Inbound and outbound system and method

Abstract

A system 300 comprising a grid framework structure 310 (and 14, Fig 1) having a picking device 320 comprising telescopic extending / retracting arms. Device 320 grips a first container type 340 at a first location 350 and moves it to a second location 360 or an intermediate conveyor 380, where a second container type 370 is positioned. First container type 340 is placed / inserted / nested within the second container type 370 (also see Fig 5A &B). Lift 340 raises second container type 370 along a side of the grid framework structure and towards the top thereof, or lowers it towards a second location 360. Picking device 320 then removes the first container type 340 from the second type 370 before moving and placing the first container type 340at a first location 350. System 300 may further comprise image or weighing means, a stock keeping unit and an image interface. An associated method and computer program are also disclosed.

Description

Technical Field The present invention relates to a system and method to quickly add and / or remove items stored in a grid framework storage structure of an automated storage and retrieval system. Background Some commercial and industrial activities require systems that enable the storage and retrieval of a large number of different products. For example, WO2015 / 185628A2 (Ocado) describes a storage and fulfilment system in which stacks of storage containers are arranged within a grid storage structure. The containers are accessed from above by load-handling devices operative on rails or tracks located on the top of the grid storage structure. The load-handling devices are further described in, for example, WO2015 / 019055A1 (Ocado). Within the storage and fulfilment system, it is important to move items into and out of the containers as quickly as possible. It is against this background that the present invention has been devised. Summary In a first aspect, there is provided a system comprising a grid framework structure for storing containers of a second type, a picking device, and a lift, wherein the system is configured to: use the picking device to: grip a first type of container at a first location; move the first type of container to a second location at which a second type of container is located; and place the first type of container into the second type of container; and use the lift to raise the second type of container along a side of the grid framework structure towards a top of the grid framework structure; and / or use the lift to lower a second type of container from a top of the grid framework structure along a side of the grid framework structure towards a second location; and use the picking device to: remove a first type of container from the second type of container; move the first type of container to a first location; and place the first type of container at the first location. This enables items to enter and / or exit the grid framework structure as quickly as possible. This is particularly useful where items (i.e. stock or product) arrive already placed within a first type of container that may be better suited to reuse than a second type of container typically used in the gird framework structure. After a first type of container has had its stock depleted, via an automated storage and retrieval system for example, the first type of container may be returned to a supplier using the above system. This avoids the need for a dedicated process of first unwrapping stock, that may come on pallets instead, and adding the individual stock items to the second type of containers (also known as “decanting”). Further, wrapping waste that otherwise would be needed for replenishment stock (e.g. plastic rapping around a pallet storing items) can be avoided. The second location comprises a first conveyor configured to move the second type of container towards and / or away from the lift, or a second conveyor configured to move the second type of container towards and / or away from the system, or wherein the lift comprises a third conveyor configured to move the second type of container onto and / or off the lift, or the second location comprises the lift. The picking device may be located between the first and second locations. This allows the first type of container to be placed within and / or removed from the second type of container at a number of locations, each of which may have a different operational advantages. The picking device may comprise a vertical member comprising a first end and a second end, wherein the first end is configured to fix to a surface, a horizontal member, a gripping mechanism fixed on the horizontal member, wherein the gripping mechanism is configured to move along a vertical axis to grip and / or place a first type of container, and wherein the horizontal member is engaged with the second end of the vertical member such that the horizontal member moves along a horizontal axis to vary a horizontal distance between the gripping mechanism and the vertical member, and the horizontal member rotates in a horizontal plane about the vertical axis. The mechanical simple operation of the picking device helps increase the speed at which the first and / or second type of containers can be moved through the system. In particular, the picking device’s ability to vary the distance between the gripping device and the vertical member to grip and / or place items / objects (e.g. the first type of container) at different distances (i.e. radii) from the vertical member can be effected in a rapid and accurate manner. The gripping mechanism may comprise an end effector, wherein the end effector comprises two opposing members configured to grip either an inside or an outside of the first type of container. This allows the first type of container to be placed into and / or removed from the second type of container. The gripping mechanism and / or the end-effector may be configured to rotate about the vertical axis. This creates a further degree