Sensor connection verification system and method for load handling devices

Abstract

Systems and methods verify sensor electrical connections of mobile robotic platforms used on a grid-based automated storage and retrieval system, so that incorrectly connected sensors can be distinguished from correctly connected sensors. Communication paths connect the sensors to a control system. Electrical connections sharing a same type of common-format are used for the sensors. ID means are employed for the sensors allowing for recognition of each sensor by the control system. The invention provides for a check or determination that the sensors are correctly connected to the control system by the correct communication paths. The use of common-format connectors provides for reduction in complexity and cost. The invention further provides for prevention of the application of power to sensors that are incorrectly connected.

Description

[0001] 724 WO - Smart Connector

[0002] Sensor Connection Verification System and Method for Load Handling Devices

[0003] Technical Field

[0004] The present disclosure generally relates to the field of grid-based storage systems, and more specifically to verification of correct electrical connections of sensors of robotic load handling devices and robotic peripheral devices used on a grid forming part of a grid-based storage system.

[0005] Background

[0006] Online retail businesses selling multiple product lines, such as online grocers and supermarkets, require systems that can store tens or hundreds of thousands of different product lines. The use of single-product stacks in such cases can be impractical since a vast floor area would be required to accommodate all of the stacks required. Furthermore, it can be desirable to store small quantities of some items, such as perishables or infrequently ordered goods, making single-product stacks an inefficient solution.

[0007] PCT Publication No. WO2015 / 185628 (Ocado Innovation Limited) describes a known storage and fulfilment system in which stacks of containers are arranged within a grid framework structure. The containers can hold various goods or products, and are accessed by one or more robotic load handling devices, otherwise known as "bots", operative on tracks located on the top of the grid framework structure. Figures 1 to 3 of the accompanying drawings illustrate a system 1 of this type.

[0008] As shown in Figures 1 and 2, stackable containers 10, also known as "bins", are stacked on top of one another to form stacks 12. The stacks 12 are arranged in a grid framework structure 14, e.g., in a warehousing or manufacturing environment. 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. Figure 1 is a schematic perspective view of the grid framework structure 14, and Figure 2 is a schematic top-down view showing a stack 12 of bins 10 arranged within the framework structure 14. Each bin 10724 WO - Smart Connector

[0009] typically holds a plurality of product items (not shown). The product items within a bin 10 may be identical or different product types depending on the application.

[0010] 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 orgrid structure 15, including rails 22 arranged in a grid pattern across the top of the stacks 12.

[0011] Referring to Figure 3, the rails or tracks 22 guide a plurality of load handling devices 30. A first set 22a of parallel tracks or rails 22 guides 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 tracks or rails 22, arranged perpendicular to the first set 22a, guides 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 tracks or 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.

[0012] Figures 4 and 5A-B show a known form of load handling device 30, as described in PCT Patent Publication No. W02015 / 019055 (Ocado Innovation Limited). Each load handling device 30 covers a single grid space 17 of the grid framework structure 14. This arrangement allows a higher density of load handlers and thus a higher throughput fora given sized storage system.

[0013] The example 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 at the front of the vehicle 32 and a pair of wheels 34 at 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 at 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, 36724 WO - Smart Connector

[0014] can be selectively driven to enable movement of the vehicle in a desired one of two directions on the grid structure, e.g., orthogonal X and Y directions, respectively, along the rails. Each set of wheels 34, 36 can be lifted and lowered 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 particular time during movement of the load handling device 30.

[0015] PCT Patent Publication No. WO2017 / 153583 (Ocado Innovation Limited) teaches another example load handling device 30 comprising a wheel positioning mechanism or directional change mechanism for enabling lateral movement of the device in one of two transverse directions by enabling either a first or second set of wheels to selectively engage the first or second set of rails or tracks (22a or 22b). The wheel positioning mechanism comprises a complicated arrangement of linkages driven by a linear actuator or motor to selectively lower or raise the first set of wheels orthe second set of wheels into engagement or disengagement with the first set of tracks or rails or the second set of tracks or rails. 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 mechanism (not shown) 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 mechanism can then be used to drive the second set of wheels 36 to move the load handling device 30 in the Y-direction.

[0016] The load handling device 30 is equipped with a lifting mechanism, e.g., a crane mechanism, to lift a storage container from above. The lifting mechanism comprises a winch tether or cable 38 wound on a spool or reel (not shown) and a gripper device 39. The lifting mechanism shown in Figures 4 and 5A-5B 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. For example, a respective tether 38 is arranged at or near each of the four corners of the lifting frame 39. 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 1 of the type shown in Figures 1 and 2. For example, the lifting frame 39 may include pins (not shown) that mate with724 WO - Smart Connector

[0017] corresponding holes (not shown) in the rim that forms the top surface of bin 10, and sliding clips (not shown) that are engageable with the rim to grip the bin 10. The clips are driven to engage with the bin 10 by a suitable drive mechanism housed within the lifting frame 39, powered and controlled by signals carried through the cables 38 themselves or a separate control cable (not shown).

[0018] 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, as shown in Figures 4 and 5B. 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 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. The cables 38 are long enough to allow the load handling device 30 to retrieve and place bins from any level of a stack 12, e.g., including the floor level.

[0019] As shown in Figure 3, a plurality of load handling devices 30 is provided for the storage and fulfilment system 1 so that each load handling device 30 can operate simultaneously to increase the system's throughput. The system illustrated in Figure 3 may include specific locations, known as ports, at which bins 10 can be transferred into or out of the system. An additional conveyor system (not shown) is associated with each port so that bins 10 transported to a port by a load handling device 30 can be transferred to another location by the conveyor system, such as a picking station (not shown). Similarly, bins 10 can be moved by the conveyor system to a port from an external location, for example, to a bin-filling station (not shown), and transported to a stack 12 by the load handling devices 30 to replenish the stock in the system.

[0020] Each load handling device 30 can lift and move one bin 10 at a time. The load handling device 30 has a container-receiving cavity or recess 41, in its lower part. The recess 41 is sized to accommodate the container 10 when lifted by the lifting mechanism 38, 39, as shown in724 WO - Smart Connector

[0021] Figures 5A and 5B. When in the recess, the container 10 is lifted clear of the rails 22 beneath, so that the vehicle 32 can move laterally to a different grid location.

[0022] Alternatively, the vehicle body of the load handling device may comprise a cantilever as taught in in PCT Patent Publication No. WO2019 / 238702 (Autostore Technology AS), in which case the container receiving space is located below a cantilever of the load handing device. In this case, the grabber device is hoisted by a cantilever such that the grabber device is able to engage and lift a containerfrom a stack into a container receiving space below the cantilever.

[0023] If it is necessary to retrieve a bin 10b ("target bin") that is not located on the top of a stack 12, then the overlying bins 10a ("non-target bins") must first be moved to allow access to the target bin 10b. This is achieved by an operation referred to hereafter as "digging". Referring to Figure 3, during a digging operation, one of the load handling devices 30 lifts each nontarget bin 10a sequentially from the stack 12 containing the target bin 10b and places it in a vacant position within another stack 12. The target bin 10b can then be accessed by the load handling device 30 and moved to a port for further transportation.

[0024] Each load handling device 30 is remotely operable under the control of a central computer, e.g., a master controller. Each individual bin 10 in the system is also tracked so that the appropriate bins 10 can be retrieved, transported and replaced as necessary. For example, during a digging operation, each non-target bin location is logged so that the non-target bin 10a can be tracked.

