An automated cask emptying and analysis system

Abstract

An automated cask emptying and analysis system 100, comprising a conveyor 110 for conveying a cask handling device 10 carrying a cask 1, an automated bung removal device 122 for removal of 10 a bung 2

Description

TECHNICAL FIELD The present disclosure relates to an automated cask emptying and analysis system. Particularly, but not exclusively, the disclosure relates to an automated cask emptying system for disgorging a fluid from a cask. Aspects of the invention relate to an automated cask emptying system, to a method for automatically emptying a cask, and to a method for automatically testing a fluid in a cask. BACKGROUND A number of sprits and / or beverages are matured (also known as aged) in casks. One such spirit being whisky (or whiskey, the spelling depending upon location of origin). Whisky is matured over a number of years, for example 3 to 15 or more years in a cask. Other beverages are also matured in casks, such as wines and fortified wines. Casks have a gross weight (i.e. full of fluid) of between around 280 kg for a wine cask through to approximately 600 kg for a butt cask. Due to the number of casks in a distillery, winery or bottling factory it can be difficult to track stock as it goes through the warehousing process especially when a whisky blend is being produced which can require multiple casks containing multiple different types of whiskies from different distilleries. When a cask is lost this can delay a blending process until i) the cask is found, or ii) a new cask is brought into the warehouse from storage. In both cases, this results in large degree of downtime and a large number of personnel to handle the casks and move them through a process. It is an aim of the present invention to address one or more of the disadvantages associated with the prior art. SUMMARY OF THE DISCLOSURE Aspects and embodiments of the disclosure provide an automated cask emptying system, to a method for automatically emptying a cask, and to a method for automatically testing a fluid in a cask as claimed in the appended claims. According to a first aspect of the invention there is provided an automated cask emptying system comprising: a conveyor for conveying a cask handling device carrying a cask, an automated bung removal device for removal of a bung from a bung hole of the cask, a cask rotation device, and a controller, wherein the conveyor, the automated bung removal device and cask rotation device are controlled by the controller. The automated cask emptying system provides an process line for emptying casks of fluid with minimal manual handling by users in a factory. The conveyor enables a reduction of any forklift truck movements required compared to traditional manual processing lines where casks are manually moved. Such manual moving can lead to casks becoming damaged or knocked over meaning fluid is spilt and wasted. As some beverages made in casks, such as spirits like whisky (or whiskey), are matured over many years (typically 3 to 15 years or beyond) any spillage can be costly both in terms of loss and time sunk into the loss. The automated cask emptying system has a cask rotation device which enables the rotation of a cask for disgorging (emptying) to be controlled depending upon the disgorging process (gravity or pumped disgorging). By utilisation of an automated bung removal device, as compared to a manually operated pneumatic tool, there is a reduction in the risk to health of personnel who as a result of not using a manually operated too are not exposed to vibration when the automated cask emptying system is utilised as intended. The cask handling device may comprise: a frame comprising: a base and a plurality of upright members extending away from the base, and the frame defining a volume for removably receiving at least a portion of a cask therein, and a plurality of rotational supports supported by the frame, and wherein the rotational supports are configured to permit rotation of a cask received in the frame around a rotational axis. The cask rotation device is configured to rotate the cask in the cask handling device. The cask handling device may be configured to removably retain the cask in a bilge or palletised position. Optionally, the system further comprising a sensing device comprising one or more sensors configured to sense a parameter of the cask or a fluid contained within the cask. The sensing device enables the measurement of one or more parameters automatically on the system without the need for the cask to be taken off the line, the parameter obtained, then returned to the line. Such sensing can be done in-situ on the line. Optionally, wherein the parameter is one or more of: weight, pH, sugar level, alcohol content, a colour of liquid, presence of impurities, liquid clarity, temperature, liquid level and a leak. By testing these parameters during the process itself various data points can be created for a cask which can be used to grade the efficacy of that cask. For example, weight can be used to measure loss due to the ‘angles share’, sugar level may indicate that there is incomplete fermentation, alcohol content may be useful for producing blends of whiskey or grading the spirit, colour of liquid may indicate the presence of impurities or whether a colourant such as caramel may be required to be added before bottling, the presence of impurities may indicate that damage to the cask has occurred, liquid clarity may indicate the amount of char in the spirit which has come off the cask, liquid level indicates how much fluid is in the cask, and a leak or leak check can be used to indicate the presence of damage to the cask which may require repair. Optionally, the sensing device comprises a probe configured to be inserted into a cask through a bung hole, and wherein the sensor is located on the probe. By locating the sensor on to a probe the sensor may be more easily inserted into the cask. Optionally, the system further comprises a process station, wherein the sensing device and automated bung removal device are both located on the process station. By locating both the sensing device and automated bung removal device together on a process station the sensing may be undertaken at the same time as a bung is being removed from the automated bung removal device after it has removed it from the cask. Optionally, the process station comprises a gantry and wherein the sensing device and automated bung removal device are movably disposed on the gantry. By locating the process station on a gantry it may keep the sensing device and automated bung removal device clear of the moving components of the system when the process station is not in use. Optionally, wherein the system further comprises a rotation process station, wherein the cask rotation device is located at the rotation process station. By locating the rotation device on a specific rotation process station the rotation of the cask may be undertaken independently of other processes so that the cask can be rotated before entering into the process station for example. Optionally, the conveyor has an input end and an output end, and wherein the rotation process station is disposed between the input end and the process station, and the process station is disposed between the rotation process station and the output end. By providing the process station after the rotation process station the cask will be rotated and the bung in the correct orientation for removal prior to the cask handling device entering the process station. Optionally, the rotation process station further comprises a vision system configured to identify a bung and the location of the bung on a cask. The vision system may enable quick and efficient locating of the bung. Optionally, the vision system is further configured to determine the relative position of the bung on the cask; and preferably wherein the rotation process station is configured to rotate the bung between a substantially upward facing orientation and a substantially downward facing orientation. This may enables the bung to be presented for removal and also for the cask to be rotated in order to express fluid through the bung hole after removal of the bung. Optionally, the system further comprises a fluid disgorging station. By providing a separate station for fluid disgorging, than for example the process station, the fluid disgorging can happen further from the sensing equipment of the process station which enables other casks upstream to undergo processing in the process station. 