is the magnitude of the pushing force or pulling force exerted by the loading system on the container and a is the acceleration of the container relative to the platform in the direction of the pushing force or pulling force. The processor may be configured to determine the mass m of the container for F where F is equal to the minimum magnitude of the pushing force or pulling force.

In another example, the loading system may alternatively or additionally comprise displacement measurement means configured to determine a displacement of the container relative to the platform in response to the pushing force and/or the pulling force. The displacement measurement means may comprise one or more sensing means, for example one or more motion sensors, such as one or more laser motion sensors, one more or more cameras, or any other suitable sensing means.

The one or more processors of the loading system may be configured to receive one or more outputs from the displacement measurement means indicative of a displacement of the container relative to the platform in response to the pushing force and/or the pulling force. The loading system may comprise one or more memories in communication with the one or more processors, wherein the one or more memories is configured to store one or more values indicative of a predetermined ratio / between: i) a force F resisting relative movement between a container and the platform, wherein the relative movement is in the direction of the pushing force and/or the pulling force; and ii) a force resulting from the mass m of a container and the acceleration due to gravity g.

The processor may be configured to continuously, or substantially continuously, determine the magnitude of the pushing force and/or the pulling force exerted by the loading system on the container. The displacement measurement means may be configured to continuously, or substantially continuously, determine a displacement of the container relative to the platform in response to the pushing force and/or the pulling force. The magnitude of the pushing force or pulling force immediately before receiving one or more outputs from the displacement measurement means indicative of movement of the container relative to the platform in response to the pushing force or the pulling force may be considered to be substantially equal to the force F resisting relative movement between the container and the platform. The magnitude of the pushing force or pulling force upon receiving one or more outputs from the displacement measurement means indicative of movement of the container relative to the platform in response to the pushing force or the pulling force may be considered to be the minimum magnitude of the pushing force required to push a container from the platform onto a structure adjacent the vehicle or the minimum magnitude of the pulling force required to pull a container from a structure adjacent the vehicle onto the platform, as applicable.

The processor may be configured to determine the mass m of the container using the following equation:

In use, the minimum magnitude of the pushing force required to push a container from the platform, the minimum magnitude of the pulling force required to pull a container on to the platform, and/or the mass of the container may be used for auditing or validating operations, limiting the magnitude of the pushing force and/or pulling force, or any other suitable use.

The loading system may comprise indication means configured to indicate an intended operation of the loading system. The intended operation may be a pushing operation to push a container from the platform onto a structure adjacent the vehicle or a pulling operation to pull a container from a structure adjacent the vehicle onto the platform. The indication means may comprise visual indication means, such as one or more lights or a user interface displaying a written message, and/or one or more audible indication means, such as an audible alarm or recorded message.

The loading system may comprise means to inhibit unintended activation of the loading system to push a container from the platform onto a structure adjacent the vehicle and/or pull a container from a structure adjacent the vehicle onto the platform. The means to inhibit unintended activation of the loading system may be configured to be automatically and/or manually activated to inhibit unintended activation of the loading system and/or automatically and/or manually deactivated to allow activation of the loading system.

The loading system may be configured to both push a container from the platform onto a structure adjacent the vehicle and pull a container from a structure adjacent the vehicle onto the platform.

The loading system may comprise retaining means. The retaining means may be configured to retain a container and translate relative to the platform, while retaining the container, to push a container from the platform onto a structure adjacent the vehicle, and/or pull a container from a structure adjacent the vehicle onto the platform. The retaining means may also function to inhibit unintended movement of a container relative to the platform when the loading system is not in operation to push a container from the platform or pull a container onto the platform, for example during transportation of the container by means of the vehicle.

The retaining means may additionally or alternatively comprise vertical retaining means configured to retain a container to inhibit movement of the container away from the platform in a vertical direction while the container is stationary on the platform and/or during pushing of the container from the platform onto a structure adjacent the vehicle and/or pulling of the container from a structure adjacent the vehicle onto the platform.

The loading system may be configured to push a plurality of containers from the platform onto a structure adjacent the vehicle in a single pushing operation and/or pull a plurality of containers from a structure adjacent the vehicle onto the platform in a single pulling operation. The loading system may be configured to selectively push one or more of a plurality of containers from the platform onto a structure adjacent the vehicle and/or selectively pull one or more of a plurality of containers from a structure adjacent the vehicle onto the platform. The retaining means may be configured to retain a plurality of containers and translate relative to the platform, while retaining the plurality of containers, to push one or more of the plurality of containers from the platform onto a structure adjacent the vehicle, and/or pull one or more of the plurality of containers from a structure adjacent the vehicle onto the platform. The ability to handle a plurality of containers in this manner may improve the speed and or efficiency of loading operations.

The retaining means may be configurable between a retained configuration, in which the retaining means is able to retain a container, and a released configuration, in which the retaining means is able to translate relative to a container without moving the container and/or in which a container is able to move relative to the retaining means. The retaining means may be automatically and/or manually configurable between the retained configuration and the released configuration. The retaining means may comprise at least one clamp configured to grip or provide friction to a container, at least one magnet, at least one electromagnet, where the container comprises a magnetic material, at least one suction or vacuum means, or any other suitable means configured to retain a container.

The platform may comprise retaining means to inhibit unintended movement of a container relative to the platform. The unintended movement may be away from the platform in a vertical direction and/or a horizontal direction. The retaining means of the platform may comprise at least one lock-stop, at least one projection arranged to project from the platform to abut a portion of a container, at least one clamp configured to grip or provide friction to a container, at least one magnet, at least one electromagnet, where the container comprises a magnetic material, at least one suction or vacuum means, or any other suitable means configured to retain a container. The retaining means of the platform may work in conjunction with the retaining means of the loading system to inhibit unintended movement of a container relative to the platform.

The retaining means of the platform may be configurable between a retained configuration, in which the retaining means is able to inhibit unintended movement of a container relative to the platform, and a released configuration, in which a container is able to move relative to the retaining means. For example, where the retaining means comprises at least one projection, the at least one projection may project from the platform in the retained configuration and may not project from the platform, for example, may be substantially entirely received within the platform, in the released configuration. The retaining means of the platform may be automatically and/or manually configurable between the retained configuration and the released configuration. The retaining means of the platform may be configured to automatically configure from the retained configuration to the released configuration when the retaining means of the loading system is configured from the retained configuration to the released configuration. The retaining means of the platform may be configured to automatically configure from the released configuration to the retained configuration when the retaining means of the loading system is configured from the released configuration to the retained configuration.

The loading system may comprise at least one endstop configured to: translate relative to the platform to push a container from the platform onto a structure adjacent the vehicle, and/or translate relative to the platform to pull a container from a structure adjacent the vehicle onto the platform. The at least one endstop may form part of the retaining means of the loading system.

The vehicle may be an airside vehicle. In use, where the structure adjacent the vehicle is also a vehicle, that vehicle may also be an airside vehicle.

The loading system may be configured to push a container from the platform onto a structure adjacent a side of the vehicle, and/or pull a container from a structure adjacent a side of the vehicle onto the platform.

The loading system may be configured to push a container from the platform onto a structure adjacent either side of the vehicle, and/or pull a container from a structure adjacent either side of the vehicle onto the platform.

The loading system may be configured to push a container from the platform onto a structure adjacent the front or rear of the vehicle, and/or pull a container from a structure adjacent the front or rear of the vehicle onto the platform.

The vehicle may be configured to move itself sideways. The vehicle may be configured to move generally exclusively sideways by itself at times. The vehicle may be configured to move itself forwards and/or backwards, may be steerable in order to change its direction of travel, and may be configured to rotate or spin about a vertical axis of the vehicle in a clockwise and/or anticlockwise direction. The vertical axis of the vehicle may be a central vertical axis or an off-centre vertical axis. For example, the vertical axis of the vehicle may be aligned with the centre of mass of the vehicle or offset from the centre of mass of the vehicle. The vehicle maybe configured to rotate or spin about a plurality of different vertical axes or about any vertical axis. The vehicle may be configured to rotate or spin about a vertical axis at the same time as moving sideways, moving forwards and/or backwards, or changing its direction of travel.

The vehicle may be configured such that the height of the platform above the ground is adjustable.

The loading system may comprise at least one loading apparatus configured to push a container from the platform onto a structure adjacent the vehicle and/or pull a container from a structure adjacent the vehicle onto the platform. The or each loading apparatus may be configured to exert the pushing force and/or the pulling force on the container as described above. The loading system may be configured to adjust a height of the or each loading apparatus relative to the platform to adjust a height of the pushing force and/or the pulling force as described above. Where the loading system comprises more than one loading apparatus, the loading system may be configured to adjust the height of each loading apparatus simultaneously and/or independently.

In use, the vehicle may be arranged to pull a container from a structure adjacent the vehicle onto the platform, where the height of the structure above the ground is greater than the height of the platform above the ground. The loading system may be initially operated to increase the height of the or each loading apparatus above the platform to a height suitable for pulling the container from the structure. The loading apparatus may then be operated to begin pulling the container from the structure towards the vehicle. At the same time, the vehicle may be operated to increase the height of the platform to a height at which the platform is level, or substantially level, with the structure, such that the height of the platform is level, or substantially level, with the structure when the weight of the container is transferred from the structure to the platform by the loading system. Also at the same time, the loading apparatus may be operated to reduce the height of the or each loading apparatus above the platform, optionally so as to maintain the height of the or each loading apparatus above the ground. This sequence of operations may provide for faster loading times of the container onto the platform compared to, for example, operating the vehicle to increase the height of the platform to a height at which the platform is level, or substantially level, with the structure before operating the loading system to begin pulling the container from the structure onto the platform.

In other examples, the height of the or each loading apparatus relative to the platform may be adjusted in order to exert the pushing force and/or the pulling force on a given container at a suitable height for the given container, for example for the purpose of load balancing.

The at least one loading apparatus may comprise first and second loading apparatus, or two or more loading apparatus. The or each loading apparatus may comprise a loading arm configured to push a container from the platform onto a structure adjacent the vehicle and/or pull a container from a structure adjacent the vehicle onto the platform. The or each loading arm may be configured to extend to push a container from the platform onto a structure adjacent the vehicle and/or retract to pull a container from a structure adjacent the vehicle onto the platform. The or each loading arm may be telescopic or have nested extendable sections. In other embodiments, the or each loading arm may not be configured to extend or retract or may not be telescopic and the overall length of the or each loading arm may remain unchanged as the container is pushed from the platform and/or pulled onto the platform. For example, the or each loading arm may comprise a rack and pinion, cam and linkage, cable and winch, or worm gear arrangement, or any suitable arrangement configured to transform rotary motion to linear motion. In other examples, the or each loading arm may comprise one or more hydraulic or pneumatic cylinders, one or more electromechanical actuators, or any suitable arrangement configured to provide linear motion.

The or each loading arm may be configured to exert the pushing force and/or the pulling force on the container as described above. The loading system may be configured to adjust a height of the or each loading arm relative to the platform to adjust the height of the pushing force and/or the pulling force as described above. The loading system may be configured to adjust the height of the or each loading arm relative to the platform at the same time as extending and/or retracting the or each loading arm.

The indication means may be configured to indicate an intended extension of the or each loading arm and/or indicate an intended retraction of the or each loading arm. The or each loading arm may comprise the indication means. The indication means may comprise visual indication means comprising one or more first arrows arranged to indicate a direction of extension of the or each loading arm and/or one or more second arrows arranged to indicate a direction of retraction of the or each loading arm. The one or more first arrows may be configured to illuminate or otherwise be displayed when the indication means indicates an intended extension of the or each loading arm. The one or more second arrows may be configured to illuminate or otherwise be displayed when the indication means indicates an intended retraction of the or each loading arm.

The loading arm, or the two or more loading arms, may comprise the retaining means of the loading system described above. The or each loading arm may comprise the at least one endstop described above. The or each loading arm may comprise the acceleration measurement means and/or the displacement measurement means described above. The acceleration measurement means may be configured to determine an acceleration of a distal end of the arm. It will be appreciated that, in use, the acceleration of a distal end of the arm acting to push or pull a container will be equivalent, or substantially equivalent, to the acceleration of the container itself.

The displacement measurement means may be configured to determine a displacement between a proximal end of the arm and a distal end of the arm. The displacement measurement means may be configured to determine an extension of the loading arm from an initial length of the loading arm. The displacement between a proximal end of the arm and a distal end of the arm or the extension of the loading arm may be used to determine a displacement of a container relative to the platform.

The or each loading arm may comprise the means to inhibit unintended activation of the loading system as described above. The means to inhibit unintended activation may comprise locking means configured to inhibit unintended extension and/or retraction of the or each loading arm, and/or inhibit unintended movement of the or each loading arm relative to the platform. The locking means may be configured to be automatically and/or manually reconfigurable between a locked configuration, in which the locking means inhibits unintended extension and/or retraction of the or loading arm and/or inhibits unintended movement of the or each loading arm relative to the platform, and an unlocked configuration, in which the locking means allows extension and/or retraction of the or loading arm and/or movement of the or each loading arm relative to the platform.

The or each loading arm may be arranged to be positioned to one side of a container supported by the platform. The or each loading arm may be: configured to extend to push a container from the platform onto a structure adjacent the vehicle; and/or configured to extend and arranged to extend to one side of a container, optionally past the container, supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform.

The or each loading arm may be both: configured to extend to push a container from the platform onto a structure adjacent the vehicle; and configured to extend and arranged to extend to one side of a container supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform.

The at least one loading arm may comprise two loading arms arranged to be positioned either side of a container supported by the platform, wherein the loading arms are each: configured to extend to push a container from the platform onto a structure adjacent the vehicle; and/or configured to extend and arranged to extend either side of a container supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform.

The loading arms may each both be: configured to extend to push a container from the platform onto a structure adjacent the vehicle; and configured to extend and arranged to extend either side of a container supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform.

The or each loading arm may be arranged to be positioned to one side of a lower portion of a container supported by the platform. The or each loading arm may be configured to contact a vertical surface of a container to push and/or pull the container.

As referred to herein, a vertical surface of a container may be a generally vertical surface of a container, or a surface of a container having at least one vertical component in the extent of the surface.

The or each loading arm may comprise a first section and a second section, wherein the or each loading arm is: configured to extend to push a container from the platform onto a structure adjacent the vehicle by means of the second section being configured to move linearly relative to the first section to extend the overall length of the loading arm; and/or configured to extend by means of the second section being configured to move linearly relative to the first section to extend the overall length of the loading arm, and arranged to extend to one side of a container supported by a structure adjacent the vehicle, and configured to retract to pull a container from a structure adjacent the vehicle onto the platform by means of the second section being configured to move linearly relative to the first section to reduce the overall length of the loading arm.

The or each loading arm may be configured to extend and arranged to extend to one side of a container supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform, wherein the or each loading arm comprises a distal endstop configured to move between an open position, in which the distal endstop is able to move past a container supported by a structure adjacent the vehicle as the loading arm extends to one side of the container, and a closed position, in which the distal endstop is arranged to contact a surface of a container supported by a structure adjacent the vehicle to pull the container from the structure adjacent the vehicle onto the platform as the loading arm retracts.