of operational freedom to speed up the gripping and / or placing of the first type of container. The system may comprise at least one drive mechanism configured to move the first type of container beyond a periphery of the second type of container to provide access to the picking device for placing and / or removing the first type of container. A bottom wall of the second type of container may comprise at least one opening, and the drive mechanism may comprise at least one supporting rod configured to protrude through the at least one opening, the at least one supporting rod may comprise an end configured to engage with a base of the first type of container to raise and / or lower the first type of container, and optionally wherein the base is engaged directly or via a false bottom of the second type of container. The drive mechanism may be located at the second location. This means the end effector can access the first type of container without being impeded by the second type of container. The system may further comprise a load-handling device operative on the top of the grid storage structure, wherein the load-handling device is configured to place and / or remove the second type of container on and / or from the lift when the lift is at or near the top of the grid storage structure. The top of the grid framework structure may comprise a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicular to the first set of rails or tracks in a substantially horizontal plane to form a grid comprising a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations beneath the grid for containers of the second type to be stacked between and be guided by the uprights in a vertical direction through the plurality of grid spaces. The load-handling device may comprises a body or skeleton mounted on a first set of wheels being arranged to engage with the first set of parallel tracks and a second set of wheels being arranged to engage with the second set of parallel tracks, a drive assembly configured to drive the first or second sets of wheels to move the load-handling device along the first or second set of parallel rails respectively, a direction-change assembly configured to raise or lower the first set of wheels and / or lower or raise the second set of wheels with respect to the body or skeleton to engage and disengage the wheels with the parallel tracks, and a container-lifting assembly configured to raise or lower a gripping device in the vertical direction. This means the load-handling device can move the second type of container into and / or from the grid framework structure whilst limiting the hoisting and / or lifting via the container-lifting assembly that otherwise would be required. The system may further comprise an elevator device at the first location, wherein the elevator device is configured to raise a pallet for storing a plurality of the first type of containers, and a controller configured to raise / lower the elevator device such that a top layer of the plurality of the first type of containers on the pallet approximately aligns with a level of the second location, and iteratively move the first type of containers to the second location as part of a de palletisation process or the first type of containers to the first location as part of a palletisation process, wherein the first type of containers are removed or placed on a one-by-one layer-by-layer basis. The system may further comprise a vision system configured to control the picking device to move the first type of container at the first location and place the first type of container into the second type of container at the second location and / or remove the first type of container from the second type of container at the second location and place the first type of container at the first location. This means the system can be fully automated whilst minimising time taken for de-palletisation and / or palletisation. The first type of container comprises a bale arm container or a collapsible container. This means the first type of container can be nested so the space required for a return of the first type of containers can be used more efficiently than that required for when stock arrives, where containers are filled with stock / items / products. The system may further comprise a third location comprising an inspection station to and / or from which the first and / or second type of container can be moved by the picking device when moving between the first and second positions, wherein the inspection platform may comprise at least one of: imaging means to image the first and / or second type of container and / or items stored in the first and / or second type of container, wherein the imaging means optionally comprises a camera and / or a tag reader, such as a barcode reader, to read a machine readable tag on the first and / or second type of container and / or items stored in the first and / or second type of container; weighing means, such as a weighing scale to weigh the first and / or second container and / or items stored in the first and / or second type of container; wherein the system optionally further comprises a controller to: interface with the imaging and / or weighing means to record, in an electronic inventory for the system, at least one of: a stock keeping unit; a description of an item stored in the first and / or second type of container; a quantity of an item stored in the first and / or second type of container; a weight of an item stored in the first and / or second type of container; or an expiration date of an item stored in the first and / or second type of container; and / or interface with the imaging means to determine if a first and / or second type of container and / or items stored in the first and / or second type of container is damaged and / or requires cleaning; and use the picking device to remove the first and / or second type of container from the system upon determining a first and / or second type of container and / or items stored in the first and / or second type of container is damaged and / or requires cleaning. This means the stock / items / products and first and second type of container can be fully tracked in real-time. The first and second locations may be at or near a bottom of the grid framework structure. In a second aspect, there is a method for entering and / or removing a first type of container into and / or from a gird storage system using the system according to any preceding aspect, the method comprising: using the picking device to: grip a first type of container at a first location; move the first type of container to a second location at which a second type of container is located; and place the first type of container into the second type of container; and using the lift to raise the second type of container from the second location along a side of the grid storage structure towards a top of the grid storage structure; and / or using the lift to lower a second type of container from a top of the grid storage structure along a side of the grid storage structure towards a second location; and using the picking device to: remove a first type of container from the second type of container; move the first type of container to a first location; and place the first type of container at the first location. In a third aspect, there is a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of the second aspect. Brief Description of Drawings The present invention is described with reference to one or more exemplary embodiments as depicted in the accompanying drawings, wherein: Figure 1 shows an automated storage and retrieval system that uses load-handling devices; Figure 2 shows a single load-handling device with container-lifting means in a lowered configuration; Figures 3A-C show a system that can be used for inbound and / or outbound of items to and / or from grid storage structure; Figure 4 shows a picking device used in the system of Figures 3A-C; Figures 5A and 5B shows principles of operation of an end-effector used in the picking device of Figure 4; Figure 6 shows a system for raising and / or lowering the first type of container; and Figure 7 shows a system for controlling the system of Figures 3A-C. Detailed Description Automated storage and retrieval system WO2015 / 185628A (Ocado), hereby incorporated by reference, describes a known automated storage and retrieval system in which stacks of containers are arranged within a grid framework structure, also known as “a grid structure”. The containers are accessed by one or more load-handling devices, otherwise known as “bots”, operative on tracks located on the top of the grid framework structure. A system of this type is illustrated schematically in Figure 1. As shown in Figure 1, stackable 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. The grid framework structure 14 is made up of a plurality of storage columns or grid columns. Each grid in the grid framework structure has at least one grid column to store a stack of containers. Each container 10 typically holds a plurality of product items (not shown). The grid framework structure 14 comprises a plurality of upright members 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 members 20 in a grid pattern to form a horizontal grid structure 15 supported by the upright members 16. The members 16, 18, 20 are typically manufactured from metal. The bins 10 are stacked between the members 16, 18, 20 of the grid framework structure 14, so that the grid framework structure 14 guards against horizontal movement of the stacks 12 of bins 10 and guides the vertical movement of the bins 10. The top level of the grid framework structure 14 comprises a grid or grid structure 15, including rails 22 arranged in a grid pattern across the top of the stacks 12. The rails or tracks 22 guide a plurality of 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 (e.g. an X-direction) across the top of the grid framework structure 14. 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 (e.g. a Y-direction), perpendicular to the first direction. In this way, the rails 22 allow the robotic load-handling devices 30 to move laterally in two dimensions in the horizontal X-Y plane. A load-handling device 30 can be moved into position above any of the stacks 12. A known form of load-handling device 30 shown in Figure 2 is described in WO2015 / 019055 (Ocado), hereby incorporated by reference. The load-handling device 30 comprises a vehicle 32, which is arranged to travel on the rails 22 of the frame structure 14. 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, is 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, is arranged to engage with two adjacent rails of the second set 22b of rails 22. Each set of wheels 34, 36 can be lifted and lowered, by way of a direction-change assembly (an example of which is shown in Figures 3A-C), so that either the first set of wheels 34 or the second set of wheels 36 is engaged with the respective set of rails 22a, 22b at any one time. For example, when the first set of wheels 34 is engaged with the first set of rails 22a and the second set of wheels 36 is lifted clear from the rails 22, the first set of wheels 34 can be driven, by way of a drive assembly (an example of which is shown in Figure 5) housed in the vehicle 32, to move the load-handling device 30 in the X-direction. To achieve movement in the Y-direction, the first set of wheels 34 is lifted clear of the rails 22, and the second set of wheels 36 is lowered into engagement with the second set 22b of rails 22. The drive assembly can then be used to drive the second set of wheels 36 to move the load-handling device 30 in the Y direction. The load-handling device 30 is equipped with a container-lifting device or assembly, e.g. a crane mechanism, to lift a storage container from above. The lifting device comprises a winch tether or cable 38 wound on a spool or reel and a gripper device 39. The lifting device shown in Figure 2 (a further example is shown in Figure 4) comprises a set of four