Vertical carousel

Abstract

A storage and retrieval system 50 comprises a track system 115 with a plurality of grid members / tracks / rails 22 forming a grid pattern with a plurality of grid cells or spaces 24. At least one ver

Description

08 10 25 TECHNICAL FIELD The present invention relates to the field of storage and retrieval systems comprising robotic load handling devices operative on tracks located on a grid framework structure for handling storage containers stored in the grid framework structure. BACKGROUND Some commercial and industrial activities require systems that enable the storage and retrieval of a large number of different products. One known type of system for the storage and retrieval of items in multiple product lines involves arranging storage containers (also known as bins or totes) in stacks on top of one another, the stacks being arranged in rows. The storage containers are removed from the stacks and accessed from above by load handling devices, removing the need for aisles between the rows and thereby allowing a large number of containers to be stored in a given space. As shown in Figures 1 and 2, the storage containers 10, also known as bins or totes, are stacked on top of one another to form stacks 12. The stacks 12 are arranged in a grid framework structure 14 in a warehousing or manufacturing environment. The grid framework is made up of a plurality of storage columns or grid columns 11. Each grid in the grid framework structure has at least one storage column 11 for storage of a stack of containers. Figure 1 is a schematic perspective view of the grid framework structure 14, and Figure 2 is a top-down view showing a single stack 12 of containers 10 arranged within the framework structure 14. Each container or bin 10 typically holds a plurality of product items (not shown), and the product items within a container 10 may be identical, or may be of different product types depending on the application. Each container 10 may be used to store grocery items (i.e. food items), for example. Furthermore, the bins 10 may be physically subdivided to accommodate a plurality of different inventory items. The grid framework structure 14 comprises a plurality of upright members or upright columns 16 that support horizontal members 18, 20. A first set of parallel horizontal grid members 18 is arranged perpendicularly to a second set of parallel horizontal grid members 20 to form a grid structure lying in a substantially horizontal plane and supported by the upright members 16. The members 16, 18, 20 are typically manufactured from metal and typically welded or 08 10 25 bolted together or a combination of both. The storage containers 10 are stacked between the upright members 16 of the grid framework structure 14, so that the grid framework structure 14 guards against horizontal movement of the stacks 12 of the storage containers 10, and guides vertical movement of the storage containers 10. The top level of the grid framework structure 14 includes a track system 15 comprising a plurality of grid members, rails or tracks 22 arranged in a grid pattern across the top of the stacks 12. Referring additionally to Figure 3, the rails 22 support a plurality of load handling devices or robotic load handling devices 30. A first set 22a of parallel rails 22 guide movement of the robotic load handling devices 30 in a first direction (for example, an X-direction) across the top of the grid framework structure 14, and a second set 22b of parallel rails 22, arranged perpendicular to the first set 22a, guide movement of the load handling devices 30 in a second direction (for example, a Y-direction), perpendicular to the first direction. In this way, the rails 22 allow movement of the robotic load handling devices 30 laterally in two dimensions in the horizontal X-Y plane, so that a load handling device 30 can be moved into position above any of the stacks 12. The track system 15 can be integrated into the grid structure in the sense that the first and second sets of tracks are respectively integrated into the first and second set of grid members. Alternatively, the track system 15 can be separate to the grid structure in the sense that the first and second sets of tracks are respectively mounted to the first and second sets of grid members. The system described with reference to Figures 1 to 3 is generally described as a “cubic” storage system and has many advantages and is suitable for a wide range of storage and retrieval operations. In particular, it allows very dense storage of product, and it provides a very economical way of storing a huge range of different items in the containers 10, while allowing reasonably economical access to all of the containers when required for picking. Each load handling device 30 comprises a vehicle body 32 which is arranged to travel in the X and Y directions on the tracks or rails 22 of the grid frame structure 14, above the stacks 12 (see Figure 4). Figures 4 and 5 shows a load handling device 30 described in PCT Patent Publication No. WO2015 / 019055 (Ocado Innovation Limited) and International patent application WO 2015 / 140216 (Ocado Innovation Limited) comprising a vehicle body 32 equipped with a lifting mechanism 33 comprising a winch or a crane mechanism 35 to lift a storage container or bin 10, also known as a tote, from above. The crane mechanism 35 comprises a winch cable 38 wound on a spool or reel and a grabber device 39. Typically, the lifting device comprises a set of lifting tethers 38 extending in a vertical direction and connected nearby or at the four comers of the grabber device 39 (one tether near each of the 08 10 25 four comers of the grabber device) for releasable connection to a storage container 10. The grabber device 39 is configured to grip the top of the storage container 10 and lift it from a stack of containers in a storage system of the type shown in Figures 1 and 2. Typically, the grabber device 39 is configured as a lifting frame. To grab a container 10, the grabber device 39 comprises four locating pins or guide pins nearby or at each comer of the grabber device 39 which mate with corresponding cut outs or holes formed at four comers of the storage container 10 and four gripper elements arranged at the bottom side of the grabber device 39 to engage with the rim of the storage container 10. The locating pins help to properly align the gripper elements with corresponding holes in the rim of the container. Each of the gripper elements comprises a pair of wings or legs that are collapsible to be receivable in corresponding holes in the rim of the storage container and an open enlarged configuration having a size greater than the holes in the rim of the storage container 10 in at least one dimension so as to lock onto the storage container 10. The wings are driven into the open configuration by a drive gear (not shown). More specifically, the head of at least one of the wings comprises a plurality of teeth that mesh with the drive gear such that when the gripper elements are actuated, rotation of the drive gear causes the pair of wings to rotate from a collapsed configuration to an open enlarged configuration (Figure 7b). The vehicle body 32 comprises an upper part and a lower part (see Figure 5 (a and b)). The lower part is fitted with two sets of wheels 34, 36, which mn on rails at the top of the framework structure of the storage system. The upper part of the vehicle body 32 may house a majority of the bulky components of the load handling device. Typically, the upper part of the vehicle body houses a driving mechanism for driving both the wheels and the lifting mechanism together with an on-board rechargeable power source for providing the power to the driving mechanism and the lifting mechanism. The lower part of the vehicle body 32 comprises a wheel assembly that is are driven to enable movement of the vehicle in X and Y directions respectively along the rails. A first set of wheels 34, consisting of a pair of wheels 34 on the front of the vehicle 32 and a pair of wheels 34 on the back of the vehicle 32, are arranged to engage with two adjacent rails of the first set 22a of rails 22. Similarly, a second set of wheels 36, consisting of a pair of wheels 36 on each side of the vehicle 32, are arranged to engage with two adjacent rails of the second set 22b of rails 22. One or both sets of wheels can be moved vertically to lift each set of wheels clear of the respective rails, thereby allowing the vehicle to move in the desired direction. When the first 08 10 25 set of wheels 34 is engaged with the first set of tracks or rails 22a and the second set of wheels 36 are lifted clear from the tracks or rails 22, the wheels 34 can be driven, by way of a drive mechanism (not shown) housed in the vehicle 32, to move the load handling device 30 in the X direction. To move the load handling device 30 in the Y direction, the first set of wheels 34 are lifted clear of the tracks or rails 22, and the second set of wheels 36 are lowered into engagement with the second set of tracks or rails 22a. The drive mechanism can then be used to drive the second set of wheels 36 to achieve movement in the Y direction. One or both sets of wheels can be moved vertically to lift each set of wheels clear of