The or each loading arm may be configured to extend to push a container from the platform onto a structure adjacent the vehicle, wherein the or each loading arm comprises a proximal endstop arranged to contact a surface of a container supported by the platform to push the container from the platform onto a structure adjacent the vehicle as the loading arm extends, wherein the proximal endstop is configured to push a container supported by a structure adjacent the vehicle further onto the structure after the loading arm has extended to push the container onto the structure.

The distal endstop and the proximal endstop may provide the retaining means as described above to retain a container between the distal endstop and the proximal endstop as the loading arm extends to push a container from the platform onto a structure adjacent the vehicle and/or retracts to pull a container from a structure adjacent the vehicle onto the platform. The distal endstop and the proximal endstop may also function to retain a container between the distal endstop and the proximal endstop may relative to the platform when the loading system is not in operation to push a container from the platform onto a structure adjacent the vehicle and/or pull a container from a structure adjacent the vehicle onto the platform, for example during transportation of the container by means of the vehicle.

The vehicle may be an airside vehicle.

The vehicle may be a fully electric self-propelled vehicle.

The vehicle may be operable in at least one autonomous mode.

According to a second aspect of the invention, there is provided a method of unloading a container from the vehicle of the first aspect of the invention, wherein the loading system is configured to push a container from the platform onto a structure adjacent the vehicle, the method comprising causing the loading system to push the container from the platform onto a structure adjacent the vehicle.

The method may comprise: causing the vehicle to move itself sideways towards a structure until the structure is adjacent a side of the vehicle; and causing the loading system to push the container from the platform onto the structure .

The method may comprise adjusting the height of the pushing force as described above with respect to the first aspect of the invention. The method may comprise adjusting the height of the pushing force at the same time as exerting the pushing force on the container.

The method may comprise activating the indication means to indicate an intended pushing operation of the loading system as described above with respect to the first aspect of the invention. Activating the indication means may comprise activating the indication means before and/or during the pushing operation.

The method may comprise configuring the retaining means of the loading system and/or the retaining means of the platform in the retained configuration during the pushing operation. The method may comprise configuring the retaining means of the loading system and/or the retaining means of the platform in the released configuration after completion of the pushing operation, for example after the weight of the container is fully supported by the structure adjacent the vehicle.

The method may comprise causing the loading system to push a plurality of containers from the platform onto the structure. The method may comprise causing the loading system to selectively push one or more of a plurality of containers from the platform onto the structure.

The method may comprise arranging one or more airside vehicles of the first aspect of the invention next to each other adjacent the structure. The method may comprise causing the loading system of the airside vehicle furthest from the structure to push one or more containers, optionally selectively, from the platform of the airside vehicle furthest from the structure onto the platform of the airside vehicle nearest the structure, optionally via the platform of one or more further airside vehicles arranged between the airside vehicle furthest from the structure and the airside vehicle nearest the structure, and causing the loading system of the airside vehicle nearest the structure to push the container from the platform of the airside vehicle nearest the structure onto the structure .

According to a third aspect of the invention, there is provided a method of loading a container onto the vehicle of the first aspect of the invention, wherein the loading system is configured to pull a container from a structure adjacent the vehicle onto the platform, the method comprising causing the loading system to pull the container from a structure adjacent the vehicle onto the platform.

The method may comprise: causing the loading system to pull the container from the structure onto the platform; and causing the vehicle to move itself sideways away from the structure.

The method may comprise adjusting the height of the pulling force as described above with respect to the first aspect of the invention. The method may comprise adjusting the height of the pulling force at the same time as exerting the pulling force on the container.

The method may comprise activating the indication means to indicate an intended pulling operation of the loading system as described above with respect to the first aspect of the invention. Activating the indication means may comprise activating the indication means before and/or during the pulling operation.

The method may comprise configuring the retaining means of the loading system and/or the retaining means of the platform in the retained configuration during the pulling operation. The method may comprise configuring the retaining means of the loading system and/or the retaining means of the platform in the released configuration after completion of the pulling operation, for example after the weight of the container is fully supported by the platform of the vehicle. The method may comprise causing the loading system to pull a plurality of containers from the structure onto the platform. The method may comprise causing the loading system to selectively pull one or more of a plurality of containers from the structure onto the platform.

The method may comprise arranging one or more airside vehicles of the first aspect of the invention next to each other adjacent the structure. The method may comprise causing the loading system of the airside vehicle nearest the structure to pull one or more containers, optionally selectively, from the structure onto the platform of the airside vehicle nearest the structure and causing the loading system of the airside vehicle furthest from the structure to pull the container onto the platform of the airside vehicle furthest from the structure from the platform of the airside vehicle nearest the structure, optionally via the platform of one or more further airside vehicles arranged between the airside vehicle nearest the structure and the airside vehicle furthest from the structure.

The structure of the second or third aspect of the invention may comprise a lateral, a vertical lift, another airside vehicle of the first aspect of the invention, any other airside vehicle or equipment, or any other suitable structure.

According to a fourth aspect of the invention, there is provided a loading apparatus for pushing a container from a platform of a vehicle onto a structure adjacent the vehicle and for pulling a container from a structure adjacent a vehicle onto a platform of the vehicle, wherein the loading apparatus is configured to contact a vertical surface of a container to push the container and contact a vertical surface of a container to the pull the container without supporting the weight of the container.

The loading apparatus of the fourth aspect of the invention may comprise any of the features of the loading apparatus or the loading system of the first aspect of the invention, and vice versa.

The loading apparatus may comprise retaining means in accordance with the retaining means of the first aspect of the invention.

The loading apparatus may comprise at least one endstop configured to translate to push a container and translate to pull a container. The at least one endstop may comprise a proximal endstop configured to translate to push a container and a distal endstop configured to translate to pull a container. The at least one endstop may further comprise one or more intermediate endstops arranged between the proximal endstop and the distal endstop. The or each intermediate endstop may be configured to translate independently and/or synchronously to push a container and/or translate independently and/or synchronously to pull a container.

At least one of the proximal endstop and the distal endstop may be configured to move between a closed position and an open position to retain a container between the proximal endstop and the distal endstop when the at least one of the proximal endstop and the distal endstop is in the closed position and release the container when the at least one of the proximal endstop and the distal endstop is in the open position.

The or each intermediate endstop may be configured to move between a closed position and an open position to retain a container between the intermediate endstop and an adjacent endstop. The adjacent endstop may be the proximal endstop, the distal endstop, or another intermediate endstop. In use, the one or more intermediate endstop may be used to push multiple containers from the platform and/or pull multiple containers onto the platform as described elsewhere herein.

The loading apparatus may comprise a mounting section and an end section, wherein the end section is configured to extend and retract relative to the mounting section, and wherein the at least one endstop is mounted to the end section. The at least one endstop may be configured to translate relative to the end section. In particular, the or each intermediate endstop may be configured to translate relative to the end section. While the term ‘end’ is used to describe the end section, the end section may not necessarily form or be arranged at an ultimate end of the loading apparatus; for example, the loading apparatus may comprise additional structure which extends beyond the end section.

The end section may be configured to slide along the mounting section to extend and retract relative to the mounting section.

The loading apparatus may comprise an intermediate section, wherein the end section is configured to extend and retract relative to the intermediate section. The end section may be configured to slide along the intermediate section to extend and retract relative to the mounting section. The intermediate section may be configured to extend and retract relative to the mounting section. The intermediate section may be configured to slide along the mounting section to extend and retract relative to the mounting section.

The at least one endstop may be configured to translate to push a container in a first direction and a second direction, opposite the first direction, and translate to pull a container in the second direction and the first direction.

The end section may be configured to extend relative to the mounting section in the first direction and the second direction and retract relative to the mounting section in the second direction and the first direction.

In other embodiments, the loading apparatus may comprise one or more sections which are not configured to extend and/or retract, and the overall length of the or each section may remain unchanged as the container is pushed from the platform and/or pulled onto the platform. For example, the loading apparatus may comprise a rack and pinion, cam and linkage, cable and winch, or worm gear arrangement, or any suitable arrangement configured to transform rotary motion to linear motion to push the container form the platform and/or pull the container onto the platform. In other examples, the loading apparatus may comprise one or more hydraulic or pneumatic cylinders, one or more electromechanical actuators, or any suitable arrangement configured to provide linear motion.

According to a fifth aspect of the invention, there is provided a vehicle, comprising: a platform for supporting a container; and first and second loading arms arranged adjacent the platform to be arranged either side of a lower portion of a container supported by the platform; wherein the first and second loading arms are configured to contact a vertical surface of a container supported by the platform to push the container from the platform onto a structure adjacent the vehicle, and contact a vertical surface of a container supported by a structure adjacent the vehicle to pull the container from the structure adjacent the vehicle onto the platform. The vehicle of the fifth aspect of the invention may comprise any of the features of the vehicle of the first aspect of the invention, and vice versa. At least one of the first and second loading arms of the fifth aspect of the invention may comprise any of the features of the loading arm of the first aspect of the invention, and vice versa.

The first and second loading arms may be configured to contact a vertical surface of a container supported by the platform to push the container from the platform onto a structure adjacent either side of the vehicle, and contact a vertical surface of a container supported by a structure adjacent either side of the vehicle to pull the container from the structure adjacent the vehicle onto the platform.

The first and second loading arms may be configured to push a container from the platform onto a structure adjacent the front or rear of the vehicle, and/or pull a container from a structure adjacent the front or rear of the vehicle onto the platform.

The first and second loading arms may comprise retaining means in accordance with the retaining means of the first aspect of the invention.

The vehicle may be an airside vehicle.

The vehicle may be a fully electric self-propelled vehicle.

The vehicle may be operable in at least one autonomous mode.

According to a sixth aspect of the invention, there is provided a loading arm configured to extend to push a container from a platform of a vehicle onto a structure adjacent the vehicle and/or configured to retract to pull a container from a structure adjacent a vehicle onto a platform of the vehicle.

The loading arm of the sixth aspect of the invention may comprise any of the features of the loading arm of the first or fifth aspects of the invention, and vice versa.

The loading arm may comprise a first section and a second section, wherein the loading arm is: configured to extend to push a container from a platform of a vehicle onto a structure adjacent the vehicle by means of the second section being configured to move linearly relative to the first section to extend the overall length of the loading arm; and/or configured to extend by means of the second section being configured to move linearly relative to the first section to extend the overall length of the loading arm and configured to retract to pull a container from a structure adjacent the vehicle onto the platform by means of the second section being configured to move linearly relative to the first section to reduce the overall length of the loading arm.

The loading arm may comprise retaining means in accordance with the first aspect of the invention. The retaining means may form part of or may be attached to the second section of the loading arm.

The loading arm may be configured to retract to pull a container from a structure adjacent a vehicle onto a platform of the vehicle, wherein the loading arm comprises a distal endstop configured to move between an open position, in which the distal endstop is able to move past a container supported by a structure adjacent a vehicle as the loading arm extends, and a closed position, in which the distal endstop is arranged to contact a surface of a container supported by a structure adjacent a vehicle to pull the container from the structure adjacent the vehicle onto a platform of the vehicle as the loading arm retracts.

The loading arm may be configured to extend to push a container from a platform of a vehicle onto a structure adjacent the vehicle, wherein the loading arm comprises a proximal endstop arranged to contact a surface of a container supported by a platform of a vehicle to push the container from the platform onto a structure adjacent the vehicle as the loading arm extends, wherein the proximal endstop is configured to push a container supported by a structure adjacent a vehicle further onto the structure after the loading arm has extended to push the container onto the structure.

In other embodiments, the loading arm may not be configured to extend and/or retract, and the overall length of the loading arm may remain unchanged as the container is pushed from the platform and/or pulled onto the platform. For example, the loading arm may comprise a rack and pinion, cam and linkage, or worm gear arrangement, or any suitable arrangement configured to transform rotary motion to linear motion. In other examples, the loading arm may comprise one or more hydraulic or pneumatic cylinders, one or more electromechanical actuators, or any suitable arrangement configured to provide linear motion.

According to a seventh aspect of the invention, there is provided a loading apparatus for unloading a container off of an airside vehicle and loading a container onto an airside vehicle. The loading apparatus comprises an end section, a proximal endstop, and a distal endstop. The end section is configured to move in a first direction and a second direction opposite the first direction. The distal endstop is spaced apart from the proximal endstop in the first direction. Both the proximal endstop and the distal endstop are configured to move with the end section in the first and second directions. At least one of the proximal endstop and the distal endstop is configured to move between a closed position and an open position to retain a container between the proximal endstop and the distal endstop when in the closed position and release the container when in the open position.

The loading apparatus of the seventh aspect of the invention may comprise any of the features of the loading apparatus of the first or fourth aspects of the invention, and vice versa.

While the term ‘end’ is used to describe the end section, the end section may not necessarily form or be arranged at an ultimate end of the loading apparatus; for example, the loading apparatus may comprise additional structure which extends beyond the end section.

Alternatively, or additionally to the proximal and distal endstops, the loading apparatus may comprise retaining means in accordance with the first aspect of the invention.

The loading apparatus may be suitable for loading and unloading a fully laden ULD and/or a load having a mass of at least 1000kg. In use, the proximal endstop exerts a force on a container in the first direction, when the end section is moved in the first direction, which is sufficient to move the container in the first direction, and the distal endstop exerts a force on a container in the second direction, when the end section is moved in the second direction, which is sufficient to move the container in the second direction. In use, the end section may be configured to move in the first and second directions in the horizontal plane.

It will be appreciated that the loading apparatus being suitable for loading and unloading a fully laden ULD and/or a load having a mass of at least 1000kg means that the loading apparatus is also suitable for loading and unloading a partially laden ULD, or an empty ULD, or a load having a mass of less than 1000kg.

The proximal endstop may be mounted to the end section. The loading apparatus may comprise a proximal endstop mount. The proximal endstop may be mounted to the end section via the proximal endstop mount. The proximal endstop mount may comprise a plurality of attachment points along a length of the proximal endstop mount. The end section may comprise one or more attachment points. The plurality of attachment points of the proximal endstop mount and the one or more attachment points of the end section may be configured to enable the proximal endstop mount to be mounted to the end section via one or more of the plurality of attachment points of the proximal endstop mount and the one or more attachment points of the end section.

The distal endstop may be mounted to the end section. The loading apparatus may comprise a distal endstop mount. The distal endstop may be mounted to the end section via the distal endstop mount. The distal endstop mount may comprise a plurality of attachment points along a length of the distal endstop mount. The end section may comprise one or more attachment points. The plurality of attachment points of the distal endstop mount and the one or more attachment points of the end section may be configured to enable the distal endstop mount to be mounted to the end section via one or more of the plurality of attachment points of the distal endstop mount and the one or more attachment points of the end section.

The attachment points described above advantageously enable a position of the proximal endstop and/or the distal endstop along the length of the endstops section to be adjusted to accommodate different sized containers in use.

