NON-FINAL REJECTION
Claim Rejections - 35 USC § 103
In the event the determination of the status of the application as subject to AIA 35 U.S.C. 102 and 103 (or as subject to pre-AIA 35 U.S.C. 102 and 103) is incorrect, any correction of the statutory basis (i.e., changing from AIA to pre-AIA ) for the rejection will not be considered a new ground of rejection if the prior art relied upon, and the rationale supporting the rejection, would be the same under either status.
The following is a quotation of 35 U.S.C. 103 which forms the basis for all obviousness rejections set forth in this Office action:
A patent for a claimed invention may not be obtained, notwithstanding that the claimed invention is not identically disclosed as set forth in section 102, if the differences between the claimed invention and the prior art are such that the claimed invention as a whole would have been obvious before the effective filing date of the claimed invention to a person having ordinary skill in the art to which the claimed invention pertains. Patentability shall not be negated by the manner in which the invention was made.
The factual inquiries for establishing a background for determining obviousness under 35 U.S.C. 103 are summarized as follows:
1. Determining the scope and contents of the prior art.
2. Ascertaining the differences between the prior art and the claims at issue.
3. Resolving the level of ordinary skill in the pertinent art.
4. Considering objective evidence present in the application indicating obviousness or nonobviousness.
Claims 1, 2, 9, 10, 17, and 18 are rejected under U.S.C. 103 as being unpatentable over Yu, et. al. (US 20170052255 A1), hereinafter referred to as Yu, in view of Arora (US 4821206 A), hereinafter referred to as Arora.
Regarding Claim 1:
An apparatus for estimating a proximity direction of an obstacle, the apparatus comprising:
an acoustic transmitter attached to a surface of the apparatus;
Yu discloses “The plurality of ultrasonic transmitters 200 and the plurality of ultrasonic receivers 300 are disposed on the shell 100 and arranged alternately with each other” (Yu, [0032]).
a first acoustic receiver spaced apart from the surface of the apparatus;
Yu discloses “The plurality of ultrasonic transmitters 200 and the plurality of ultrasonic receivers 300 are disposed on the shell 100 and arranged alternately with each other” (Yu, [0032]).
a second acoustic receiver spaced apart from the surface of the apparatus, wherein a position of the second acoustic receiver is different from a position of the first acoustic receiver with respect to the apparatus;
Yu discloses “The plurality of ultrasonic transmitters 200 and the plurality of ultrasonic receivers 300 are disposed on the shell 100 and arranged alternately with each other” (Yu, [0032]).
a memory configured to store instructions; and
Yu discloses “the controller controls the plurality of ultrasonic transmitters to send the first ultrasonic signals at intervals according to a preset cycle” (Yu, [0046]) and “FIG. 4 is a flow chart of a control method of a home robot according to an embodiment of the present disclosure, in which the home robot includes a plurality of ultrasonic transmitters and a plurality of ultrasonic receivers” (Yu, [0048]).
at least one processor configured to execute the instructions to:
control the acoustic transmitter to generate an acoustic wave along the surface;
Yu discloses “the controller (400) being used to control the plurality of ultrasonic transmitters (200) to transmit first ultrasonic wave signals” (Yu, Abstract).
Yu refers to the “ultrasonic wave signals” as “ultrasonic signals” interchangeably.
obtain a first proximity direction signal based on first acoustic wave signal received via the first acoustic receiver, the first acoustic wave signal corresponding to the generated acoustic wave;
Arora discloses “Turning first to the approximate positioning subsystem illustrated in FIG. 7, the orientation of the surface 38 is sensed by determining the side direction form which a response signal is first received. This determination is achieved by using the four broad beam acoustic transmitters 102 mounted on the side lips 100 of the sensor head 30, which continuously transmit acoustic signals under excitation of the signal generator 64, in all directions within their collective spherical 135.degree.-140.degree. field of view. The broad beam acoustic receivers are mounted on the lips 100 in a pairwise fashion, with the receivers 104 used to sense the direction of a responsive signal, if any is found.” (Arora, Column 9 Lines 41 – 53).
obtain a second proximity direction signal based on a second acoustic wave signal received via the second acoustic receiver, the second acoustic wave signal corresponding to the generated acoustic wave; and
Arora discloses “Turning first to the approximate positioning subsystem illustrated in FIG. 7, the orientation of the surface 38 is sensed by determining the side direction form which a response signal is first received. This determination is achieved by using the four broad beam acoustic transmitters 102 mounted on the side lips 100 of the sensor head 30, which continuously transmit acoustic signals under excitation of the signal generator 64, in all directions within their collective spherical 135.degree.-140.degree. field of view. The broad beam acoustic receivers are mounted on the lips 100 in a pairwise fashion, with the receivers 104 used to sense the direction of a responsive signal, if any is found.” (Arora, Column 9 Lines 41 – 53).
estimate the proximity direction of the obstacle with respect to the apparatus based on the first proximity direction signal and the second proximity direction signal.
Yu discloses “The home robot can detect the direction of an obstacle” (Yu, Abstract).
Arora discloses “a switching logic 120 identifies which receiver is sensing the response signal, if any, thus determining the approximate orientation of the surface 38 in respect to the sensor head 30. The switching logic 120 then commands a controller 122 to send orientation control signals to motors 18, 20, or 22 to rotate the sensor head 30 in the direction toward which the responsive signal was received” (Arora, Column 9 Lines 53 – 61).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose the direction of a signal being received from the surface of an obstacle. Arora however, discloses “Turning first to the approximate positioning subsystem illustrated in FIG. 7, the orientation of the surface 38 is sensed by determining the side direction form which a response signal is first received”.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine the method of determining the direction of a signal taught by Arora with the system of Yu because Arora teaches a method for spatially understanding a surface using acoustic waves, which would be a very effective and known method for locating obstacles in front of a robotic device.