the respective rails, thereby allowing the vehicle to move in the desired direction on the track system. The wheels are arranged around the periphery of a cavity or recess, known as a containerreceiving recess 40, in the lower part. The recess 40 is sized to accommodate the storage container or bin 10 when it is lifted by the crane mechanism comprising a winch, as shown in Figure 5 (a and b). When in the recess, the container is lifted clear of the rails beneath, so that the load handling device can move laterally to a different location. Whilst the container receiving space 40 is shown in Figure 4 arranged within the vehicle body 32, the container receiving space can be located below a cantilever as described in WO2019 / 238702 (Autostore Technology AS). A typical storage and retrieval system 1 is shown in Figure 3, the system having a plurality of load handling devices 30 active on the grid above the stacks 12. Figures 1 and 3 show the bins 10 in stacks 12 within the storage system. It will be appreciated that there may be a large number of storage containers or bins 10 in any given storage system and that many different items may be stored in the bins 10 in the stacks 12, each bin 10 may contain different categories of inventory items within a single stack 12. Upon receipt of a customer order, a robotic load handling device operative to move on the tracks is instructed to pick up a storage bin containing the item of the order from a stack in the grid framework structure and transport the storage bin to a pick station whereupon the item can be retrieved from the storage bin. Typically, the load handling device transports the storage bin or container to a bin lift device that is integrated into the grid framework structure. A mechanism of the bin lift device lowers the storage bin or container to a pick station. Alternatively, the storage bin is lowered by the lifting mechanism of the robotic load handling device to the pick station. 08 10 25 A grid framework structure normally has at least one grid cell or storage column which is used not for storing storage containers, but which comprises a location where the load handling devices can drop off and / or pick up storage containers so that they can be transported to a second location (not shown in the prior art figures) where the storage containers can be accessed from outside of the grid framework structure or transferred out of or into the grid framework structure. Within the art, such a location is normally referred to as a “port” and the grid cell or storage column in which the port is located may be referred to as a “delivery column”. The storage columns typically comprise two delivery columns. A first delivery column may, for example, comprise a dedicated drop-off port where the robotic load handling vehicles or load handling vehicles can drop off storage containers to be transported through the delivery column and further to the pick station, and a second delivery column may comprise a dedicated pick-up port where the robotic load handling vehicles can pick up storage containers that have been transported through the second delivery column from the pick station, i.e. storage containers are fed into the pick station via the first delivery column and exit the access station via the second delivery column. At the pick station, the item is retrieved from the storage bin. Picking can done manually by hand or by a robot. After retrieval from the storage bin, the storage bin is transported to a second bin lift device whereupon it is lifted to grid level to be retrieved by a load handling device and transported back into its location within the grid framework structure. Alternatively, the storage bin can be picked up by the lifting mechanism of the robotic load handling device through the pick-up port. A control system and a communication system keeps track of the location of the storage bins and their contents within the grid framework structure. As individual storage containers are stacked in vertical layers in storage columns, their locations in the grid framework structure or “hive” may be indicated using co-ordinates in three dimensions to represent the load handling device or a container’s position and a container depth (e.g. container at (X, Y, Z), depth W). Equally, locations in the grid framework structure may be indicated in two dimensions to represent the load handling device or a container’s position and a container depth (e.g. container depth (e.g. container at (X, Y), depth Z). For example, Z=1 identifies the uppermost layer of the grid, i.e. the layer immediately below the rail system, Z=2 is the second layer below the rail system and so on to the lowermost, bottom layer of the grid. 08 10 25 A problem with standard grid framework structures is that load handling devices must dig to reach a container at the bottom of a stack. For this, several load handling devices must work together to move each individual container from the stack, so that the desired container at the bottom of the stack can be accessed. Once the desired container is picked up from the stack by a load handling device, the previously removed containers from the stack may be put back into the stack from which they originated. Thus, the digging process takes time to retrieve storage containers and uses several load handling devices, resulting in increased costs. Further, as electronic commerce (e-commerce) continues to grow and overtake conventional brick and mortar retail practices, many businesses are facing challenges of maintaining or gaining relevance in an online marketplace and being able to compete with prominent players in the space. A typical supply chain involves the storage and retrieval of a large number of different products. For example, e-commerce and retail platforms that sell multiple product lines require systems that are able to store hundreds of thousands of different product lines having different temperature requirements. Different product items need to be maintained at different prescribed temperatures within a storage system, while the product items are stored and / or transported, and / or while orders are fulfdled. Some product items need to be maintained in a chilled or frozen environment to ensure freshness, while other product items can be stored or transported at ambient temperature. For example, where an order of one or more items involves the delivery of food and grocery goods that are of a perishable nature, storage of goods must adhere to strict temperature and environmental requirements, e.g. chilled or frozen temperature. For example, some types of food require a cool temperature environment (typically temperatures between 1°C - 8°C), some types of food require an even colder temperature environment (typically temperatures lower than -15°C), and other types of food require a higher temperature environment (typically temperatures above 10 °C). Conventional multi-temperature storage and retrieval systems typically require a walk-in cooler or freezer to be pre-constructed or additional components to be installed around the storage and retrieval system discussed above, which substantially expands the footprint of the storage and retrieval system and increases the cost and complexity of installing and operating the storage and retrieval system across multiple environmentally controlled zones. As a result, there has been a need for a freestanding, high density, automated storage and retrieval system with multiple integrated, environmentally controlled zones that removes the need of separate walk-in, environmentally controlled zones that operate independently of the storage and retrieval system. 08 10 25 In attempt to adapt an existing automated storage and retrieval system to provide storage for sensitive item, e.g. chilled or frozen items, WO2015124610 (Autostore Tech AS) relates to a storage system for receiving and storing processed refrigerated and frozen food products where there is provided thermal insulation between at least a section of the grid structure and the remotely operated vehicle. The system comprises insulating covers arranged in the top level of the grid structure. The insulating covers provide a thermal barrier towards the remotely operated vehicle as well as contributing to maintaining the desired temperature in the bins in the grid structure. The insulating covers are arranged to be movable by means of the remotely operated vehicle. The vehicle can move one insulating cover to another cell in the grid, or hold it temporarily while a bin is removed from the stack. WO2021198170 (Autostore Tech AS) relates to an automated storage and retrieval system for storing specialized goods in storage containers in an isolating housing, having walls and a roof. Openable and closable hatches are arranged in the roof. A storage tower is arranged inside the isolating housing such that the storage tower being accessible to a container handling vehicle though the hatch. The storage tower has a number of vertically stacked, horizontally movable container supports in the form of shelves upon which may rest a plurality of storage containers and one or more openings corresponding in size to a storage container such that storage containers may pass therethrough. The container supports may align their openings to form a tower port beneath a hatch, through which the container handling vehicle may lower its lifting device though the hatch, down the tower port, and access the target container. In both teachings, there is a requirement that the thermal insulation covering of the grid cell has to be removed or moved aside so that a container handling vehicle operating on the grid structure is able to gain access to one or more storage containers in storage. Not only does this introduce an additional step when retrieving storage containers from the storage system but there is no guarantee that the thermal insulation covers of the grid cells will provide adequate insulation to prevent the ingress of warmer air into the grid structure from the ambient region above the grid structure. To prevent the ingress of air from the ambient region into the grid structure, it is essential that the grid cells are adequately sealed from the ambient region above the thermal insulation covers. However, the use of thermal insulation covers for each of the grid cells introduces an additional complexity of the need to be easily removal in order to gain access to one or more storage container in storage in the grid structure. 