The distal endstop may be spaced apart from the proximal endstop in the first direction by a distance substantially equal to a depth or length of a container to be unloaded off of an airside vehicle and/or loaded onto an airside vehicle. The distance may be greater that the width or depth of the container by 1-4% of the width or depth of the container. The distance may be greater that the width or depth of the container by approximately 2.5% of the width or depth of the container. The width or depth of the container may be in the range of l-4m, for example 1.1 -3.2m or 1.4- 1.8m. The width or depth of the container may be approximately 1.2m, 1.6m, 2.4m, or 3.2m. It will be appreciated that these values are merely examples, and that the loading apparatus may be configured for any size container. The container may be a standardised container, such as a ULD. In some embodiments, the distance between the distal endstop and the proximal endstop may be adjustable to accommodate different sized containers.

The loading apparatus may take the form of a loading arm. In such embodiments, the first and second directions may be linear and/or may be parallel to the longitudinal extent of the loading arm.

The loading arm may comprise any of the features of the or each loading arm of any other aspect of the invention described herein, and vice versa.

The loading apparatus may comprise any suitable means for moving the end section in the first and second directions and/or moving the at least one of the proximal endstop and the distal endstop between a closed position and an open position. Such means may comprise any suitable arraignment of actuators. Alternatively, the loading apparatus may not comprise means for moving the end section in the first and second directions and/or moving the at least one of the proximal endstop and the distal endstop between a closed position and an open position, such that, in use, the end section and the at least one of the proximal endstop and the distal endstop are manually moved by a human operator.

The loading apparatus may comprise an end section actuator configured to move the end section in the first direction and the second direction. The end section actuator may comprise an electromechanical actuator, a mechanical actuator, such as a screw mechanism, a hydraulic actuator, a pneumatic actuator, a magnetic actuator, a human- powered actuator, or any other suitable actuator.

Where the proximal endstop is configured to move between the closed position and the open position, the loading apparatus may comprise a proximal endstop actuator configured to move the proximal endstop between the closed position and the open position. Where the distal endstop is configured to move between the closed position and the open position, the loading apparatus may comprise a distal endstop actuator configured to move the distal endstop between the closed position and the open position. The proximal endstop actuator and/or distal endstop actuator may comprise an electromechanical actuator, a hydraulic actuator, a pneumatic actuator, or any other suitable actuator.

At least one of the distal endstop and the proximal endstop may be configured to pivot between the closed position and the open position. Alternatively, or additionally, at least one of the distal endstop and the proximal endstop may be configured to slide, extend and retract, translate, or otherwise move between the closed position and the open position. At least one of the distal endstop and the proximal endstop may be configured to pivot less than or equal to 45 degrees between the closed position and the open position. The at least one of the distal endstop and the proximal endstop may extend on one side of the loading apparatus when in the closed position and pivot less than or equal to 45 degrees towards the other side of the loading apparatus to the open position. Advantageously, this means that the at least one of the distal endstop and the proximal endstop need not extend on the other side of the loading apparatus when in the open position, thereby helping to minimise the width of the space required for the loading apparatus to operate in.

At least one of the distal endstop and the proximal endstop may be configured to pivot between the closed position and the open position about an axis parallel to the first and second directions. Advantageously, this means that the at least one of the distal endstop and the proximal endstop does not extend the length of the space required for the loading apparatus to operate in.

At least one of the distal endstop and the proximal endstop may be configured to pivot between the closed position and the open position about an axis perpendicular to the first and second directions. The axis may be perpendicular to the plane within which the end section is configured to move in the first and second directions. For example, where the end section is configured to move in the first and second directions in the horizontal plan, in use, the axis may be a vertical axis. Advantageously, this means that the at least one of the distal endstop and the proximal endstop does not extend the height of the space required for the loading apparatus to operate in.

In use, the loading apparatus may be arranged such that a structure adjacent the loading apparatus restricts the space within which the at least one of the distal endstop and the proximal endstop can move between the closed position and the open position. Therefore, the at least one of the distal endstop and the proximal endstop being configured to move between the closed position and the open position in such a way as to minimise the width, length, and/or height of the space required for the loading apparatus to operate in, as described above, is advantageous. Furthermore, the at least one of the distal endstop and the proximal endstop being configured to move between the closed position and the open position in this way means that, in practice, there is no need to create additional space between the loading apparatus and a structure adjacent the loading apparatus in order to allow the at least one of the distal endstop and the proximal endstop to move between the closed position and the open position. This has advantages in terms of operational efficiency and maximising the utilisation of available space.

Both the proximal endstop and the distal endstop may be moveable between the closed position and the open position. Alternatively, only the distal endstop may be moveable between the closed position and the open position.

At least one of the proximal endstop and the distal endstop may be configured to move relative to the end section in the first and second directions. The at least one of the proximal endstop and the distal endstop may be configured to extend relative to the end section in the first direction and retract relative to the end section in the second direction. The at least one of the proximal endstop and the distal endstop may also be configured to extend relative to the end section in the second direction and retract relative to the end section in the first direction. Where reference is made above to the distance between the distal endstop and the proximal endstop, the distance may be measured with the at least one of the proximal endstop and the distal endstop in an initial position with respect to the first and second directions, such as an unextended or fully retracted position, prior to movement in the first or second direction. In use, this may be during movement of the end section in the first or second direction while a container is retained between the proximal endstop and the distal endstop such as during unloading or loading of a container.

Advantageously, the at least one of the proximal endstop and the distal endstop being configured to move relative to the end section in the first and second directions provides the loading apparatus with additional means of moving a container in the first direction and/or second direction, in addition to the end section and the proximal and distal endstops as a whole. This may provide for adjustment of the position of container on a lateral after the container has been loaded onto the lateral by the loading apparatus. Additionally, the at least one of the proximal endstop and the distal endstop being configured to move relative to the end section in the first and second directions advantageously allows for the space between the proximal endstop and the distal endstop to be adjusted for retaining different sized containers.

Where the proximal endstop is configured to move relative to the end section in the first and second directions, the loading apparatus may comprise a proximal endstop actuator configured to move the proximal endstop relative to the end section in the first and second directions. Where the distal endstop is configured to move relative to the end section in the first and second directions, the loading apparatus may comprise a distal endstop actuator configured to move the distal endstop relative to the end section in the first and second directions. The proximal endstop actuator and/or distal endstop actuator may comprise an electromechanical actuator, a hydraulic actuator, or any other suitable actuator.

Both the proximal endstop and the distal endstop may be configured to move relative to the end section in the first and second directions. Alternatively, only the proximal endstop or only the distal endstop may be configured to move relative to the end section in the first and second directions.

The loading apparatus may comprise a mounting section. The end section may be configured to move relative to the mounting section in the first and second directions. The mounting section may be for mounting the loading apparatus to an airside vehicle. Where present, the end section actuator may be configured to move the end section relative to the mounting section in the first and second directions. The loading apparatus may be extendable. In other words, the loading apparatus may be configured to extend and retract to increase and decrease its overall length, respectively. Where the loading apparatus takes the form of a loading arm, the loading arm may be extendable. The loading apparatus or loading arm may be telescopic. The end section may be configured to extend relative to the mounting section in the first direction and retract relative to the mounting section in the second direction. The end section may additionally be configured to extend relative to the mounting section in the second direction and retract relative to the mounting section in the first direction. The end section may be configured to slide along the mounting section in the first and second directions.

The loading apparatus being extendable and retractable advantageously means that the loading apparatus need not extend the overall width of an airside vehicle, when installed on the airside vehicle, when the loading apparatus is in a fully retracted configuration. A ULD has standard dimensions (approximately 1.6m at its widest in one example) and it is desirable to minimise the width of an airside vehicle configured to transport a ULD beyond these standard dimensions. The loading apparatus being extendable and retractable advantageously means that such an airside vehicle need not be substantially wider than a ULD.

In other embodiments, the loading apparatus may not be extendable or telescopic, and the overall length of the loading apparatus may remain unchanged as the container is pushed from the platform and/or pulled onto the platform. For example, the loading apparatus may comprise a rack and pinion, cam and linkage, or worm gear arrangement, or any suitable arrangement configured to transform rotary motion to linear motion. In other examples, the loading apparatus may comprise one or more hydraulic or pneumatic cylinders, one or more electromechanical actuators, or any suitable arrangement configured to provide linear motion.

The loading apparatus may comprise an intermediate section. The end section may be configured to move relative to the intermediate section in the first and second directions. Where present, the end section actuator may be configured to move the end section relative to the intermediate section in the first and second directions. The end section may be configured to extend relative to the intermediate section in the first direction and retract relative to the intermediate section in the second direction. The end section may additionally be configured to extend relative to the intermediate section in the second direction and retract relative to the intermediate section in the first direction. The end section may be configured to slide along the intermediate section in the first and second directions.

In embodiments comprising the mounting section, the intermediate section may be configured to move relative to the mounting section in the first and second directions. The loading apparatus may comprise an intermediate section actuator configured to move the intermediate section relative to the mounting section in the first and second directions. The intermediate section actuator may comprise an electromechanical actuator, a mechanical actuator, such as a screw mechanism, a hydraulic actuator, a pneumatic actuator, a magnetic actuator, a human-powered actuator, or any other suitable actuator.

The intermediate section may be configured to extend relative to the mounting section in the first direction and retract relative to the mounting section in the second direction. The intermediate section may additionally be configured to extend relative to the mounting section in the second direction and retract relative to the mounting section in the first direction. The intermediate section may be configured to slide along the mounting section in the first and second directions.

The intermediate section may advantageously allow the loading apparatus to extend to a longer maximum extension while maintaining desirable structural rigidity.

Where the loading apparatus and/or loading arm(s) of any of the above embodiments is described as being extendable and/or retractable, the loading apparatus and/or loading arm(s) may have a length when in a fully extended configuration in the range of 2- 10m, 3 -9m, 4-8m or 5 -6m, and/or a length when in a fully retracted configuration in the range of l-5m, 1.5-4.5m, 2-4m or 2.5-3m. It will be appreciated that these are just example values and that the loading apparatus and/or loading arm(s) may have any suitable dimensions.

According to an eighth aspect of the invention, there is provided a loading system for unloading a container off of an airside vehicle and loading a container onto an airside vehicle. The loading system comprises first and second loading apparatus according to the seventh aspect of the invention. In other examples, the loading system may comprise one or more than two loading apparatus according to the seventh aspect of the invention.

The loading system of the eight aspect of the invention may comprise any of the features of the loading system of the first aspect of the invention, and vice versa.

One or more of the end section, proximal endstop, distal endstop, and, where present, mounting section and intermediate section of the first and second loading apparatus may be provided by the same part. For example, the proximal endstops of the first and second loading apparatus may be provided by the same part. The loading system may comprise a linking structure attached to the end section or, where present the mounting section or intermediate section, of each of the first and second loading apparatus. The linking structure may provide the proximal endstops of the first and second loading apparatus.

The first and second loading apparatus may be spaced apart in a direction perpendicular to the first direction. The first and second loading apparatus may be aligned in the first direction. In use, the first and second loading apparatus may be arranged either side of a container. The proximal endstop of the first loading apparatus and the proximal endstop of the second loading apparatus may be arranged to retain the container at a first end of the container and the distal endstop of the first loading apparatus and the distal endstop of the second loading apparatus may be arranged to retain the container at a second end of the container, opposite the first end of the container, when the at least one of the distal endstop and the proximal endstop is in the closed position.

The first and second loading apparatus may be spaced apart in a direction perpendicular to the first direction by a distance substantially equal to a width of a container to be unloaded off of an airside vehicle and/or loaded onto an airside vehicle. The container may be a standardised container, such as a ULD. The first and second loading apparatus may be spaced apart in a direction perpendicular to the first direction by a distance in the range of l-3m or 1.5-2.5m, for example approximately 1.5m, 2.2m, or 2.5m. In some embodiments, the distance between the first and second loading apparatus may be adjustable to accommodate different sized containers.

Where reference is made to a container in the aspects of the invention as described above, it will be appreciated that the invention is equally applicable to the loading and unloading of any suitable object. The object need not be a container. The object may be baggage or cargo, a shelf unit, a personnel carrier, or any other suitable object.

According to a ninth aspect of the invention, there is provided an airside vehicle for transporting a container, comprising the loading apparatus according to the seventh aspect of the invention or a loading system according to the eighth aspect of the invention. Advantageously, the or each loading apparatus of the vehicle enables the vehicle to unload and load a container itself without the assistance of additional equipment. This in turn increases the efficiency of a process of transporting the container.

The airside vehicle of the ninth aspect of the invention may comprise any of the features of the vehicle of first or fifth aspects of the invention, and vice versa.

The airside vehicle may comprise a platform for supporting a container. The or each loading apparatus may be arranged adjacent the platform to be arranged either side of a lower portion of a container supported by the platform. Advantageously, this ensures that the force on the container from the or each loading apparatus is below the centre of mass of the container, thereby minimising the likelihood of the container toppling over. Furthermore, a ULD comprises a rigid outer frame which supports flexible sides. The flexible sides are not suitable for pushing against by any form of loading apparatus. By arranging the or each loading apparatus adjacent the platform of the airside vehicle, the loading apparatus is able to push or pull against the lower portion of the rigid frame of a ULD. Furthermore, the or each loading apparatus may be arranged such that the loading apparatus is able to push or pull against a vertical surface of a container or ULD arranged on the platform.

Advantageously, the endstops also serve to prevent container falling off vehicle during transportation.

In some embodiments, the airside vehicle may comprise a single loading apparatus according to the seventh aspect of the invention. The loading apparatus may be arranged substantially in line with the centre of the platform. The single loading apparatus may be arranged such that it is positioned above the platform so that the end section is able to move in the first and second directions above a container supported by the platform. For example, the single loading apparatus may be arranged to extend above a container supported by the platform. In such embodiments, the proximal endstop and/or the distal endstop may exert a force on an upper portion of a container supported by the platform in use to move the container in the first and/or second directions.

The airside vehicle may comprise means for allowing the container to move relative to the platform in the first and second directions. The means may comprise one or more rolling elements. The means may comprise a conveyer belt. The means may be nondriven. Alternatively, the means may be driven to move a container in the first and second directions. The means may therefore be driven to assist the or each loading apparatus in moving a container in the first and second directions.

The airside vehicle may comprise means configured to adjust the height of the platform above the ground in use.

The airside vehicle may comprise ground engaging means configured to enable movement of the airside vehicle in a forward direction, a first sideways direction, and a second sideways direction opposite the first sideways direction. The ground engaging means may also be configured to enable movement of the airside vehicle in a reverse direction, opposite the forward direction. The ground engaging means may also be steerable to enable the airside vehicle to change direction. The ground engaging means may be configured to enable the airside vehicle to rotate and/or spin about a vertical axis of the airside vehicle, as described elsewhere herein.

The or each loading apparatus may be arranged such that the first and second directions are parallel to the first and second sideways directions. As such, the airside vehicle may be configured to unload and load a container from the side of the airside vehicle.

The or each loading apparatus may be arranged such that the first and second directions are parallel to the forward direction.

The first and second sideways directions may each have a single component perpendicular to the forward direction. The first and second sideways directions may not have any component parallel to the forward direction. The ground engaging means may be configured such that when the airside vehicle is moving in the first or second sideways direction, the airside vehicle is substantially not moving in the forward or reverse direction.