Regarding Claim 2:
The apparatus of claim 1, wherein the first acoustic receiver and the second acoustic receiver are attached to the surface at two opposing positions on the surface, and are spaced apart from the surface by a same distance.
Yu discloses “The plurality of ultrasonic transmitters 200 and the plurality of ultrasonic receivers 300 are disposed on the shell 100 and arranged alternately with each other” (Yu, [0032]), and “As shown in FIG. 2, the first ultrasonic receiver 300A is located on a frontage of the home robot. The first ultrasonic transmitter 200B and a second ultrasonic transmitter 200C are located at two sides of the first ultrasonic receiver 300A respectively, and there is a first angle a between the first ultrasonic receiver 300A and each of the first ultrasonic transmitter 200B and the second ultrasonic transmitter 200C. The second ultrasonic receiver 300D and the third ultrasonic receiver 300E are located at an out side of the first ultrasonic transmitter 200B and an out side of the second ultrasonic transmitter 200C respectively, and there is a second angle b between the second ultrasonic receiver 300D and the first ultrasonic transmitter 200B, and there is the second angle b between the third ultrasonic receiver 300E and the second ultrasonic transmitter 200C. In an embodiment of the present disclosure, the first angle a is equal to the second angle b, which means that the first ultrasonic receiver 300A, the first ultrasonic transmitter 200B, the second ultrasonic transmitter 200C, the second ultrasonic receiver 300D and the third ultrasonic receiver 300E are distributed at the same angle intervals.” (Yu, [0034 – 0035]).
It would have been obvious to one having ordinary skill in the art that placing ultrasonic transmitter pairs and receiver pairs at “same angle intervals” would be equivalent to “opposing positions on the surface”. It would additionally have been obvious to one having ordinary skill in the art that if transmitter pairs and receiver pairs must be equidistant from a center line, it would be understood that having symmetrical positions would be essential, as the relative positions of these transmitter pairs and receiver pairs are being used to locate an external object.
Regarding Claim 5:
The apparatus of claim 1, further comprising a first connection structure and a second connection structure,
wherein a first end of the first connection structure is connected to the first acoustic receiver, and a second end of the first connection structure is connected to the surface, such that the first acoustic receiver is spaced apart from the surface by a first distance, and
wherein a first end of the second connection structure is connected to the second acoustic receiver, and a second end of the second connection structure is connected to the surface, such that the second acoustic receiver is spaced apart from the surface by the first distance.
Yu discloses “In the present invention, unless specified or limited otherwise, the terms “mounted,” “connected,” “coupled,” “fixed” and the like are used broadly, and may be, for example,… may also be direct connections or indirect connections via intervening structures; may also be inner communications of two elements, which can be understood by those skilled in the art according to specific situations.” (Yu, [0068]).
Regarding Claim 9:
A method for estimating a proximity direction of an obstacle, the method being executed by at least one processor and comprising:
controlling an acoustic transmitter attached to a surface of an electronic device to generate an acoustic wave along the surface;
Yu discloses “the controller (400) being used to control the plurality of ultrasonic transmitters (200) to transmit first ultrasonic wave signals” (Yu, Abstract).
Yu refers to the “ultrasonic wave signals” as “ultrasonic signals” interchangeably.
obtaining a first proximity direction signal based on a first acoustic wave signal received via a first acoustic receiver spaced apart from the surface of the electronic device, wherein the first acoustic wave signal corresponds to the generated acoustic wave;
Arora discloses “Turning first to the approximate positioning subsystem illustrated in FIG. 7, the orientation of the surface 38 is sensed by determining the side direction form which a response signal is first received. This determination is achieved by using the four broad beam acoustic transmitters 102 mounted on the side lips 100 of the sensor head 30, which continuously transmit acoustic signals under excitation of the signal generator 64, in all directions within their collective spherical 135.degree.-140.degree. field of view. The broad beam acoustic receivers are mounted on the lips 100 in a pairwise fashion, with the receivers 104 used to sense the direction of a responsive signal, if any is found.” (Arora, Column 9 Lines 41 – 53).
obtaining a second proximity direction signal based on a second acoustic wave signal received via a second acoustic receiver spaced apart from the surface of the electronic device, wherein a position of the second acoustic receiver is different from a position of the first acoustic receiver with respect to the electronic device, and wherein the second acoustic wave signal corresponds to the generated acoustic wave; and
Arora discloses “Turning first to the approximate positioning subsystem illustrated in FIG. 7, the orientation of the surface 38 is sensed by determining the side direction form which a response signal is first received. This determination is achieved by using the four broad beam acoustic transmitters 102 mounted on the side lips 100 of the sensor head 30, which continuously transmit acoustic signals under excitation of the signal generator 64, in all directions within their collective spherical 135.degree.-140.degree. field of view. The broad beam acoustic receivers are mounted on the lips 100 in a pairwise fashion, with the receivers 104 used to sense the direction of a responsive signal, if any is found.” (Arora, Column 9 Lines 41 – 53).
estimating the proximity direction of the obstacle with respect to the electronic device based on the first proximity direction signal and the second proximity direction signal.
Yu discloses “The home robot can detect the direction of an obstacle” (Yu, Abstract).
Arora discloses “a switching logic 120 identifies which receiver is sensing the response signal, if any, thus determining the approximate orientation of the surface 38 in respect to the sensor head 30. The switching logic 120 then commands a controller 122 to send orientation control signals to motors 18, 20, or 22 to rotate the sensor head 30 in the direction toward which the responsive signal was received” (Arora, Column 9 Lines 53 – 61).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose the direction of a signal being received from the surface of an obstacle. Arora however, discloses “Turning first to the approximate positioning subsystem illustrated in FIG. 7, the orientation of the surface 38 is sensed by determining the side direction form which a response signal is first received”.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine the method of determining the direction of a signal taught by Arora with the system of Yu because Arora teaches a method for spatially understanding a surface using acoustic waves, which would be a very effective and known method for locating obstacles in front of a robotic device.