08 10 25 To mitigate this problem, a fleet of robotic load handling devices are disposed in a chilled, or freezer environment. In these facilities, the robotic load handling devices reside and operate in the chilled or freezer on a full-time basis. Whilst having a fleet of load handling devices operating in the chilled or freezer environment on a full-time basis automates the storage and retrieval of storage containers from the storage system, there will be occasions where one or more load handling devices would have to be taken out service. This could be as a result of a breakdown or malfunction of the load handling device or simply the need to service the load handling device. In both cases, access to the load handling device would be required by maintenance personal. However, in the case where the load handling device resides in the freezer temperature area, which can be low as -30°C, this introduces another problem of the health and safety of the maintenance personal working at such low temperatures. A storage and retrieval system is thus required which overcomes the above problems. SUMMARY OF THE INVENTION A storage and retrieval system is provided. The system comprises: a) a track system, the track system comprising a plurality of grid members arranged in a grid pattern comprising a plurality of grid cells or spaces; b) at least one vertical carousel comprising a drive mechanism for circulating a plurality of containers around a vertical endless loop from a lowermost position to an uppermost position adjacent to the track system; c) a control system operatively coupled to the drive mechanism, the control system being configured to index the plurality of containers around the endless vertical loop in sequential steps, each of the sequential steps corresponding to at least one of the plurality of storage containers being aligned with a grid space or grid cell of the track system such that a storage container can be retrieved and / or lowered through the grid cell or grid space; wherein one or more access positions is provided between the uppermost position and the lowermost position of the endless vertical loop for accessing the content of one or more storage containers from at least one side of the at least one of the plurality of vertical carousels ; 08 10 25 wherein the at least one vertical carousel comprises a plurality of vertical carousels arranged below the track system , said plurality of vertical carousels being disposed laterally relative to each other to form a row of vertical carousels, said control system being configured to circulate each of the plurality of vertical carousels independently or in synchronisation ; wherein the storage and retrieval system further comprise at least one transfer system disposed laterally to the at least one of the plurality of vertical carousels, said transfer system comprising a transfer mechanism configured to transfer a storage container between a stowed position at the access position of the at least one vertical carousel and a deployed position outwardly relative to the at least one vertical carousel such that the contents of the storage container can be accessed therein , said at least one transfer mechanism being configured to tilt the storage container in the deployed position. The track system may comprise a first set of parallel rails or grid members extending in a first direction (x), and a second set of parallel rails or grid members extending in a second direction (y) perpendicular to the first direction. Thus, the arrangement of the grid members forms a grid pattern comprising a plurality of grid cells or spaces. The terms ‘grid cell’ and ‘grid space’ are used interchangeably throughout this application. Each grid cell or grid space is sized to fit a storage container and allow a storage container to be moved in and out of the grid cell. The track system may be suitable for guiding movement of a load handling device in a first direction (x) or a second direction (y). Alternatively, or addition, the track system may be suitable for interaction with a gantry system, as described later. The vertical carousel may be located beneath the track system. This arrangement allows a storage container to be lifted through a grid space from the vertical carousel, or lowered through a grid cell into the vertical carousel. Specifically, the storage container may be lifted from and / or lowered to an uppermost position of the vertical carousel, the uppermost position being adjacent to the track system. The term ‘storage container’ and ‘container’ are used interchangeably throughout this application. The vertical carousel allows the circulation of a plurality of containers around a vertical endless loop such that any storage container in the vertical carousel is accessible from the track system when it reaches the uppermost position of the vertical carousel and is aligned with a grid cell or grid space. As the loop or vertical carousel circulates, each storage container is paused at the uppermost position of the vertical carousel and therefore each storage container is 08 10 25 repeatedly accessible from the track system. This arrangement is particularly advantageous because there is no requirement for, for example, load handling devices operable on the track system to dig through a stack of storage containers to reach a storage container at or near the bottom of a stack. Using a vertical carousel to store storage containers results in a more efficient storage and retrieval system. Optionally, the at least one vertical carousel has a width that occupies only two grid cells. For the purpose of the present invention, the phrase “having a width that occupies only two grid cells” can be construed to mean that the vertical carousel has a footprint that extends across only two or a pair of grid cells. For a plurality of grid members arranged in a grid pattern, the footprint of the vertical carousel can extend two grid cells in the first direction (x-direction) or in the second (y-direction). The advantage of a vertical carousel having a footprint that extends only two grid cells is the ability to have a close packed arrangement of a plurality of storage containers. This is particularly advantageous as the vertical carousel can be used to store a plurality of storage containers in a densely packed arrangement. This can be used in conjunction with one or more stacks of storage containers in a separate storage system. To store a plurality of storage containers in a closed packed arrangement, optionally, a height of the at least one vertical carousel is greater than its width such that a plurality of the series of carriers are arranged vertically. Vertically arranging a plurality of carriers enables a plurality of storage containers to be stored in a vertical arrangement. Moreover, having the at least one vertical carousel having a width that extends only two grid cells complements a load handling device having a footprint that occupies only a single grid cell. This is because the load handling device is able to position itself above a grid cell when the least one vertical carousel moves a storage container to the uppermost position below the grid cell without the need to occupy a neighbouring grid cell. The storage and retrieval system may comprise a grid framework structure comprising a track system on which a load handling device and / or a gantry system operates, and one or more vertical carousels. Optionally, the storage and retrieval system may further comprise a supporting frame structure comprising a plurality of storage columns, each of the plurality of storage columns being configured to store a stack of storage containers, said track system is mounted to the supporting framework structure such that each grid storage column of the plurality of storage columns is arranged below a respective grid cell of the plurality of grid cells to define a grid framework structure. Additionally the storage and retrieval system may comprise one or more stacks of storage containers and may additionally comprise port