4 Optionally, the fluid disgorging station comprises a trough, preferably wherein the trough has a first screen with a first mesh size for collecting char, and more preferably the trough further comprises a second screen with a second mesh size disposed downstream of the first screen, and even more preferably wherein the first mesh size is greater than the second mesh size. By providing a trough fluid from the casks can be collected under the action of gravity. By providing the mesh(s) char can be filtered out before being transported downstream. Optionally, the fluid disgorging station comprises: a breather tube hopper containing one or more breather tubes and a first robotic arm having a grabbing tool configured to pick up the breather tube and insert the breather tube into a cask through the bung hole. Using a breather tube may aid the speed of disgorging. Optionally the fluid disgorging station further comprises: a second breather tube hopper for used breather tubes and a second robotic arm having a grabbing tool configured to remove a used breather tube from a cask and deposit the used breather tube in the second breather tube hopper. The station may act as a point to collect used breather tubes which can be taken away for washing or other treatment. Optionally, the fluid disgorging station comprises: a reservoir, a pump and a fluid line suitable for insertion into a cask via the bung hole; and wherein the pump is configured to draw fluid from a cask to the reservoir via the fluid line. Optionally, the fluid disgorging station further comprises a first screen with a first mesh size for collecting char, and more preferably the trough further comprises a second screen with a second mesh size disposed downstream of the first screen, and even more preferably wherein the first mesh size is greater than the second mesh size. The screen(s) may be disposed in the fluid line or reservoir. Alternatively or additionally the fluid line may comprise a filter disposed at the end of the fluid line. The filter may be configured to be insertable into the cask through the bung hole. The filter may filter char to prevent char being passed through the filter into the fluid line. Optionally, at least one sensor of the one or more sensors of the sensing device is fluidly connected to the one or both of the fluid line and reservoir. The sensing device enables the measurement of one or more parameters automatically on the system without the need for the cask to be taken off line, the parameter obtained, then returned to the line. Such sensing can be done in-situ on the line. Preferably, the second parameter is one or more of: weight, pH, sugar level, alcohol content, a colour of liquid, presence of impurities, liquid clarity and a leak. Optionally, further comprising at least one cask weighing station. The cask weighing station may enable the cask and cask handling device to be weighed as it stops or passes over the cask weighing station. This enables a measurement of how much liquid has been lost during manufacture, e.g. due to the ‘angel’s share’ and also monitors the spirit which has gone through the cask during the cask’s lifetime. Optionally, system comprises a full cask weighing station and an empty cask weighing station. By providing a full and empty cask weighing station the cask can be weighed both before and after disgorging. Optionally, the system further comprises an automatic identification and data capture device configured to read a data source on one or both of: a cask and cask handling device. Optionally, the controller has a memory and automatic identification and data capture device is connected to the controller and the controller is configured to write data from the data capture device to the memory. Optionally, the cask rotation device comprises a wheel and a motor configured to rotate the wheel. Optionally, the cask rotation device comprises an arm, the wheel being disposed on the arm, the arm being movable between a first position and a second position, wherein in the first position the wheel is positioned to be in contact with a cask to drive rotation of the cask in the cask handling device, and a second position where the wheel is not positioned to be in contact with a cask. By providing a deployable cask rotation device the cask rotation device may be stored when not needed. According to an additional aspect of the invention, there is provided an automated cask parameter sensing system comprising: a conveyor for conveying a cask handling device containing a cask, an automated bung removal device for removal of a bung from a bung hole of the cask, a sensing device comprising one or more sensors configured to sense a parameter of the cask or a fluid contained within the cask, and a controller, wherein the conveyor, the automated bung removal device and sensing device are controlled by the controller. The automated cask parameter sensing system enables automated in-process checks and quality control to be undertaken of the fluid contained within the cask and / or the cask itself. This reduces the need to remove casks from a process line manually by an operator for manual checking. The additional aspect may comprise any additional optional feature of the previous aspect. According to a further aspect of the invitation, there is described a method for automatically emptying a cask comprising: providing: a cask handling device carrying a cask, a conveyor for conveying the cask handling device containing a cask, an automated bung removal device for removal of a bung from a bung hole of the cask, a cask rotation device, and the steps of: moving the cask handling device carrying the cask with the conveyor, removing the bung, rotating the cask in the cask handling device, and expressing removing fluid from the cask. The method provides an automated method for removing fluid from a cask which reduces the requirement for manual manipulation of casks, which can result in wastage. Optionally, wherein the method comprises the step of providing a pump, fluid line and reservoir and the steps of: inserting the fluid line into the cask, and operating the pump to draw fluid through the fluid line. According to a yet further aspect of the invention, there is provided a method for automatically testing a fluid in a cask comprising: providing: a cask handling device carrying a cask, a conveyor for conveying the cask handling device containing a cask, an automated bung removal device for removal of a bung from a bung hole of the cask, a sensing device comprising one or more sensors configured to sense a parameter of the cask or a fluid contained within the cask, and the steps of: moving the cask handling device carrying the cask with the conveyor, removing the bung, sensing a parameter of the cask or the fluid contained within the cask. The method provides an automated method for testing fluid in a cask which reduces the requirement