[0025] Wireless communications and networks may be used to provide the communication infrastructure from the master controller, e.g., via one or more base stations, to one or more load handling devices 30 operative on the grid structure 15. In response to receiving instructions from the master controller, a controller in the load handling device 30 is configured to control various driving mechanisms to control the movement of the load handling device. For example, the load handling device 30 may be instructed to retrieve a container from a target storage column at a particular location on the grid structure 15. The instruction can include various movements in the X-Y plane of the grid structure 15. As previously described, once at the target storage column, the lifting mechanism 38, 39 can be operated to grip and lift the storage container 10. Once the container 10 is accommodated in724 WO - Smart Connector

[0026] the container-receiving space 40 of the load handling device 30, it is subsequently transported to another location on the grid structure 15, e.g., a "drop-off port". At the drop-off port, the container 10 is lowered to a suitable pick station to allow retrieval of any item in the storage container. Movement of the load handling devices 30 on the grid structure 15 can also involve the load handling devices 30 being instructed to move to a charging station, usually located at the periphery of the grid structure 15.

[0027] To manoeuvre the load handling devices 30 on the grid structure 15, each of the load handling devices 30 is equipped with motors for driving the wheels 34, 36. The wheels 34, 36 may be driven via one or more belts connected to the wheels or driven individually by a motor integrated into the wheels. For a single-cell load handling device (where the footprint of the load handling device 30 occupies a single grid cell 17), and the motors for driving the wheels can be integrated into the wheels due to the limited availability of space within the vehicle body. For example, the wheels of a single-cell load handling device 30 are driven by respective hub motors. Each hub motor comprises an outer rotor with a plurality of permanent magnets arranged to rotate about a wheel hub comprising coils forming an inner stator.

[0028] Figure 6 shows another example of a known load handling device (a.k.a., "bot") 30, as described in in PCT Patent Publication No. WO2024083748 (Ocado Innovation Limited). As shown in Figure 6, the bot 30 includes one or more position sensors 98a, 98b configured to measure the position of the load handling device 30 relative to the grid structure 15. The position sensors 98a, 98b each comprises a so-called "fifth" wheel (a.k.a., "5thwheel") in the sense that an additional fifth wheel is present amongst each of the first and second set of wheels for monitoring the position of the load handling device in the first direction and the second direction on the grid structure, respectively.

[0029] As shown in Figure 6, a first "fifth" wheel 98a is mounted adjacent to one of the first set of wheels 34 and a second "fifth" wheel 98b is mounted adjacent to one of the second set of wheels 36. The first "fifth" wheel 98a corresponding to a first position sensor is configured to engage with the rails (or "tracks") 22 when the load handling device 30 is travelling in the first direction, such that rotation of the first "fifth" wheel is an indication of the position and direction of travel of the load handling device 30 with respect to time. Similarly, the second "fifth" wheel 98b corresponding to a second position sensor is configured to engage with the724 WO - Smart Connector

[0030] track 22 when the load handling device 30 is travelling in the second direction, such that rotation of the second "fifth" wheel is an indication of the position and direction of travel of the load handling device 30 in the second direction with respect to time. The first direction and second direction can respectively be the X- and Y-direction along the tracks 22 as described. In Figure 6, each of the one or more position sensors 98a, 98b comprises an incremental optical encoder comprising a rotary electromechanical device that generates pulses when the respective "fifth" wheel rotates, e.g., as the load handling device 30 traverses the grid. For example, a pulse is generated for a predetermined amount of angular rotation of the "fifth" wheel. Thus, the pulses indicate the position and direction of rotation of the "fifth" wheel 98a, 98b, which can be translated into the displacement of the load handling device 30 relative to the grid structure 15. The "fifth" wheel is mounted on an arm and downwardly biased to engage with the tracks 22 of the grid structure 15. As an alternative to the "fifth" wheel 98a, 98b, the incremental encoder can be used to generate pulses as any one wheel of the sets of wheels 34, 36, rotates to determine the position of the load-handling device 30.

[0031] With reference to Figure 7, the storage and fulfilment system (a.k.a., automated storage and retrieval system) 1 may further comprise robotic peripheral devices such as a robotic picking station 50 mounted on top of the grid structure 15 of the system 1, e.g., alongside the loadhandling devices 30 (not shown). The robotic picking station 50 comprises a robotic manipulator 52 comprising a robotic arm 54 and an end effector 56 for releasably engaging a product to be manipulated, together with several designated grid cells 60, 62. The end effector 56 may be a suction device 64 connected to a vacuum source by a vacuum line 66. The robotic picking station 50 also includes a number of sensors, which provide feedback on the operation of the robotic picking station 50. For example, the picking station may comprise an optical sensor (not shown), which may be located on the upper surface of the plinth. The optical sensor may be used in the identification of products in the picking process. The picking station 50 may comprise a plurality of optical sensors and / or other types of sensors, e.g., force sensors for haptic feedback, encoders for position sensing, etc. The robotic manipulator 52 is mounted on a plinth 58 above a single grid cell 60 and, depending on its location on the structure 1, can be surrounded by up to eight other grid cells 62 as shown in Figure 7. In general, the robotic manipulator 52 is configured to pick an item or product from any one of724 WO - Smart Connector

[0032] the containers located in one of the designated grid cells 62 and place it in a container located in another of the designated grid cells 62. The load-handling devices collect containers from, and deliver them to, the designated grid cells 62 as necessary. In this way, the robotic picking station 50 and the load-handling devices 30 work in conjunction to fulfil a customer order or redistribute products throughout the storage and retrieval system 1.

[0033] The system(s) described with reference to Figures 1 to 7 offer many advantages and suitability for a wide range of storage and retrieval operations. In particular, such systems allow very dense storage of products and provide a very economical way of storing a wide range of different items in the bins 10 while also allowing reasonably economical access to all of the bins 10 when required for picking.

[0034] While prior art load handling devices and robotic peripheral devices, including those noted above, may be suitable for their intended purposes, they each may be subject to various shortcomings. For example, the various types of sensors of the load handling devices and / or robotic peripheral devices typically utilize respective different types of dedicated type electrical connectors, which can result in high cost and / or system complexity.

[0035] Summary

[0036] In general terms, this description introduces an invention (inventive technology), including systems and methods, to verify sensor electrical connections of mobile robotic platforms, e.g., moveable robotic load handling devices (a.k.a., "bots") or related robotic peripheral devices such as robotic picking stations, used on a grid-based automated storage and retrieval system ("ASRS"), so that incorrectly connected sensors can be distinguished from correctly connected sensors. Communication paths connect the sensors to a control system, e.g., control circuitry and / or one or more controllers. Electrical connections / connectors sharing a same (common) type of connection / connector format (structure), a.k.a., common-format electrical connectors, are used for the sensors. ID means are employed for the sensors allowing for recognition of each sensor by the control system. The invention provides for a check or determination that the sensors are correctly connected to the control system (control circuitry / controller) by the correct communication paths; power may be applied (at appropriate levels, respectively) to the sensor(s) determined to be correctly connected. The724 WO - Smart Connector

[0037] use of common-format connectors provides for reduction in complexity and cost. The invention further provides for prevention of the application of power to sensors that are incorrectly connected, i.e., connected on an improper or incorrect communication path. Thus, the invention can prevent damage to one or more of the sensors, which could otherwise occur due to application of excessive currents and / or voltages in a situation where a sensor is incorrectly connected. The invention can accordingly also provide for increased efficiency in power usage by minimizing wasted power that could otherwise occur when one or more sensors are incorrectly connected. The invention can further provide for a reduction in the likelihood or actual occurrence of sensors damage or ruined due to the application of power (e.g., current and / or voltage) of improper magnitude.