cells to 08 10 25 enable movement of storage containers out of or into the grid framework structure, for example, to and from a pick station. As a result of the load handling devices not being required to dig to reach a desired container in the system, the grid framework structure can be made smaller than conventional grid framework structures. For example, the track system may not need to extend as far in the x and y directions compared to conventional track systems as it does not need to accommodate multiple load handling devices moving storage containers around the grid framework structure to access a desired storage container near the bottom of a stack. Further, because storage containers are stored in a vertical carousel, rather than in stacks, it is possible to store more storage containers in a smaller (xy) area as the vertical carousel can be arranged to safely store a greater height of storage containers compared to a stack of storage containers where increasing the height of the stack may result in the stack becoming more unsteady. For example, the system may comprise a vertical carousel which extends between 10 to 20, or 20 to 25, or 25 to 30 storage containers high. The vertical carousel comprises a drive mechanism which circulates the containers around a vertical endless loop. The drive mechanism may be a motor. The containers may be circulated in a clockwise or an anticlockwise direction. The vertical carousel circulates the containers around an endless vertical loop such that is no specific starting position or end position for each of the containers. Each of the containers circulates from a lowermost position to an uppermost position adjacent to the track. Because the containers circulate around an endless vertical loop, the containers also circulate from an uppermost position to a lowermost position. The lowermost position being a position where the containers are accessible at ground level. The uppermost position is equivalent to a Z=1 position as used in the art, ie. the uppermost position is the uppermost layer of the grid, i.e. the layer immediately below the rail system. If the containers are not lifted through a grid cell from the uppermost position, the containers continue to move to the lowermost position and then to the uppermost position, until the container is removed from the vertical carousel from the uppermost position by lifting the container through a grid cell in the track system. As the vertical carousel circulates the containers around the vertical endless loop, the vertical conveyor indexes the containers in sequential steps. This is controlled by the control system which is operatively coupled to the drive mechanism. Movement of the drive mechanism and thus the plurality of carriers may be controlled or coordinated by the control system. Indexing the containers in sequential steps gives time for a container to be lifted from and / or lowered into the vertical carousel through the grid cell or grid space. The drive mechanism for example 08 10 25 may comprise indexing means to index the movement of a plurality of carriers sequentially such that the carriers travel around a continuous vertical loop and such that an uppermost indexing position is aligned with a grid cell in the track system. The containers on the carriers may be indexed in predetermined intervals, rather than pausing when each container on a vertical carousel reaches the uppermost position. This is particularly advantageous to reduce time for picking a specific container from the vertical carousel. For example, if a specific container located at the lowermost location on the vertical carousel is desired, the vertical carousel may rotate the desired container from the lowermost position to the uppermost position without pausing when each container on the vertical carousel reaches the uppermost position. Alternatively, the vertical carousel may index each carrier around the endless loop such that each carrier or each container on a carrier is indexed and paused when it reaches the uppermost position of the vertical carousel. Thus, in this configuration, the vertical carousel continues to rotate and pause as each container reaches the uppermost position regardless of the position of the desired storage container. This configuration is a simpler arrangement to automate and control. The storage containers may be loaded into or unloaded from the vertical carousel from the track system by a load handling device or a gantry system, or another means suitable for lifting or retrieving and lowering or depositing storage containers into and out of the vertical conveyor. Using a load handling device or gantry system allows empty storage containers to be removed from the vertical carousel and full storage containers may be loaded into the vertical carousel in a simple and efficient manner. Alternatively, the lowermost position may be arranged to allow retrieval of storage containers at ground level. In this configuration, storage containers may be lowered or deposited through a grid cell into the uppermost position of the vertical carousel by a load handling device or a gantry system, the vertical carousel may rotate such that the storage container is positioned at the lowermost position and the storage container may be retrieved at ground level from the lowermost position. The storage container may be retrieved from the lowermost position by any suitable means, such as a robotic arm, sliding mechanism, conveyor mechanism, or by a person. It is therefore particularly preferable to have the vertical conveyor at or near the periphery of the storage and retrieval system to allow additional apparatus or people to be easily positioned near the vertical carousel. Preferably, the vertical carousel further comprises a series of carriers for accommodating and conveying the plurality of containers. Each carrier may accommodate and support one or more storage containers so that they can be circulated in a loop. For example, each carrier may 08 10 25 accommodate a row of storage containers, and so in this arrangement the vertical carousel extends across a row of grid cells in the x or y direction. The carriers may be sized to accommodate multiple sizes of containers, for example, the carriers may accommodate containers having half the height of a standard container (a standard container having, for example, exterior dimensions of approximately 45cm width by 65cm length by 36cm high). The carriers may be subdivided such that containers accommodated in a row on a carrier are separated on each carrier. The carriers may comprise shelving, a fork, a tray or a platform. It may be possible to slide, place or remove the storage containers from the shelving, fork, tray or platform. Further, the shelving, fork, tray or platform is arranged such that a storage container can be loaded onto or removed from either side of the vertical carousel. The carriers may be connected to a drive member which circulates in a loop circulating the carriers and the storage containers supported by the carriers around the loop. The drive member may be a chain or a belt. Specifically, the plurality of carriers may be moveably coupled to the belt such that each of the plurality of platforms remains substantially horizontal as the direction of the drive member changes when driven around the vertical loop, e.g. from an upward direction to a downward direction. In this configuration of the coupling between the plurality of carriers and the belt, the plurality of carriers are configured to rotate about a horizontal axis extending through the coupling with the belt so as to keep the orientation of the plurality of carriers substantially horizontal as they travel around the uppermost and lowermost portion of the vertical conveyor. The vertical carousel may also comprise a guide member for guiding the plurality of carriers around the vertical loop. The drive mechanism may move the plurality of carriers around the guide member. To provide support to the plurality of carriers for carrying one or more storage containers, the guide member can be configured so that preferably, each of the plurality of platforms is supported by at least three points of contact by the guide member, more preferably, supported on all four comers of the platform. The guide member may comprise orientation means so as to maintain the carriers in a substantially horizontal orientation as they transfer from the uppermost position to the lowermost position and vice versa when travelling around the vertical loop. Preferably, the uppermost position of the vertical carousel is arranged to receive storage containers for circulating around the vertical carousel. Thus, in this arrangement, storage containers may be deposited in the uppermost position of the vertical carousel via the grid spaces. The storage container may be lowered into the vertical carousel by a gantry system or by a load handling device, specifically a grabber device of a load handling device. 