Regarding Claim 10:
The method of claim 9, wherein the first acoustic receiver and the second acoustic receiver are attached to the surface at two opposing positions on the surface, and are spaced apart from the surface by a same distance.
Yu discloses “The plurality of ultrasonic transmitters 200 and the plurality of ultrasonic receivers 300 are disposed on the shell 100 and arranged alternately with each other” (Yu, [0032]), and “As shown in FIG. 2, the first ultrasonic receiver 300A is located on a frontage of the home robot. The first ultrasonic transmitter 200B and a second ultrasonic transmitter 200C are located at two sides of the first ultrasonic receiver 300A respectively, and there is a first angle a between the first ultrasonic receiver 300A and each of the first ultrasonic transmitter 200B and the second ultrasonic transmitter 200C. The second ultrasonic receiver 300D and the third ultrasonic receiver 300E are located at an out side of the first ultrasonic transmitter 200B and an out side of the second ultrasonic transmitter 200C respectively, and there is a second angle b between the second ultrasonic receiver 300D and the first ultrasonic transmitter 200B, and there is the second angle b between the third ultrasonic receiver 300E and the second ultrasonic transmitter 200C. In an embodiment of the present disclosure, the first angle a is equal to the second angle b, which means that the first ultrasonic receiver 300A, the first ultrasonic transmitter 200B, the second ultrasonic transmitter 200C, the second ultrasonic receiver 300D and the third ultrasonic receiver 300E are distributed at the same angle intervals.” (Yu, [0034 – 0035]).
It would have been obvious to one having ordinary skill in the art that placing ultrasonic transmitter pairs and receiver pairs at “same angle intervals” would be equivalent to “opposing positions on the surface”. It would additionally have been obvious to one having ordinary skill in the art that if transmitter pairs and receiver pairs must be equidistant from a center line, it would be understood that having symmetrical positions would be essential, as the relative positions of these transmitter pairs and receiver pairs are being used to locate an external object.
Regarding Claim 13:
The method of claim 9, wherein the electronic device includes a first connection structure and a second connection structure,
wherein a first end of the first connection structure is connected to the first acoustic receiver, and a second end of the first connection structure is connected to the surface, such that the first acoustic receiver is spaced apart from the surface by a first distance, and
wherein a first end of the second connection structure is connected to the second acoustic receiver, and a second end of the second connection structure is connected to the surface, such that the second acoustic receiver is spaced apart from the surface by the first distance.
Yu discloses “In the present invention, unless specified or limited otherwise, the terms “mounted,” “connected,” “coupled,” “fixed” and the like are used broadly, and may be, for example,… may also be direct connections or indirect connections via intervening structures; may also be inner communications of two elements, which can be understood by those skilled in the art according to specific situations.” (Yu, [0068]).
Regarding Claim 17:
A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of an electronic device for estimating a proximity direction of an obstacle, cause the at least one processor to:
control an acoustic transmitter attached to a surface of an electronic device to generate an acoustic wave along the surface;
Yu discloses “the controller (400) being used to control the plurality of ultrasonic transmitters (200) to transmit first ultrasonic wave signals” (Yu, Abstract).
Yu refers to the “ultrasonic wave signals” as “ultrasonic signals” interchangeably.
obtain a first proximity direction signal based on a first acoustic wave signal received via a first acoustic receiver spaced apart from the surface of the electronic device, wherein the first acoustic wave signal corresponds to the generated acoustic wave;
Arora discloses “Turning first to the approximate positioning subsystem illustrated in FIG. 7, the orientation of the surface 38 is sensed by determining the side direction form which a response signal is first received. This determination is achieved by using the four broad beam acoustic transmitters 102 mounted on the side lips 100 of the sensor head 30, which continuously transmit acoustic signals under excitation of the signal generator 64, in all directions within their collective spherical 135.degree.-140.degree. field of view. The broad beam acoustic receivers are mounted on the lips 100 in a pairwise fashion, with the receivers 104 used to sense the direction of a responsive signal, if any is found.” (Arora, Column 9 Lines 41 – 53).
obtain a second proximity direction signal based on a second acoustic wave signal received via a second acoustic receiver spaced apart from the surface of the electronic device, wherein a position of the second acoustic receiver is different from a position of the first acoustic receiver with respect to the electronic device, and wherein the second acoustic wave signal corresponds to the generated acoustic wave; and
Arora discloses “Turning first to the approximate positioning subsystem illustrated in FIG. 7, the orientation of the surface 38 is sensed by determining the side direction form which a response signal is first received. This determination is achieved by using the four broad beam acoustic transmitters 102 mounted on the side lips 100 of the sensor head 30, which continuously transmit acoustic signals under excitation of the signal generator 64, in all directions within their collective spherical 135.degree.-140.degree. field of view. The broad beam acoustic receivers are mounted on the lips 100 in a pairwise fashion, with the receivers 104 used to sense the direction of a responsive signal, if any is found.” (Arora, Column 9 Lines 41 – 53).
estimate the proximity direction of the obstacle with respect to the electronic device based on the first proximity direction signal and the second proximity direction signal.
Yu discloses “The home robot can detect the direction of an obstacle” (Yu, Abstract).