for manual manipulation of casks, which can result in wastage. BRIEF DISCRIPTION OF THE DRAWINGS One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 is a schematic view of a cask with labels indicating the various dimensions of the cask which the type of cask depends upon; Figure 2 is an isometric view of a cask handling device in accordance with an embodiment of the invention, the device has a frame removably containing a cask of Figure 1, the cask is rotatable around an axis of rotation in the frame; Figure 3 is an isometric view of an automated cask emptying system in accordance with an embodiment of the invention; Figure 4 is a schematic view of an automated cask emptying system in accordance with an embodiment of the invention; Figure 5 is a schematic cross-sectional view of a breather tube for insertion into the cask of Figure 1 through a bung hole of said cask; Figure 6 is a schematic view of a disgorging station used to pump fluid out of a cask; Figure 7 is an schematic view of an additional automated cask emptying system in accordance with an embodiment of the invention; Figure 8 is a flow chart detailing methods step for a method of automatically emptying a cask according to an embodiment of the invention; and Figure 9 is a flow chart detailing method steps for a method of automatically testing a fluid in a cask. DETAILED DESCRIPTION An automated cask emptying system 100 for emptying a cask 1 in a cask handling device 10 will be described with the aid of Figures 1 to 9. Emptying in the context of the present application is taken to mean the removal of fluid from a cask 1 and may include removal of fluid from a first fluid level to a second fluid level where the second fluid is below the first fluid level but not necessarily where the second fluid level is where all fluid has been removed from the cask 1. In other words emptying within the meaning of the present application encompasses full removal of fluid from a cask 1 and also partial removal of fluid from a cask 1. Figure 1 shows a schematic example of a cask 1. The cask 1 is not shown to scale but is described for the purpose of teaching the invention. The cask 1 may be made from staves of wood which are held together by metal hoops and rivets (not shown for reasons of clarity), The cask 1 has a bung 2 which is seated in a bung hole of the cask 1. The bung 2 prevents fluid from entering or exiting through the bung hole when the bung 2 is seated in the bung hole. The cask 1 has two ends 4. The cask 1 generally has a data source 6 which may be a barcode, RFID tag, QR code, or other similar data exchange device or means. The data source 6 comprises information about the cask 1, for example any one or combination of: the type of cask, date of filling, number of times the cask 1 has been used previously, maximum 9 possible number of uses of the cask 1, distillery information. Data source 6 may be a barcode, preferably the bar code is a white spirit barcode as known in the art. The data source 6 may be disposed on one of the ends or side of the cask 1 or may have a data source 6 on each of the ends and side of the cask 1. Casks 1 may be manufactured by hand by a cooper, or include certain automated steps during manufacture, as such each cask may vary in dimensions, and each cooperage may have their own specific definition of what each cask type may be. An example list of cask types which the cask 1 may be are provided in table 1 below: Cask Type Cask Length, mm (L) Cask Maximum Width, mm (B) Cask End Width, mm (E) Tare Weight, kg Gross Weight, kg Wine 855 to 960 615 to 735 555 to 600 60 approx 280 approx ASB 860 to 880 590 to 630 510 to 550 48 approx 220 approx Hogshead 900 to 1168 700 to 760 580 to 650 56 to 67 310 approx Puncheon 1140 to 1300 930 to 970 680 to 780 114 Max 560 to 570 Butt 1100 to 1270 860 to 950 660 to 780 128 Max 570 to 580 Table 1: Cask Dimensions and Weights The dimensions (cask length L, cask maximum width B and cask end width E) are shown on the schematic cask in Figure 1. The cask types provided in table 1 are merely examples of different types of casks which are available and which the skilled reader would know about. Other cask types include, but are not limited to: pin, firkin, quarter, rundiet, tierce, kilderkin, barrel, keg, pipe cask, tun, drum, Barrique, gorda, etc. The present invention may be configured to work with any of these cask types and / or any other similar cask type. The cask handling device 10 will now be described with the aid of Figure 2. The cask 1 in the cask handling device 10 is located in the cask handling device 10 in a ‘bilge’ position, that is, the cask 1 is lying on its side. The cask handling device 10 has a frame 20. The frame 20 is sized to receive a cask 1 therein. The frame 20 has a base 30 and a plurality of upright members 40 that extend away from the base 30. In the depicted embodiment of Figure 2 there are four upright members 40. In alternative embodiments there may be more than four upright members 40, for example there may be five, six, seven, eight, nine or ten. The upright members 40 in the depicted embodiment of Figure 2 are located at each corner of the base 30. In alternative embodiments the upright members 40 may be located at other positions on the base 30, for example at a mid-point between the corners. The upright members 40 may be connected to the base 30 by welding, brazing, bolting, or utilising another fixture means. Utilising a bolted or removable fixture means enables easy breakdown of the frame 20 for packing or storage when the device 10 is not in use. The base 30 in this example is square or rectangular. In alternative embodiments the base 30 may be any other shape, such as hexagonal. The base 30 and upright members 40 may be made of tubular sections, for example a circular, square, rectangular, hexagonal tubing or any combination thereof. The base 30 defines an opening 36. The opening 36 may enables a portion of a second cask to pass into the base 30 and therefore the frame 20 from below which will be discussed in more detail with the aid of Figure 4 below which shows two devices 10A, 10B stacked and containing two casks 1 A, 1B. Whether a second cask 1 passes through the opening 36 or not may depend upon the cask type, e.g. size. The frame 20 defines the volume 22 into which the cask 1 may be removably stored. In the depicted embodiment in Figure 2 the cask 1 is located at least partially within the frame 20. The device 10 further comprises a plurality of rotational supports 50 which support the cask 1 and enable the cask 1 to rotate within the device 10 around an axis of rotation R. The rotational supports 50 enable the cask 1 to rotate 360 degrees around the axis of rotation R which enables the bung 2 be orientated at different positions depending upon the task which is being undertaken (as will be discussed below). The rotational supports 50 shown in Figure 2 and 3 are two sets of wheels 51,53 which are located on opposite sides of the base 40 and the rotational supports 50 extend into the volume. The first set of two wheels is a first rotational support 51 and the second set of two wheels is a second rotational support 53. The first set of two wheels 51 is located at a first location 32 and the second set of two wheels 53 is located at a second location 34. The first and second locations 32, 34 are spaced apart from each other such that the first and second set of wheels 51,53 are a cask holding distance apart from each other as shown in Figure 3. As shown in Figure 3 the cask holding distance D enables both a first cask type, cask 1C, and a second cask type, cask 1D, to be optionally received within the device 10. As can be seen by comparing the maximum widths B1, B2 of both casks 