lifting tethers 38 extending in a vertical direction. The tethers 38 are connected at or near the respective four corners of the gripper device 39, e.g. a lifting frame, for releasable connection to a storage container 10. The gripper device 39 is configured to releasably grip the top of a storage container 10 to lift it from a stack of containers in a storage system of the type shown in Figure 1. To remove a bin 10 from the top of a stack 12, the load-handling device 30 is first moved in the X- and Y-directions to position the gripper device 39 above the stack 12. The gripper device 39 is then lowered vertically in the Z-direction to engage with the bin 10 on the top of the stack 12. The gripper device 39 grips the bin 10, and is then pulled upwards by the cables 38, with the bin 10 attached. At the top of its vertical travel, the bin 10 is held above the rails 22 accommodated within the vehicle body (or skeleton) 32. In this way, the load-handling device 30 can be moved to a different position in the X-Y plane, carrying the bin 10 along with it, to transport the bin 10 to another location. On reaching the target location (e.g. another stack 12, an access point in the storage system, or a conveyor belt) the bin or container 10 can be lowered from the container receiving portion and released from the grabber device 39. Inbound and Outbound System and Method It is desirable to automate the introduction of items into containers for storage in the grid framework structure and / or the removal of items stored in containers that have been removed from the grid framework structure. Such an automated system 300 is shown in Figures 3A-C. The dashed oval in Figure 1 shows one possible location for the system of Figures 3A-C. System 300 includes the grid framework structure 310, similar to 14 in Figure 1, and described above. The system also includes a picking device 320 (which is described in further detail below), and at least one lift 340 that can move up and / or down along a side of the grid framework structure. In one use of the system to introduce items into the grid framework structure, the picking device can grip a container of a first type 340 at a first location 350, using for example the end-effectors described below with reference to Figures 5A and 5B. In this example, the container is a bale arm container for storing items, but in principle any container may be used including a smaller container than the container 10 used in the grid framework structure, or a collapsible container. In the example shown, the first location corresponds to an optional pallet that stores a number of the first type of containers. The picking device is capable of accessing any one of the first type of container. In general, the first location corresponds to an area in which the first type of container is stored. The picking arm then moves the first type of container to a second location, which in this example is generally opposite the first location. Thus, the picking arm can be located between the first and second positions to ease access to both locations. In general, the first and second locations are at or near a bottom of the grid framework structure. A second type of container is stored at the second location. The picking device can place the first type of container into the second type of container by, for example, using the end-effectors described below with reference to Figures 5A, and 5B and / or subsystem 395 as described below with reference to Figure 6. The second type of container is then transported to the lift 340 via at least one conveyor 380. The lift may also have a conveyor to assist transfer of the second type of container. Alternatively or additionally, the second location can correspond to a fully lowered lift and intermediate conveyor 380 can be dispensed with. The lift then raises the second type of container along a side and towards the top of the grid framework structure. Optionally, a load-handling device 30 can obtain the second type of container when it is at or near the top of the grid framework structure. The introduction of items into the grid framework structure is thus fully automated. In a second use of the system 300, optionally a load-handling device can lower a second type of container (storing a first type of container) to or near the top of the grid framework structure onto the lift. Regardless of how the second type of container is placed on the lift, the lift is then lowered along the side of the grid framework structure towards the second location. The picking device can then remove the first type of container from the second type of container, for example using the end-effectors described below with reference to Figures 5A, and 5B and / or subsystem 395 as described below with reference to Figure 6. Additionally or alternatively, the picking device may directly grip the second type of container itself. As mentioned above, the second location may be the lift itself or a location accessed via at least one conveyor 380. The second type of container is then moved to the first location, which may be a pallet. Thus, the removal of items and or empty containers of the first type is fully automated. Also shown in system is optional location 390, which in this example comprises a conveyor. Location corresponds to the second location which may be used as a further inbound and / or outbound route for containers of the first and / or second type. This may be useful for in-store fulfilment applications in addition to the automated storage and retrieval system. That is, the first and / or second type of containers can be automatically directed away to and / or received from a location other than the grid framework structure. As best shown in Figure 3C, the system may use a third location 385 which functions as an inspection station from which the first and / or second type of container can be moved by the picking device when moving between the first and second positions. The inspection station may have imaging means to image the first and / or