Arora discloses “a switching logic 120 identifies which receiver is sensing the response signal, if any, thus determining the approximate orientation of the surface 38 in respect to the sensor head 30. The switching logic 120 then commands a controller 122 to send orientation control signals to motors 18, 20, or 22 to rotate the sensor head 30 in the direction toward which the responsive signal was received” (Arora, Column 9 Lines 53 – 61).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose the direction of a signal being received from the surface of an obstacle. Arora however, discloses “Turning first to the approximate positioning subsystem illustrated in FIG. 7, the orientation of the surface 38 is sensed by determining the side direction form which a response signal is first received”.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine the method of determining the direction of a signal taught by Arora with the system of Yu because Arora teaches a method for spatially understanding a surface using acoustic waves, which would be a very effective and known method for locating obstacles in front of a robotic device.
Regarding Claim 18:
The non-transitory computer-readable storage medium of The non-transitory computer-readable storage medium of wherein the first acoustic receiver and the second acoustic receiver are attached to the surface at two opposing positions on the surface, and are spaced apart from the surface by a same distance.
Yu discloses “The plurality of ultrasonic transmitters 200 and the plurality of ultrasonic receivers 300 are disposed on the shell 100 and arranged alternately with each other” (Yu, [0032]), and “As shown in FIG. 2, the first ultrasonic receiver 300A is located on a frontage of the home robot. The first ultrasonic transmitter 200B and a second ultrasonic transmitter 200C are located at two sides of the first ultrasonic receiver 300A respectively, and there is a first angle a between the first ultrasonic receiver 300A and each of the first ultrasonic transmitter 200B and the second ultrasonic transmitter 200C. The second ultrasonic receiver 300D and the third ultrasonic receiver 300E are located at an out side of the first ultrasonic transmitter 200B and an out side of the second ultrasonic transmitter 200C respectively, and there is a second angle b between the second ultrasonic receiver 300D and the first ultrasonic transmitter 200B, and there is the second angle b between the third ultrasonic receiver 300E and the second ultrasonic transmitter 200C. In an embodiment of the present disclosure, the first angle a is equal to the second angle b, which means that the first ultrasonic receiver 300A, the first ultrasonic transmitter 200B, the second ultrasonic transmitter 200C, the second ultrasonic receiver 300D and the third ultrasonic receiver 300E are distributed at the same angle intervals.” (Yu, [0034 – 0035]).
It would have been obvious to one having ordinary skill in the art that placing ultrasonic transmitter pairs and receiver pairs at “same angle intervals” would be equivalent to “opposing positions on the surface”. It would additionally have been obvious to one having ordinary skill in the art that if transmitter pairs and receiver pairs must be equidistant from a center line, it would be understood that having symmetrical positions would be essential, as the relative positions of these transmitter pairs and receiver pairs are being used to locate an external object.
Regarding Claim 21:
The non-transitory computer-readable storage medium of claim 17, wherein the electronic device includes a first connection structure and a second connection structure,
wherein a first end of the first connection structure is connected to the first acoustic receiver, and a second end of the first connection structure is connected to the surface, such that the first acoustic receiver is spaced apart from the surface by a first distance, and
wherein a first end of the second connection structure is connected to the second acoustic receiver, and a second end of the second connection structure is connected to the surface, such that the second acoustic receiver is spaced apart from the surface by the first distance.
Yu discloses “In the present invention, unless specified or limited otherwise, the terms “mounted,” “connected,” “coupled,” “fixed” and the like are used broadly, and may be, for example,… may also be direct connections or indirect connections via intervening structures; may also be inner communications of two elements, which can be understood by those skilled in the art according to specific situations.” (Yu, [0068]).
Claims 3, 8, 11, 16, 19, and 24 are rejected under U.S.C. 103 as being unpatentable over Yu, et. al. (US 20170052255 A1), hereinafter referred to as Yu, in view of Arora (US 4821206 A), hereinafter referred to as Arora, further in view of Fan, et. al. (US 20230081827 A1), hereinafter referred to as Fan.
Regarding Claim 3:
The apparatus of claim 1, wherein the acoustic transmitter comprises a piezoelectric transmitter,
wherein the first acoustic receiver comprises a first piezoelectric receiver, and
Fan discloses “In accordance with an aspect of the disclosure, there is a method for acquiring tactile sensing data, the method including: controlling a transmission (TX) piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval” (Fan, [0013]).
wherein the second acoustic receiver comprises a second piezoelectric receiver.
Fan discloses “In accordance with an aspect of the disclosure, there is a method for acquiring tactile sensing data, the method including:… receiving, via a reception (RX) piezoelectric element” (Fan, [0013]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using a piezoelectric element as the acoustic device. Fan however, discloses “controlling a transmission (TX) piezoelectric element” and “receiving, via a reception (RX) piezoelectric element”.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using piezoelectric elements with the system of Yu because a piezoelectric element is just one of many acoustic devices, and it would have been obvious to try a piezoelectric element, to replace the ultrasonic device specified by Yu.
Regarding Claim 8:
The apparatus of claim 1, wherein the acoustic wave generated by the acoustic transmitter comprises a chirp signal, and
wherein the at least one processor is further configured to estimate the proximity direction by providing the first proximity direction signal and the second proximity direction signal to a neural network which is trained based on a dataset corresponding to the apparatus and a plurality of obstacles.
Fan discloses “In accordance with an aspect of the disclosure, there is a method for acquiring tactile sensing data, the method including: controlling a transmission (TX) piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of an object, wherein the CSS has a linearly increasing frequency over time and has a constant amplitude within a predetermined frequency range; receiving, via a reception (RX) piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; selecting frequency bands from a plurality of frequency bands of the received acoustic wave signal, based on a first variance of the acoustic wave signal that is received when the surface of the object is touched during a movement of the object, and a second variance of the acoustic wave signal that is received when there is no touch on the surface of the object during the movement of the object; inputting, the received acoustic wave signal of the selected frequency bands, into a neural network that is trained to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object; and estimating a location of a touch input based on the touch prediction score provided from the neural network.” (Fan, [0013]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using a neural network to improve the detection of obstacles. Fan however, discloses “inputting, the received acoustic wave signal of the selected frequency bands, into a neural network”.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using a neural network with the system of Yu because utilizing a neural network is “use of known technique to improve similar devices (methods, or products) in the same way” (see MPEP 2143). A neural network is known as a method for using trained data to improve the results of data processing and general pattern recognition.