1C and 1D (respectively) the two casks are different sizes. The distance D is smaller than the smaller of the two maximum widths B1, B2 to enable the seating of both cask types. The distance D may be 50% to 95% of the smaller of the two maximum widths, which in the case of Figure 3 is B2. By removably retaining the cask 1C, 1D in such a way the bottom of the cask 1C, 1D (when stored in the bilge position (on its side) is a distance H1, H2 respectively from the opening 36 in the base 30. In alternative embodiments, the first rotational support 51 may not be a pair of wheels, but instead may be a single wheel, a roller, a concave roller, a pair of rollers or a pair of concave rollers. In alternative embodiments, the second rotational support 53 may not be a pair of wheels, but instead may be a single wheel, a roller, a concave roller, a pair of rollers or a pair of concave rollers. Each of the upright members 40 have an attachment point 42, or attachment points 42. The attachment points 42 enable the device 10 to be moved by a materials handling machine (not shown). In the depicted embodiment of Figure 2 the attachment points 42 are fingers which extend away from the upright member 40 in opposite directions. The attachment points 42 are complementary to a hook-grabber of a crane (the materials handling device) which enable the device 10 to be lifted and manipulated around a warehouse. The cask handling devices 10 may be stacked to form a stack of cask handling devices. The stacking of the devices 10 may be one on top of the other (not shown) where first cask handling device 10A is seated directly on top of second cask handling device 10B, or the devices 10A, 10B may be offset such that the device 10A is seated partially on device 10B and partially on a third cask handling device (not shown). To facilitate ease of stacking of the devices 10 each device may have a number of stacking features 60. In the depicted embodiment of Figures 2 each upright member 40 has a male stacking feature 60 located at a distal end of the upright member 40 spaced apart from the base 30. The male stacking feature 60 is configured to removably connect to a female stacking feature located on the base 30 (not shown). In alternative configurations the female stacking feature may be disposed on the end of the upright member 40 and the male stacking feature 60 may be located on the base 30. The cask handling device 10 may have an optional rotation stop device (not shown in Figure 2). The rotation stop device is configured to prevent rotation of the cask 1 in the device 10, for example during a disgorging process where fluid is being removed from the cask 1. The rotation stop device may be an actuatable brake connected to one or more of the rotational supports 50 to prevent the rotational supports 50 from turning and therefore preventing the rotation of the cask 1. Such an actuatable brake may have an actuated position, whereby the one or more rotational supports 50 are prevented from turning, and an unactuated position whereby the one or more rotational supports 50 are free to turn. The actuatable brake may be a magnetically actuated brake, whereby when passing over a magnet the brake actuates to prevent rotation of the rotational support 50. In alternative configurations the rotation stop device may be comprise an actuator and abutting portion. The actuator being connected to a part of the frame 20 and configured to move between an actuated position, whereby the abutting portion abuts the cask 1 and the cask 1 is prevented from rotating, and an unactuated position whereby the abutting portion is not abutting the cask 1 and the cask 1 is free to rotate. The cask handling device 10 may have a data source 70 which may be a barcode, RFID tag, QR code, or other similar data exchange device or means. The data source 70 may comprise information about the cask handling device 10 for example the tare weight (weight of the device 10 when empty) and / or information about the cask types which are able to be loaded into the cask handling device 10. The automated cask emptying system 100 will now be described with the aid of Figures 3 to 9. Figure 3 and Figure 4 show the automated cask emptying system 100. Figure 3 shows an isometric view of the automated cask emptying system 100 and Figure 4 shows a top-down schematic view of the cask emptying system. In Figure 4 some parts of the system 100 are 13 ‘hidden’ from view as they are located below other components. Some of these components and / or features are shown by dashed or dot-dashed lines to indicate their location in the system 100. The system 100 also has: a conveyor 110, an automated bung removal device 122, a cask rotation device 112 and an optional sensing device 126 that are all controllable by a controller 140. The conveyor 110 is configured to carry and convey cask handling devices 10 each containing a cask 1 as shown in Figure 3. However, the description of cask handling devices 10 above is not intended to be limiting and the system 100 described may be utilised with other cask handling devices 10 which carry cask 1 in a palletised (upright position). The system 100 also has an automated bung removal device 122 for removing the bung 2 from the cask 1. The automated bung removal device 122 may be moveably located on a gantry 150 to enable the automated bung removal device 122 to be positioned relative to the bung 2, i.e. above or next to or adjacent. The automated bung removal device 122 may be moved along an X-axis (i.e. across the conveyor 110) and / or a Y-axis (i.e. up and / or down relative to the conveyor 110). The X and Y axes are shown in Figure 3. Optionally, the automated bung removal device 122 may be further configured to move in a Z-axis (not shown) to enable up, down, left, right, forward and rearward movement of the automated bung removal device 122 relative to the cask 1. The system 100 has at least one cask rotation device 112. The cask rotation device 112 is configured to rotate the cask 1 whilst the cask 1 is located within the cask handling device 10. The cask rotation device is indicated by the dotted line 112 in Figure 3 because, as will be apparent, the cask rotation device 112 is hidden by the conveyor 110 in the depicted embodiment. The system 100 shown in Figure 3 has two cask rotation devices 112, the first being before the automated bung removal device 112 and the second after the automated bung removal device 112. The first cask rotation device 112 is therefore able to rotate a cask 1 to enable the bung 2 to be removed by the automated bung removal device 112. Then, after the bung 2 has been removed the second cask rotation device 112 is able to rotate the cask 1 to enable disgorging of the fluid contents of the cask 1 through the bunghole. The cask rotation device 112 comprises a wheel and a motor configured to rotate the wheel (not shown). The wheel is driven by the motor and engaged to the cask 1 in the cask handling device 10 this causes the cask 1 to be driven around the rotational axis R. This enables the cask 1 to be rotated to a suitable position for the process being undertaken. E.g. bung 2 substantially facing upwards for removal of the bung 2, and bung hole facing substantially downwards to enable removal of fluid from the interior of the cask 1. The cask rotation device 112 may further have an arm to move the wheel into engagement with a cask 1 then move the wheel away from engagement with the cask 1. The cask rotation device 112 may further comprise an actuator configured to control the movement of the arm. Alternatively, the arm and wheel may be selectively driven by the motor via a clutch, the clutch driving the movement of the arm in a first clutch position and driving