[0038] In one aspect, the invention provides a sensor-connection verification system for a load handling device configured to operate on a grid structure, the system comprising:

[0039] a plurality of sensors disposed on a load handling device configured to operate on a grid structure;

[0040] a controller disposed on the load handling device, wherein the controller is configured to receive signals from the plurality of sensors;

[0041] a plurality of communication paths disposed on the load handling device and corresponding to the plurality of sensors, respectively, wherein each communication path includes one or more communication links (links) and is configured to provide a signal path between a sensor and the controller, and wherein each sensor has a corresponding correct communication path;

[0042] a plurality of common-format electrical connectors having a common connector format, wherein each electrical connector is configured to connect or form (constitute) links of one or more communication paths;

[0043] a power source disposed on the load handling device and configured to provide power to the plurality of sensors; and

[0044] identification means associated with the plurality of sensors, respectively, wherein the identification means indicate a unique identity for each sensor;724 WO - Smart Connector

[0045] wherein, when each sensor is connected to the controller by an electrical connector along a communication path, the controller is configured to recognize the identification means associated with the sensor and determine whether the sensor is connected to the controller on the corresponding correct communication path.

[0046] Example known load handling devices that are suitable for use within the scope of the invention / disclosure include but are not limited to those described in PCT Publication No. WO2015 / 185628 (Ocado Innovation Limited), PCT Patent Publication No. WO2017 / 153583 (Ocado Innovation Limited), PCT Publication No. WO 1998 / 049075 (Autostore Technology AS), PCT Patent Publication No. WO2019 / 238702 (Autostore Technology AS), PCT Patent Publication No. WO2023 / 285487 (Ocado Innovation Limited), PCT Patent Publication No. W02024 / 008754 (Ocado Innovation Limited), PCT Patent Publication No. WO2024 / 083748 (Ocado Innovation Limited), and PCT Patent Publication No. WO2024 / 227821; the contents of all of which are incorporated herein by reference in their entireties. Other load handling devices may be used within the scope of the invention / present disclosure. For example, while so-called single-space or single-cell load handling devices (where single-space or single-cell refer to the footprint of a load handling device relative to the size of a grid space or cell defined by tracks of an associated grid structure) are described herein, load handling devices of other sizes and configurations may be used, e.g., double-space (double-cell) loading handling devices, single-plus-(l+)-space (l+-cell) loading handling devices (indicating the loading handling device has a footprint of between one and two grid spaces or cells), etc.

[0047] Example known robotic picking devices utilizing robotic arms, otherwise known as "robotic pick stations" or "on-grid robotic pick" (OGRP) stations, suitable for use within the scope of the invention / disclosure are described in PCT Patent Publication No. WO2023 / 285487 (Ocado Innovation Limited) and PCT Patent Publication No. W02024 / 084011 (Ocado Innovation Limited); the contents of all of which are incorporated herein by reference in their entireties. A robotic arms may include any type of suitable end effector(s), a.k.a., end-of-arm-tooling (EOAR), for grasping one or more objects. For example, the end effector may include, but is not limited to, at least one of a jaw gripper, a finger gripper (with any suitable number of fingers), a magnetic or electromagnetic gripper, a Bernoulli gripper, a vacuum suction cup, an724 WO - Smart Connector

[0048] electrostatic gripper, or the like. Other robotic peripheral devices, e.g., picking devices or stations, may be used within the scope of the invention / present disclosure.

[0049] Examples of known grid systems / structures suitable for use within the scope of the invention / disclosure include but are not limited to those described in PCT Patent Publication No. WO2021175872 and PCT Patent Publication No. WO2022 / 034195 (Ocado Innovation Limited); the contents of all of which are incorporated herein by reference in their entireties. Other grid systems / structures may be used within the scope of the invention / present disclosure.

[0050] The load handling device of the system may be configured to move in first and second orthogonal directions on the grid structure.

[0051] The grid structure used with the system may include a first set of tracks extending in a first direction and a second set of tracks extending in a second direction which is transverse to the first direction, the load-handling device being configured to move on the tracks, wherein the load-handling device comprises a sensor configured to monitor movement of the loadhandling device.

[0052] The plurality of sensors (a.k.a., sensor means) may comprise one or more of a grid sensor, an RFID reader, a fifth-wheel sensor, a homing sensor, and a battery latch sensor. Other types of sensors may be used within the scope of the invention / present disclosure.

[0053] The plurality of sensors may include one or more of an optical encoder, an RF antenna, a retroreflective background-suppressed proximity sensor, a camera, and a photo interrupter sensor. Other types of sensors may be used within the scope of the invention / present disclosure.

[0054] The plurality of common-format electrical connectors may comprise, but are not limited to, one of registered jack (RJ) connectors, serial advanced technology attachment (SATA) connectors, video graphics array (VGA) connectors, universal serial bus (USB) connectors, high-definition multimedia (HDMI) connectors, D-sub-miniature (D-sub) connectors, and metric screw-sized (M) connectors. Other types of common-format electrical connectors may be used within the scope of the invention / present disclosure; common-format electrical724 WO - Smart Connector

[0055] connectors may be commercially available ones or custom / bespoke ones, e.g., made specially for a given application.

[0056] The identification (ID) means provide unique identifications (IDs) for each of the plurality of sensors and the ability to distinguish among the individual sensors. The identification (ID) means may comprise a unique resistance (e.g., one or more resistors in a resistive network) associated with each sensor, respectively. The resistor-based ID means may be used or employed with a constant-current source to produce a specific voltage for each sensor, respectively. In some embodiments and / or examples, an alternative to a constant current source may include or be a resistor that forms a voltage divider with another resistor or resistors. The specific voltages may correspond to the ID means for the sensors, respectively.

[0057] The unique resistance may be or include one or more resistors disposed on a printed circuit board (PCB) connected to the sensor.

[0058] The unique resistance may include two or more resistors that are directly or indirectly connected. For example, a first resistor may be connected to or associated with a particular sensor and a second related resistor may be connected to a PCB (e.g., a breakout board) to which that sensor or its correct communication path is connected. In such a scenario, another sensor could also be connected to the same PCB and have its own associated (i.e., a third) resistor. By appropriate selection of the resistor values, the controller can determine whether each sensor is on its correct communication path, including the PCB. For example, one or more breakout boards (PCBs) of a load handling device may have respective resistance values (resistors) at one order of magnitude (e.g., multiples of IK ohm, respectively) while sensors used for the load handling device may have resistance values (resistors) at a different order of magnitude (e.g., multiple of 100 ohm or 10 ohm).

[0059] The identification means may comprise a unique identification (ID) (e.g., a binary, decimal, or hexadecimal value or number of desired format length e.g., 1, 2, 3, 4, 8, 12, etc. bits or digits) associated with each sensor, respectively.

[0060] The controller may be further configured to enable power delivery to each sensor determined to be configured correctly on its corresponding correct communication path.724 WO - Smart Connector

[0061] The controller may be further configured to disable power delivery to each sensor determined to be incorrectly connected, i.e., connected on an incorrect communication path.

[0062] Optionally, the controller may be further configured to indicate the correct communication path (e.g., including processor port and / or PCB) for each sensor determined to be incorrectly connected, i.e., connected on an incorrect communication path.