Regarding Claim 11:
The method of claim 9, wherein the acoustic transmitter includes a piezoelectric transmitter,
wherein the first acoustic receiver includes a first piezoelectric receiver, and
Fan discloses “In accordance with an aspect of the disclosure, there is a method for acquiring tactile sensing data, the method including: controlling a transmission (TX) piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval” (Fan, [0013]).
wherein the second acoustic receiver includes a second piezoelectric receiver.
Fan discloses “In accordance with an aspect of the disclosure, there is a method for acquiring tactile sensing data, the method including:… receiving, via a reception (RX) piezoelectric element” (Fan, [0013]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using a piezoelectric element as the acoustic device. Fan however, discloses “controlling a transmission (TX) piezoelectric element” and “receiving, via a reception (RX) piezoelectric element”.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using piezoelectric elements with the system of Yu because a piezoelectric element is just one of many acoustic devices, and it would have been obvious to try a piezoelectric element, to replace the ultrasonic device specified by Yu.
Regarding Claim 16:
The method of claim 9, wherein the acoustic wave generated by the acoustic transmitter comprises a chirp signal, and
wherein the estimating of the proximity direction further comprises providing the first proximity direction signal and the second proximity direction signal to a neural network which is trained based on a dataset corresponding to the electronic device and a plurality of obstacles.
Fan discloses “In accordance with an aspect of the disclosure, there is a method for acquiring tactile sensing data, the method including: controlling a transmission (TX) piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of an object, wherein the CSS has a linearly increasing frequency over time and has a constant amplitude within a predetermined frequency range; receiving, via a reception (RX) piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; selecting frequency bands from a plurality of frequency bands of the received acoustic wave signal, based on a first variance of the acoustic wave signal that is received when the surface of the object is touched during a movement of the object, and a second variance of the acoustic wave signal that is received when there is no touch on the surface of the object during the movement of the object; inputting, the received acoustic wave signal of the selected frequency bands, into a neural network that is trained to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object; and estimating a location of a touch input based on the touch prediction score provided from the neural network.” (Fan, [0013]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using a neural network to improve the detection of obstacles. Fan however, discloses “inputting, the received acoustic wave signal of the selected frequency bands, into a neural network”.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using a neural network with the system of Yu because utilizing a neural network is “use of known technique to improve similar devices (methods, or products) in the same way” (see MPEP 2143). A neural network is known as a method for using trained data to improve the results of data processing and general pattern recognition.
Regarding Claim 19:
The non-transitory computer-readable storage medium of claim 17, wherein the acoustic transmitter includes a piezoelectric transmitter,
wherein the first acoustic receiver includes a first piezoelectric receiver, and
Fan discloses “In accordance with an aspect of the disclosure, there is a method for acquiring tactile sensing data, the method including: controlling a transmission (TX) piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval” (Fan, [0013]).
wherein the second acoustic receiver includes a second piezoelectric receiver.
Fan discloses “In accordance with an aspect of the disclosure, there is a method for acquiring tactile sensing data, the method including:… receiving, via a reception (RX) piezoelectric element” (Fan, [0013]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using a piezoelectric element as the acoustic device. Fan however, discloses “controlling a transmission (TX) piezoelectric element” and “receiving, via a reception (RX) piezoelectric element”.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using piezoelectric elements with the system of Yu because a piezoelectric element is just one of many acoustic devices, and it would have been obvious to try a piezoelectric element, to replace the ultrasonic device specified by Yu.
Regarding Claim 24:
The non-transitory computer-readable storage medium of claim 17, wherein the acoustic wave generated by the acoustic transmitter comprises a chirp signal, and
wherein the instructions further cause the at least one processor to estimate the proximity direction by providing the first proximity direction signal and the second proximity direction signal to a neural network which is trained based on a dataset corresponding to the electronic device and a plurality of obstacles.
Fan discloses “In accordance with an aspect of the disclosure, there is a method for acquiring tactile sensing data, the method including: controlling a transmission (TX) piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of an object, wherein the CSS has a linearly increasing frequency over time and has a constant amplitude within a predetermined frequency range; receiving, via a reception (RX) piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; selecting frequency bands from a plurality of frequency bands of the received acoustic wave signal, based on a first variance of the acoustic wave signal that is received when the surface of the object is touched during a movement of the object, and a second variance of the acoustic wave signal that is received when there is no touch on the surface of the object during the movement of the object; inputting, the received acoustic wave signal of the selected frequency bands, into a neural network that is trained to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object; and estimating a location of a touch input based on the touch prediction score provided from the neural network.” (Fan, [0013]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using a neural network to improve the detection of obstacles. Fan however, discloses “inputting, the received acoustic wave signal of the selected frequency bands, into a neural network”.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using a neural network with the system of Yu because utilizing a neural network is “use of known technique to improve similar devices (methods, or products) in the same way” (see MPEP 2143). A neural network is known as a method for using trained data to improve the results of data processing and general pattern recognition.
Claims 4, 12, and 20 are rejected under U.S.C. 103 as being unpatentable over Yu, et. al. (US 20170052255 A1), hereinafter referred to as Yu, in view of Arora (US 4821206 A), hereinafter referred to as Arora, further in view of Okuda, et. al. (US 20110149690 A1), hereinafter referred to as Okuda.