The airside vehicle may comprise main ground engaging means configured to enable movement of the airside vehicle in the forward direction. The main ground engaging means may be configured to also enable movement of the airside vehicle in the reverse direction. The main ground engaging means may be steerable to enable the airside vehicle to change direction. The airside vehicle may comprise further ground engaging means configured to enable movement of the vehicle in the first and second sideways directions.

The main ground engaging means may comprise at least one main wheel configured to enable movement of the vehicle in the forward direction. The at least one main wheel may be configured to also enable movement of the vehicle in the reverse direction. The at least one main wheel may be steerable to enable the airside vehicle to change direction. The at least one main wheel may comprise a plurality of main wheels. The plurality of main wheels may comprise 2, 4, 6, or more main wheels. At least one or at least two of the plurality of main wheels may be steerable to enable the airside vehicle to change direction. All of the main wheels may be steerable to enable the airside vehicle to change direction. All of the main wheels may be steerable to 90 degrees to the forward direction to enable movement of the vehicle in the first and second sideways directions. At least one or at least two of the plurality of main wheels may be driven. All of the main wheels may be driven.

The further ground engaging means may comprise at least one further wheel. The at least one further wheel may be configured to be orientated at 90 degrees to the forward direction to enable movement of the vehicle in the first and second sideways directions. The at least one further wheel may comprise a plurality of further wheels. The plurality of further wheels may comprise 2, 4, 6, or more further wheels. At least one or at least two of the plurality of further wheels may be steerable. All of the further wheels may be steerable. At least one or at least two of the plurality of further wheels may be driven. All of the further wheels may be driven.

The plurality of further wheels may comprise one or more unidirectional ground engaging means. The one or more unidirectional ground engaging means may be driven or undriven. The one or more unidirectional ground engaging means may comprise one or more unidirectional castors, one or more unidirectional rollers, and/or any other suitable unidirectional ground engaging means. In a preferred embodiment, the plurality of further wheels may comprise four wheels, wherein the four wheels comprise two driven wheels configured to be orientated at 90 degrees to the forward direction and two unidirectional castors. The axes of rotation of the two driven wheels may be aligned with each other and aligned with the forward direction. In some cases, this arrangement may be advantageous as it may reduce the cost and complexity of the vehicle. It may also reduce frictional and/or resistive forces on the plurality of further wheels in use compared to embodiments comprising more than two driven wheels, thereby reducing the power requirements of the driven wheels. Modulation of torque applied to the two driven wheels can be utilised to affect rotation of the vehicle about any given vertical axis, optionally at the time as affecting sideways movement of the vehicle.

The further ground engaging means may comprise deployable ground engaging means. The deployable ground engaging means may comprise at least one deployable wheel. The at least one deployable wheel may comprise the at least one further wheel.

The at least one deployable wheel may be deployable between an undeployed configuration and a deployed configuration. The at least one deployable wheel may be configured to enable movement of the vehicle in the first and second sideways directions when in the deployed configuration. When the deployable set of wheels is in the undeployed configuration, the main ground engaging means may engage the ground and the deployable set of wheels may not engage the ground. When the deployable set of wheels is in the deployed configuration, the deployable set of wheels may engage the ground and the main set of wheels may not engage the ground.

The airside vehicle may comprise means configured to reconfigure the deployable wheels between the undeployed configuration and the deployed configuration. These means may comprise one or more jacks. The one or more jacks may be configured to lower the main structure of the airside vehicle until the deployable wheels engage the ground. The one or more jacks may be configured to retract the main wheels such that the main wheels are removed from contact with the ground. The jacks may be further configured to adjust the height of the platform above the ground. The main ground engaging means and/or the further ground engaging means may additionally or alternatively comprise at least one skid, track, ski, or roller.

The airside vehicle may be self-propelled. The airside vehicle may comprise a drive system configured to propel the airside vehicle. The drive system may comprise the main ground engaging means and at least one source of motive power configured to provide motive power to the main ground engaging means. The drive system may also comprise the further ground engaging means and at least one further source of motive power configured to provide motive power to the further ground engaging means. The at least one source of motive power and/or at least one further source of motive power may comprise at least one electric motor and/or at least one internal combustion engine.

Where the main ground engaging means comprises a plurality of main wheels, the drive system may comprise a source of motive power for each main wheel. The drive system may comprise an electric motor for each main wheel. Each electric motor may be configured to provide motive power to a different one of the main wheels. The airside vehicle may be a fully electric self-propelled vehicle and may only comprise one or more electric motors as a source of motive power to propel the airside vehicle.

The airside vehicle may be operable in at least one autonomous mode. In such embodiments, the airside vehicle may be self-propelled in accordance with any of the above-described embodiments. In such embodiments, the airside vehicle may be an autonomous guided vehicle (AGV). The airside vehicle may comprise a sensing system. The sensing system may enable operation of the airside vehicle in the at least one autonomous mode. The sensing system may include at least one sensor. The at least one sensor may comprise at least one camera, radar, LIDAR, gyroscope, distance sensor, magnetic field sensor, and/or global positioning satellite sensor.

The airside vehicle may comprise a control system. The control system may comprise the sensing system. The control system may comprise at least one processor. The control system may comprise a drive system controller configured to provide at least one control output to the drive system to cause the airside vehicle to move in the forward direction, the first or second sideways direction, or the reverse direction, or to cause the vehicle to change direction. The drive system controller may be configured to provide at least one control output to the drive system to adjust the height of the platform of the airside vehicle above the ground, where means configured to adjust the height of the platform are present. The sensing system may be configured to provide at least one sensing output to the at least one processor. The at least one processor may be configured to provide at least one control output to the drive system controller in dependence on the at least one sensing output. The drive system controller may be configured to provide at least one control output to the drive system in dependence on the at least one control output from the at least one processor to enable operation of the airside vehicle in the at least one autonomous mode.

The airside vehicle may be operable in a manual mode. In such embodiments, the airside vehicle may be self-propelled in accordance with any of the above-described embodiments. The airside vehicle may be operable in both the manual mode and the at least one autonomous mode of any of the above-described embodiments. The control system may comprise a control interface configured to receive at least one input from a human operator to enable operation of the airside vehicle in the manual mode. The airside vehicle may comprise a cab to enable a human to travel with the airside vehicle. The control interface may be located with the cab.

The control interface may be configured to provide at least one control output to the at least one processor of the control system in dependence on the at least one input from a human operator. The at least one processor may be configured to provide at least one control output to the drive system controller in dependence on the at least one control output from the control interface. The drive system controller may be configured to provide at least one control output to the drive system in dependence on the at least one control output from the at least one processor to enable operation of the airside vehicle in the manual mode.

The at least one processor may comprise the one or more processors configured to determine the magnitude of the pushing force and/or the pulling force exerted by the loading system on the container and/or receive one or more outputs from the acceleration measurement means and/or the displacement measurement means, where present, as described above with respect to the first aspect of the invention.

The control system may comprise a loading system controller. The loading system controller may be configured to cause the end section of the or each loading apparatus to move in the first and second directions. The loading system controller may be configured to cause the at least one of the proximal endstop and the distal endstop of the or each loading apparatus to move between the closed position and the open position. The loading system controller may be configured to cause adjustment of the height of the or each loading apparatus relative to the platform. The loading system controller may be configured to cause reconfiguration of the retaining means and of the means to inhibit unintended activation of the loading system as described above. The loading system controller may be configured to cause any of the functions of any of the systems or apparatus described herein.

The at least one processor may be configured to provide at least one control output to the loading system controller in dependence on at least one sensing output from the sensing system to enable operation of the loading system in an autonomous mode. The at least one processor may be configured to provide at least one control output to the loading system controller in dependence on at least one control output from the control interface to enable operation of the loading system in a manual mode.

The at least one processor may be configured to provide at least one control output to the drive system controller and/or the loading system controller in dependence on the minimum magnitude of the force required to push a container from the platform or pull a container onto the platform, the magnitude of a force acting in the opposite direction to the pushing force and/or pulling force, and/or the mass of a container as determined by the one or more processors as described above with respect to the first aspect of the invention.

The at least one processor may be configured to provide at least one control output to the loading system controller to stop the loading system from exerting the pushing force or pulling force on the container in the event of an unexpected increase or decrease of the magnitude of a force acting in the opposite direction to the pushing force or pulling force or an unexpected change in acceleration of the container. For example, an unexpected increase in the magnitude of a force acting in the opposite direction to the pushing force or pulling force or an unexpected increase in deceleration may indicate entrapment of a person or object between the container and another object. An unexpected decrease in the magnitude of a force acting in the opposite direction to the pushing force or pulling force or an unexpected increase in acceleration may indicate that the container has fallen from the platform.

The at least one processor may be configured to provide at least one control output to the loading system controller to limit the magnitude of the pushing force and/or pulling force to the minimum magnitude of the pushing force and/or pulling force, respectively, as determined by the at least one processor as described above. This may help prevent damage to the container or other equipment.

The control system may comprise at least one transmitter in communication with the at least one processor. The at least one transmitter may be configured to transmit one or more signals indicative of a mass of the container as determined by the at least one processor as described above. The at least one transmitter may be configured to transmit the one or more signals to a central controller of a baggage handling system and/or to a receiver of another airside vehicle.

The airside vehicle may be configured to switch between the at least one autonomous mode and the manual mode. The at least one autonomous mode may comprise a fully autonomous mode. The at least one autonomous mode may comprise a plurality of autonomous modes. Each autonomous mode may provide a different level of autonomy. Each autonomous mode may relate to a different SAE autonomy level. The airside vehicle may be configured to switch between the plurality of autonomous modes. The airside vehicle may be configured to switch between the at least one autonomous mode and the manual mode and/or the plurality of autonomous modes in response to at least one external event. The at least one external event may comprise the detection of an object and/or a human or animal in the path of the airside vehicle by the sensing system.

The airside vehicle may be an airside dolly. The airside vehicle may be operable to transport a container and tow one or more further airside vehicles. The airside vehicle may comprise a towbar for towing one or more further airside vehicles. The one or more further airside vehicles may comprise an airside dolly, a train of airside dollies, or other ground equipment such as portable stairs, scissor lifts, or any other suitable equipment.

According to a tenth aspect of the invention, there is provided a method of unloading a container, onto a lateral, from the airside vehicle of the ninth aspect of the invention. The method comprises: positioning the airside vehicle adjacent the lateral; moving the or each end section in the first direction to move the container onto the lateral; moving the or each distal endstop from the closed position to the open position to release the container; and moving the or each end section in the second direction.

The method of the tenth aspect of the invention may comprise any of the steps of the method of the second aspect of the invention, and vice versa.

Where the airside vehicle is able to move in the first and second sideways directions, the method may comprise moving the airside vehicle in the first sideways direction towards the lateral until the airside vehicle is adjacent the lateral. The method may comprise moving the airside vehicle in the second sideways direction away from the lateral after the container has been moved onto the lateral.

The method may comprise moving the or each distal endstop from the open position to the closed position after releasing the container and moving the or each end section in the second direction. Where the proximal endstop is configured to move relative to the end section in the first and second directions, the method may comprise moving the or each proximal endstop in the first direction after moving the or each end section in the first direction to move the container onto the lateral, after moving the or each distal endstop from the closed position to the open position to release the container, and before moving the or each end section in the second direction. This may advantageously provide additional clearance for moving the or each distal endstop from the open position to the closed position.

The method may be carried out autonomously. The method may be carried out without any intervention from a human operator.

Where a method of loading and/or unloading a container are described, it will be appreciated that the method can be carried out by multiple vehicles, for example multiple airside vehicles within a baggage handling system, concurrently so as to load and/or unload multiple containers concurrently. Furthermore, the method can be repeated as many times as necessary to load and/or unload multiple containers. Any feature of any of the above-described aspects and embodiments may be employed with any feature of any other of the above-described aspects and embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings of which:

Figures la-e each show a schematic plan view of a loading apparatus according to an embodiment of the invention;

Figures 2a-e each show a schematic plan view of a loading system according to an embodiment of the invention;

Figures 3a-g each show a schematic view of features of a loading apparatus according to another embodiment of the invention;

Figures 4a and 4b show a schematic plan view of a loading system according to another embodiment of the invention;

Figures 5a and 5b show a schematic plan view of a loading system according to another embodiment of the invention;

Figures 6a and 6b show a schematic plan view of a loading system according to another embodiment of the invention;

Figures 7a-k each show a schematic view of features of an airside vehicle according to an embodiment of the invention;

Figures 8a-m illustrate schematically a method of unloading a container onto a lateral from an airside vehicle according to an embodiment of the invention;

Figures 9a-i each show a schematic plan view of a loading apparatus, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to an embodiment of the invention; and

Figures lOa-h each show a schematic plan view of a loading system, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to an embodiment of the invention.

DETAILED DESCRIPTION

Figures la-e each show a schematic plan view of a loading apparatus 1, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to an embodiment of the invention. The loading apparatus 1 comprises an end section 11, a proximal endstop 12, and a distal endstop 13. The end section 11 is configured to move in a first direction di and a second direction d2 opposite the first direction di. The distal endstop 13 is spaced apart from the proximal endstop 12 in the first direction di. Both the proximal endstop 12 and the distal endstop 13 are configured to move with the end section 11 in the first and second directions di, d2.

In this embodiment, the loading apparatus 1 takes the form of a loading arm 1. The first direction di and the second direction d2 are linear and parallel to the longitudinal extent of the loading arm 1.

In this embodiment, both the proximal endstop 12 and the distal endstop 13 are configured to move between a closed position and an open position to retain a container between the proximal endstop 12 and the distal endstop 13 when in the closed position and release the container when in the open position. In other embodiments, only the proximal endstop 12 or only the distal endstop 13 may be configured to move between the closed position and the open position. In this embodiment, the proximal endstop 12 and the distal endstop 13 are configured to move relative to the end section 11 between the closed position and the open position.

In this embodiment, the distal endstop 13 is spaced apart from the proximal endstop 12 by approximately 1.64m, such that a ULD is able to fit between the distal endstop 13 and the proximal endstop 12 with clearance. In other embodiments, the distance between the distal endstop 13 and the proximal endstop 12 may be less than or greater than 1.64m. In some embodiments, the distance between the distal endstop 13 and the proximal endstop 12 may be adjustable to accommodate different sized containers.

The loading apparatus 1 further comprises a mounting section 14 for mounting the loading apparatus 1 to an airside vehicle. The end section 11 is configured to move relative to the mounting section 14 in the first and second directions. In this embodiment, the end section 11 is configured to slide along the mounting section 14 in the first and second directions. In other embodiments, the mounting section 14 may not be present, and the end section 11 may be configured to move relative to some other structure which may or may not form part of the loading apparatus 1.

The end section 11 is configured to extend relative to the mounting section 14 in the first direction and retract relative to the mounting section 14 in the second direction. The mounting section 14 provides a first section, and the end section 11 provides a second section, the second section being configured to move linearly relative to the first section to extend and reduce the overall length of the loading arm 1.