[0063] The plurality of electrical connectors may include or be configured to utilize a one-wire (OneWire or 1-Wire) communication protocol. 1-Wire is a well-known wired half-duplex serial bus that provides relatively low-speed (e.g., 16.3 kbit / s) data communication and supply voltage over a single conductor.

[0064] Each communication path may include one or more communication bridges. Such a communication bridge may be or include a communication bridge integrated circuit (IC) designed to facilitate communication between two devices that use different communication protocols.

[0065] Two or more sensors of the plurality of sensors may have different power requirements or characteristics.

[0066] Two or more of the plurality of sensors may have different maximum (nominal or allowable) power characteristics, e.g., current and / or voltage levels or values.

[0067] A further aspect of the invention provides a load handling device for lifting and moving one or more containers stackable in a storage and retrieval system, the storage and retrieval system comprising a grid structure comprising a plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members such that the plurality of grid members are arranged in a grid pattern for guiding the movement of the load handling device on the grid structure, the load handling device comprising:

[0068] (a) a container lifting mechanism comprising a grabber device configured to releasably grip a container, and a drive mechanism configured to raise and lower the grabber device;724 WO - Smart Connector

[0069] (b) a wheel assembly comprising a first set of wheels for engaging with the first set of grid members to guide movement of the load handling device in a first direction and a second set of wheels for engaging with the second set of grid members to guide the movement of the load handling device in a second direction, wherein the second direction is transverse to the first direction;

[0070] (c) a wheel positioning mechanism (means) configured for selectively lowering or raising the first set of wheels or the second set of wheels into engagement or disengagement with the first set of grid members or the second set of grid members;

[0071] (d) electrical circuitry / components comprising a processor for controlling the container lifting mechanism and wheel positioning mechanism;

[0072] (e) a power source for powering electrical components, wherein the power source is connected to the electrical components by cabling;

[0073] wherein the load handling device further comprises:

[0074] a sensor-connection verification system comprising:

[0075] a plurality of sensors disposed on the load handling device;

[0076] a controller disposed on the load handling device, wherein the controller is configured to receive signals from the plurality of sensors;

[0077] a plurality of communication paths disposed on the load handling device and corresponding to the plurality of sensors, respectively, wherein each communication path includes one or more links and is configured to provide a signal path between a sensor and the controller, and wherein each sensor has a corresponding correct communication path;

[0078] a plurality of common-format electrical connectors (connections) having a common connector (connection) format (structure), wherein each electrical connector is configured to connect links of one or more communication paths;724 WO - Smart Connector

[0079] a power source disposed on the load handling device and configured to provide power to the plurality of sensors; and

[0080] identification means associated with the plurality of sensors, respectively, wherein the identification means indicate a unique identity for each sensor;

[0081] wherein, when each sensor is connected to the controller by an electrical connector along a communication path, the controller is configured to recognize the identification means associated with the sensor and determine whether the sensor is connected to the controller on the corresponding correct communication path.

[0082] Another aspect of the invention provides an automated storage and retrieval system, the system comprising:

[0083] a grid structure comprising a plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members such that the plurality of grid members is arranged in a grid pattern for guiding the movement of one or more the load handling devices operating on the grid structure; and

[0084] at least one load handling device having a sensor-connection verification system as described herein, e.g., as recited above or herein.

[0085] In another aspect, the invention provides a computer-implemented (a.k.a., processing-system-implemented) method of verifying correct connections of sensors on a load handling device configured to operate on a grid structure, wherein the load handling device includes a plurality of communication paths disposed on the load handling device and corresponding to the plurality of sensors, respectively, wherein each communication path is configured to provide a signal path between a sensor and the controller, wherein each sensor has a corresponding correct communication path, wherein load handling device includes a plurality of common-format electrical connectors having a common connector format, wherein each common-format electrical connector is configured to connect links of one or more communication paths, and wherein identification means are associated with the plurality of sensors, respectively, the method comprising:724 WO - Smart Connector

[0086] for each sensor connected to the controller by a common-format electrical connector along a communication path, recognizing the identification means associated with the sensor; and

[0087] determining whether each connected sensor is connected to the controller on its corresponding correct communication path.

[0088] The method may further include enabling power delivery to each sensor that is determined to be connected to the controller on its corresponding correct communication path.

[0089] The method may further include disabling (preventing) power delivery to each sensor that is determined to be connected to the controller on a communication path other than its correct communication path.

[0090] The method may further include producing a warning indication (e.g., flag, signal, message, etc.) for each sensor that is connected to the controller on a communication path other than its correct communication path.

[0091] Another aspect of the invention provides a computer program (or computer program product) comprising instructions which, when the program is executed by a computer (or processing system or processing circuitry), cause the computer (or processing system or circuitry) to carry out the method of any one or more of the described methods.

[0092] Another aspect of the invention provides a computer-readable (or processing-system-readable) storage medium or data carrier having stored or carried (e.g., modulated) thereon the described computer program.

[0093] In some embodiments and examples, one or more links of a communication path used for a sensor may comprise a wireless link, e.g., an RF or IR link.

[0094] Features which are described in the context of separate aspects, examples, and / or embodiments of the invention may be used together and / or be interchangeable. Likewise, features described in the context of a single embodiment or example may also be provided separately or in any suitable sub-combination.724 WO - Smart Connector

[0095] Brief Description of the Drawings

[0096] Embodiments will now be described by way of example only with reference to the accompanying drawings, in which like reference numbers designate the same or corresponding parts, and in which:

[0097] Figure 1 shows a schematic depiction of an automated storage and retrieval structure;

[0098] Figure 2 shows a schematic depiction of a plan view of a section of track structure forming part of the storage structure of Figure 1;

[0099] Figure 3 shows a schematic depiction of a plurality of load-handling devices moving on top of the storage structure of Figure 1;

[0100] Figure 4 shows a schematic depiction of a load-handling device;

[0101] Figures 5A-5B show a schematic description of the load-handling device of Figure 4 interacting with a container;

[0102] Figure 6 shows a known load handling device showing the X-direction and Y-direction position sensors in the form of "fifth" wheels mounted thereon;

[0103] Figure 7 shows a schematic depiction of a known robotic picking station;

[0104] Figure 8 is a schematic representation of a sensor-connection verification system for a load handling device configured to operate on a grid structure according to a specific embodiment;

[0105] Figure 9 is a schematic diagram of a sensor-connection verification system for a robotic platform configured to operate on a grid structure according to a specific embodiment;

[0106] Figure 10 is a schematic diagram of a sensor-connection verification system for a robotic platform configured to operate on a grid structure according to a further specific embodiment;

[0107] Figure 11 is a schematic diagram showing a resistor-based identification means for a sensor according to an embodiment;724 WO - Smart Connector

[0108] Figure 12 is a schematic diagram demonstrating a sensor-connection verification system for a load-handling device configured to operate on a grid structure according to a further specific embodiment;

[0109] Figure 13 shows a flowchart depicting a method of determining the electrical connection status of one or more sensors of a load handling device of a grid-based storage system according to embodiments; and

[0110] Figure 14 shows a flowchart depicting a computer-implemented method of verifying correct connections of sensors of a mobile robotic platform configured to operate on a grid structure.