Regarding Claim 4:
The apparatus of claim 1, wherein the first proximity direction signal is obtained by applying signal processing to the first acoustic wave signal,
Okuda discloses “An obstacle detection device 1 according to a first embodiment of the present invention will be described with reference to FIG. 1 to FIG. 4. The obstacle detection device 1 is mountable to a movable body. The movable body includes, for example, a vehicle. As shown in FIG. 1, the obstacle detection device 1 includes a transmitting time controller (TRANS. TIME CONT.) 2, a transmitting wave generator (TRANS. WAVE GEN.) 3, a transmitting microphone 4, receiving microphones 5a and 5b, signal amplifiers (AMP) 6a and 6b, and a signal processor 7.” (Okuda, [0024]).
wherein the second proximity direction signal is obtained by applying signal processing to the second acoustic wave signal, and
Okuda discloses “An obstacle detection device 1 according to a first embodiment of the present invention will be described with reference to FIG. 1 to FIG. 4. The obstacle detection device 1 is mountable to a movable body. The movable body includes, for example, a vehicle. As shown in FIG. 1, the obstacle detection device 1 includes a transmitting time controller (TRANS. TIME CONT.) 2, a transmitting wave generator (TRANS. WAVE GEN.) 3, a transmitting microphone 4, receiving microphones 5a and 5b, signal amplifiers (AMP) 6a and 6b, and a signal processor 7.” (Okuda, [0024]).
wherein the signal processing comprises at least one from among a low-pass filter (LPF) and a fast Fourier transform (FFT).
Okuda discloses “The threshold determining portion 8 includes an A/D converter, an orthogonal demodulator, and a low pass filter (LPF).” (Okuda, [0029]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using a piezoelectric element as the acoustic device. Okuda however, discloses utilizing signal processing and a low pass filter to improve the data coming in from acoustic receivers.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using signal processing (and more specifically, a low pass filter) with the system of Yu because using signal processing and a low pass filter is “use of known technique to improve similar devices (methods, or products) in the same way” (see MPEP 2143). It would be expected that Yu is doing signal processing, however, it is additionally well known to one having ordinary skill in the art that a low pass filter would be obvious to try.
Regarding Claim 12:
The method of claim 9, wherein the first proximity direction signal is obtained by applying signal processing to the first acoustic wave signal,
Okuda discloses “An obstacle detection device 1 according to a first embodiment of the present invention will be described with reference to FIG. 1 to FIG. 4. The obstacle detection device 1 is mountable to a movable body. The movable body includes, for example, a vehicle. As shown in FIG. 1, the obstacle detection device 1 includes a transmitting time controller (TRANS. TIME CONT.) 2, a transmitting wave generator (TRANS. WAVE GEN.) 3, a transmitting microphone 4, receiving microphones 5a and 5b, signal amplifiers (AMP) 6a and 6b, and a signal processor 7.” (Okuda, [0024]).
wherein the second proximity direction signal is obtained by applying signal processing to the second acoustic wave signal, and
Okuda discloses “An obstacle detection device 1 according to a first embodiment of the present invention will be described with reference to FIG. 1 to FIG. 4. The obstacle detection device 1 is mountable to a movable body. The movable body includes, for example, a vehicle. As shown in FIG. 1, the obstacle detection device 1 includes a transmitting time controller (TRANS. TIME CONT.) 2, a transmitting wave generator (TRANS. WAVE GEN.) 3, a transmitting microphone 4, receiving microphones 5a and 5b, signal amplifiers (AMP) 6a and 6b, and a signal processor 7.” (Okuda, [0024]).
wherein the applying of the signal processing comprises applying at least one from among a low-pass filter (LPF) and a fast Fourier transform (FFT).
Okuda discloses “The threshold determining portion 8 includes an A/D converter, an orthogonal demodulator, and a low pass filter (LPF).” (Okuda, [0029]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using a piezoelectric element as the acoustic device. Okuda however, discloses utilizing signal processing and a low pass filter to improve the data coming in from acoustic receivers.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using signal processing (and more specifically, a low pass filter) with the system of Yu because using signal processing and a low pass filter is “use of known technique to improve similar devices (methods, or products) in the same way” (see MPEP 2143). It would be expected that Yu is doing signal processing, however, it is additionally well known to one having ordinary skill in the art that a low pass filter would be obvious to try.
Regarding Claim 20:
The non-transitory computer-readable storage medium of The non-transitory computer-readable storage medium of wherein the first proximity direction signal is obtained by applying signal processing to the first acoustic wave signal,
wherein the first proximity direction signal is obtained by applying signal processing to the first acoustic wave signal,
Okuda discloses “An obstacle detection device 1 according to a first embodiment of the present invention will be described with reference to FIG. 1 to FIG. 4. The obstacle detection device 1 is mountable to a movable body. The movable body includes, for example, a vehicle. As shown in FIG. 1, the obstacle detection device 1 includes a transmitting time controller (TRANS. TIME CONT.) 2, a transmitting wave generator (TRANS. WAVE GEN.) 3, a transmitting microphone 4, receiving microphones 5a and 5b, signal amplifiers (AMP) 6a and 6b, and a signal processor 7.” (Okuda, [0024]).
wherein the second proximity direction signal is obtained by applying signal processing to the second acoustic wave signal, and
Okuda discloses “An obstacle detection device 1 according to a first embodiment of the present invention will be described with reference to FIG. 1 to FIG. 4. The obstacle detection device 1 is mountable to a movable body. The movable body includes, for example, a vehicle. As shown in FIG. 1, the obstacle detection device 1 includes a transmitting time controller (TRANS. TIME CONT.) 2, a transmitting wave generator (TRANS. WAVE GEN.) 3, a transmitting microphone 4, receiving microphones 5a and 5b, signal amplifiers (AMP) 6a and 6b, and a signal processor 7.” (Okuda, [0024]).
wherein the signal processing comprises at least one from among a low-pass filter (LPF) and a fast Fourier transform (FFT).