Figure la shows the end section 11 in a retracted position. Figure lb shows the end section 11 in an extended position after the end section 11 has been extended in the first direction di from the retracted position shown in Figure la. The end section 11 is additionally configured to extend relative to the mounting section 14 in the second direction and retract relative to the mounting section 14 in the first direction. Figure 1c shows the end section 11 in an extended position after the end section 11 has been extended in the second direction from the retracted position shown in Figure la. To achieve the extension and retraction of the end section 11, the end section 11 is configured to slide along the mounting section 14 by means of edges of the end section 11 being received in rails provided on or in the mounting section 14. In other embodiments, the end section 11 may be otherwise configured to move in the first and second directions or may be configured to extend only in the first or second direction.

Each of the proximal endstop 12 and the distal endstop 13 is configured to pivot between the closed position and the open position about an axis parallel to the first and second directions. In other embodiments, the proximal endstop 12 and/or the distal endstop 13 may be configured to otherwise move, such as slide or translate, between the closed position and the open position about an axis parallel to the first and second directions. Figures la-c show the proximal endstop 12 and the distal endstop 13 in the closed position. Figure Id shows the distal endstop 13 in the open position, shown by a solid line, with the outline of the distal endstop 13 in the closed position shown by a dashed line, and Figure le shows the proximal endstop 12 in the open position, shown by a solid line, with the outline of the proximal endstop 12 in the closed position shown by a dashed line. The proximal endstop 12 and the distal endstop 13 extend on one side of the loading apparatus 1 when in the closed position and pivot 45 degrees towards the other side of the loading apparatus 1 to the open position. As illustrated in Figures Id and le, the proximal endstop 12 and the distal endstop 13 extend in the plane of the page when in the closed position and pivot out of the plane of the page to the open position. It will be appreciated that this is merely illustrative and that the loading apparatus 1 may be orientated differently in use. Figures 2a-e each show a schematic plan view of a loading system 2, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to an embodiment of the invention. The loading system 2 comprises first and second loading apparatus la, lb of Figures la-e. The first and second loading apparatus la, lb are spaced apart in a direction perpendicular to the first direction and are aligned in the first direction. In use, the first direction and the direction perpendicular to the first direction are in a horizontal plane. In other embodiments, the first direction and the direction perpendicular to the first direction may be in a vertical plane.

Figures 2a-e illustrate schematically a process of unloading a container C using the loading system 2. Figure 2a shows the end sections I la, 11b of the first and second loading apparatus la, lb in an initial position with the proximal endstops 12a, 12b and the distal endstops 13a, 13b of the first and second loading apparatus la, lb in the closed position. The container C is retained between the proximal endstops 12a, 12b and the distal endstops 13a, 13b. Figure 2b shows the loading system 2 after the end sections I la, 11b have been moved in the first direction from the initial position of Figure 2a. Moving the end sections I la, 11b in the first direction causes the proximal endstops 12a, 12b to exert a force on the container C in the first direction so as to move the container C in the first direction.

In some embodiments, there may initially be some clearance between the proximal endstops 12a, 12b and the container C, such that an initial movement of the end sections I la, 11b in the first direction causes the proximal endstops 12a, 12b to first move towards the container C and then engage the container C before further movement of the end sections 1 la, 1 lb in the first direction causes the proximal endstops 12a, 12b to exert a force on the container C in the first direction so as to move the container C in the first direction.

Figure 2c shows the end sections I la, 11b in the position of Figure 2b with the distal endstops 13a, 13b in the open position, thereby releasing the container C so that the distal endstops 13a, 13b are able to move past the container C as the end sections I la, 1 lb are moved in the second direction. Figure 2d shows the loading system 2 after the end sections I la, 11b have been moved in the second direction from the position of Figure 2c, with the distal endstops 13a, 13b still in the open position. Figure 2e shows end sections I la, 11b in the position of Figure 2d with the distal endstops 13a, 13b in the closed position.

In other embodiments, the loading system 2 may comprise only one loading apparatus 1 of Figures la-e. For example, the loading system 2 may comprise only the first loading apparatus la of Figures 2a-e, with the second loading apparatus 2b being replaced by a guide rail or the like provide to guide movement of the container C in the first direction, with the force on the container C in the first direction being provided by only the first loading apparatus la.

In use the process described above with reference to Figures 2a-e is reversed to load the container C using the loading system. With the end sections 1 la, 1 lb in the position of Figure 2e, the distal endstops 13a, 13b are moved to the open position as shown in Figure 2d so that the distal endstops 13a, 13b are able to move past the container C. The end sections I la, 11b are then moved in the first direction from the position of Figure 2d until the distal endstops 13a, 13b have cleared the container C, as shown in Figure 2c. The distal endstops 13a, 13b are then moved to the closed position as shown in Figure 2b. The end sections I la, 11b are then moved in the second direction, which causes the distal endstops 13a, 13b to exert a force on the container C in the second direction so as to move the container C in the second direction to the position shown in Figure 2a.

In some embodiments, there may initially be some clearance between the distal endstops 13a, 13b and the container C, such that an initial movement of the end sections I la, 11b in the second direction causes the distal endstops 13a, 13b to first move towards the container C and then engage the container C before further movement of the distal endstops 13a, 13b in the second direction causes the distal endstops 13a, 13b to exert a force on the container C in the second direction so as to move the container C in the second direction.

In the process of Figures 2a-e, the loading apparatus la, lb do not substantially support the weight of the container C. In use, the weight of the container C is supported by a platform of a vehicle or any other suitable arrangement for supporting the weight of the container C. The loading apparatus la, lb act to exert a force on the container C substantially only in the first or second direction, so as to move the container C in the first or second direction, respectively.

Figures 3a-g each show a schematic view of features of a loading apparatus 3, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to another embodiment of the invention.

Figure 3a shows a schematic plan view of the loading apparatus 3 and Figure 3b shows a schematic end view of the loading apparatus 3. The loading apparatus 3 takes the form of a loading arm 3. The loading arm 3 comprises an end section 31, a proximal endstop 32, and a distal endstop 33. The end section 31 is configured to move in a first direction and a second direction opposite the first direction. In this embodiment, the first and second directions are linear and parallel to the longitudinal extent of the loading arm 3.

The distal endstop 33 is spaced apart from the proximal endstop 32 in the first direction. Both the proximal endstop 32 and the distal endstop 33 are configured to move with the end section 31 in the first and second directions. In this embodiment, only the distal endstop 33 is configured to move between a closed position and an open position to retain a container between the proximal endstop 32 and the distal endstop 33 when in the closed position and release the container when in the open position.

In other embodiments, the loading arm 3 may further comprise one or more intermediate endstops arranged between the proximal endstop 32 and the distal endstop 33. In such embodiments, the or each intermediate endstop is configured to move between a closed position and an open position to retain a container between the intermediate endstop and an adjacent endstop when in the closed position and release the container when in the open position. In this way, a plurality of containers can be retained by the proximal endstop 32, the distal endstop 33, and the or each intermediate endstop. For example, where the loading arm 3 comprises a single intermediate endstop arranged between the proximal endstop 32 and the distal endstop 33, a first container may be retained between the proximal endstop 32 and the intermediate endstop and a second container may be retained between the intermediate endstop and the distal endstop 33. The or each intermediate endstop may be configured to translate relative to the end section 31 in the first and second directions to enable selective pushing of a container from a vehicle and/or selective pulling of a container onto a vehicle as described elsewhere herein. The loading arm 3 further comprises a mounting section 34, for mounting the loading arm 3 to an airside vehicle, and an intermediate section 35. The end section 31 is configured to slide along the intermediate section 35 to extend relative to the intermediate section 35 in the first direction and retract relative to the intermediate section 35 in the second direction. The intermediate section 35 is configured to slide along the mounting section 34 to extend relative to the mounting section 34 in the first direction and retract relative to the mounting section 34 in the second direction.

The mounting section 34 provides a first section and the end section 31 or the intermediate section 35 provides a second section, or the intermediate section 35 provides a first section and the end section 31 provides a second section, the second section being configured to move linearly relative to the first section to extend and reduce the overall length of the loading arm 3. Figure 3a shows the end section 31 and the intermediate section 35 in a retracted position and Figure 3c shows the end section 31 and the intermediate section 35 in an extended position, after being extended in the first direction from the retracted position.

In other embodiments, the loading arm 3 may further comprises locking means configured to inhibit unintended extension and retraction of the loading arm 3. The locking means may be configured to be automatically reconfigurable between a locked configuration, in which the locking means inhibits unintended extension and retraction of the or loading arm 3, and an unlocked configuration, in which the locking means allows extension and retraction of the or loading arm 3.

In other embodiments, the loading arm 3 may further comprise acceleration measurement means configured to determine an acceleration of the end section 31 relative to the mounting section 34 in the first and second directions. In other examples, the acceleration measurement means may be configured to determine an acceleration of the intermediate section 35 relative to the mounting section 34 in the first and second directions. In other examples, the loading arm 3 may comprise any other suitable means configured to determine an acceleration of one part of the loading arm 3 relative to another part of the loading arm 3 in the first and second directions. It will be appreciated that, in use, an acceleration of one part of the loading arm 3 relative to another part of the loading arm 3 will be equivalent, or substantially equivalent, to the acceleration of a container on which the loading arm 3 is acting. The acceleration can be used to determine the minimum magnitude of a force required to push a container from a vehicle or pull a container onto a vehicle and determine a mass of a container as described elsewhere herein.

The loading arm 3 further comprises an intermediate section actuator 36 and an end section actuator 37. In this embodiment, the intermediate section actuator 36 is a first hydraulic cylinder 36 and the end section actuator 37 is a second hydraulic cylinder 37. The first hydraulic cylinder 36 is configured to move the intermediate section 35 relative to the mounting section 34 in the first and second directions. The second hydraulic cylinder 37 is configured to move the end section 31 relative to the mounting section 34 in the first and second directions.

The loading arm 3 further comprises a proximal endstop mount 38. The proximal endstop 31 is mounted to the end section 31 via the proximal endstop mount 38. As shown most clearly in Figures 3d and 3e, the proximal endstop mount 38 comprises a plurality of attachment points 39 along the length of the proximal endstop mount 38 for attaching the proximal endstop mount 38 to the end section 31. In this embodiment, the attachment points 39 comprise two rows of holes configured to be aligned with corresponding attachment points in the end section 31 in the form of threaded holes. This allows a bolt to be passed through any one of the attachment points 39 and into the corresponding threaded hole in the end section 31 to attach the proximal endstop mount

38 to the end section 31. In other embodiments, alternative attachment points 39 along the length of the proximal endstop mount 38 may be provided. The attachment points

39 allow the position of the proximal endstop mount 38 along the end section 31 to be adjusted to accommodate different sized containers in use.

In use, the proximal endstop mount 38 may be removed from the end section 31 and remounted to the end section 31 using alternative attachment points 39. For example, the attachment points 39 selected to attach the proximal endstop mount 38 to the end section 31 may be selected in dependence on the size of a container to be unloaded off of an airside vehicle and/or loaded onto an airside vehicle. The dimension of the container in the first direction, e.g., the length, width, or depth of the container depending on the intended orientation of the container during unloading and/or loading, may be measured and if the distance between the proximal endstop 32 and the distal endstop 33 is not appropriate, the proximal endstop mount 38 will be removed from the end section 31 and remounted to the end section 31 using alternative attachment points 39 as appropriate.

The proximal endstop 32 is configured to move relative to the end section 31 in the first and second directions. In this embodiment, only the proximal endstop 32 is configured to move relative to the end section 31 in the first and second directions, and the position of the distal endstop 33 relative to the end section 31, with respect to translation in the first and second directions, is fixed. In other embodiments, the distal endstop 33 may alternatively or additionally be configured to move relative to the end section 31 in the first and second directions.

In this embodiment, the proximal endstop 32 is configured to extend relative to the end section 31 in the first direction and retract relative to the end section 31 in the second direction. In other embodiments, the proximal endstop 32 may be configured to slide, translate, or otherwise move relative to the end section 31 in the first and second directions. The loading arm 3 comprises a proximal endstop actuator 310 configured to extend the proximal endstop 32 relative to the end section 31 in the first direction linearly and retract the proximal endstop 32 relative to the end section 31 in the second direction linearly. The proximal endstop actuator 310 comprises an electromechanical actuator but may comprise an alternative actuator in other embodiments. Figure 3d shows the proximal endstop 32 in a retracted position and Figure 3e shows the proximal endstop 32 in an extended position after it has been extended in the first direction.

As clearly shown by a comparison of Figures 3a, 3c, 3d, and 3e, the distance the proximal endstop 32 extends in the first direction relative to the end section 31 is minimal compared to the distance the end section 31 and the intermediate section 35 extend in the first direction relative to the mounting section 34. For example, the end section 31 and the intermediate section 35 may extend in the first direction relative to the mounting section 34 by a distance in the range of l-5m, and the proximal endstop 32 may extend in the first direction relative to the end section 31 by a distance in the range of 0.05-0.5m.

In this embodiment, with the proximal endstop 32 in the retracted position shown in Figure 3d, the distance between the proximal endstop 32 and the distal endstop 33 is approximately 1.64m, such that a ULD is able to fit between the proximal endstop 32 and the distal endstop 33 with clearance. In other embodiments, the distance between the proximal endstop 32 and the distal endstop 33 may be less than or greater than 1.64m. In some embodiments, the distance between the proximal endstop 32 and the distal endstop 33 may be adjustable to accommodate different sized containers. This adjustment may be provided for by means of moving the proximal endstop 32 in the first and second directions.

The loading arm 3 further comprises a distal endstop mount 311, a distal endstop linkage 312, and a distal endstop actuator 313. The distal endstop actuator 313 comprises an electromechanical actuator but may comprise an alternative actuator in other embodiments. The distal endstop mount 311 is attached to the end section 31. In some embodiments, the distal endstop mount may be mounted to the end section by a similar arrangement of attachment points as described above with reference to the proximal endstop mount.

As shown most clearly in Figures 3f and 3g, a first end of the distal endstop linkage 312 is pivotally attached to the distal endstop mount 311 and the distal endstop 33 is attached to a second end of the distal endstop linkage 312. The distal endstop actuator 313 is arranged to act on the distal endstop 33 to pivot the distal endstop 33, about an axis perpendicular to the first and second directions and perpendicular to the plane within which the end section 31 is configured to move in the first and second directions, between the open and closed positions. Referring back to Figures 3a and 3c, the axis is perpendicular to the plane of the page. Figure 3f shows the distal endstop 33 in the closed position and Figure 3g shows the distal endstop 33 in the open position.

Figures 4a and 4b show a schematic plan view of a loading system 4, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to another embodiment of the invention. The loading system 4 comprises first and second loading arms 3a, 3b of Figures 3a-g. For clarity, not all the features of the loading arm 3 of Figures 3a-g are labelled in Figures 4a and 4b. The first and second loading arms 3a, 3b are spaced apart in a direction perpendicular to the first direction and are aligned in the first direction. Figures 4a and 4b show a container C retained between the proximal endstops 32a, 32b and the distal endstops 33a, 33b. Figure 4a shows the end sections 31a, 31b and the intermediate sections 35a, 35b of the first and second loading arms 3a, 3b in a retracted position with the distal endstops 33a, 33b of the first and second loading arms 3a, 3b in the closed position. Figure 4b shows the end sections 31a, 31b and the intermediate sections 35a, 35b in an extended position, after being extended in the first direction from the retracted position.