08 10 25 Preferably, the plurality of containers on the vertical carousel may be spaced apart such that there is a gap above and below each container to allow access to each container, preferably by a person. This arrangement also allows items which protrude from a storage container to not influence the position of the storage container above. By having a space or gap above and below each container, it is possible to move any protruding items from the storage container easily and without moving another storage container. The system may comprise a plurality of vertical carousels, each vertical carousel being configured to operate independently. Moving and operating each vertical carousel individually can increase the speed of retrieval of multiple storage containers and / or multiple items from multiple storage containers. Preferably, the plurality of vertical carousels are disposed laterally to each other to form a row of vertical carousels (i.e. side by side to each other). By laterally disposing the plurality of vertical carousels laterally relative to each other enables a plurality of storage containers to be arranged in multiple rows extending across the plurality of the vertical carousels. This means that all the vertical carousels are located together within a specific region of the storage and retrieval system. Each vertical carousel may be enclosed in an insulated environment. Specifically, if each vertical carousel is enclosed in an insulated environment, it is particularly advantageous to keep all of the vertical carousels adjacent to each other such that they are all in the same insulated environment. It is also advantageous to have the insulated area embedded in a grid framework structure, as this saves space. The temperature of the insulated environment may be between -10°C and -30°C. This temperature range is particularly important for the storage of frozen goods. Preferably, the temperature of the insulated environment may be between -18 and -23°C. Alternatively, the temperature of the insulated environment is between 0°C and 5°C. This temperature range is particularly suitable for the storage of chilled goods. Preferably, each of the grid cells is closable by a shutter to provide and restrict access to the storage containers at an uppermost position on the vertical carousel. The shutters segregate the track system from the vertical carousel. This is particularly useful when the vertical carousel is located in an insulated environment and the insulated environment is cooled. When the insulated environment is cooled, the shutters minimise the ingress of warm air into the insulated environment and / or the displacement of cool air in the insulated environment with warmer air above the track system, thereby minimising energy costs. Preferably, each shutter is configured to slidably open and close. Slidably opening and closing the shutters minimises the amount of 08 10 25 space required for the shutters to operate. Alternatively, each shutter may be attached to a grid cell by a hinge which acts as a pivot such that each shutter rotates about the pivot and moves through the grid cell, thereby opening and closing the shutter. Alternatively, each shutter may be a bi-fold, tri-fold, multi-fold or concertina shutter. Preferably, the system further comprises a gantry system, wherein the gantry system is operable on the track system, the gantry system comprising a lifting mechanism for lifting and / or lowering a storage container through a grid cell or grid space. A gantry system is mechanically easier to operate than, for example, a load handling device. The gantry system also offers a cost saving alternative to, for example a load handling device and also allows for multi-axis operation. The gantry system may comprise a gantry crane or frame or overhead bridge which straddles the track system. The overhead bridge may be stationary and the lifting mechanism may be traversably mounted to the overhead bridge such that the lifting mechanism can lift and lower storage containers and move the storage containers along a row of grid cells so that the storage containers can be moved from one location in the row of grid cells to another location in the row of grid cells. Alternatively, or in addition, the gantry system may be moveable on the track system, in particular, the overhead bridge may be moveable across the track system in either an x or a y direction such that storage containers can be picked and / or deposited over a wider area of the track system. The gantry system may comprise a plurality of overhead bridges. Each of the plurality of frames or overhead bridges may allow storage containers to be picked and / or deposited in a specific area of the track system. The plurality of frames or overhead bridges together ensure that all of the track system is accessible for picking and / or depositing storage containers. For the purposes of describing movement of the gantry system, the gantry frame, crane or overhead bridge may move in a longitudinal direction and the direction of the motion of the robot along the gantry may be termed the lateral direction. Thus, the gantry frame may move in a perpendicular direction to the movement of the lifting mechanism. The lifting mechanism and the frame may move simultaneously for time efficiency. The lifting mechanism may comprise a hoist, a crane mechanism, a gantry robot or a robotic arm. A gantry robot or robotic arm may move in linear paths creating a three dimensional cubic envelope of space within which it can retrieve / lift and deposit storage containers through grid cells in the track system to or from the vertical carousel. Further, the lifting mechanism may be traversably mounted on the moveable gantry frame, crane or overhead bridge. 08 10 25 The gantry system may be controllable by the control system, such that the gantry system (in particular the overhead bridge and / or the lifting mechanism) moves at the same time as the vertical carousel indexes the plurality of containers around the endless vertical loop in sequential steps. This advantageously saves time in retrieving desired storage containers from the vertical carousel. Optionally, the storage and retrieval system further comprises one or more access positions between the uppermost position and the lowermost position of the vertical endless loop for accessing the content of one or more storage containers from the side of the at least one vertical carousel. Being able to access one or more of the storage containers from at least one side of the at least one of the vertical carousels allows the contents of the one or more storage containers to be accessed by an operator. Optionally, the storage and retrieval system further comprises at least one transfer system disposed laterally to the at least one vertical carousel, said at least one transfer system comprising at least one transfer conveyance system disposed laterally to the at least one vertical carousel, said at least one transfer conveyance system being configured to transport a storage container across the at least one vertical carousel. Optionally, said at least one transfer system comprising a transfer mechanism configured to transfer a storage container between a stowed position at the access position of the vertical carousel and a deployed position outwardly relative to the at least one vertical carousel such that the contents of the storage container can be accessed therein. To assist with the accessibility of the one or more storage containers from the at least side of the vertical carousel, optionally, the one or more storage containers are tiltable when in the deployed position. In addition to or alternatively to retrieving a storage container vertically through a grid cell of the track system when the storage container is at the uppermost position, one or more storage containers can be retrieved laterally from the side of the at least one vertical carousel (e.g. in a substantially horizontal direction). The control system can be configured to index the plurality of the storage containers around the endless vertical loop such that each of the sequential steps corresponds to at least one of the plurality of storage containers being adjacent to the at least one transfer system. The transfer mechanism can be configured to retrieve the storage container by withdrawing the storage container from its carrier. For example, the transfer mechanism can comprise an arm that is configured to grasp the storage container and pull the storage container from its carrier supporting the storage container. Alternatively, the carrier supporting the storage container can comprise a conveyor unit, e.g., a belt driven device or roller, that is configured to push the storage container onto the transfer conveyance system. The transfer 08 10 25 conveyance system can then be configured to transfer the storage container across the at least one vertical carousel. For example, the transfer conveyance system can transport the retrieved storage container to a picking station where the contents of the storage container can be picked to fulfil a customer order. The tilting of the one or more storage containers in the deployed position allows the operator to easily view the contents of the storage containers retrieved from the side of the at least one side of the vertical carousel. Optionally, the transfer mechanism comprises at least one grabber device moveable in a direction substantially perpendicular to an axis of rotation of the vertical endless loop to engage with a storage container at the access