Okuda discloses “The threshold determining portion 8 includes an A/D converter, an orthogonal demodulator, and a low pass filter (LPF).” (Okuda, [0029]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using a piezoelectric element as the acoustic device. Okuda however, discloses utilizing signal processing and a low pass filter to improve the data coming in from acoustic receivers.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using signal processing (and more specifically, a low pass filter) with the system of Yu because using signal processing and a low pass filter is “use of known technique to improve similar devices (methods, or products) in the same way” (see MPEP 2143). It would be expected that Yu is doing signal processing, however, it is additionally well known to one having ordinary skill in the art that a low pass filter would be obvious to try.
Claims 7, 15, and 23 are rejected under U.S.C. 103 as being unpatentable over Yu, et. al. (US 20170052255 A1), hereinafter referred to as Yu, in view of Arora (US 4821206 A), hereinafter referred to as Arora, further in view of Cai, et. al. (US 20200310387 A1), hereinafter referred to as Cai.
Regarding Claim 7:
The apparatus of claim 1, wherein to estimate the proximity direction, the at least one processor is further configured to execute the instructions to:
compare the first proximity direction signal and the second proximity direction signal to a first threshold value, a second threshold value, and a third threshold value,
based on the first proximity direction signal being greater than the first threshold value and the second proximity direction signal being less than the first threshold value, estimate the proximity direction to be a first direction,
based on the first proximity direction signal being less than the first threshold value and the second proximity direction signal being greater than the first threshold value, estimate the proximity direction to be a second direction,
based on the first proximity direction signal being greater than the second threshold value and the second proximity direction signal being greater than the second threshold value, estimate the proximity direction to be a third direction, and
based on the first proximity direction signal being greater than the third threshold value and the second proximity direction signal being greater than the third threshold value, estimate the proximity direction to be a fourth direction.
Yu discloses “In an embodiment of the present disclosure, a signal received by the first ultrasonic receiver is configured as a first signal, a signal received by the second ultrasonic receiver is configured as a second signal, and a signal received by the third ultrasonic receiver is configured as a third signal. If the third signal is greater than the first signal and the first signal is greater than the second signal, it is determined that the front obstacle is on a right side of the home robot; if the third signal and the second signal are both less than the first signal, it is determined that the front obstacle is right in front of the home robot; and if the second signal is greater than the first signal and the first signal is greater than the third signal, it is determined that the front obstacle is on a left side of the home robot.” (Yu, [0011]).
Cai discloses “In one embodiment, operating the sensors comprises receiving UWB signals from the proximity detectors. Step 1108 includes directing the first proximity detector to provide a warning to the technician if a distance between the first proximity detector and the second proximity detector is less than a threshold. In one embodiment, this comprises initiating a transmission from a proximity reporting server to a first proximity detector at the technician (e.g., via sensors 1024-1028) if the distanced is less than a first threshold. In response to this transmission, the first proximity detector provides a warning to the technician. If the distances is less than a second threshold which is smaller than the first threshold, the proximity reporting server initiates a transmission to the machine that halts the machine.” (Cai, [0056]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using thresholds to determine where the obstacle is within in a given set of ranges. Cai however, discloses utilizing thresholds to determine which pre-determined “area” an obstacle is within.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using thresholds with the system of Yu because it is “obvious to try” (see MPEP 2143). Using thresholds is just one of many methods to determine if an object or obstacle is within a certain preset “area”. Yu uses the relative position to each of a given set of sensors to determine which area the obstacle is in, but using thresholds instead is just another method of doing the same thing, a method that would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date.
Regarding Claim 15:
The method of claim 9, wherein the estimating of the proximity direction comprises:
comparing the first proximity direction signal and the second proximity direction signal to a first threshold value, a second threshold value, and a third threshold value,
based on the first proximity direction signal being greater than the first threshold value and the second proximity direction signal being less than the first threshold value, estimating the proximity direction to be a first direction,
based on the first proximity direction signal being less than the first threshold value and the second proximity direction signal being greater than the first threshold value, estimating the proximity direction to be a second direction,
based on the first proximity direction signal being greater than the second threshold value and the second proximity direction signal being greater than the second threshold value, estimating the proximity direction to be a third direction, and
based on the first proximity direction signal being greater than the third threshold value and the second proximity direction signal being greater than the third threshold value, estimating the proximity direction to be a fourth direction.
Yu discloses “In an embodiment of the present disclosure, a signal received by the first ultrasonic receiver is configured as a first signal, a signal received by the second ultrasonic receiver is configured as a second signal, and a signal received by the third ultrasonic receiver is configured as a third signal. If the third signal is greater than the first signal and the first signal is greater than the second signal, it is determined that the front obstacle is on a right side of the home robot; if the third signal and the second signal are both less than the first signal, it is determined that the front obstacle is right in front of the home robot; and if the second signal is greater than the first signal and the first signal is greater than the third signal, it is determined that the front obstacle is on a left side of the home robot.” (Yu, [0011]).
Cai discloses “In one embodiment, operating the sensors comprises receiving UWB signals from the proximity detectors. Step 1108 includes directing the first proximity detector to provide a warning to the technician if a distance between the first proximity detector and the second proximity detector is less than a threshold. In one embodiment, this comprises initiating a transmission from a proximity reporting server to a first proximity detector at the technician (e.g., via sensors 1024-1028) if the distanced is less than a first threshold. In response to this transmission, the first proximity detector provides a warning to the technician. If the distances is less than a second threshold which is smaller than the first threshold, the proximity reporting server initiates a transmission to the machine that halts the machine.” (Cai, [0056]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using thresholds to determine where the obstacle is within in a given set of ranges. Cai however, discloses utilizing thresholds to determine which pre-determined “area” an obstacle is within.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using thresholds with the system of Yu because it is “obvious to try” (see MPEP 2143). Using thresholds is just one of many methods to determine if an object or obstacle is within a certain preset “area”. Yu uses the relative position to each of a given set of sensors to determine which area the obstacle is in, but using thresholds instead is just another method of doing the same thing, a method that would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date.