Figures 5a and 5b show a schematic plan view of a loading system 5, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to another embodiment of the invention. The loading system 5 comprises first and second loading apparatus 6a, 6b, a linking structure 51, a mounting section 52, and an actuator 53. Each of the first and second loading apparatus 6a, 6b comprises an end section 61a, 61b, a proximal endstop 62a, 62b, and a distal endstop 63a, 63b. The linking structure 51 is attached to the end section 61a, 61b of each of the first and second loading apparatus 6a, 6b. The linking structure 51 provides the proximal endstops 62a, 62b of the first and second loading apparatus 6a, 6b.

The actuator 53 is configured to move the linking structure 51, end sections 61a, 61b, and distal endstops 63a, 63b together relative to the mounting section 52 in a first direction and a second direction opposite the first direction. In this embodiment, the first and second directions are linear. The linking structure 51 may take the form of a bar, a strut, a wall or any other suitable structure configured to transmit a force from the actuator 53 to the end sections 61a, 61b. The first and second loading apparatus 6a, 6b are spaced apart in a direction perpendicular to the first direction and are aligned in the first direction. The distal endstops 63a, 63b are configured to move between a closed position and an open position to retain a container C between the proximal endstops 62a, 62b and the distal endstops 63a, 63b when in the closed position and release the container when in the open position.

Figures 5a and 5b show a container C retained between the proximal endstops 62a, 62b and the distal endstops 63a, 63b, with the distal endstops 63a, 63b in the closed position. Figure 5a shows the linking structure 51, end sections 61a, 61b, and distal endstops 63a, 63b in an initial position relative to the mounting section 52. Figure 5b shows the loading system 5 after the linking structure 51, end sections 61a, 61b, and distal endstops 63a, 63b have been moved in the first direction from the initial position. In some embodiments, the linking structure 51, end sections 61a, 61b, and distal endstops 63a, 63b provide a frame that partially surrounds a container C when the distal endstops 63a, 63b are in the closed position and the container C is provided between the linking structure 51 and the distal endstops 63a, 63b. In this configuration, the container C is not able to move past the linking structure 51 or the distal endstops 63a, 63b, such that movement of the end sections 61a, 61b in the first direction causes the linking structure 51 to push the container C in the first direction and movement of the end sections 61a, 61b in the second direction causes the distal endstops 63a, 63b to pull the container C in the second direction. When the distal endstops 63a, 63b are moved to the open position, an aperture is created in the frame, between the distal endstops 63a, 63b, which allows the frame to move past the container C when the end sections 61a, 61b are moved in the second direction.

Figures 6a and 6b show a schematic plan view of a loading system 7, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to another embodiment of the invention. The loading system 7 comprises first and second loading apparatus 8a, 8b, a linking structure 71, a mounting section 72, and an actuator 73. The first and second loading apparatus 8a, 8b share features in common with the loading apparatus 3 of Figures 3a-g and like reference numerals are used to refer to like features. For clarity, not all features of the first and second loading apparatus 8a, 8b. In this embodiment, the first and second loading apparatus 8a, 8b do not comprise the mounting section 34 of the loading apparatus 3 of Figures 3a-g.

The linking structure 71 is attached to the intermediate section 35a, 35b of each of the first and second loading apparatus 8a, 8b. The actuator 73 is configured to move the linking structure 71 and intermediate sections 35a, 35b together relative to the mounting section 72 in the first and second directions. The first and second loading apparatus 8a, 8b are spaced apart in a direction perpendicular to the first direction and are aligned in the first direction. Figures 6a and 6b show a container C retained between the proximal endstops 32a, 32b and the distal endstops 33a, 33b. Figure 6a shows the linking structure 71, intermediate sections 35a, 35b, and end sections 31a, 31b an initial position relative to the mounting section 52. In the initial position, the end sections 31a, 31b are in the retracted position relative to the intermediate sections 35a, 35b. Figure 6b shows the loading system 7 after the linking structure 71 and intermediate sections 35a, 35b have been moved in the first direction from the initial position. In Figure 6b, the end sections 31a, 31b are in the extended position relative to the intermediate sections 35a, 35b.

Any of the above-described loading apparatus may comprise any of the features of any of the other above-described loading apparatus. Any of the above-described loading systems may comprise any of the features of any of the other above-described loading systems. It will be appreciated that the loading apparatus and systems of the abovereferenced figures are merely illustrative examples and that numerous other examples fall within the scope of the appended claims. For example, where the use of endstops is described, other retaining means may be alternatively or additionally employed.

Figures 7a-k each show a schematic view of features of an airside vehicle 8, for transporting a container, according to an embodiment of the invention.

Figure 7a shows a schematic plan view of the airside vehicle 8. In this embodiment, the airside vehicle 8 comprises the loading system 4 of Figures 4a and 4b. For clarity, the loading system 4 is illustrated schematically in Figures 7a-k (where the loading system 4 is shown) and not all features of the loading system 4 are indicated. As described below, the airside vehicle 8 is configured to move in a first sideways direction and a second sideways direction, opposite the first sideways direction. Each loading arm 3a, 3b is arranged such that the first and second directions, in which the end sections are configured to move, are parallel, or generally parallel, to the first and second sideways directions. In other embodiments, the airside vehicle 8 may comprise any other loading system or loading apparatus described herein.

The airside vehicle 8 further comprises a platform 81 for supporting a container. The platform 81 is capable of supporting a fully laden ULD. Each loading arm 3a, 3b is arranged adjacent the platform 81 to be arranged either side of a lower portion of a container supported by the platform 81. In other embodiments, the loading system 4 may further comprise height adjustment means configured to adjust a height of each loading arms 3a, 3b above the platform 81. The airside vehicle 8 comprises rolling elements 82 configured to allow a container to move relative to the platform 81 in the first and second directions, in particular when a force is applied to the container by the loading arms 3a, 3b. In other embodiments, the platform 81 may further comprise retaining means configured to inhibit unintended movement of a container relative to the platform 81. The retaining means of the platform 81 are configurable between a retained configuration, in which the retaining means is able to inhibit unintended movement of a container relative to the platform 81, and a released configuration, in which a container is able to move relative to the retaining means. The retaining means of the platform 81 may comprise at least one projection configured to project from the platform in the retained configuration to abut a portion of a container, such as a lower edge of the container, and configured to be substantially entirely received within the platform in the released configuration. In other embodiments, the retaining means of the platform may comprise any other retaining means described elsewhere herein.

The loading arms 3a, 3b are configured to retain a container on the platform 81 between the proximal endstops 32a, 32b and the distal endstops 33a, 33b when the distal endstops 33a, 33b are in the closed position. In other embodiments, the loading arms 3a, 3b may further comprise vertical retaining means configured to retain the container to inhibit movement of the container away from the platform 81 in a vertical direction while the container is stationary on the platform, e.g., during transportation of the container, and during extension and retraction of the loading arms 3a, 3b. The vertical retaining means may be automatically configurable between a retained configuration, in which the vertical retaining means inhibits movement of the container away from the platform 81 in a vertical direction, and a release configuration, in which the container is able to move relative to the retaining means.

In other embodiments, the loading system 4 may further comprise indication means configured to indicate an intended extension and indicate an intended retraction of the loading arms 3a, 3b. The indication means may be any suitable indication means, such as visual or audible indication means as described elsewhere herein.

The airside vehicle 8 comprises a cab 83 to enable a human to travel with the airside vehicle 8. The airside vehicle 8 also comprises a towbar 84 for towing one or more further airside vehicles, such as a train of airside dollies.

The airside vehicle 8 is self-propelled and comprises a drive system 85. The drive system 85 comprises four main wheels 851a-d and four electric motors 852a-d. Each electric motor 852a-d is configured to provide motive power to a different one of the main wheels 851a-d. The main wheels 851a-d and electric motors 852a-d are configured to enable movement of the airside vehicle 8 in a forward direction and a reverse direction, opposite the forward direction. The main wheels 851a-d are also steerable to enable the airside vehicle 8 to change direction.

The drive system 85 further comprises means to enable movement of the airside vehicle 8 in the first and second sideways directions mentioned above. The drive system 85 comprises four jacks 853a-d, four deployable wheels 854a-d, four deployable wheel motors 855a-d, four deployable wheel mounts 856a-d, and two deployable wheel axles 857a and 857b. These features will be described further below with reference to Figures 7c-e.

The airside vehicle 8 comprises a control system 90, shown in further detail in Figure 7b. The control system 90 comprises a processor 901, a control interface 902, a sensing system 903, a loading system controller 904, and a drive system controller 905. It will be appreciated that the control system 90 of Figure 7b is merely illustrative and in that other embodiments od the invention, the control system may comprise any suitable number of controllers, processors, and other elements configured to carry out the functions described herein.

The loading system controller 904 is configured to cause the end sections of the loading arms 3a, 3b to move in the first and second directions, cause the distal endstops of the loading arms 3a, 3b to move between the open and closed positions, and cause the proximal endstops of the loading arms 3a, 3b to move in the first and second directions, as described above with reference to Figures 4a and 4b.

In embodiments comprising the height adjustment means, the loading system controller 904 may be further configured to cause the height adjustment means to adjust the height of the loading arms above the platform. The control system 90 may further comprise one or more sensors configured to determine the height of the loading arms above the platform. The one or more sensors may form part of the loading arms; for example, each loading arms may comprise one or more of the sensors to determine the height of the respective loading arms above the platform. The one or more sensors may be configured to provide one or more outputs to the loading system controller 904 indicative of a current height of the loading arms above the platform.

The loading system controller 904 may be configured to receive one or more inputs indicative of a target height of the loading arms above the platform. The target height of the loading arms above the platform may correspond to the height of a container on a structure adjacent the vehicle, which may be determined by means of one or more laser scanners, or one or more other suitable sensor, forming part of the vehicle. The loading system controller 904 may be configured to compare the current height to the target height and provide one or more outputs based on the comparison to the height adjustment means to cause the height adjustment means to adjust the current height to match the target height.

In embodiments comprising the indication means, the loading system controller 904 may be further configured to provide one or more outputs to the indication means to activate the indication means to indicate an intended extension or retraction of the loading arms 3a, 3b.

In embodiments comprising the locking means, the loading system controller 904 may be further configured to provide one or more outputs to the locking means to reconfigure the locking means between the locked and unlocked configurations. In embodiments comprising the vertical retaining means, the loading system controller 904 may be further configured to provide one or more outputs to the vertical retaining means to configure the vertical retaining means between the retained configuration and the released configuration. In embodiments comprising the retaining means of the platform, the loading system controller 904 may be further configured to provide one or more outputs to the retaining means of the platform to configure the retaining means of the platform between the retained configuration and the released configuration.

In other embodiments, the control system 90 may comprise one or more memories configured to store a known relationship between a pressure of a hydraulic fluid supplied to the first and second hydraulic cylinders of the loading arms 3a, 3b and the magnitude of the force exerted by the loading arms 3a, 3b on a container in use. The processor 901 may be configured to determine the magnitude of a force applied to the container by the loading arms 3a, 3b based on the stored known relationship, as described elsewhere herein.

In embodiments comprising the acceleration measurement means, the control system 90 may further comprise the acceleration measurement means of at least one of the loading arms 3a, 3b. In some embodiments, only one of the loading arms 3a, 3b may comprise an acceleration measurement means which forms part of the control system 90. The processor 901 may be configured to receive one or more outputs from the acceleration measurement means indicative of an acceleration of the container. The processor 901 may be configured to determine the minimum magnitude of a force required to push the container from the platform or pull the container onto the platform and determine a mass of the container based on a force applied to the container by the loading arms 3a, 3b and the acceleration of the container as described elsewhere herein or as will be otherwise apparent to the skilled person.

The drive system controller 905 is configured to provide control outputs to the drive system 85 to cause the airside vehicle 8 to move in the forward direction, the first or second sideways direction, or the reverse direction, or to cause the vehicle 8 to change direction.

The airside vehicle 8 is operable in a plurality of autonomous modes, each providing a different level of autonomy, including a fully autonomous mode. In other embodiments, the airside vehicle 8 may be operable in a single autonomous mode providing any suitable level of autonomy. The sensing system 903 comprises an array of cameras, LIDAR sensors, and other sensors (not shown). The skilled person will be familiar with sensing systems of autonomous vehicles. The sensing system 903 is configured to provide sensing outputs to the processor 901. The processor 901 is configured to provide control outputs to the drive system controller 905 in dependence on the at least one sensing output. The drive system controller 905 is configured to provide control outputs to the drive system 85, to cause the airside vehicle 8 to move in the forward direction, the first or second sideways direction, or the reverse direction, or to cause the vehicle 8 to change direction, in dependence on the control outputs from the processor 901 to enable operation of the airside vehicle 8 in the plurality of autonomous modes. The airside vehicle 8 is further operable in a manual mode. The control interface 902 is configured to receive inputs from a human operator. The control interface 902 is located within the cab 83 to enable a human travelling with the airside vehicle 8 to provide inputs to the control interface 902. The control interface 902 is configured to provide control outputs to the processor 901 in dependence on the inputs from the human operator. The processor 901 is configured to provide control outputs to the drive system controller 905 in dependence on the control outputs from the control interface 902. The drive system controller 905 is configured to provide control outputs to the drive system 85, to cause the airside vehicle 8 to move in the forward direction, the first or second sideways direction, or the reverse direction, or to cause the vehicle 8 to change direction, in dependence on the control outputs from the processor 901 to enable operation of the airside vehicle 8 in the manual mode.

In other embodiments, the airside vehicle 8 may not be operable in a manual mode and may only be operable in one or more autonomous mode. In such embodiments, the airside vehicle 8 may not comprise the control interface 902 or the cab 83. In such embodiments, the airside vehicle 8 may be an autonomous guided vehicle (AGV).

The processor 901 is further configured to provide control outputs to the loading system controller 904 in dependence on sensing outputs from the sensing system 903, to enable operation of the loading system 4 in an autonomous mode. For example, the sensing system 903 may provide a sensing output to the processor 901 indicating that the airside vehicle 8 is adjacent to a lateral and ready to unload a container supported on the platform 81. In response, the processor 901 may provide a control output to the loading system controller 904 to activate the indication means, where present, to indicate an intended retraction of the loading arms 3a, 3b, configure the locking means, where present, in the unlocked configuration, configure the retaining means of the platform, where present, in the released configuration, and cause the loading arms 3a, 3b to move the container onto the lateral.

The sensing system 903 may be configured to provide a sensing output to the processor 901 which enables the processor 901 to determine a distance between the platform 81 and a lateral in proximity to the airside vehicle 8. The processor 901 may then determine if the distance between the platform 81 and the lateral is acceptable to allow for the container to be moved onto the lateral. If the processor 901 determines that the platform 81 is not close enough to the lateral to allow for the container to be moved onto the lateral, the processor 901 may provide a control output to the drive system controller 905, which in turn may provide a control output to the drive system 85 to cause the airside vehicle 8 to move sideways to move the platform 81 closer to the lateral. Similarly, if the processor 901 determines that the platform 81 is too close to the lateral to allow for the container to be moved onto the lateral, the processor 901 may provide a control output to the drive system controller 905, which in turn may provide a control output to the drive system 85 to cause the airside vehicle 8 to move sideways to move the platform 81 away from the lateral.