second type of container (to inspect for damage and / or cleanliness for example) and / or items stored in the first and / or second type of container. The imaging means could be a camera and / or a tag reader, such as a barcode reader, to read a machine readable tag on the first and / or second type of container and / or items stored in the first and / or second type of container. Weighing means, such as a weighing scale, may also be used to weigh the first and / or second container and / or items stored in the first and / or second type of container. A system controller can be used to interface with the imaging and / or weighing means to record, in an electronic inventory for the system, at least one of a stock keeping unit, a description of an item stored in the first and / or second type of container, a quantity of an item stored in the first and / or second type of container, a weight of an item stored in the first and / or second type of container, or an expiration date of an item stored in the first and / or second type of container. In this way, the inspection station can be used to update a real-time electronic inventory of items, and / or a first type of containers, and / or a second type of container used in the system. Additionally or alternatively, the system controller interfaces with the imaging means to determine if a first and / or second type of container and / or items stored in the first and / or second type of container is damaged and / or requires cleaning. If this is determined to be the case, the picking device is used to remove the first and / or second type of container from the system. Also best shown in Figure 3C is how the picking device is located between the first and second locations and thus can be used to effect all of the system functionalities described above to automatically inbound and / or outbound items. In general, the picking device can be implemented in a number of ways, such as using a robotic arm. One suitable implementation of picking device 320 is shown in Figure 4. The picking device comprises a vertical member 405 with a first end 410 and second end 415. The first end is configured to fix to a surface, such as a floor of a warehouse. It will be appreciated that the first end can fix to a surface in a number of ways, and for example, via a mounting plate 420 and bolts 425. The picking device also has a horizontal member (or boom or arm) 430 to which a gripping mechanism 440 is fixed (this includes releasably fixed such that its position on the horizontal member can be varied). The gripping mechanism may include an end effector such as that described below in relation to Figures 5A and 5B to grip items (such as the first and / or second type of container). The end effector may rotate up to a 360° angle about the gripping mechanism to help engage all of the system functionalities described above. For example, this allows a first type of container to be aligned within a second type of container regardless of the location of the second type of container. In other words, the picking device has a further degree of operational freedom. The horizontal member is engaged with the second end such that the horizontal member is capable of: movement along a horizontal axis 455 to vary a horizontal distance between the gripping mechanism and the vertical member; and rotation 460 in a horizontal plane about the vertical member. This means that, when considering the XY-plane, the gripping device can vary both its radius and angle with respect to the vertical member. Therefore, the gripping device can move along the full length of the radius and rotate up to a 360° angle about the vertical member. The gripping device, as best shown in Figures 3A and 3B, may have an extending / retracting arm, such as a telescopic mechanism, so that the end effector can be raised and / or lowered to grip and / or release an item at different heights. In this scenario, the vertical member has a fixed height. Additionally and / or alternatively, it will be appreciated that the vertical member can also have a height varying mechanism, such as a telescopic mechanism, that can act in tandem with the telescopic mechanism of the gripping device to move the end effector to a desired height. Alternatively, the gripping device may be of a fixed length and the variance in end-effector height is achieved by the height varying mechanism, such as a telescopic mechanism, of the vertical member. When referring to a vertical member, a vertical member has a longitudinal axis along a vertical direction (i.e. along the Z-axis). When referring to a horizontal member, a horizontal member has a longitudinal axis along a horizontal direction (i.e. along the X- axis or Y-axis, or XY-plane), such that the horizontal member is perpendicular to the vertical member. In Figure 5, the vertical member has a longitudinal axis along the Z-axis, and the horizontal member has a longitudinal axis along the XY-plane. In general the terms vertical and horizontal members denote the relative, perpendicular, orientation of their respective longitudinal axes. When referring to planes, a first plane differs from a second plane through orientation of the first plane with respect to the second plane. A plane offset vertically or horizontally from and parallel to a plane is considered to be the same plane as the plane from which it is offset. In this context, it can be appreciated that the movement that the horizontal member can effect in and of itself is constrained to the horizontal plane only. Put another way, when varying the distance between the gripping device and the vertical member, this is due to movement in the horizontal plane only. The mechanical simple operation of the picking device helps increase the speed at which the first and / or second type of containers can be moved through the system. In particular, the picking device’s ability to vary the distance between the gripping device and the vertical member to grip and / or place items / objects (e.g. the first type of