[0111] Detailed Description

[0112] In the following description, some specific details are included to provide a thorough understanding of the disclosed examples. One skilled in the relevant art, however, will recognise that other examples may be practised without one or more of these specific details, or with other components, materials, etc., and structural changes may be made without departing from the scope of the invention as defined in the appended claims. Moreover, references in the following description to any terms having an implied orientation are not intended to be limiting and refer only to the orientation of the features as shown in the accompanying drawings. In some instances, well-known features or systems, such as processors, sensors, storage devices, network interfaces, fasteners, electrical connectors, and the like are not shown or described in detail to avoid unnecessarily obscuring descriptions of the disclosed embodiment.

[0113] Unless the context requires otherwise, throughout the specification and the appended claims, the word "comprise" and variations thereof, such as, "comprises" and "comprising" are to be construed in an open, inclusive sense that is as "including, but not limited to."

[0114] Reference throughout this specification to "one", "an", or "another" applied to "embodiment", "example", means that a particular referent feature, structure, or characteristic described in connection with the embodiment, example, or implementation is included in at least one embodiment, example, or implementation. Thus, the appearances of the phrase "in one embodiment" or the like in various places throughout this specification are724 WO - Smart Connector

[0115] not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments, examples, or implementations.

[0116] It should be noted that, as used in this specification and the appended claims, the terms "a", "an", and "the" include plural referents unless the context of their usage clearly dictates otherwise. It should also be noted that the term "or" is generally employed in its sense including "and / or" unless the context of usage clearly dictates otherwise.

[0117] Figure 8 is a schematic of an example sensor-connection verification system 100 for a load handing device 130 having a plurality of sensors 103 with respective identification values (IDs) 104. The plurality of sensors 103 incudes different types of sensors, which have different power requirements and / or damage thresholds. Using the IDs 104, the system 100 operates to verify the connection status of each the plurality of sensors 103, i.e., as either being in a correct connection state, in which the sensor— and, potentially, related components— in question is connected on the correct communication path, or as being in an incorrect connection state in which the sensor in question is connected on an incorrect communication path. System 100 only applies power to those devices (e.g., sensors and / or related components) that the system has confirmed (determined) to be correctly connected. Thus, the system 100 can protect against damaging application of excess power (e.g., current and / or voltage) to system components.

[0118] The load handling device 130 is shown having housing or frame (a.k.a., vehicle) 131. The load handling device 130 is configured to operate on a grid structure, selectively moving about the grid structure to move totes as part of an ASRS. Examples of known load handling devices are described above for Figures 3-6; other load handling devices may be used.

[0119] The load handling device 130 is configured to operate on a grid structure. The load handling device can move in first and second orthogonal directions on the grid structure and can handle (e.g., raise and lower) objects (e.g., totes) at locations on the grid. Examples of load handling devices 130 that can be used include but are not limited to those described in PCT Publication No. WO2015 / 185628, PCT Patent Publication No. W02015 / 019055, and PCT724 WO - Smart Connector

[0120] Publication No. WO2017 / 153583; embodiments, examples, and implementations of the invention / present disclosure may be used with / for other types of load handling devices.

[0121] While not shown in Figure 8, the load handling device 130 includes the following functional sub-systems, similar to the load handling devices described above for Figures 3-6 and / or for the load handling devices described in the above-noted PCT patent publications: (a) a container lifting mechanism comprising a grabber device configured to releasably grip a container, and a drive mechanism configured to raise and lower the grabber device; (b) a wheel assembly comprising a first set of wheels for engaging with the first set of grid members (of an underlying grid) to guide movement of the load handling device in a first direction and a second set of wheels for engaging with the second set of grid members (of the underlying grid) to guide the movement of the load handling device in a second direction, wherein the second direction is transverse to the first direction; (c) a wheel positioning mechanism (means) configured for selectively lowering or raising the first set of wheels or the second set of wheels into engagement or disengagement with the first set of grid members or the second set of grid members; (d) electrical circuitry / components comprising a processor for controlling the container lifting mechanism and wheel positioning mechanism; the electrical circuitry / components can also include wireless communication (e.g., RF or and / or IR, etc.) circuitry / components providing for wireless communication with / by the load handling device; (e) a power source (e.g., one or more batteries) for powering electrical components, wherein the power source is connected to the electrical components by electrical connectors, e.g., cabling. The note sub-systems are supported by the vehicle 131.

[0122] As noted, the system 100 includes control circuitry 101 with a controller 102. The control circuity 101 is configured to receive signals (outputs) from the plurality of sensors 103 when the sensors are correctly connected to the control circuitry 101. The plurality of sensors 103 includes different types of sensors such as grid sensors 104, RFID sensors 105, 5thwheel sensors 106, direction change sensors 107, battery latch sensors 109, homing sensors 111, and FFC encoders 112; other sensors (e.g., cameras, etc.) may be used in addition to and / or substitution for those shown.

[0123] In the example of Figure 8, the plurality of sensors 103 are connected to the control circuitry 101 by way of a plurality of signal communication paths (a.k.a., communication paths) 114,724 WO - Smart Connector

[0124] respectively. Portions of some of the communication paths 114 are omitted for clarity, however, the entirety is indicated for the communication path 114 associated with the grid sensor 105 is connected to PCB board 112 (indicated as "Panel B Breakout"). Each communication path 114 includes one or more links (e.g., 115, 116), at least one of which being a link including a common-format electrical connector 115. Each common-format electrical connector 115 has a common electrical connector (connection) format (structure) that is shared with the common-format electrical connectors 115 in the other communication paths 114 associated with the other sensors 103. Utilization of the common-format electrical connectors 115 provides for reduced complexity and cost of system 100. In Figure 8, links 116 are shown connecting the sensors 103 to PCBs 112, respectively. While communication paths 114 and the included path links (e.g., 115, 116) are shown in the drawings as having certain directional arrows, it will be understood that the lines and arrows shown can represent bidirectional signals or uni-directional signals in either direction including opposite direction to that implied by arrows; moreover, unless otherwise indicated, a communication path or link can be used to convey or supply power, e.g., to a connected or linked sensor 103.

[0125] Any suitable electrical connector format (structure) can be used for the common-format electrical connectors 115 used for a plurality of sensors 103. For example, the commonformat electrical connectors 115 may include, but are not limited to, registered jack (RJ) connectors, serial advanced technology attachment (SATA) connectors, video graphics array (VGA) connectors, universal serial bus (USB) connectors, high-definition multimedia (HDMI) connectors, D-sub-miniature (D-sub) connectors, and metric screw-sized (M) connectors. In some embodiments, custom made, repurposed, or bespoke electrical connector formats may be used for the common-format electrical connectors (links) 115.

[0126] The term "common-format electrical connector" can include reference to one or more electrical paths (e.g., structures, wires, cables, etc.) and / or terminating ends, connectors, or connectors (e.g., male connectors, female connectors, coupled male-female connectors). As an example, reference to an "RJ45" connector as a common-format electrical connector can include reference to first and second ends (e.g., male or female connections) and / or one or more electrical connections (e.g., wires, cables, etc.) serving to connect those ends.724 WO - Smart Connector

[0127] Figure 9 is a schematic diagram of a sensor-connection verification system 100 for a robotic platform 130, 150 configured to operate on a grid structure according to a specific embodiment.