The processor 901 is also configured to provide control outputs to the loading system controller 904 in dependence on control outputs from the control interface 902, to enable operation of the loading system 4 in a manual mode. For example, a human operator may provide an input to the control interface 902 requesting that the loading arms 3a, 3b move a container supported on the platform 81 onto a lateral adjacent the airside vehicle. In response, the processor 901 may provide a control output to the loading system controller 904 to activate the indication means, where present, to indicate an intended retraction of the loading arms 3a, 3b, configure the locking means, where present, in the unlocked configuration, configure the retaining means of the platform, where present, in the released configuration, and cause the loading arms 3a, 3b to move the container onto the lateral.

In embodiments comprising the acceleration measurement means, the processor 901 may be configured to provide at least one control output to the loading system controller 904 to stop the loading arms 3a, 3b from exerting a force on the container in the event of an unexpected change in acceleration of the container. The processor 901 may also be configured to provide at least one control output to the loading system controller 904 to limit the magnitude of the force exerted by the loading arms 3a, 3b on the container to the minimum magnitude of force required to push the container from platform or pull the container onto the platform as determined by the processor 901 as described above.

Figure 7c shows a schematic plan view of the drive system 85 of the airside vehicle 8 in isolation from the rest of the airside vehicle 8. Figures 7d and 7e each show a schematic side view of the drive system 85. For clarity, not all features of the drive system 85 are shown in Figures 7d and 7e. The outline of the main structure of the airside vehicle 8 is shown in Figures 7c-e by a dashed line.

Figures 7d and 7e show the main wheels 851a-d orientated for movement of the airside vehicle in the forward or reverse directions. As shown, the deployable wheels 854a-d are orientated at 90 degrees to the main wheels 851a-d in this configuration. Figure 7d shows the deployable wheels 854a-d in an undeployed configuration. In this configuration, the main wheels 851a-d engage the ground G and the deployable wheels 854a-d do not engage the ground. Figure 7e shows the deployable wheels 854a-d in a deployed configuration. In this configuration, the deployable wheels 854a-d engage the ground G and the main wheels 851a-d do not engage the ground.

To reconfigure the deployable wheels 854a-d from the undeployed configuration to the deployed configuration, the jacks 853a-d are controlled by the drive system controller 905 to lower the main structure of the airside vehicle 8 until the deployable wheels 854a-d come into contact with the ground G. The jacks 853a-d are then further controlled to retract the main wheels 851a-d such that the main wheels 851a-d are removed from contact with the ground G. In other embodiments, the airside vehicle 8 may comprise additional or alternative means for removing the main wheels 851a-d from contact with the ground G. Once the deployable wheels 854a-d are in the deployed configuration, the deployable wheel motors 855a-d can be controlled by the drive system controller 905 to move the airside vehicle in the first and second sideways directions. The process of the deploying the deployable wheels 854a-d is reversed to reconfigure the deployable wheels 854a-d from the deployed configuration to the undeployed configuration.

In the embodiment of Figure 7c, drive system 85 comprises four deployable wheels 854a-d and four deployable wheel motors 855a-d, wherein each deployable wheel motor 855a-d is configured to drive a different one of the deployable wheels 854a-d, such that each of the deployable wheels 854a-d is driven. Each driven wheel 854a-d is configured to be driven in both directions. Differential control of the driven wheels 854a-d can be employed to cause the vehicle to rotate about a vertical axis. For example, first and third driven wheels 854a, 854c can be driven by the respective motors 855a, 855c in a first direction and second and fourth 854b, 854d can be driven by the respective motors 855b, 855d in a second direction, opposite the first direction, to cause the vehicle to rotate about a central vertical axis.

In other embodiments, the drive system may only comprise two deployable wheel motors and only two of the deployable wheels 854a-d may be driven. For example, only first and second deployable wheels 855a, 855b or only third and fourth deployable wheels 855c, 855d may be driven, and the other two, non-driven wheels may be replaced by unidirectional castors. Differential control of the two driven wheels can be employed to cause the vehicle to rotate about a vertical axis. The two driven wheels can be driven by the respective motors such that an equal and opposite torque is applied to each wheel to cause the vehicle to rotate about a vertical axis positioned between the two driven wheels. The torque applied to the two driven wheels can be modulated to cause the vehicle to rotate about a vertical axis positioned elsewhere, for example a central vertical axis of the vehicle.

In some embodiments, the drive system controller 905 may be configured to control the jacks 853a-d to lower or raise the main structure of the airside vehicle 8 with respect to the ground G, so as to adjust the height of the platform 81 of the airside vehicle 8 above the ground. In such embodiments, the sensing system 903 may be configured to provide a sensing output to the processor 901 which enables the processor 901 to determine a difference in height between the platform 81 and a lateral in proximity to the airside vehicle 8. The processor 901 may then determine if the difference is acceptable to allow for the container to be moved onto the lateral. If the processor 901 determines that the difference is not acceptable, the processor 901 may provide a control output to the drive system controller 905, which in turn may provide a control output to the drive system 85 to control the jacks 853a-d to adjust the height of the platform until the difference in height between the platform 81 and the lateral is acceptable.

In other embodiments, the airside vehicle 8 may comprise alternative means for adjusting the height of the platform 81 above the ground. The sensing system 903 may be configured to provide a sensing output to the processor 901 which enables the processor 901 to determine a difference in height between the platform 81 and a lateral in proximity to the airside vehicle 8. The processor 901 may then determine if the difference is acceptable to allow for the container to be moved onto the lateral. If the processor 901 determines that the difference is not acceptable, the processor 901 may provide a control output to the means for adjusting the height of the platform 81 to adjust the height of the platform until the difference in height between the platform 81 and the lateral is acceptable.

In other embodiments, the airside vehicle 8 may be in accordance with any vehicle described in GB2576800A.

Figures 7f-j illustrate schematically a process of unloading a container C from the airside vehicle 8 onto a lateral L adjacent the airside vehicle 8. For clarity, not all features of the airside vehicle 8 are labelled in Figures 7f-j .

Figure 7f shows the end sections 31a, 31b of the first and second loading arms 3a, 3b in an initial position with the distal endstops 33a, 33b of the first and second loading arms 3a, 3b in the closed position. The container C is retained between the proximal endstops 32a, 32b and the distal endstops 33a, 33b on the platform 81. The platform of the airside vehicle 8 is substantially aligned with the lateral L such that the container can be moved off the platform and onto the lateral L. Where present, the indication means is activated to indicate an intended extension of the first and second loading arms 3a, 3b, the locking means, where present, are configured to the unlocked configuration, and the retaining means of the platform, where present, are configured to the released configuration. Prior to this, the height of the platform may be adjusted to align the platform with the lateral L and or the height of the first and second loading arms 3a, 3b above the platform 81 may be adjusted, where the height adjustment means are present, as described above.

Figure 7g shows the loading system 4 after the end sections 31a, 31b have been moved in the first direction from the initial position of Figure 7f. Moving the end sections 31a, 31b in the first direction causes the proximal endstops 32a, 32b to exert a force on the container C in the first direction to move the container C in the first direction onto the lateral L.

Figure 7h shows the end sections 31a, 31b in the position of Figure 7g with the distal endstops 33a, 33b in the open position, thereby releasing the container C. Where present, the vertical retaining means and the retaining means of the platform are configured to their respective release configurations. At this point, the proximal endstops 32a, 32b may be controlled to move the container C further onto the lateral L in the first direction, as described above. Figure 7i shows the loading system 4 after the end sections 31a, 31b have been moved in the second direction from the position of Figure 7h, with the distal endstops 33a, 33b still in the open position. Figure 7j shows end sections 31a, 31b in the position of Figure 7i with the distal endstops 33a, 33b in the closed position.

In use, multiple airside vehicles 8 may be utilised to load and unload containers. For example, another airside vehicle 8 may take the place of the lateral L, such the airside vehicles 8 is arranged to push the container C onto the platform of the other airside vehicle 8 and/or vice versa. In some examples, one or more airside vehicles 8 may be arranged next to each other adjacent a lateral. The airside vehicle furthest from the lateral is arranged to push a container onto the platform of the airside vehicle nearest the lateral, via any intermediate airside vehicles, and the airside vehicle nearest the lateral is arranged to receive the container and push the container onto the lateral.

It will be appreciated that in use the process described above with reference to Figures 7f-j is reversed to load the container C from the lateral L onto the airside vehicle 8. Where present, the indication means is activated to indicate an intended retraction of the first and second loading arms 3a, 3b. The end sections 31a, 31b are moved in the second direction, which causes the distal endstops 33a, 33b to exert a force on the container C in the second direction so as to move the container C in the second direction, from the lateral L onto the airside vehicle 8. Once the container C is in position on the airside vehicle 8, the locking means, where present, is configured to the locked configuration and the vertical retaining means, where present, and the retaining means of the platform, where present, are configured to their respective retained configurations.

Figure 7k shows a schematic side view of the airside vehicle 8 with a container C arranged on the platform 81. As shown, the loading arms 3a, 3b are arranged to be positioned either side of a lower portion of the container C. It will be appreciated that the loading arms 3a, 3b are illustrated purely schematically in Figure 7k, and that in practice the exact position of the loading arms 3a, 3b may not be as shown in Figure 7k. As visible in Figure 7k, the vehicle 8 comprises first and second inclined surfaces 86a, 86b arranged on either side of the platform 81. The first loading arm 3a is arranged adjacent the first inclined surface 86a and the second loading arm 3b is arranged adjacent the second inclined surface 86b. The height adjustments means, where present, is configured to move the first and second loading arms 3a, 3b up and down the first and second inclined surfaces, respectively, in order to adjust the height of the first and second loading arms 3a, 3b above the platform. The first and second loading arms 3a, 3b may be mounted to the first and second inclined surfaces, respectively, via rails, or may otherwise be movably mounted to the respective first and second inclined surfaces, and the height adjustment means may comprise one or more hydraulic cylinders and/or one or more other suitable actuator configured to move the first and second loading arms 3a, 3b along the rails. In other embodiments, alternative height adjustment means may be provided.

The inclined surfaces 86a, 86b accommodate corresponding inclined surfaces of the container C. Some containers, in particular ULDs, comprise external inclined surfaces so that the container can fit within the internal profile of an aircraft cargo area, which follows the internal profile of the fuselage of the aircraft. The inclined surfaces 86a, 86b accommodate external inclined surfaces of a container arranged both in the orientation shown in Figure 7k, i.e., with the inclined surface of the container adjacent the first inclined surface 86a of the vehicle 8, and the opposite orientation, i.e., with the inclined surface of the container adjacent the second inclined surface 86b of the vehicle 8.

It will be appreciated that the airside vehicle 8 as shown in Figures 7a-k is merely illustrative of one embodiment of the invention, and that the airside vehicle may alternatively comprise any other loading system or loading apparatus described herein and operate in any manner in accordance with the appended claims.

Figures 8a-m illustrate schematically a method of unloading a container C, onto a lateral L, from the airside vehicle 8 of Figures 7a-j, according to an embodiment of the invention. It will be appreciated that Figures 8a-m are schematic and that not all features of the airside vehicle 8 are shown. Figure 8a shows the airside vehicle 8 in an initial position with respect to the lateral L. The method begins by positioning the airside vehicle 8 adjacent the lateral L. The drive system 85 of the airside vehicle 8 is controlled in an autonomous or manual mode as described above to move the airside vehicle 8 into the position shown in Figure 8b. In this position, the airside vehicle 8 is aligned with the lateral L.

The deployable wheels 854a-d are then deployed, and the deployable wheel motors 855a-d are controlled as described above to move the airside vehicle 8 in the first sideways direction until the airside vehicle 8 is positioned adjacent the lateral L, as shown in Figure 8c. As shown, the first sideways direction has a single component, in this example towards the lateral L. There is no substantial forwards or reverse movement of the airside vehicle 8 as it moves in the first sideways direction.

The loading system 4 is then controlled to move the container C onto the lateral L and the distal endstops 33a, 33b are moved into the open position, as shown in Figures 8d and 8e. In embodiments in which the loading arms comprise one or more intermediate endstops, and in which a plurality of containers are retained between adjacent endstops, the or each intermediate endstop may be controlled to translate relative to the end section 31a, 31b of the respective loading arm, with the loading arms extended across the lateral L as shown in Figure 8c, in order to selectively push one of the plurality of containers onto the lateral L.

Figures 8f and 8g illustrate what happens if the proximal endstops 32a, 32b are then not controlled to move the container C further onto the lateral L in the first direction. After the end sections 31a, 31b and the intermediate sections 35a, 35b of the loading arms 3a, 3b are fully retracted, as shown in Figure 8f, there is not sufficient clearance to then move the distal endstops 33a, 33b into the closed position, as shown in Figure 8g. The distal endstops 33a, 33b catch the edges of the container C when moving towards the closed position.

To alleviate the above issue, the proximal endstops 32a, 32b are controlled to move the container C further onto the lateral L after the end sections 31a, 31b have moved the container C onto the lateral L, as shown in Figure 8h. The proximal endstops 32a, 32b are controlled to move in the first direction, to move the container C further onto the lateral L, and then moved back in the second direction as shown in Figure 8i. The end sections 31a, 31b and the intermediate sections 35a, 35b of the loading arms 3a, 3b are then retracted and the distal endstops 33a, 33b moved into the closed position, as shown in Figures 8j and 8k.

It will be appreciated that the above issue could also be addressed by making the sections of the loading arms 3a, 3b longer, so that the loading arms 3a, 3b move the container C further onto the lateral when the loading arms 3a, 3b are first extended, as shown in Figure 8d. However, making the loading arms 3a, 3b longer would either mean that the loading arms 3a, 3b extend beyond the main body of the airside vehicle 8 when the loading arms 3a, 3b are retracted, or that the airside vehicle 8 would need to be made wider in order to accommodate the longer loading arms 3a, 3b when the loading arms 3a, 3b are retracted. The above solution using the proximal endstops 32a, 32b to move the container C further onto the lateral L means that the overall width of the airside vehicle 8 can be minimised. Alternatively, an additional intermediate section could be added to the loading arms 3a, 3b such that the fully extended length of the loading arms 3a, 3b is longer for a given fully retracted length of the loading arms 3a, 3b. However, this would add weight and complexity, which may not be preferable. The above solution also removes the need to move the airside vehicle 8 away from the lateral L before the distal endstops 33a, 33b can be moved into the closed position, which has advantages in terms of operational efficiency and maximising the utilisation of available space.

Once the container C and been unloaded onto the lateral L, the deployable wheel motors 855a-d are controlled to move the airside vehicle 8 in the second sideways direction away from the lateral to the position shown in Figure 81. As shown, the second sideways direction has a single component, in this example away from lateral L. There is no substantial forwards or reverse movement of the airside vehicle 8 as it moves in the second sideways direction. The drive system 85 of the airside vehicle 8 is then controlled to move the airside vehicle 8 away from the lateral L, as shown in Figure 8m.