position. Optionally, the transfer mechanism comprises at least one shuttle having a support deck for supporting a storage container, said shuttle being moveable along one or more tracks across the at least one carousel. Optionally, said shuttle is moveable in a horizontal plane or in a longitudinal direction along the one or more tracks. The transfer conveyance system can be construed to comprise the one or more tracks adjacent the at least one vertical carousel for allowing the shuttle to move across the at least one vertical carousel. Optionally, the at least one transfer system comprises a first transfer system and a second transfer system, said first transfer system being configured to transfer at least one storage container from the at least one vertical carousel to the deployed position and said second transfer system being configured to transfer at least one storage container to the stowed position in the at least one vertical carousel. Each of the first and second transfer systems respectively comprise a respective transfer mechanism for moving a storage container between the stowed position and the deployed position and a transfer conveyance system for transporting one or more storage containers across the at least one vertical carousel. To separately retrieve a storage container from the at least one vertical carousel and deposit a storage container into the at least vertical carousel, the first and second transfer systems can be arranged vertically, i.e., one on top of the other. One or more items picked from the storage containers are typically placed in one or more delivery containers that are subsequently transported to an outbound area of a fulfilment or distribution centre for delivery to a customer. The control system can be configured to index the plurality of the storage containers around the endless vertical loop such that a target storage container or a vacant carrier is adjacent the transfer conveyance system. For the purpose of definition, the target storage container is a storage container whose contents are required to fulfil a customer order and the vacant carrier is a carrier that is able to retrieve a storage container for storage in the storage and retrieval system. 08 10 25 Instead of transporting the one or more storage containers via the transfer conveyance system to one or more pick station where the contents of the one or more storage containers are picked into one or more delivery containers, the one or more delivery containers can be transported to the at least one vertical carousel where one or more items picked from the storage containers can be placed into the one or more delivery containers in-situ. The one or more delivery containers can be transported to the at least one vertical carousel by the transfer conveyance system or by a mobile device, e.g., a trolley or an autonomously guided mobile device. Optionally, the storage and retrieval system comprises a picking mechanism configured to pick one or more items from the storage container in the deployed position and transfer the one or more picked items to one or more delivery containers. The picking mechanism can be a manual picking mechanism where an operator picks one or more items from a storage container in the deployed position and transfers the picked one or more items to the one or more delivery containers. Optionally, the picking mechanism comprises a picking arm comprising an end effector configured to pick one or more items from the storage container in the deployed position and transfer the one or more picked items to one or more delivery containers either on the transfer conveyance system or the mobile device. Optionally, the picking mechanism can be mounted to a gantry, said gantry being configured to move the picking arm axially in multiple X and Y orthogonal directions. Once the customer orders are fulfilled in one or more delivery containers, the transfer conveyance system can be configured to transport the one or more delivery containers to the outbound area of the fulfilment centre for subsequent delivery to the customer. The system may further comprise a load handling device, wherein the load handling device is moveable and operable on the track system, the load handling device comprises a container lifting mechanism for retrieving and / or lowering a storage container through a grid cell or grid space, the container lifting mechanism comprising a grabber device configured to releasably grip a container, and a drive mechanism configured to raise and lower the grabber device. Each load handling device may comprise a vehicle which is arranged to travel in x and y directions on rails of the track system above the vertical carousel. A first set of wheels, consisting of a pair of wheels on the front of the vehicle and a pair of wheels on the back of the vehicle, are arranged to engage with two adjacent rails of a first set of rails. Similarly, a second set of wheels, consisting of a pair of wheels on each side of the vehicle, are arrange to engage with two adjacent rails of the second set of rails. Each set of wheels may be lifted and lowered, 08 10 25 so that either the first set of wheels or the second set of wheels is engaged with the respective set of rails at any one time. When the first set of wheels is engaged with the first set of rails and the second set of wheels are lifted clear from the rails, the wheels can be driven, by way of a drive mechanism housed in the vehicle to move the load handling device in the X direction. To move the load handling device in the Y direction, the first set of wheels are lifted clear of the rails, and the second set of wheels are lowered into engagement with the second set of rails. The drive mechanism can then be used to drive the second set of wheels to achieve movement in the Y direction. In this way, one or more load handling devices can move around the track system above the vertical carousel under the control of the control system. Each load handling device may be provided with means for lifting out one or more containers from an uppermost position in the vertical carousel to access the required products. In this way, multiple products can be accessed from multiple located in the storage and retrieval system at any one time. The system may comprise both a gantry system and one or more load handling devices. The gantry system and load handling devices may work in cooperation with each other and be controlled by the control system. In one such configuration, the system may comprise two vertical carousels whereby one vertical carousel is adjacent to the other vertical carousel and the gantry system may be arranged directly above one vertical carousel and may lift a desired container from the vertical carousel and transport and deposit the desired container into the adjacent vertical carousel for a load handling device to collect. In another configuration, the gantry system may be arranged directly above a vertical carousel and may lift a desired container from the vertical carousel and transport the desired container to a designated grid cell adjacent to grid cells above the vertical carousel and lower the container into the designated grid cell. The designated grid cell, i.e. the grid cell adjacent to the vertical carousel may act as a port. A load handling device may collect the desired container from the designated grid cell so that the desired container can be transported to a different location, for example, a location where the storage container can be accessed from outside of the grid framework structure or transferred out of the grid framework structure e.g. to a pick station. Alternatively, the system may comprise only load handling devices for retrieving and / or lowering storage containers through grid cells into the vertical carousel(s), i.e. there is no gantry system in the storage and retrieval system. 08 10 25 Preferably, the storage and retrieval system further comprises a pick station, said pick station comprising a supply zone, an access station and a conveyor system configured to convey one or more containers from the supply zone to the access station, the pick station being located below the track system such that a storage container can be delivered to the supply zone and the storage container can be retrieved from the supply zone via one or more grid cells of the track system. The storage and retrieval system allows a picking device to be instructed to pick up a storage container containing an item of a customer order from a vertical carousel (or a stack of containers) and transport the picked storage container to a pick station whereupon the item can be retrieved from the storage container. A load handling device may transport the storage container to a pick station, and specifically a supply zone of the pick station that is integrated into the grid framework structure. The supply zone may comprise at least one vertical chute configurable to cooperate with at least one upright column, the at least one vertical chute having a first opening for receiving a container lowered by a load handling device or a gantry system through a grid cell and a second opening to allow the container the exit from the supply zone. The pick station may alternatively be a separate standalone station