movement of the wheel in a second clutch position. The system 100 depicted in Figure 3 also has one or more sensing devices 126. The sensing device 126 has one or more sensors 127, 128. The one or more sensors 128 are configured to sense a parameter of the cask 1 or a parameter of the fluid contained within the cask 1. The sensed parameter can be used to carry out one or more in process checks or to ascertain information about the cask 1 and / or fluid without the need for the cask 1 to be removed from the system 100. The sensed parameter may be any one of: weight, pH, sugar level, alcohol content, a colour of liquid, presence of impurities, liquid clarity and a leak. The sensing devices 126 may be optional. In the depicted embodiment of Figure 3 a first sensing device 126 is moveably located on the gantry 150 to enable the first sensing device 126 to be positioned relative to the cask 1 and / or more specifically the bung 2. The first sensing device 126 may be moved along the X-axis (i.e. across the conveyor 110) and / or the Y-axis (i.e. up and / or down relative to the conveyor 110). The X and Y axes are shown in Figure 3. Optionally, the first sensing device 126 may be further configured to move in the Z-axis (not shown) to enable up, down, left, right, forward and rearward movement of the sensing device 126 relative to the cask 1. The first sensing device 126 and automated bung removal device 122 are disposed together at a process station 120. The process station 120 has a single gantry 150. At the process station 120 one or more processes may be undertaken as will be discussed below. Whilst the first sensing device 126 and the automated bung removal device 122 are shown disposed on the same gantry in alternative embodiments the first sensing device 126 and automated bung removal device 122 may be disposed at different points or stations along the conveyor 110. In such a case, the sensing device 126 and automated bung removal device 122 may have their own gantry 150. The second sensing device 126 may be part of a cask weighing station 127 and is shown by the dashed line overlaying the conveyor 110. The sensor of the cask weighing station 127 is a weight sensor 127 and is configured to measure the weight of the cask 1 and cask handling device 10 as it is disposed above the weight sensor 127. There may be multiple cask weighing stations 127, for example at various points on the conveyor 110 such as at the input of the conveyor 110, at the process station 120, at a disgorging station to monitor weight during disgorging, and / or after the disgorging station to measure the empty weight of the cask 1. As such, there may be a full cask weighing station and an empty cask weighing station disposed before and after disgorging. The conveyor 110 may be a roller conveyor as depicted in Figure 3 or a chain conveyor or a belt conveyor or any other suitable form of conveyor. In the depicted system 100 of Figure 3 the cask handling devices 10 are conveyed along a direction of travel D. Alternatively, the conveyor 110 may be configured to convey the devices 10 both in direction D and in a second direction with an opposite sense to D. The automated bung removal device 122 in the example comprises a driven corkscrew 124. The corkscrew 124 may be configured to remove the bung 2 from the cask 1 in a fashion similar to removal of a cork from a wine bottle. As such, the corkscrew 124 is driven rotatably into the bung 2. Subsequently the corkscrew 124 is lifted upwards pulling the bung 2 out of the bung hole. The weight of the cask 1, which on removal of the bung will contain fluid, prevents the lifting of the cask 1 out of the cask handling device 10. Optionally, the corkscrew 124 may be provided with an abutting portion which surrounds or at least partially surrounds the bung hole. The abutting portion pushes into wood adjacent to the bung hole whilst the bung 2 is being removed. After the bung 2 has been removed the corkscrew 124 may be driven rotatably a second direction to cause the bung 2 fall off the corkscrew 124 and optionally into a hopper or other bin for collection for example the removed bung hopper 182 as shown in Figure 4. Alternatively, instead of a corkscrew 124 the automated bung removal device 124 may comprise a spike or serrated blade or ram rod. Instead of being disposed on a gantry 150 the automated bung removal device 122 may be disposed on the end of a robotic arm 160. Instead of being disposed on a gantry 150 the first sensing device 126 may be disposed on the end of a robotic arm 160. The first sensing device 126 has a probe 129 which has disposed on it one of the one or more sensors 128. The probe 129 is able to be inserted into the cask 1 after the bung 2 has been removed from the bung hole to enable checking of one or more parameters of the fluid in the cask or a property of the cask 1 itself. The sensed parameter may be any one or more of: pH, sugar level, alcohol content, a colour of liquid, presence of impurities, liquid clarity, temperature, liquid level and a leak. The sensor 128 may be configured to sense one or more of the parameters. The probe 129 may have a plurality of sensors 128, each sensor being configured to sense one parameter or a subset of the parameters. The sensor 128 or sensors 128 may comprise one or any combination of: an electronic pH meter of a type known in the art configured to measure pH level, an electronic hydrometer or ethanol sensor, an impedance sensor, an electrical impedance spectroscopy sensor, an electronic thermometer, a tint check sensor configured to measure a tint level of a liquid such as the tint of a spirit such as whisky, an impurity sensor configured to determine the level of one or more impurities, a turbidity meter or nephelometer configured to detect the clarity level of a liquid, a liquid level sensor such as an ultrasonic transducer or wet-contact probe, a leak sensor such as a wet-contact probe configured to determine the presence of a leak on the outside of the cask 1. The, or each, cask rotation device 112 may be disposed at a rotation process station 116. The rotation process station 116 is located between an input end of conveyor 110 and an output end of the conveyor 110 and more particularly between the input end of the conveyor 110 and the process station 120. A second rotation process station 116 may be disposed at any point where rotation of the cask 1 may be required, for example in the depicted embodiment of Figure 3, the second rotation process station 116 is located after the process station 120 and before the trough 114. Each rotation process station may comprise a vision system 118 (not shown in Figure 3) configured to identify a bung 2 and the location of the bung 2 on the cask 1. The vision system 118 is connected to the controller 140. The vision system 118 is configured to recognise the 17 location of the bung 2 on the cask 1 or, where no bung 2 is present inform the controller 140 as such. The vision system 118 may employ image segmentation methods to process an image and determine the location of the bung 2 on the cask 1 utilising methods known in the art. For example, the vision system 118 may be configured to locate regions on the cask 1 which have a high degree of circularity which indicates that that region is the bung 2 as bungs 2 are generally circular when viewed from above in the frame of reference of the bung. The vision system 118 may comprise one or more cameras. The vision system 118 may be disposed on a gantry. The cameras may be disposed on the gantry such that one or more of the following views of the cask 1 can be obtained: top, bottom, left, right, front, rear. There may be a single camera for each view or alternatively the field of view