In order to load the container C from the lateral L onto the airside vehicle 8, the airside vehicle 8 is first positioned adjacent the lateral L in the same manner as described above with reference to Figures 8a and 8b. The distal endstops 33a, 33b are then moved into the open position before the end sections 31a, 31b and the intermediate sections 35a, 35b of the loading arms 3a, 3b are extended either side of the container C, as shown in Figure 8i. The distal endstops 33a, 33b are then moved into the closed position before the end sections 31a, 31b and the intermediate sections 35a, 35b of the loading arms 3a, 3b are then retracted to pull the container C onto the airside vehicle 8. It will be appreciated that the distance between the container C and the vehicle 8 may mean that the distal endstops 33a, 33b are not able to move fully into the closed position. However, the distal endstops 33a, 33b may be able to move into a partially closed position in which the distal endstops 33a, 33b have sufficient grip on the container C to be able to pull the container C onto the vehicle 8.

In some embodiments, the end sections 31a, 31b and the intermediate sections 35a, 35b may initially partially retract, with the distal endstops 33a, 33b in the partially closed position, to initially pull the container C closed to the vehicle 8. The distal endstops 33a, 33b may then be moved into the open position and the end sections 31a, 31b and the intermediate sections 35a, 35b extended, such that the distal endstops 33a, 33b extend fully beyond the container C and are therefore able to be moved fully into the closed position. The end sections 31a, 31b and the intermediate sections 35a, 35b may then again be retracted to pull the container C onto the vehicle 8. In other embodiments, an additional operation or process may be performed to move the container C closer to the edge of the lateral L nearest to where the vehicle 8 will align with the lateral L before the container C is loaded onto the vehicle 8.

While the above-described embodiments of the invention utilise loading apparatus comprising both a proximal and distal endstop, other embodiments of the loading apparatus may comprise only a single endstop. Figures 9a-i each show a schematic plan view of a loading apparatus 9, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to an embodiment of the invention. The loading apparatus 9 comprises a single endstop 92.

In embodiments comprising one or more intermediate endstops, the or each intermediate endstop may be configured to function in the same manner as the single endstop 92 of the loading apparatus 9 as described herein.

The loading apparatus 9 further comprises an end section 91 and a mounting section 92.

The endstop 92 is configured to move relative to the end section 91 in a first direction di and a second direction d2 opposite the first direction di. The end section 91 is configured to move relative to the mounting section 92 in the first direction di and the second direction d2. In this embodiment, the loading apparatus 9 takes the form of a loading arm 9. The first direction di and the second direction d2 are linear and parallel to the longitudinal extent of the loading arm 9.

The endstop 92 is configured to move between a closed position and an open position. In this embodiment, the endstop 92 is configured to move relative to the end section 91 between the closed position and the open position.

The end section 91 is configured to extend relative to the mounting section 93 in the first direction and retract relative to the mounting section 93 in the second direction. Figure 9a shows the end section 91 in a retracted position. Figure 9b shows the end section 91 in an extended position after the end section 91 has been extended in the first direction di from the retracted position shown in Figure 9a. Figure 9c shows the endstop

92 in the open position when the end section 91 in the extended position of Figure 9b. Figure 9d shows the endstop 92 after it has been moved in the first direction relative to the end section 91. Although the endstop 92 is illustrated as moving in the first direction relative to the end section 91 while in the open position, the endstop 92 may also be configured to move relative to the end section 91 in the first direction and/or in the second direction while in the closed position.

The end section 91 is additionally configured to extend relative to the mounting section

93 in the second direction and retract relative to the mounting section 93 in the first direction. Figure 9f shows the end section 91 in an extended position after the end section 91 has been extended in the second direction from the retracted position shown in Figure 9a. To achieve the extension and retraction of the end section 91, the end section 91 is configured to slide along the mounting section 93 by means of edges of the end section 91 being received in rails provided on or in the mounting section 93. In other embodiments, the end section 91 may be otherwise configured to move in the first and second directions or may be configured to extend only in the first or second direction.

Figure 9g shows the endstop 92 in the open position when the end section 91 is in the extended position of Figure 9f. Figure 9h shows the endstop 92 after it has been moved in the second direction relative to the end section 91. Figure 9i shows the endstop 92 after it has been moved from the open position to the closed position. The endstop 92 may be configured to move between the open and closed positions independently of the position of the endstop 92 along the end section 91.

The endstop 92 is configured to pivot between the closed position and the open position about an axis parallel to the first and second directions. In other embodiments, the endstop 92 may be configured to otherwise move, such as slide or translate, between the closed position and the open position about an axis parallel to the first and second directions. Figures 9a, 9b, 9e, 9f, and 9i show the endstop 92 in the closed position. Figures 9c, 9d, and 9h show the endstop 92 in the open position, shown by a solid line, with the outline of the endstop 92 in the closed position shown by a dashed line.

Figures lOa-h each show a schematic plan view of a loading system 10, for unloading a container off of an airside vehicle and loading a container onto an airside vehicle, according to an embodiment of the invention. The loading system 10 comprises first and second loading apparatus 9a, 9b of Figures 9a-i. The first and second loading apparatus 9a, 9b are spaced apart in a direction perpendicular to the first direction and are aligned in the first direction. In use, the first direction and the direction perpendicular to the first direction are in a horizontal plane. In other embodiments, the first direction and the direction perpendicular to the first direction may be in a vertical plane.

Figures lOa-h illustrate schematically a process of unloading a container C using the loading system 10. Figure 10a shows the end sections 91a, 91b and the endstops 92a, 92b of the first and second loading apparatus 9a, 9b in an initial position, with the endstops 92a, 92b in the closed position. Figure 10b shows the loading system 10 after the endstops 92a, 92b have been moved in the first direction from the initial position of Figure 10a. Moving the endstops 92a, 92b in the first direction causes the endstops 92a, 92b to exert a force on the container C in the first direction so as to move the container C in the first direction.

Figure 10c shows the endstops 92a, 92b in the position of Figure 10b after the end sections 91a, 91b have been moved slightly in the first direction from the position of the end sections 91a, 91b of Figure 10b. This causes the endstops 92a, 92b to exert a force on the container C in the first direction so as to move the container C further in the first direction. Figure lOd shows the end sections 91a, 91b after they have been moved in the second direction from the position of Figure 10c back to the position of Figure 10b.

In use the process described above with reference to Figures lOa-d is reversed to load the container C using the loading system. With the end sections 91a, 91b in the position of Figure lOd, the endstops 92a, 92b are moved to the open position as shown in Figure lOe so that the endstops 92a, 92b are able to move past the container C. The end sections 91a, 91b are then moved in the first direction from the position of Figure lOe until the endstops 92a, 92b have cleared the container C, as shown in Figure lOf. The endstops 92a, 92b are then moved to the closed position as shown in Figure 10g. The end sections 91a, 91b are then moved in the second direction, which causes the endstops 92a, 92b to exert a force on the container C in the second direction so as to move the container C in the second direction to the position shown in Figure lOh.

Although the above-described examples relate to pushing and pulling the container at the ends of the container, in other examples, the loading apparatus and/or loading arms(s) may be configured to retain a container and the sides of the container. In such examples, the loading apparatus and/or loading arms(s) may grip or otherwise provide friction to a side of a container at a point along a length of the container, extend to push the container partially onto a lateral, release the container, retract and grip or otherwise provide friction to a side of a container at a point along the length of the container closer to the vehicle, and then extend to push the container further onto the lateral. This process could be repeated to essentially ‘shuffle’ the container onto the lateral. The process could be reversed to pull the container from the lateral onto the vehicle platform. Although this process may take longer it would mean that the overall length of the loading apparatus and/or loading arms(s) could be reduced, thereby providing more compact and simpler loading apparatus and/or loading arms(s).

It will be appreciated that where examples of loading and unloading a container are described, the container may be fully laden, partially laden, or empty. The invention is not restricted to loading and unloading laden containers and may be applicable to the loading, unloading, and moving of empty containers. Furthermore, the invention is not restricted to loading and unloading container containing goods or objects; the invention may be applicable to loading and unloading container which contain people. For example, embodiment of the invention may be used to convey people to and from an aircraft either standing or seated.

Claims

1. A vehicle, comprising: a platform for supporting a container; and a loading system configured to push a container from the platform onto a structure adjacent the vehicle and/or pull a container from a structure adjacent the vehicle onto the platform.

2. The vehicle of claim 1, wherein the loading system comprises at least one loading arm arranged to be positioned to one side of a container supported by the platform, wherein the or each loading arm is: configured to extend to push a container from the platform onto a structure adjacent the vehicle; and/or configured to extend and arranged to extend to one side of a container supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform.

3. The vehicle of claim 2, wherein the or each loading arm is both: configured to extend to push a container from the platform onto a structure adjacent the vehicle; and configured to extend and arranged to extend to one side of a container supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform.

4. The vehicle of claim 2, wherein the at least one loading arm comprises two loading arms arranged to be positioned either side of a container supported by the platform, wherein the loading arms are each: configured to extend to push a container from the platform onto a structure adjacent the vehicle; and/or configured to extend and arranged to extend either side of a container supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform.

5. The vehicle of claim 4, wherein the loading arms are each both: configured to extend to push a container from the platform onto a structure adjacent the vehicle; and configured to extend and arranged to extend either side of a container supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform.

6. The vehicle of any of claims 2 to 5, wherein the or each loading arm is arranged to be positioned to one side of a lower portion of a container supported by the platform.

7. The vehicle of any of claims 2 to 6, wherein the or each loading arm is configured to contact a vertical surface of a container to push and/or pull the container.

8. The vehicle of any of claims 2 to 7, wherein the or each loading arm comprises a first section and a second section, wherein the or each loading arm is: configured to extend to push a container from the platform onto a structure adjacent the vehicle by means of the second section being configured to move linearly relative to the first section to extend the overall length of the loading arm; and/or configured to extend by means of the second section being configured to move linearly relative to the first section to extend the overall length of the loading arm, and arranged to extend to one side of a container supported by a structure adjacent the vehicle, and configured to retract to pull a container from a structure adjacent the vehicle onto the platform by means of the second section being configured to move linearly relative to the first section to reduce the overall length of the loading arm.

9. The vehicle of any of claims 2 to 8, wherein the or each loading arm is configured to extend and arranged to extend to one side of a container supported by a structure adjacent the vehicle and configured to retract to pull a container from a structure adjacent the vehicle onto the platform, wherein the or each loading arm comprises a distal endstop configured to move between an open position, in which the distal endstop is able to move past a container supported by a structure adjacent the vehicle as the loading arm extends to one side of the container, and a closed position, in which the distal endstop is arranged to contact a surface of a container supported by a structure adjacent the vehicle to pull the container from the structure adjacent the vehicle onto the platform as the loading arm retracts.

10. The vehicle of any of claims 2 to 9, wherein the or each loading arm is configured to extend to push a container from the platform onto a structure adjacent the vehicle, wherein the or each loading arm comprises a proximal endstop arranged to contact a surface of a container supported by the platform to push the container from the platform onto a structure adjacent the vehicle as the loading arm extends, wherein the proximal endstop is configured to push a container supported by a structure adjacent the vehicle further onto the structure after the loading arm has extended to push the container onto the structure.

11. The vehicle of claim 10, when dependent on claim 9, wherein the distal endstop and the proximal endstop are arranged to retain a container between the distal endstop and the proximal endstop as the loading arm extends to push a container from the platform onto a structure adjacent the vehicle and/or retracts to pull a container from a structure adjacent the vehicle onto the platform.

12. The vehicle of any preceding claim, wherein the vehicle is an airside vehicle.

13. The vehicle of any preceding claim, wherein the vehicle is a fully electric self- propelled vehicle.

14. The vehicle of any preceding claim, wherein the vehicle is operable in at least one autonomous mode.

15. The vehicle of any preceding claim, wherein the loading system is configured to push a container from the platform onto a structure adjacent a side of the vehicle, and/or pull a container from a structure adjacent a side of the vehicle onto the platform.

16. The vehicle of claim 16, wherein the loading system is configured to push a container from the platform onto a structure adjacent either side of the vehicle, and/or pull a container from a structure adjacent either side of the vehicle onto the platform.

17. The vehicle of any preceding claim, wherein the vehicle is configured to move itself sideways.

18. A method of unloading a container from the vehicle of claim 17 when dependent on claim 15 or claim 16, the method comprising: causing the vehicle to move itself sideways towards a structure until the structure is adjacent a side of the vehicle; and causing the loading system to push the container from the platform onto the structure .

19. A method of loading a container onto the vehicle of claim 17 when dependent on claim 15 or claim 16, the method comprising: causing the loading system to pull the container from the structure onto the platform; and causing the vehicle to move itself sideways away from the structure.

20. A loading arm configured to extend to push a container from a platform of a vehicle onto a structure adjacent the vehicle and/or configured to retract to pull a container from a structure adjacent a vehicle onto a platform of the vehicle.

21. The loading arm claim 20, comprising a first section and a second section, wherein the loading arm is: configured to extend to push a container from a platform of a vehicle onto a structure adjacent the vehicle by means of the second section being configured to move linearly relative to the first section to extend the overall length of the loading arm; and/or configured to extend by means of the second section being configured to move linearly relative to the first section to extend the overall length of the loading arm and configured to retract to pull a container from a structure adjacent the vehicle onto the platform by means of the second section being configured to move linearly relative to the first section to reduce the overall length of the loading arm.

22. The loading arm of claim 20 or claim 21, wherein the loading arm is configured to retract to pull a container from a structure adjacent a vehicle onto a platform of the vehicle, wherein the loading arm comprises a distal endstop configured to move between an open position, in which the distal endstop is able to move past a container supported by a structure adjacent a vehicle as the loading arm extends, and a closed position, in which the distal endstop is arranged to contact a surface of a container supported by a structure adjacent a vehicle to pull the container from the structure adjacent the vehicle onto a platform of the vehicle as the loading arm retracts.

23. The loading arm of any one of claims 20 to 22, wherein the loading arm is configured to extend to push a container from a platform of a vehicle onto a structure adjacent the vehicle, wherein the loading arm comprises a proximal endstop arranged to contact a surface of a container supported by a platform of a vehicle to push the container from the platform onto a structure adjacent the vehicle as the loading arm extends, wherein the proximal endstop is configured to push a container supported by a structure adjacent a vehicle further onto the structure after the loading arm has extended to push the container onto the structure.

24. A vehicle, comprising: a platform for supporting a container; and first and second loading arms arranged adjacent the platform to be arranged either side of a lower portion of a container supported by the platform; wherein the first and second loading arms are configured to contact a vertical surface of a container supported by the platform to push the container from the platform onto a structure adjacent the vehicle, and contact a vertical surface of a container supported by a structure adjacent the vehicle to pull the container from the structure adjacent the vehicle onto the platform.

25. The vehicle of claim 24, wherein the vehicle is a fully electric self-propelled vehicle and/or wherein the vehicle is operable in at least one autonomous mode.