[0128] In the example of Figure 9, robotic platform 130, 150 is shown having a control module 101 including a controller 102 configured to receive output signals from a plurality of sensors 103 (shown as sl-s5). The robotic platform can include a load handling device 130 or a robotic peripheral device 150. ID means 104 are included, respectively for the sensors 103. The ID means 104 includes identification values (e.g., binary numbers) assigned to the sensors, respectively. The ID values can be stored in memory in the sensors themselves or in associated structures / components, e.g., communication bridges 118, 119. The sensors 103 have communication paths 114 connecting them to the controller 102. Each communication path 114 includes at least one common-format electrical connector (electrical connection or link) 115 having a common format— effectively a link on the path 114 which includes a connector / connection format shared by the other common-format electrical connector(s) 115; each communication path 114 may include one or more additional links (e.g., 116) in the path 114. As shown, one or more sensors 103 can be disposed on printed circuit boards (PCB) 117, e.g., a breakout board used for one region (side) of a load-handling device 130. For the embodiment shown, a OneWire (a.k.a., 1-Wire or one-wire) electrical connector is used for the electrical connector 115 having a common electrical connector format. The term electrical connector can include a length of one or more conductive structure(s), e.g., wires or cables, and / or terminal or terminating ends, potentially including terminating structure(s) specially configured for the common electrical connector format. Moreover, the communication paths 114 can include communication bridges 118, 119, which may be or include ICs as shown.

[0129] The control circuitry 101 and / or controller 102 functionality is not necessarily limited to receiving signals from the plurality of sensors and enabling power delivery to the sensors; in some embodiments, examples, and implementations, the control circuit 101 and / or controller 102 may include or provide additional functionality, e.g., controlling motion of the load handling device 130 or peripheral device 150 and / or wireless communication to and from the load handling device 130 or peripheral device 150.724 WO - Smart Connector

[0130] Figure 10 is a schematic diagram of a sensor-connection verification system 100 for a robotic platform configured to operate on a grid structure according to a further specific embodiment. The system 100 shown is similar to that of Figure 9 and includes OneWire electrical connectors for the common-format links 115, however, the ID means 104 are in the form of resistive structures / components (one or more resistors) 104 connected to the sensors 103, providing a unique resistance value for each of the sensors 103 (sl-s5). The resistors 104 are shown disposed on PCBs 117, respectively. This embodiment does not require use of memory for the ID means 104. The communication paths 114 can include communication bridges 118, 119, which may be or include ICs as shown.

[0131] Figure 11 is a schematic diagram showing a resistor-based identification (ID) means 104 for a sensor according to an embodiment. The ID means 104 is shown including a resistor 140 and a constant current source 146 that are connected. The resistor 140 is shown connected to ground 142. The resistor 140 has a resistance value that is unique compared to other similar resistor(s) used with other sensor(s) in a load handing device or other grid-based robotic peripheral (e.g., an OGRP). Constant current source 146 provides current to resistor 140. The unique resistance value of resistor 140 produces a corresponding unique output voltage, shown as voltage measurement 148, which can be assigned to a unique ID, e.g., as shown in Table 1, below.

[0132] Table 1, shown below, shows an example ID scheme for seven sensors having seven different resistors, respectively, as ID means:

[0133] Table 1

[0134]

[0135] 724 WO - Smart Connector

[0136]

[0137] Table 1 includes columns for resistance, current, output voltage, and ID values of an example set of ID means used for a plurality of sensors used for a grid-based device, e.g., a load handling device 30 or peripheral robotic device 50. As shown, seven different resistance values produce seven different voltages in accordance with Ohm's law, when a constant current is applied. Other numbers and values of resistors, currents, voltages, and ID values may of course be used within the scope of the invention. In some embodiments and / or examples, an alternative to a constant current source 146 can be or include an additional resistor (not shown) that forms a voltage divider with the resistor 140.

[0138] Figure 12 is a schematic diagram demonstrating a sensor-connection verification system 100 for a load-handling device configured to operate on a grid structure according to a further specific embodiment.

[0139] In the example of Figure 12, system 100 includes a control module (control circuitry) 101 including a controller 102 configured to receive output signals from a plurality of sensors 103, having sensors 103a-103c. ID means 104 are included, respectively for the sensors 103. The ID means 104 includes identification values (e.g., binary numbers) assigned to the sensors, respectively. The ID values can be stored in memory in the sensors themselves or in associated structures / components, e.g., communication bridges 118, 119. The sensors 103 have communication paths 114 (114a-114c) connecting them to the control module 101 with controller 102. Each communication path 114 includes at least one electrical connector (electrical connection or link) 115 (a.k.a., common-format electrical connector) having a common electrical connector format and may include one or more additional links in the path 114. As shown, one or more sensors 103 can be disposed on printed circuit boards (PCB) 117. For the embodiment shown, an RJ-45 electrical connector format is used for the commonformat electrical connectors 115; other formats may be used in other embodiments. As shown, the communication paths 114 can include communication bridges 118, 119.724 WO - Smart Connector

[0140] Also included are junction printed circuit boards (PCBs) 120, shown as 120a, 120b. Junction PCB 120a includes connectors 121a (RJ45) and 122a (M12). An optional ID 123 ("BotID") for the load handling device 30 is also shown. PCB 120b includes connectors 121b (RJ45), 122b (M12), and 122c (9-way D-Sub). In some embodiments, a PCB 120, e.g., "5thWheel" Junction PCB 120b, can be configured as a "breakout board" used for one region (side) of the loadhandling device 30. Connections 123a, 123b, and 123c are shown as links in the communication paths connecting sensors 103, respectively, to control module 101. As shown, communication path 114a includes common-format connector 115a and connects sensor 103a (grid sensor) to the control module 101. Communication path 114b includes a link formed by common-format connector 115b and connects grid sensor 103b to the control module 101. Common-format connector 115b is also shared / utilized by communication path 114c, which connects 5thwheel sensor 103c to the control circuitry.

[0141] By controller 101 confirming the correct electrical connection of a particular sensor (and, potentially, related components), the system 100 can ensure that power is delivered to only those devices that are correctly connected.

[0142] Figure 13 shows a flowchart depicting a method 1300 of determining the electrical connection status of one or more sensors of a load handling device of a grid-based storage system according to embodiments.

[0143] The method 1300 involves, for a plurality of sensors disposed on a load handling device or grid peripheral device, designate a plurality of correct communication paths, respectively, to a controller, wherein the paths include common-format electrical connectors sharing a common format, as shown at 1302. Identification means (e.g., unique ID or resistance) are assigned / provided to each of the plurality of sensors, as described at 1304. One or more of the sensors are connected to the controller using one or more of the common-format electrical connectors, respectively, as described at 1306. The method 1300 further includes making a determination whether each of the one or more connected sensors is correctly connected to the controller on its correct (e.g., designated or assigned) communication path, as described at 1308.724 WO - Smart Connector

[0144] Figure 14 shows a flowchart depicting a computer-implemented method 1400 of verifying correct connections of sensors of a mobile robotic platform, e.g., a load handling device or robotic picking station, configured to operate on a grid structure. Method 1400 involves, for a plurality of sensors on a mobile platform used on a grid, e.g., a load handling device, and having control circuitry, wherein the plurality of sensors is associated with ID means (IDs), respectively, receiving output signals from two or more sensors, each connected to the control circuity on a respective communication path, as described at 1402. For each of the connected sensors, method 1400 includes determining whether the sensor is connected on its correct communication path, as described at 1404 and further indicated by the decision tree shown at 1406. If the sensor is determined to be connected to the control circuitry on its correct communication path ("Yes," at output of 1406), power delivery is enabled (at a suitable or acceptable non-damaging power level) to the sensor, as described at 1408. Optionally, an indication (e.g., signal) can be produced, indicating the correct correction status for each correctly connected sensor, as described at 1410. In some applications or embodiments, such a correct-connection status indication (indicator) may be produced for the plurality of sensors in the event that all the sensors have been determined to be correctly connected on their respective communication paths.