of the camera may be sufficient to encapsulate multiple views. Where a single camera is present the camera may be disposed above the cask 1 and cask handling device 10 such that rotation of the cask 1 by the cask rotation device 112 will cause the bung 2 to come into view of the vision system 118. The system 100 may optionally comprise a drill. The drill may be located on the process station 120 such that it is moveable in the X and Y and / or Z axes in the same fashion as the automated bung removal device 122 and / or the first sensing device 126. In alternative configurations the drill may be disposed on the end of a robotic arm. The drill is configured to bore a hole into the cask 1 for situations where: no bung 2 is present on the bilge (sidewall) of the cask 1, the bung 2 is not reachable by the automated bung removal device 122 for example because it lies out of the range of the moveable range of the automated bung removal device 122, or where it is determined that a new bung hole should be drilled (for example because the bung 2 is not of the correct format for the automated bung removal device 122 to remove), or where the bung 2 cannot be removed for some reason from the cask 1. The system 100 has a fluid disgorging station 170, the fluid disgorging station 170 in the depicted example comprises a trough 114. The trough 114 is for receipt of fluid being disgorged from the cask 1 during a disgorging process. The trough 114 is partially shown in Figure 3 as an opening in the conveyor 110. The trough 114 may be connected to a downstream reservoir (not shown) by one or more fluid lines or alternatively to one or more process stations such as a bottling machine. The connection to a downstream component is indicated by arrow F which indicates the fluid from trough 114 may be leaving the system 100 via one or more fluid pathways. The trough 114 may have a trough length enabling one, two, three, four, five, or more, or a plurality of casks 1 in materials handling devices 10 to be emptied at the same time. Preferably the trough length may be greater than two or three or four or five times a base length of the base 30. Whilst not shown in Figures 3 and 4 the trough 114 may have one or more filters or screens for filtering char or other particulate matter as fluid passes into the trough 114 out of the cask 1. A plurality of filters or screens may be disposed in or on the trough to filter out different sized particulate matter. Where a plurality of filters or screens are provided the filters or screens are disposed in order of increasing fineness. In other words the first filter or screen is able to remove particulate matter or char of a first size and a second filter or screen is able to remove particulate matter or char of a second size. The second size of particulate matter being smaller than the first size of particulate matter. As such, the first screen has a first mesh size for collecting char. Where the trough 114 further comprises a second screen with a second mesh size disposed downstream of the first screen, and the first mesh size is greater than the second mesh size. The screen(s) or filter(s) may be removable from the system 100 for ease of cleaning. In alternative configurations both screen(s) and filter(s) may be present. The screens and filters may be configured to remove different sized particulate matter or other impurities from the fluid being disgorged. In alternative configurations, the screen(s) or filter(s) may be disposed downstream of the trough 114 for example in a pipe. In such a configuration the screen(s) or filters(s) may be accessible by means of an access hatch. To aid the efficient disgorging of the cask 1 a breather tube 172 may be employed as in the system 100 of Figures 3 and 4. The breather tube 172 is shown in more detail in Figure 5 and is configured to introduce air into the cask 1 whilst it is being emptied such that the effect of any negative pressure in the cask 1 is negated whilst fluid is being removed through the bung hole. The breather tube 172 shown in Figure 5 is an exemplary breather tube 172 to teach the present disclosure and is not intended to be limiting. Other arrangements of breather tube 172 are known in the art and would be usable with the system 100. The breather tube 172 comprises two bent tubes 176A, 176B which have each have an air inlet 174A, 174B at one end and an air inlet 178A, 178B at a second end of the tube 176A, 176B. In use air is ‘sucked’ in through the inlets 174A, 174B into the cask 1 as the patrial negative pressure increases within the interior volume of cask 1 as fluid is disgorged. The breather tube 172 may fit within the bung hole by means of a transition fit. Alternatively, the breather tube 172 may be spring biased as the tubes 176A, 176B are connected in a V-shaped fashion at one end with the tubes extending away from each other rather than extending in a parallel fashion as in the depiction of Figure 5. The spring bias enables the breather tube 172 to be retained in the bung hole whilst fluid it pushing past is. In alternative configurations, instead of a breather tube 172 a length of flexible hosing may be employed or any other suitable means for introducing air into the cask 1 during the disgorging process. The disgorging station 170 of the depicted embodiment of Figures 3 and 4 has a breather tube hopper 180 that contains one or a plurality of breather tubes 172 of any type previously described. The disgorging station 170 also comprises a robotic arm 160 that has a grabbing tool 162. The grabbing tool 162 is configured to grip the breather tube 172 and with the robotic arm 160 insert the breather tube 172 into the bung hole once the bung 2 has been removed. The fluid disgorging station 170 may additionally have a second breather tube hopper 184 for used breather tubes 172 and a second robotic arm 160 having the same or similar grabbing tool 162 that is configured to remove a used breather tube from a cask and deposit the used breather tube in the second breather tube hopper. This arrangement is shown in Figure 4. The system 100 may additionally comprise one or more automatic identification and data capture devices 190 or AIDCDs for short. The AIDCDs 190 are configured to read the data source 6 on the cask and / or data source 70 on the cask handling device 10. The AIDCDs are connected to the controller 140 and data read by the AIDCDs 190 may be stored in a memory of the controller 140. In the depicted example in Figure 4 some of the vision systems 118 and the AIDCDs 190 are combined such that the cameras of the vision system 118 are used as AIDCDs 190 for the purpose of reading data of the data sources 6, 70. This description is not however meant to be limiting but is merely one of a number of potential implementations of the present disclosure. In alternative arrangements the AIDCDs 190 and vision systems 118 may be distinct components not sharing a camera, for example. An AIDCDs 190 may be located at every point where a cask 1 has a process undertaking to it, e.g. rotation, bung removal, disgorging, etc... The AIDCD(s) 190 may be any one of: a scanner, a barcode scanner, a QR code scanner, a RFID scanner, a camera or any other device configured to read data from the data source 6 and / or data source 70. An AIDCDs 190 may be disposed at the input end of the system 100 and one at the output end of the system 100. The controller 140 may comprise: a data processor and / or control circuitry; and / or processor circuitry; and / or at least one application specific integrated circuit (ASIC); and / or at least one field programmable gate array (FPGA); and / or single or multi-processor architectures; and / or sequential / parallel architectures; and / or at