US 12,064,865 B2
Proximity sensing autonomous robotic systems and apparatus
Nima Zamani, Kitchener (CA); and Timothy Lasswell, Kitchener (CA)
Assigned to Cobionix Corporation, Kitchener (CA)
Filed by Cobionix Corporation, Kitchener (CA)
Filed on May 17, 2022, as Appl. No. 17/746,910.
Claims priority of provisional application 63/189,642, filed on May 17, 2021.
Prior Publication US 2022/0362944 A1, Nov. 17, 2022
Int. Cl. B25J 13/00 (2006.01); B25J 9/00 (2006.01); B25J 9/04 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01)
CPC B25J 13/086 (2013.01) [B25J 9/0009 (2013.01); B25J 9/042 (2013.01); B25J 9/1666 (2013.01); B25J 9/1689 (2013.01); B25J 11/009 (2013.01); B25J 13/089 (2013.01); B25J 19/023 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A proximity sensing skin comprising:
a flexible conductive material for laminating to a surface, the conductive material having a plurality of sensors arranged thereon, the plurality of sensors comprising:
at least one capacitive sensor, for sensing the proximity of objects up to ˜10 centimetres from the surface;
a single point time of flight sensor, for sensing the proximity of objects from ˜10 centimetres up to ˜2 metres from the surface, the time of flight sensor comprising:
a phototransistor; and
an infrared LED;
a copper trace for measuring mechanical strain/stress force on the surface to which the proximity sensing skin is laminated; and
wherein the flexible conductive material relays signals from the plurality of sensors to a servo controller configured to move the surface in response to the signals from the plurality of sensors.