[0145] For the case where a sensor is determined to be on an incorrect communication path ("No," at output of 1406) an error message (indication) is generated, as described at 1407. Optionally, power delivery can be disabled or prevented for each incorrectly connected sensor, as described at 1412.

[0146] Further Examples

[0147] The above examples are to be understood as illustrative examples. Further examples and embodiments are envisaged, including, but not limited to, those described by the following clauses.

[0148] Clause 1: A sensor-connection verification system for a grid peripheral device, e.g., an on-grid robotic pick station (OGRP), configured to operate on a grid structure of an automated storage and retrieval system, the sensor-connection verification system comprising:724 WO - Smart Connector

[0149] a plurality of sensors disposed on a grid peripheral device configured to operate on a grid structure;

[0150] a controller disposed on (e.g., residing in control circuitry included with) the grid peripheral device, wherein the controller is configured to receive signals from the plurality of sensors;

[0151] a plurality of communication paths disposed on the grid peripheral device and corresponding to the plurality of sensors, respectively, wherein each communication path is configured to provide a signal path between a sensor and the controller, and wherein each sensor has a corresponding correct communication path;

[0152] a plurality of common-format electrical connectors having a common connector format, wherein each electrical connector is configured to connect links of one or more communication paths;

[0153] a power source disposed on the grid peripheral device and configured to provide power to the plurality of sensors; and

[0154] identification means associated with the plurality of sensors, respectively, wherein the identification means indicate a unique identity for each sensor;

[0155] wherein, when each sensor is connected to the controller by a common-format electrical connector (one of the plurality of common-format electrical connectors) along a communication path, the controller is configured to recognize the identification means associated with the sensor and determine whether the sensor is connected to the controller on the corresponding correct communication path.

[0156] Clause 2: A system according to of clause 1, wherein the grid peripheral device is configured to move items to and from bins disposed on (used with / for) the grid structure.

[0157] Clause 3: A system according to of clause 2, wherein the grid structure includes a first set of tracks extending in a first direction and a second set of tracks extending in a second direction which is transverse to the first direction, the load-handling device being configured to move on the tracks, wherein the load-handling device comprises a sensor configured to monitor movement of the load-handling device.724 WO - Smart Connector

[0158] Clause 4: A system according to clause 1, wherein the plurality of sensors comprises one or more of a grid sensor, an RFID reader, a fifth-wheel sensor, a homing sensor, and a battery latch sensor.

[0159] Clause 5: A system according to clause 1, wherein the plurality of sensors includes one or more of an optical encoder, an RF antenna, a camera, a retroreflective background-suppressed proximity sensor, and a photo interrupter sensor.

[0160] Clause 6: A system according to of clause 1, wherein the plurality of electrical connectors comprises one of registered jack (RJ) connectors, serial advanced technology attachment (SATA) connectors, video graphics array (VGA) connectors, universal serial bus (USB) connectors, high-definition multimedia (HDMI) connectors, D-sub-miniature (D-sub) connectors, and metric screw-sized (M) connectors.

[0161] Clause 7: A system according to clause 1, wherein the identification means comprise a unique resistance associate with each sensor, respectively.

[0162] Clause 8: A system according to clause 7, wherein the unique resistance comprises a resistor disposed on a printed circuit board (PCB) connected to the sensor.

[0163] Clause 9: A system according to clause 1, wherein the identification means comprise a unique ID associated with each sensor, respectively.

[0164] Clause 10: A system according to any of the preceding clauses, wherein the controller is further configured to enable power delivery to each sensor determined to be configured on its corresponding communication path.

[0165] Clause 11: A system according to any of the preceding clauses, wherein the plurality of electrical connectors is configured to utilize a one-wire communication protocol.

[0166] Clause 12: A system according to any of the preceding clauses, wherein each communication path includes one or more communication bridges.

[0167] Clause 13: A system according to any of the preceding clauses, wherein two or more sensors of the plurality of sensors have different power requirements.724 WO - Smart Connector

[0168] Clause 14: A system according to any of the preceding clauses, wherein two or more of the plurality of sensors have different maximum current and / or voltage levels or values, e.g., damage-threshold or nominal operational values.

[0169] Clause 15: A computer-implemented method of verifying correct connections of sensors on a robotic peripheral device, e.g., a robotic pick station (OGRP), configured to operate on a grid structure, wherein the grid peripheral device includes a plurality of communication paths disposed on the grid peripheral device and corresponding to the plurality of sensors, respectively, wherein each communication path is configured to provide a signal path between a sensor and the controller, and wherein each sensor has a corresponding correct communication path, wherein identification means are associated with the plurality of sensors, respectively, and wherein the robotic peripheral device includes a plurality of common-format electrical connectors having a common connector format, wherein each common-format electrical connector is configured to (function as a link to) connect links of one or more communication paths, the method comprising:

[0170] for each sensor connected to the controller by a common-format electrical connector along a communication path, recognizing the identification means associated with the sensor; and

[0171] determining whether each connected sensor is connected to the controller on its corresponding correct communication path.

[0172] Clause 16: A method according to clause 15, further comprising enabling power delivery to each sensor that is determined to be connected to the controller on its corresponding correct communication path.

[0173] Clause 17: A method according to either of clause 15 to 16, further comprising disabling power delivery to each sensor that is connected to the controller on a communication path other than its correct communication path.

[0174] Clause 18: A method according to any one of clauses 15 to 17, further comprising producing a warning indication for each sensor that is connected to the controller on a communication path other than its correct communication path.724 WO - Smart Connector

[0175] Clause 19: A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of any one of clauses 15 to 18.

[0176] Clause 20: A computer-readable data carrier having stored thereon the computer program of clause 19.

[0177] Clause 21: A computer-readable storage medium having stored thereon the computer program of clause 19.

[0178] Clause 22: A computer-readable storage medium according to clause 21, wherein the storage medium is non-transitory.

[0179] Clause 23: A robotic picking station for use in a grid-based storage system, the robotic picking station comprising:

[0180] a robotic manipulator comprising a suction device configured to releasably engage an item; and,

[0181] a low-pressure circuit comprising a vacuum source for providing a vacuum pressure at the suction device, wherein the vacuum source is mounted on the robotic manipulator;

[0182] wherein the robotic picking station further comprises:

[0183] a sensor-connection verification system comprising:

[0184] a plurality of sensors disposed on the robotic picking station;

[0185] a controller disposed on the robotic picking station, wherein the controller is configured to receive signals from the plurality of sensors;

[0186] a plurality of communication paths disposed on the load handling device and corresponding to the plurality of sensors, respectively, wherein each communication path includes one or more links and is configured to provide a signal path between a sensor and the controller, and wherein each sensor has a corresponding correct communication path;724 WO - Smart Connector

[0187] a plurality of common-format electrical connectors having a common connector format, wherein each electrical connector is configured to connect links of one or more communication paths;

[0188] a power source disposed on the robotic picking station and configured to provide power to the plurality of sensors; and

[0189] identification means associated with the plurality of sensors, respectively, wherein the identification means indicate a unique identity for each sensor;

[0190] wherein, when each sensor is connected to the controller by an electrical connector along a communication path, the controller is configured to recognize the identification means associated with the sensor and determine whether the sensor is connected to the controller on the corresponding correct communication path.