that is able to receive storage containers from a load handling device or gantry system operative on the grid framework structure. The grid framework structure is able to cooperate with the pick station such that one or more storage containers can be lowered into one or more chutes of the supply zone. A drop off port in the grid can cooperate with a delivery channel in the grid framework structure through which one or more storage containers are transported through the chute for supplying one or more storage containers to the supply zone. Equally, a pick up port in the grid can cooperate with a retrieval channel in the grid framework structure through which one or more storage containers can be picked up from the pick station. Storage containers are fed into the supply zone via at least one chute and are conveyed to a buffer zone where it is vertically accumulated to be picked up by a load handling device or gantry system operative on the grid framework structure. For the purpose of the present invention, “vertical chute” and “chute” are used interchangeably throughout the description to mean the same feature. Alternatively, the pick station may be a separate standalone pick station that is able to receive storage containers from the transfer conveyance system discussed above. Preferably, the control system and a communication system may keep track of the location of the storage containers and their contents within the storage and retrieval system. The communication system may also allow communication between load handling devices, gantry 08 10 25 systems and the vertical carousel(s) such that they can efficiently work together to save time in picking each storage container and / or item from each storage container. Preferably, the supply zone, the access station, buffer zone and conveyor system are all of a modular construction and can easily be retrofitted to an existing grid framework structure. The one or more chutes allow a load handling device or gantry system operative on the grid framework structure to lower a storage container under gravity and then transport it to an access station, where an operator or a robotic device can gain access to the contents of the storage container. The access station may be operated both as a pick station, where one or more items are picked from a storage container and a restock station (also known as a decant station) where one or more items are deposited into a storage container. Storage containers delivered to the supply zone may be transported to the buffer zone via the access station by the conveyor system. A storage container is paused at the pick station and an operator selects a required item from a storage container and places it in a customer delivery container. At the buffer zone, the bin lift device lifts a storage container towards the grid such that a load handling device or a gantry system operative on the upper level can retrieve the container. This allows one or more storage containers to be vertically accumulated in the buffer zone. Preferably, a bin lift device lifts the storage container to an uppermost level in the buffer zone above the conveyor system. More preferably, a load handling device or gantry system operative at the upper level is able to grab the storage container in the buffer zone and subsequently lift the storage container. Preferably, the conveyor system comprises an entry conveyor unit, an exit conveyor unit and at least one access conveyor unit, the entry conveyor unit being arranged in the supply zone and arranged to transport a storage container in a first direction or first transport direction from the second opening of the at least one vertical chute to the at least one access conveyor unit. The exit conveyor unit being arranged in the buffer zone and arranged to transport a storage container from the at least one access conveyor unit to the buffer zone in a second direction or second transport direction, and wherein at least one access conveyor unit being arranged to transport a container from the supply zone to the buffer zone in a third direction or third transport direction. The three conveyor units provide flexibility in terms of reducing the footprint of the pick station assembly to transport one or more containers from the supply zone to the buffer zone via the access station in multiple transport directions. For the purposes of this description, the terms “conveyor” and “conveyor unit” will be used interchangeably. The 08 10 25 terms “direction” and “transport direction” are used interchangeably and refer to the direction of transport of a conveyor or a conveyor unit. The terms “first transport direction” and “second transport direction” are used to disambiguate from the terms “first direction” and “second direction” used above with reference to the first and second sets of grid members or tracks. A method of moving a storage container around the storage and retrieval system is provided. The storage and retrieval system comprises: a) a track system for guiding movement of one or more robotic load handling devices, the track system comprising a plurality of grid members to form a grid pattern comprising a plurality of grid cells or spaces; b) a vertical carousel comprising a drive mechanism for circulating a plurality of containers around a vertical endless loop from a lowermost position to an uppermost position adjacent to the track system; c) a control system operatively coupled to the drive mechanism, the control system being configured to index the plurality of containers around the endless vertical loop in sequential steps, each of the sequential steps corresponding to at least one of the plurality of storage containers being aligned with a grid space or grid cell of the track system such that a storage container can be retrieved and / or lowered through the grid cell or grid space; The method comprises the steps of: i) circulating the vertical carousel to position a desired storage container on the vertical carousel at the uppermost position, or to position the vertical carousel such that a storage container can be lowered through a grid cell into the vertical carousel at the uppermost position ii) retrieving the desired storage container from the uppermost position through a grid cell, or lowering a storage container through a grid cell into the vertical carousel at the uppermost position. The method may additionally comprise the step of moving either the desired storage container lifted from the vertical carousel or the storage container to be lowered into the vertical carousel along the track system by means of a load handling device or a gantry system. The method may comprise steps such that the vertical carousel is capable of being loaded and unloaded through grid cells in the track system. Alternatively, the storage and retrieval system may be arranged such that containers can only be loaded into the vertical carousel through grid 08 10 25 cells in the track system, or the storage and retrieval system may be arranged such that containers can only be retrieved from the vertical carousel through grid cells in the track system. The present invention further provides a method of moving a storage container around a storage and retrieval system, the storage and retrieval system comprising: a) a track system comprising a plurality of grid members to form a grid pattern comprising a plurality of grid cells or spaces; b) at least one vertical carousel comprising a drive mechanism for circulating a plurality of containers around a vertical endless loop from a lowermost position to an uppermost position adjacent to the track system; c) a control system operatively coupled to the drive mechanism, the control system being configured to index the plurality of containers around the endless vertical loop in sequential steps, each of the sequential steps corresponding to at least one of the plurality of storage containers being aligned with a grid space or grid cell of the track system such that a storage container can be retrieved and / or lowered through the grid cell or grid space; the method comprising the steps of: i) circulating the vertical carousel such that a desired storage container on the vertical carousel is at one or more access positions between the uppermost position and lowermost position of the endless vertical loop for accessing the content of one or more storage containers from the side of the at least one vertical carousel; ii) removing the desired storage container from the vertical carousel by moving the desired storage container outwardly relative to the vertical carousel to define a deployed position. The removing the desired storage container from the vertical carousel by moving the desired storage container outwardly relative to the vertical carousel may involve moving the desired storage container laterally to the side of the vertical carousel. Optionally, the at least one vertical carousel comprises a plurality of vertical carousels, said plurality of vertical carousels being disposed laterally to each other to form a row of vertical carousels, said control system operatively coupled to the drive mechanism of each of the plurality of vertical carousels to drive each of the plurality of vertical carousels independently or in synchronisation.