least one programmable logic controllers (PLCs); and / or at least one microprocessor; and / or at least one microcontroller; and / or a central processing unit (CPU), to perform the described methods. The controller 140 may include a data storage and / or an associated memory, the memory may be located locally to the controller 140 or remotely. The memory may be a non-volatile flash memory. The controller 140 may be in wired electronic communication with one or more of the conveyor 110, the automated bung removal device 122, the cask rotation device 112, and the sensing device 126 and optionally any other component of the system 100. An additional system 200 with a disgorging station 270 comprising a fluid line 272, pump 274 and reservoir 276 will now be described with the aid of Figures 6 and 7. The system 200 shares a number of common features with system 100 as such common features utilise the reference numbers as previously discussed with reference to system 100. The disgorging station 270 is shown in Figure 6 without the other components of the system 200. The pump 274 is operatively connected to the fluid line 272 and reservoir 276 to enable fluid to be drawn through the fluid line 272 and into the reservoir 276. As shown in Figure 6 the fluid line 272 is located within the bung hole of the cask 1 and is disposed within the fluid FL. The fluid line 272 may be disposed on an actuator or a robotic arm or gantry or other means to deploy the fluid line 272 into the cask 1 and subsequently remove the fluid line 272 from the cask 1 after sufficient fluid FL has been removed (e.g. all or a portion of the total contents). Whilst Figure 6 shows a single pump 274 and fluid line 272 connected to the reservoir 276 the disgorging station 270 may have multiple fluid lines 272 configured to remove fluid from a cask 1. The number of fluid lines may be two (as in Figure 7), three, four or five or more. Where there are a plurality of fluid lines 272 each fluid line may have its own pump 274. Or, all the fluid lines 272 may be operatively connected to a single pump 274. A method 300 for automatically emptying a cask 1 will now be described with the aid of Figure 8 showing a flowchart 300. The method 300 enables casks 1 to be automatically emptied with minimal or no manual intervention for example by an operator utilising one of the previously described systems 100, 200. The method 300 at step 310 comprises providing: a cask handling device 10 carrying a cask 1, a conveyor 110 for conveying the cask handling device 10 containing a cask 1, an automated bung removal device 122 for removal of a bung 2 from a bung hole of the cask 1. The method 300 further comprises the steps of: moving 320 the cask handling device 10 carrying the cask with the conveyor 110, removing 330 the bung 2, and removing 340 fluid from the cask. Where the system being used is system 100 the method 300 may optionally further comprise additional steps of providing a cask rotation device 112 and the step of rotating the cask 1 in the cask handling device. By rotating the cask 1 in the cask handling device 10 the cask’s 22 bung 2 can be aligned for either removal of the bung 2 by the automated bung removal device 122 or for disgorging of fluid FL after removal of the bung 2. Additionally, the method 300 may comprise providing at step 310 a breather tube 172 and the step of inserting the breather tube 172 into the cask. The insertion may be undertaken by an automated means such as using a robot arm 160. Where the system being used is system 200 optionally, the method 200 may comprises the step of providing a pump 274, fluid line 272 and reservoir 276 and the steps of: inserting the fluid line 272 into the cask 1, and operating the pump 274 to draw fluid FL through the fluid line 272. Where the system being used is system 200 the method 300 may optionally further comprise additional steps of providing a cask rotation device 112 and the step of rotating the cask 1 in the cask handling device. By rotating the cask 1 in the cask handling device 10 the cask’s bung 2 can be aligned for removal of the bung 2 by the automated bung removal device 122. The cask handling device 10 may be any previously described cask handling device 10. The cask 1 may be of any type described in table 1 or any other cask type. With reference to Figure 9 a method 400 for automatically testing a fluid FL in a cask 1 is described by flowchart 400. The method 400 describes a number of automated steps which reduce the need for manual testing by operators of fluid FL in the cask 1. The method 400 may be carried out by utilising one of the previously described systems 100, 200. The method 400 at step 410 comprises providing: a cask handling device 10 carrying a cask 1, a conveyor 110 for conveying the cask handling device 10 containing a cask 1, an automated bung removal device 122 for removal of a bung 2 from a bung hole of the cask 1, a sensing device 126 comprising one or more sensors 128. The sensors 128 are configured to sense a parameter of the cask 1 or a fluid FL contained within the cask 1. The method 400 then at step 420 comprises the step of moving the cask handling device 10 carrying the cask with the conveyor 1. Then at step 430 the bung 2 is removed. Subsequently, at step 440 the parameter is sensed by the sensor 128. Where the sensor is located on a probe 129, the probe 129 may be inserted into cask 1 through the bung hole to sense a parameter of the fluid FL. It will be understood that numerous changes may be made within the scope of the present disclosure. For example, the systems 100, 200 may be utilised with various cask types including multiple different cask types at the same time. Whilst the description of the cask holding device 10 has been in relation to cask 1 being held in a bilge position rather than an upright or palletised configuration the systems 100, 200 may be utilised with cask handling devices which carry a cask 1 in an upright or palletised configuration. As such, disgorging can still occur by means of inserting of a fluid line 272 through a bung hole located on the cask 1, or alternatively by removing a bung 2 located on a bottom face of the cask 1 causing the contents of the cask 1 to drain into a trough 114. As such, the systems 100, 200 may be configured to accept and process casks 1 in both orientations (bilge and palletised). FEATURE REFERENCE TABLE No. FEATURE B Maximum Width D Direction of Travel E End Width F Fluid Flow FL Fluid L Length R Rotational Axis T Direction of Travel X Axis Y Axis 1 Cask 2 Bung 4 End 6 Data Source 10 Cask Handling Device 10A First Cask Handling Device 10B Second Cask Handling Device 20 Frame 22 Volume 30 Base 32 First Location 5 34 Second Location 36 Opening 40 Upright Member 42 Attachment Point 44 Box Section 10 50 Rotational Support 51 First Rotational Support 52 Bracket 53 Second Rotational Support 54 Wheel 15 60 Male Stacking Feature 62 Female Stacking Feature 70 Data Source 100 Automated Cask Emptying System 110 Conveyor 20 112 Cask Rotation Device 114 Trough 116 Rotation Process Station 118 Vision System 120 Process Station 25 122 Automated Bung Removal Device 124 Corkscrew 126 Sensing Device 127 Scale 128 Sensor 30 129 Probe 130 Cask Rotation Device 140 Controller 150 Gantry 160 Robotic Arm 35 162 Grabbing Tool 170, 270 Disgorging Station 172 Breather Tube 174A, 174B Air Inlet 176A, 176B Tube 178A, 178B Air Inlet 180 Breather Tube Hopper 182 Removed Bung Hopper 184 Second Breather Tube Hopper 190 Automatic Identification and Data Capture Device 272 Fluid Line 274 Pump 276 Reservoir 300 Flow Chart 310 Method Step 320 Method Step 330 Method Step 340 Method Step 400 Flow Chart 410 Method Step 420 Method Step 430 Method Step 440 Method Step

