# US 11,440,191 B2 · Automated device with a sensorized covered movable structure, in particular a robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,191 B2 - Document ID: US11440191B2 - Status: Granted - Kind: B2 - Application number: 16/757,545 - Filed: 2018-10-16 - Published: 2021-07-01 - Granted: 2022-09-13 - Earliest claimed: 2017-10-26 - Assignees: Comau S.p.A. - Applicants: Comau S.p.A. - Inventors: Stefano Bordegnoni; Alberto Vizio; Gabriele Cingano - Web page: https://patentgrep.com/patent/US11440191B2 ## CPC - B25J 9/1676: {Avoiding collision or forbidden zones} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 13/081: {Touching devices, e.g. pressure-sensitive} - B25J 13/084: {Tactile sensors (in general G01L5/16, G01L5/22)} - B25J 13/086: {Proximity sensors} - B25J 19/06: Safety devices - B25J 19/063: {working only upon contact with an outside object} - B66F 9/063: {Automatically guided} - G08C 23/04: using light waves, e.g. infrared - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) - G08C: TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS (fluid pressure transmitting systems F15B; mechanical means for transferring the output of a sensing member into a different variable G01D5/00; mechanical control systems G05G) ## Abstract An automated device has a movable structure covered at least in part by a sensorised covering. The sensorised covering comprises a plurality of covering modules, which includes one or more sensorised covering modules. Each sensorised covering module includes a plurality of distinct layers stacked on top of one another and including a load-bearing layer and at least one cushioning layer. Each sensorised covering module integrates at least one contact sensor device (C), which includes a first lower electrically conductive layer (61) and a second upper electrically conductive layer (63), set between which is an electrically insulating layer (62). ## Claims ### Claim 1 An automated device comprising: a movable structure; actuator means operable to cause displacements of the movable structure; a control system operable to control the actuator means; and a sensorised covering which covers at least part of the movable structure, wherein the sensorised covering comprises a plurality of covering modules, which include one or more sensorised covering modules each having a contact sensor device, wherein each sensorised covering module has a structure that comprises a plurality of superimposed distinct layers, which comprises a load-bearing layer made of rigid or semi-rigid material, having a predefined shape, and at least one cushioning layer made of elastically compressible material, carried by the load-bearing layer, wherein the contact sensor device further comprises a first lower electrically conductive layer and a second upper electrically conductive layer between which an electrically insulating layer is set, wherein the electrically insulating layer of the contact sensor device is made of an elastically compressible material and has a plurality of through openings arranged in such a way that the first lower electrically conductive layer and the second upper electrically conductive layer locally face each other at said through openings, the contact sensor device further comprising: a first electrical conductor (−) and a second electrical conductor (+) connected to the first lower electrically conductive layer and to the second upper electrically conductive layer, respectively, for applying a potential difference between them; and at least two resistors comprising a first resistor connected between the first lower electrically conductive layer and the second upper electrically conductive layer, and a second resistor connected to one of the first electrical conductor (−) or the second electrical conductor (+), wherein the first resistor and the second resistor having different values of electrical resistance, a value of electrical resistance of the first resistor being higher than a value of electrical resistance of the second resistor, wherein the first lower electrically conductive layer and the second upper electrically conductive layer each comprise an electrically conductive fabric, the second upper electrically conductive layer being more elastic than the first lower electrically conductive layer. ### Claim 2 (depends on 1) The automated device according to claim 1, further comprising an optical-type signalling arrangement operable to supply a user with visual information representing at least one condition detectable via the contact sensor device, the optical-type signalling arrangement comprising at least one multicolour light-emitting device operable to generate visible light signals, the colour and/or modality of emission of which is dependent upon the type of visual information that is to be supplied to the user. ### Claim 3 (depends on 2) The automated device according to claim 2, wherein the at least one multicolour light-emitting device comprises an RGB LED strip. ### Claim 4 (depends on 1) The automated device according to claim 1 wherein the plurality of covering modules comprises a first covering module and a second covering module, wherein the load-bearing layer of the first and the second covering modules each further comprising: a connector element operable to one of cooperatively mechanically or electrically connect the first and the second covering modules positioned adjacent to one another together in a separable way, the load-bearing layer of a first covering module having at least one surface or wall facing a corresponding surface or wall of the adjacent second covering module, the respective connector elements being associated to the surface or wall of the first covering module and to the surface or wall of the second covering module. ### Claim 5 (depends on 1) The automated device according to claim 1, wherein the plurality of distinct superimposed layers further comprises: the at least one cushioning layer further comprising: a lower cushioning layer set underneath the contact sensor device, made of elastically compressible material and associated to an outer side of the load-bearing layer; and an upper cushioning layer set on top of the contact sensor device, made of elastically compressible material; and an outer coating layer made of electrically insulating material and defining at least part of an outer surface of a respective covering module. ### Claim 6 (depends on 1) The automated device according to claim 1, wherein the distinct