Claims

08 05 251. A storage and retrieval system comprising:a) a track system, the track system comprising a plurality of grid members or tracks arranged in a grid pattern comprising a plurality of grid cells or spaces;b) at least one vertical carousel comprising a drive mechanism for circulating a plurality of storage containers around a vertical endless loop from a lowermost position to an uppermost position adjacent to the track system;c) a control system operatively coupled to the drive mechanism, the control system being configured to index the plurality of containers around the endless vertical loop in sequential steps, each of the sequential steps corresponding to at least one of the plurality of storage containers being aligned with a grid space or grid cell of the track system such that a storage container can be retrieved and / or lowered through the grid cell or grid space;wherein one or more access positions is provided between the uppermost position and the lowermost position of the endless vertical loop for accessing the content of one or more storage containers from at least one side of the at least one of the plurality of vertical carousels;wherein the at least one vertical carousel comprises a plurality of vertical carousels arranged below the track system, said plurality of vertical carousels being disposed laterally relative to each other to form a row of vertical carousels, said control system being configured to circulate each of the plurality of vertical carousels independently or in synchronisation;wherein the storage and retrieval system further comprise at least one transfer system disposed laterally to the at least one of the plurality of vertical carousels, said transfer system comprising a transfer mechanism configured to transfer a storage container between a stowed position at the access position of the at least one vertical carousel and a deployed position outwardly relative to the at least one vertical carousel such that the contents of the storage container can be accessed therein, said at least one transfer mechanism being configured to tilt the storage container in the deployed position.

2. A system according to claim 1, wherein the at least one vertical carousel has a width that occupies only two grid cells.08 05 253. A system according to claim 1 or 2, wherein the at least one vertical carousel further comprises a series of carriers for accommodating and conveying the plurality of storage containers.

4. The system according to claim 3, wherein a height of the at least one vertical carousel is greater than its width such that the series of carriers are arranged vertically.

5. A system according any of claims 3 or 4, wherein each carrier accommodates a row of storage containers.

6. A system according to any preceding claim, wherein the lowermost position is arranged to allow retrieval of the storage containers at ground level.

7. A system according to any preceding claim, wherein the plurality of storage containers on the at least one vertical carousel are spaced apart such that there is a gap above and below each storage container to allow access to each storage container by a person.

8. A system according to any preceding claim, wherein the at least one vertical carousel is enclosed in an insulated environment.

9. A system according to any preceding claim, wherein each of the grid cells is closable by a shutter to provide and restrict access to the storage containers at an uppermost position on the at least one vertical carousel.

10. A system according to any preceding claim, wherein the system further comprises a gantry system, wherein the gantry system is operable on the track system, the gantry system comprising a lifting mechanism for lifting and / or lowering a storage container through a grid cell or grid space.

11. A system according to any preceding claim, wherein the system further comprises a load handling device, wherein the load handling device is moveable and operable on the track system, the load handling device comprising a container lifting mechanism for retrieving and / or lowering a storage container through a grid cell or grid space, the container lifting mechanism comprising a grabber device configured to releasably grip a container, and a drive mechanism configured to raise and lower the grabber device.

12. The system according to any of the preceding claims, wherein said at least one transfer system further comprises a transfer conveyance system for transporting a container across at08 05 25least one vertical carousel, said transfer conveyance system is disposed laterally to the at least one vertical carousel.

13. The system according to any of the preceding claims, wherein the transfer mechanism comprises at least one grabber device moveable in a direction substantially perpendicular to an axis of rotation of the vertical endless loop to engage with a storage container at the access position.

14. The system according to any of the preceding claims, wherein the transfer mechanism comprises at least one shuttle having a support deck for supporting a storage container, said shuttle being moveable along one or more tracks across the at least one carousel.

15. The system according to any of the preceding claims, wherein the at least one transfer system comprises a first transfer system and a second transfer system, said first transfer system being configured to retrieve at least one storage container from the at least one vertical carousel to the deployed position and said second transfer system being configured to deposit at least one storage container to the stowed position into the at least one vertical carousel.

16. The system according to any of the claims 12 to 15, further comprises a picking mechanism comprising a picking arm comprising an end effector configured to pick one or more items from the storage container in the deployed position and transfer the one or more picked items to one or more delivery containers.

17. The system of claim 16, wherein the picking mechanism is mounted to a gantry, said gantry being configured to move the picking mechanism in a lateral direction between the deployed position and the transfer conveyance system.

18. The method of moving a storage container around a storage and retrieval system, the storage and retrieval system comprising:a) a track system comprising a plurality of grid members to form a grid pattern comprising a plurality of grid cells or spaces;b) at least one vertical carousel comprising a drive mechanism for circulating a plurality of containers around a vertical endless loop from a lowermost position to an uppermost position adjacent to the track system;c) a control system operatively coupled to the drive mechanism, the control system being configured to index the plurality of containers around the endless vertical loop in sequential08 05 25steps, each of the sequential steps corresponding to at least one of the plurality of storage containers being aligned with a grid space or grid cell of the track system such that a storage container can be retrieved and / or lowered through the grid cell or grid space;the method comprising the steps of:i) circulating the vertical carousel such that a desired storage container on the vertical carousel is at one or more access positions between the uppermost position and lowermost position of the endless vertical loop for accessing the content of one or more storage containers from the side of the at least one vertical carousel;ii) retrieving the desired storage container from the vertical carousel by moving the desired storage container outwardly relative to the vertical carousel to define a deployed position such that the desired storage container is tilted in the deployed position.

19. The method of claim 18, wherein the at least one vertical carousel comprises a plurality of vertical carousels, said plurality of vertical carousels being disposed laterally to each other to form a row of vertical carousels, said control system operatively coupled to the drive mechanism of each of the plurality of vertical carousels to drive each of the plurality of vertical carousels independently or in synchronisation.

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