Claims

1. An automated cask emptying system comprising:a conveyor for conveying a cask handling device carrying a cask,an automated bung removal device for removal of a bung from a bung hole of the cask, a cask rotation device, anda controller,wherein the conveyor, the automated bung removal device and cask rotation device are controlled by the controller.

2. The system of claim 1, further comprising a sensing device comprising one or more sensors configured to sense a parameter of the cask or a fluid contained within the cask.

3. The system of claim 2, wherein the parameter is one or more of: weight, pH, sugar level, alcohol content, a colour of liquid, presence of impurities, liquid clarity, temperature, liquid level and a leak.

4. The system of claim 2 or 3, wherein the sensing device comprises a probe configured to be inserted into a cask through a bung hole, and wherein the sensor is located on the probe.

5. The system of any of claims 2 to 4, further comprising a process station, wherein the sensing device and automated bung removal device are both located on the process station.

6. The system of claim 5, wherein the process station comprises a gantry and wherein the sensing device and automated bung removal device are movably disposed on the gantry.

7. The system of any preceding claim, further comprising a rotation process station, wherein the cask rotation device is located at the rotation process station.

8. The system of claim 5 and 7 or claim 6 and 7, wherein the conveyor has an input end and an output end, and wherein the rotation process station is disposed between the input end and the process station, and the process station is disposed between the rotation process station and the output end.

9. The system of claim 6, 7 or 8, wherein the rotation process station further comprises a vision system configured to identify a bung and the location of the bung on a cask.

10. The system of claim 9, wherein the vision system is further configured to determine a relative position of the bung on the cask; and preferably wherein the rotation process station is configured to rotate the cask between an orientation whereby the bung hole is substantially upward facing to an orientation whereby the bung hole is substantially downward facing.

11. The system of any preceding claim, further comprising a fluid disgorging station.

12. The system of claim 11, wherein the fluid disgorging station comprises a trough, preferably wherein the trough has a first screen with a first mesh size for collecting char, and more preferably the trough further comprises a second screen with a second mesh size disposed downstream of the first screen, and even more preferably wherein the first mesh size is greater than the second mesh size.

13. The system of claim 11 or 12, wherein the fluid disgorging station comprises: a breather tube hopper containing one or more breather tubes and a first robotic arm having a grabbing tool configured to pick up the breather tube and insert the breather tube into a cask through the bung hole.

14. The system of claim 13, wherein the fluid disgorging station further comprises: a second breather tube hopper for used breather tubes and a second robotic arm having a grabbing tool configured to remove a used breather tube from a cask and deposit the used breather tube in the second breather tube hopper.

15. The system of claim 11, wherein the fluid disgorging station comprises: a reservoir, a pump and a fluid line suitable for insertion into a cask via the bung hole; andwherein the pump is configured to draw fluid from a cask to the reservoir via the fluid line.

16. The system of claim 15, wherein the fluid disgorging station further comprises a first screen with a first mesh size for collecting char, and more preferably the fluid disgorging station further comprises a second screen with a second mesh size disposed downstream of the first screen, and even more preferably wherein the first mesh size is greater than the second mesh size.

17. The system of claim 15 or 16 when dependent upon claim 2, wherein at least one sensor of the one or more sensors of the sensing device is fluidly connected to the one or both of the fluid line and reservoir.

18. The system of any preceding claim, further comprising at least one cask weighing station.

19. The system of claim 18, wherein system comprises a full cask weighing station and an empty cask weighing station.

20. The system of any preceding claim, further comprising an automatic identification and data capture device configured to read a data source on one or both of: a cask and cask handling device.

21. The system of claim 20, wherein the controller has a memory and automatic identification and data capture device is connected to the controller and the controller is configured to write data from the data capture device to the memory.

22. The system of any preceding claim, wherein the cask rotation device comprises a wheel and a motor configured to rotate the wheel.

23. The system of claim 22, wherein the cask rotation device comprises an arm, the wheel being disposed on the arm, the arm being movable between a first position and a second position, wherein in the first position the wheel is positioned to be in contact with a cask to drive rotation of the cask in the cask handling device, and a second position where the wheel is not positioned to be in contact with a cask.

24. A method for automatically emptying a cask comprising: providing:a cask handling device carrying a cask,a conveyor for conveying the cask handling device containing a cask,an automated bung removal device for removal of a bung from a bung hole of the cask, a cask rotation device, andthe steps of:moving the cask handling device carrying the cask with the conveyor, removing the bung,rotating the cask in the cask handling device, and expressing removing fluid from the cask.

25. A method for automatically testing a fluid in a cask comprising:29providing:a cask handling device carrying a cask,a conveyor for conveying the cask handling device containing a cask,an automated bung removal device for removal of a bung from a bung hole of the cask, 5 a sensing device comprising one or more sensors configured to sense a parameter ofthe cask or a fluid contained within the cask, andthe steps of:moving the cask handling device carrying the cask with the conveyor,removing the bung,10 sensing a parameter of the cask or the fluid contained within the cask.31

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