Regarding Claim 23:
The non-transitory computer-readable storage medium of claim 17, wherein the estimating of the proximity direction comprises:
comparing the first proximity direction signal and the second proximity direction signal to a first threshold value, a second threshold value, and a third threshold value,
based on the first proximity direction signal being greater than the first threshold value and the second proximity direction signal being less than the first threshold value, estimating the proximity direction to be a first direction,
based on the first proximity direction signal being less than the first threshold value and the second proximity direction signal being greater than the first threshold value, estimating the proximity direction to be a second direction,
based on the first proximity direction signal being greater than the second threshold value and the second proximity direction signal being greater than the second threshold value, estimating the proximity direction to be a third direction, and
based on the first proximity direction signal being greater than the third threshold value and the second proximity direction signal being greater than the third threshold value, estimating the proximity direction to be a fourth direction.
Yu discloses “In an embodiment of the present disclosure, a signal received by the first ultrasonic receiver is configured as a first signal, a signal received by the second ultrasonic receiver is configured as a second signal, and a signal received by the third ultrasonic receiver is configured as a third signal. If the third signal is greater than the first signal and the first signal is greater than the second signal, it is determined that the front obstacle is on a right side of the home robot; if the third signal and the second signal are both less than the first signal, it is determined that the front obstacle is right in front of the home robot; and if the second signal is greater than the first signal and the first signal is greater than the third signal, it is determined that the front obstacle is on a left side of the home robot.” (Yu, [0011]).
Cai discloses “In one embodiment, operating the sensors comprises receiving UWB signals from the proximity detectors. Step 1108 includes directing the first proximity detector to provide a warning to the technician if a distance between the first proximity detector and the second proximity detector is less than a threshold. In one embodiment, this comprises initiating a transmission from a proximity reporting server to a first proximity detector at the technician (e.g., via sensors 1024-1028) if the distanced is less than a first threshold. In response to this transmission, the first proximity detector provides a warning to the technician. If the distances is less than a second threshold which is smaller than the first threshold, the proximity reporting server initiates a transmission to the machine that halts the machine.” (Cai, [0056]).
Yu discloses the system of an electronic device that can detect obstacles, but fails to disclose using thresholds to determine where the obstacle is within in a given set of ranges. Cai however, discloses utilizing thresholds to determine which pre-determined “area” an obstacle is within.
It would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date to combine using thresholds with the system of Yu because it is “obvious to try” (see MPEP 2143). Using thresholds is just one of many methods to determine if an object or obstacle is within a certain preset “area”. Yu uses the relative position to each of a given set of sensors to determine which area the obstacle is in, but using thresholds instead is just another method of doing the same thing, a method that would have been obvious to one having ordinary skill in the art at the time of applicant’s effective filing date.
Allowable Subject Matter
Claims 6, 14, and 22 are objected to as being dependent upon a rejected base claim, but would be allowable if rewritten in independent form including all of the limitations of the base claim and any intervening claims.
The following is a statement of reasons for the indication of allowable subject matter:
The prior art of record does not disclose the combinations of limitations found in Claim 6, 14, and 22. The combination of the claimed limitations are novel and found to be allowable over the prior art. A hypothetical prior art rejection would require impermissible hindsight reasoning.
Yu discloses “In the present invention, unless specified or limited otherwise, the terms “mounted,” “connected,” “coupled,” “fixed” and the like are used broadly, and may be, for example,… may also be direct connections or indirect connections via intervening structures; may also be inner communications of two elements, which can be understood by those skilled in the art according to specific situations.” (Yu, [0068]).
Although Yu discusses relative positions between the transmitters and the receivers, With an emphasis on the symmetry found between the respective pairs, Yu does not disclose anything about the method by which these transmitters or receivers are mounted. Although there is art that teaches methods by which to acoustically insulate acoustic transmitters and receivers from surfaces, there are no examples of these structures being utilized in devices for the purpose of locating obstacles.
Conclusion
Any inquiry concerning this communication or earlier communications from the examiner should be directed to JAMES B CHIN whose telephone number is (571)272-4634. The examiner can normally be reached Monday - Friday | 9:00 AM to 5:00 PM EST.
Examiner interviews are available via telephone, in-person, and video conferencing using a USPTO supplied web-based collaboration tool. To schedule an interview, applicant is encouraged to use the USPTO Automated Interview Request (AIR) at http://www.uspto.gov/interviewpractice.
If attempts to reach the examiner by telephone are unsuccessful, the examiner’s supervisor, Wade Miles can be reached at (571) 270-7777. The fax phone number for the organization where this application or proceeding is assigned is 571-273-8300.
Information regarding the status of published or unpublished applications may be obtained from Patent Center. Unpublished application information in Patent Center is available to registered users. To file and manage patent submissions in Patent Center, visit: https://patentcenter.uspto.gov. Visit https://www.uspto.gov/patents/apply/patent-center for more information about Patent Center and https://www.uspto.gov/patents/docx for information about filing in DOCX format. For additional questions, contact the Electronic Business Center (EBC) at 866-217-9197 (toll-free). If you would like assistance from a USPTO Customer Service Representative, call 800-786-9199 (IN USA OR CANADA) or 571-272-1000.
/J.B.C./
Examiner, Art Unit 3656
/WADE MILES/Supervisory Patent Examiner, Art Unit 3656