container) at different distances (i.e. radii) from the vertical member can be effected in a rapid and accurate manner. Further implementation details of the picking device can be found in European patent application number 23386044.4, the contents of which are incorporated by reference. With reference to Figures 5A and 5B, principles of operation of end-effectors suitable for use in the system are described. In a first implementation 500 shown in Figure 5A, opposing members 510 of the end-effector move away from one another to engage an inside of the first type of container. The outwards pressure from the members may be sufficient to grip the first type of container. Optionally, the member may be configured to engage a recess 520 or opening in the first type of container to better secure the grip. Once gripped, the first type of container can be removed from the second type of container. A reverse operation can be used to place the first type of container into the second type of container. In a second implementation 530 shown in Figure 5B, opposing members 540 of the endeffector move towards one another to engage an outside of the first type of container. The inwards pressure from the members may be sufficient to grip the first type of container. Optionally, the member may be configured to engage a recess 550 or opening in the first type of container to better secure the grip. Once gripped, the first type of container can be removed from the second type of container. A reverse operation can be used to place the first type of container into the second type of container. It will also be appreciated that both implementations of Figures 5A and 5B can be used to grip the second type of container directly. To assist with the gripping action of the end-effector, system 395, shown in more detail in Figure 6, may be used. Such a system is useful when the first type of container is marginally smaller than the second type of container such that there is insufficient room to locate the end-effector members as shown in Figures 5A and 5B between the first and second types of container. The system of Figure 6 uses a drive mechanism 610, 620 to move the first type of container beyond a periphery of the second type of container to provide access to the picking device for placing and / or removing the first type of container. In the example shown, a bottom wall of the second type of container comprises at least one opening, and the drive mechanism comprises at least one supporting rod configured to protrude through the at least one opening, the at least one supporting rod comprising an end configured to engage with a base of the first type of container to raise and / or lower the first type of container. The supporting road may engage with the base directly or via a false bottom 640 of the second type of container as shown. Thus a first type of container can be accessed more easily by the end-effector when it is raised above the second type of container. The system of 395 may be located at the second location such as that shown or below a location at which the lift is fully lowered. Further implementation details of the system 395 can be found in UK patent application number 2305908.2, the contents of which are incorporated by reference. As mentioned above, the system is fully automated. With reference to Figure 7, a controller (or processor) 710, which could be the same controller described above in reference to inspection platform 385, 710 interacts with a vison system 720, picking device 320, an optional elevator device 750, that can carry a pallet or roll cage for example, lifts 330, conveyors 380, inspection platform 385, and system 395 (i.e. “false bottom machine”). In general, the elevator device is configured to move the number of the first type of containers it supports closer to the end-effector of the picking device to reduce the number of movements (and thus time) required to remove and / or place a number of the first type of containers. In one implementation, the elevator device moves vertically towards the end-effector. The controller coordinates the activities between the vison system 720, picking device 320, elevator device 750, lifts 330, conveyors 380, and system 395 (i.e. “false bottom machine”) to automate palletisation and / or de-palletisation. The vision system can be an overhead camera, or several overhead cameras strategically positioned throughout the system, combined with appropriate image processing techniques. The vision system may be used to control and monitor the sequential operation of the system. This can be used as a feedback loop to automatically de-palletise a number of the first type of containers using the picking arms (for example on a one-by-one layer-by-layer basis), then updating the electronic inventory via the inspection station, before controlling a false bottom machine 395, conveyors 380, and lifts 330 to get items into the grid framework structure. The reverse process can be used to palletise a number of containers of the first type. The vision system may also provide the imaging means described above in respect of the third location 385. The vision system may use an RGBD (Red, green, blue &depth) camera and / or a 1D (onedimensional) scanner / camera that can read a barcode for example. A vision system is only one option to assist in the control of the system. The controller instead could coordinate the operation of the system using sensors located throughout. Whilst the above system involves placing a first type of container into a second type of container, the system can instead just use the second types of container directly. This can speed up inbound and outbound operations by avoiding the placement and / or removal of the first type of container. It will also be appreciated that there is provided a method of using all aspects of the above system. The method may take the form of a computer program embodied as a computer-readable medium having computer executable code for use by or in connection with a computer.