superimposed layers that extend outward of the load-bearing layer are at least one of flexible or have a surface area substantially corresponding to a surface area of an outer face of the corresponding covering module. ### Claim 7 (depends on 1) The automated device according to claim 1, wherein the load-bearing layer defines a free gap between an inner side thereof and an underlying part of the movable structure, the free gap operable to one of house components or for defining ventilation passages. ### Claim 8 (depends on 1) The automated device according to claim 1 wherein the one or more sensorised covering modules comprises a plurality of sensorised covering modules, the automated device further comprising at least one electronic control board, one of the at least one electronic control boards connected to one of: the contact sensor device of a single of the plurality of sensorised covering modules, or the contact sensor device of a plurality of sensorised modules, the at least one electronic control board being in signal communication with a control unit of the control system of the automated device. ### Claim 9 (depends on 1) The automated device of claim 1, wherein the automated device comprises a robot. ### Claim 10 (depends on 1) The automated device according to claim 1, wherein at least one of the one or more sensorised covering modules integrates at least one proximity sensor device each comprising at least one respective layer of electrically conductive material comprising an electrically conductive fabric. ### Claim 11 (depends on 1) The automated device of claim 1, wherein the automated device comprises one of an end effector or an automated guided vehicle. ### Claim 12 An automated device comprising: a movable structure; actuator means operable to cause displacements of the movable structure: a control system operable to control the actuator means; and a sensorised covering which covers at least part of the movable structure, wherein the sensorised covering comprises a plurality of covering modules, which include one or more sensorised covering modules each having a contact sensor device, wherein each sensorised covering module has a structure that comprises a plurality of superimposed distinct layers, which comprises a load-bearing layer made of rigid or semi-rigid material, having a predefined shape, and at least one cushioning layer made of elastically compressible material, carried by the load-bearing layer, wherein the contact sensor device further comprises a first lower electrically conductive layer and a second upper electrically conductive layer between which an electrically insulating layer is set, wherein the electrically insulating layer of the contact sensor device is made of an elastically compressible material and has a plurality of through openings arranged in such a way that the first lower electrically conductive layer and the second upper electrically conductive layer locally face each other at said through openings, and wherein at least one of the one or more sensorised covering modules integrates at least one proximity sensor device each comprising at least one respective layer of electrically conductive material comprising an electrically conductive fabric. ### Claim 13 (depends on 12) The automated device according to claim 12, wherein the one or more sensorised covering modules comprise a plurality of said sensorised covering modules connected in signal communication with a control unit of the control system and configured for supplying signals or data representing detections made via the respective each contact sensor device and the proximity sensor device, the control unit operable to identify the sensorised covering module that supplies said signals or data. ### Claim 14 (depends on 12) The automated device according to claim 12 further comprising an optical-type signalling arrangement operable to supply a user with visual information representing at least one condition detectable via the contact sensor device, the optical-type signalling arrangement comprising at least one multicolour light-emitting device operable to generate visible light signals, the colour and/or modality of emission of which is dependent upon the type of visual information that is to be supplied to the user. ### Claim 15 (depends on 12) The automated device of claim 12, wherein the automated device comprises a robot. ### Claim 16 An automated device comprising: a movable structure; actuator means operable to cause displacements of the movable structure; a control system operable to control the actuator means; and a sensorised covering which covers at least part of the movable structure, wherein the sensorised covering comprises a plurality of covering modules, which include one or more sensorised covering modules each having a contact sensor device, wherein each sensorised covering module has a structure that comprises a plurality of superimposed distinct layers, which comprises a load-bearing layer made of rigid or semi-rigid material, having a predefined shape, and at least one cushioning layer made of elastically compressible material, carried by the load-bearing layer, wherein the contact sensor device further comprises a first lower electrically conductive layer and a second upper electrically conductive layer between which an electrically insulating layer is set, wherein the electrically insulating layer of the contact sensor device is made of an elastically compressible material and has a plurality of through openings arranged in such a way that the first lower electrically conductive layer and the second upper electrically conductive layer locally face each other at said through openings, the contact sensor device further comprising: a first electrical conductor (−) and a second electrical conductor (+) connected to the first lower electrically conductive layer and to the second upper electrically conductive layer, respectively, for applying a potential difference between them; and at least two resistors comprising a first resistor connected between the first lower electrically conductive layer and the second upper electrically conductive layer, and a second resistor connected to one of the first electrical conductor (−) or the second electrical conductor (+), wherein the first resistor and the second resistor having different values of electrical resistance, a value of electrical resistance of the first resistor being higher than a value of electrical resistance of the second resistor.