[0191] Clause 24: A robotic picking station according to clause 23, wherein the identification means comprise a unique resistance associate with each sensor, respectively.

[0192] Clause 25: A robotic picking station according to clause 23 or clause 24 wherein the unique resistance is a resistor disposed on a printed circuit board (PCB) connected to the sensor.

[0193] Clause 26: A robotic picking station according to any one of clauses 23 to 25, wherein the identification means comprise a unique ID associated with each sensor, respectively.

[0194] Clause 27: A robotic picking station according to any one of clauses 23 to 26, wherein the controller is further configured to enable power delivery to each sensor determined to be configured on its corresponding communication path.

[0195] Clause 28: A robotic picking station according to any of one of clauses 23 to 27, wherein the plurality of electrical connectors is configured to utilize a one-wire communication protocol.

[0196] Clause 29: A robotic picking station according to any one of clauses 23 to 28, wherein each communication path includes one or more communication bridges.724 WO - Smart Connector

[0197] Clause 30: A robotic picking station according to any one of clauses 23 to 29, wherein two or more sensors of the plurality of sensors have different power requirements.

[0198] Clause 31: A robotic picking station according to any one of clauses 23 to 30, wherein two or more of the plurality of sensors have different maximum current values.

[0199] Clause 32: An automated storage and retrieval system, the system comprising:

[0200] a grid structure comprising a plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members such that the plurality of grid members is arranged in a grid pattern for guiding the movement of one or more the load handling devices operating on the grid structure; and

[0201] at least one robotic peripheral device according to any one of clauses 23 to 31.

[0202] Moreover, while sensor connection verification systems and methods are described for gridbased loading handling devices and other grid-based robotic peripheral devices, in other implementations and examples, sensor connection verification systems and methods of the invention / present disclosure can be used with other groupings (pluralities) of sensors, e.g., sensors used for stand-alone sensor nodes, sensor arrays and / or sensor suites, whether mobile or stationary. In some embodiments and examples, one or more links of a communication path used for a sensor may comprise a wireless link, e.g., an RF or IR link.

[0203] In examples employing storage (a.k.a., memory or one or more memory stores) to store data, the storage may be a random-access memory (RAM) such as DDR-SDRAM (double data rate synchronous dynamic random-access memory). In other examples, the storage may include non-volatile memory such as read-only memory (ROM) or a solid-state drive (SSD) such as Flash memory. The storage in some cases includes other storage media, e.g., magnetic, optical or tape media, a compact disc (CD), a digital versatile disc (DVD) or other data storage media. The storage may be removable or non-removable from the relevant system and / or system component.

[0204] In examples employing data processing, a processor can be employed as part of the relevant system. The processor can be a general-purpose processor such as a central processing unit724 WO - Smart Connector

[0205] (CPU), a microprocessor, a graphics processing unit (GPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or another programmable logic device, a discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof designed to perform the data processing functions described herein.

[0206] It is also to be understood that any feature described in relation to any one example may be used alone, or in combination with other features described, and may also be used in combination with one or more features of any other of the examples, or any combination of any other of the examples. Furthermore, equivalents and modifications not described above may also be employed without departing from the scope of the accompanying claims.

Claims

724 WO - Smart ConnectorClaims1. A sensor-connection verification system for a load handling device configured to operate on a grid structure, the system comprising:a plurality of sensors disposed on a load handling device configured to operate on a grid structure;a controller disposed on the load handling device, wherein the controller is configured to receive signals from the plurality of sensors;a plurality of communication paths disposed on the load handling device and corresponding to the plurality of sensors, respectively, wherein each communication path includes one or more links and is configured to provide a signal path between a sensor and the controller, and wherein each sensor has a corresponding correct communication path;a plurality of common-format electrical connectors, wherein each commonformat electrical connector is configured to connect links of one or more communication paths;a power source disposed on the load handling device and configured to provide power to the plurality of sensors; andidentification means associated with the plurality of sensors, respectively, wherein the identification means indicate a unique identity for each sensor;wherein, when each sensor is connected to the controller by one of the plurality of common-format electrical connectors along a communication path, the controller is configured to recognize the identification means associated with the sensor and determine whether the sensor is connected to the controller on the corresponding correct communication path.

2. A system according to of claim 1, wherein the controller is further configured to produce an indication of the correct-connection status for each sensor determined to be configured on its corresponding correct communication path.WO - Smart Connector3. A system according to of claim 1 or 2, wherein the controller is further configured to enable power delivery to each sensor determined to be connected to the controller on its corresponding correct communication path.

4. A system according to of claim 1, wherein the controller is further configured to disable power delivery to each sensor determined to be connected to the controller on a communication path other than its corresponding correct communication path.

5. A system according to claim 1, wherein the plurality of sensors comprises one or more of a grid sensor, an RFID reader, a fifth-wheel sensor, a homing sensor, and a battery latch sensor.

6. A system according to claim 1, wherein the plurality of sensors includes one or more of an optical encoder, an RF antenna, a retroreflective background-suppressed proximity sensor, a camera, and a photo interrupter sensor.

7. A system according to of claim 1, wherein the plurality of electrical connectors comprises one of registered jack (RJ) connectors, serial advanced technology attachment (SATA) connectors, video graphics array (VGA) connectors, universal serial bus (USB) connectors, high-definition multimedia (HDMI) connectors, D-sub- miniature (D-sub) connectors, and metric screw-sized (M) connectors.

8. A system according to claim 1, wherein the identification means comprise a unique resistance associate with each sensor, respectively.

9. A system according to claim 8, wherein the unique resistance is a resistor disposed on a printed circuit board (PCB) connected to the sensor.

10. A system according to claim 1, wherein the identification means comprise a unique ID associated with each sensor, respectively.WO - Smart Connector11. A system according to any of the preceding claims, wherein the plurality of electrical connectors is configured to utilize a one-wire communication protocol.

12. A system accordingto any of the preceding claims, wherein each communication path includes one or more communication bridges.

13. A system according to any of the preceding claims, wherein two or more sensors of the plurality of sensors have different power requirements.

14. A system according to any of the preceding claims, wherein two or more of the plurality of sensors have different maximum current values.

15. A computer-implemented method of verifying correct connections of sensors on a load handling device configured to operate on a grid structure, wherein the load handling device includes a plurality of communication paths disposed on the load handling device and corresponding to the plurality of sensors, respectively, wherein each communication path includes one or more links is configured to provide a signal path between a sensor and the controller, wherein load handling device includes a plurality of common-format electrical connectors, wherein each electrical connector is configured to connect links of one or more communication paths, wherein each sensor has a corresponding correct communication path, and wherein identification means are associated with the plurality of sensors, respectively, the method comprising:for each sensor connected to the controller by one of the plurality of commonformat electrical connectors along a communication path, recognizing the identification means associated with the sensor; anddetermining whether each connected sensor is connected to the controller on its corresponding correct communication path.

16. A method according to claim 15, further comprising producing an indication of the correct-connection status for each sensor determined to be configured on its corresponding correct communication path.WO - Smart Connector17. A method according to claim 15 or 16, further comprising enabling power delivery to each sensor that is determined to be connected to the controller on its corresponding correct communication path.

18. A method according to any one of claims 15 to 17, further comprising disabling power delivery to each sensor that is connected to the controller on a communication path other than its correct communication path.

19. A method according to any one of claims 15 to 18, further comprising producing a warning indication for each sensor that is determined to be connected to the controller on a communication path other than its correct communication path.

20. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of any one of claims 15 to 19.

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