Claims

1. A system comprising a grid framework structure for storing containers of a second type, a picking device, and a lift, wherein the system is configured to:use the picking device to:grip a first type of container at a first location;move the first type of container to a second location at which a second type of container is located; andplace the first type of container into the second type of container; and use the lift to raise the second type of container along a side of the grid framework structure towards a top of the grid framework structure; and / oruse the lift to lower a second type of container from a top of the grid framework structure along a side of the grid framework structure towards a second location; anduse the picking device to:remove a first type of container from the second type of container;move the first type of container to a first location; and place the first type of container at the first location.

2. The system of claim 1, wherein the second location comprises a first conveyor configured to move the second type of container towards and / or away from the lift.

3. The system of any preceding claim, wherein the second location comprises a second conveyor configured to move the second type of container towards and / or away from the system.

4. The system of any preceding claim, wherein the lift comprises a third conveyor configured to move the second type of container onto and / or off the lift.

5. The system of claim 1, wherein the second location comprises the lift.

6. The system of any preceding claim, wherein the picking device is locatedbetween the first and second locations.

7. The system of claim any preceding claim, wherein the picking device comprises:a vertical member comprising a first end and a second end, wherein the first end is configured to fix to a surface;a horizontal member;a gripping mechanism fixed on the horizontal member, wherein the gripping mechanism is configured to move along a vertical axis to grip and / or place a first type of container; andwherein the horizontal member is engaged with the second end of the vertical member such that:the horizontal member moves along a horizontal axis to vary a horizontal distance between the gripping mechanism and the vertical member; andthe horizontal member rotates in a horizontal plane about the vertical axis.

8. The system of claim 7, wherein the gripping mechanism comprises an end effector, wherein the end effector comprises two opposing members configured to grip either an inside or an outside of the first type of container.

9. The system of claims 7 or 8, wherein the gripping mechanism and / or the endeffector is configured to rotate about the vertical axis.

10. The system of any preceding claim, wherein the system comprises at least one drive mechanism configured to move the first type of container beyond a periphery of the second type of container to provide access to the picking device for placing and / or removing the first type of container.

11. The system of claim 10, wherein a bottom wall of the second type of container comprises at least one opening, and the drive mechanism comprises at least one supporting rod configured to protrude through the at least one opening, the at least one supporting rod comprising an end configured to engage with a base of the first type of container to raise and / or lower the first type of container, and optionally wherein the base is engaged directly or via a false bottom of the second type of container.

12. The system of claim 10 or 11, further comprising the drive mechanism at the second location.

13. The system of any preceding claim, further comprising a load-handling device operative on the top of the grid storage structure, wherein the load-handling device is configured to place and / or remove the second type of container on and / or from the lift when the lift is at or near the top of the grid storage structure.

14. The system of claim 13, wherein the top of the grid framework structure comprises a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicular to the first set of rails or tracks in a substantially horizontal plane to form a grid comprising a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations beneath the grid for containers of the second type to be stacked between and be guided by the uprights in a vertical direction through the plurality of grid spaces.

15. The system of claim 13 or 14, wherein the load-handling device comprises: a body or skeleton mounted on a first set of wheels being arranged to engage with the first set of parallel tracks and a second set of wheels being arranged to engage with the second set of parallel tracks;a drive assembly configured to drive the first or second sets of wheels to move the load-handling device along the first or second set of parallel rails respectively;a direction-change assembly configured to raise or lower the first set of wheels and / or lower or raise the second set of wheels with respect to the body or skeleton to engage and disengage the wheels with the parallel tracks; anda container-lifting assembly configured to raise or lower a gripping device in the vertical direction.

16. The system according to any preceding claim, further comprising: an elevator device at the first location, wherein the elevator device is configured to raise a pallet for storing a plurality of the first type of containers; anda controller configured to:raise / lower the elevator device such that a top layer of the plurality of the first type of containers on the pallet approximately aligns with a level of the second location; anditeratively move the first type of containers to the second location as part of a de-palletisation process or the first type of containers to the first location as part of apalletisation process, wherein the first type of containers are removed or placed on a one-by-one layer-by-layer basis.

17. The system of claim any preceding claim, further comprising a vision system configured to control the picking device to move the first type of container at the first location and place the first type of container into the second type of container at the second location and / or remove the first type of container from the second type of container at the second location and place the first type of container at the first location.

18. The system of any preceding claim, wherein the first type of container comprises a bale arm container or a collapsible container.

19. The system of any preceding claim, further comprising a third location comprising an inspection station to and / or from which the first and / or second type of container can be moved by the picking device when moving between the first and second positions, wherein the inspection platform comprises at least one of:imaging means to image the first and / or second type of container and / or items stored in the first and / or second type of container, wherein the imaging means optionally comprises a camera and / or a tag reader, such as a barcode reader, to read a machine readable tag on the first and / or second type of container and / or items stored in the first and / or second type of container; and / orweighing means, such as a weighing scale to weigh the first and / or second container and / or items stored in the first and / or second type of container;wherein the system optionally further comprises a controller to:interface with the imaging and / or weighing means to record, in an electronic inventory for the system, at least one of:a stock keeping unit;a description of an item stored in the first and / or second type of container;a quantity of an item stored in the first and / or second type of container;a weight of an item stored in the first and / or second type of container; oran expiration date of an item stored in the first and / or second type of container; and / orinterface with the imaging means to determine if a first and / or second type of container and / or items stored in the first and / or second type of container is damaged and / or requires cleaning; anduse the picking device to remove the first and / or second type of container from the system upon determining a first and / or second type of container and / or items stored in the first and / or second type of container is damaged and / or requires cleaning.

20. The system of any preceding claim, wherein the first and second locations are at or near a bottom of the grid framework structure.

21. A method for entering and / or removing a first type of container into and / or from a gird storage system using the system according to any preceding claim, the method comprising:using the picking device to:grip a first type of container at a first location;move the first type of container to a second location at which a second type of container is located; andplace the first type of container into the second type of container; and using the lift to raise the second type of container from the second location along a side of the grid storage structure towards a top of the grid storage structure; and / or using the lift to lower a second type of container from a top of the grid storage structure along a side of the grid storage structure towards a second location; andusing the picking device to:remove a first type of container from the second type of container;move the first type of container to a first location; andplace the first type of container at the first location.

22. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of claim 21.21

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