Notice of Pre-AIA or AIA Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Response to the Applicant’s arguments
The previous rejection is withdrawn. Applicant’s amendments are entered. Applicant’s remarks are also entered into the record. A new search was made necessitated by the applicant’s amendments.
A new reference was found. A new rejection is made herein.
Applicant’s arguments are now moot in view of the new rejection of the claims.
The primary reference to RAFFNER is silent but Miller teaches “...motors attached opposing sides of the longitudinal axis of each lateral arm, each motor having a rotor; (see paragraph 73-74 where the power source can include a rotor and propellors and a rotor and there can be a second power source that can include a second rotor and a second electric motor)
a motor frame IMU connected to the motor frame and adapted to output motor
frame inertial measurements of the motor frame to the at least one flight controller_;_, (see paragraph 83 where the drone control system 222 and 200 can include a IMU that can detect acceleration or gyroscopic movements and can have multiple IMUs and see paragraph 84 where the frame 224 supports the sensors)
wherein the controller is configured to maintain and adjust the roll and yaw of central frame based from measurements made by motor frame IMU by adjusting the rotational speed of each motor and the rotational direction of each rotor;” (see paragraph 12-15 where the device has a linear motor to adjust a mass and a second mass to move the mass to adjust the roll or the pitch or the yaw the vehicle in paragraph 69 and 85 and an angular position of the rotor and the thrust of the rotor can provide the adjustment of the yaw in paragraph 85 and see paragraph 93 where the state estimator can use the accelerometer to adjust 1. The flight path 2. Predicted flight path and 3. The thrust or adjust the masses to move the roll or pitch and yaw)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of MILLER with the disclosure of RAFFNER since MILLER teaches that the UAV can include a body and an IMU device. The imu device can detect a state of the vehicle. The imu device also can adjust a pitch, yaw and roll. The drone can also include a linear motor to move a mass to further adjust the pitch and roll. This can provide an improved drone maneuvering vehicle that can take a center of gravity of the drone into consideration for piloting the drone. See claims 1-29 and paragraph 11-15.
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.
This application currently names joint inventors. In considering patentability of the claims the examiner presumes that the subject matter of the various claims was commonly owned as of the effective filing date of the claimed invention(s) absent any evidence to the contrary. Applicant is advised of the obligation under 37 CFR 1.56 to point out the inventor and effective filing dates of each claim that was not commonly owned as of the effective filing date of the later invention in order for the examiner to consider the applicability of 35 U.S.C. 102(b)(2)(C) for any potential 35 U.S.C. 102(a)(2) prior art against the later invention.
Claims 1-3 are rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of United States Patent Application Pub. No.: US20180354622A1 to RAFFNER and in view of Chinese Patent Pub. No.: CN108100243A to Shenzhen Autel and in view of United States Patent Application Pub. NO.: 2017/0369162 A1 to Alzahrani that was filed in 2016 and in view of United States Patent Application Pub. No.: US 2021/0124373A1 to Miller et al. that was filed in 2018.
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Raffner discloses “... 1. (Original) An aerial vehicle comprising:
a central frame electro-mechanically connected to a central frame inertial measurement unit IMU) adapted to output central frame inertial measurements to at least one controller; (See paragraph 39-41 and FIG. 1-2 where the drone has a body that is centrally located and being connected to an IMU and a processor)
a motor frame comprising: (see paragraph 34 where the uav has a tilting motor arms to adjust the camera angel of the propeller drone automatically)”
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The primary reference is silent but Shenzhen teaches “... a central rod mounted in perpendicular to a longitudinal axis of the central frame, and (see FIG. 1 where the device has a central rod perpendicular to the longitudinal axis of the uAV)
a pair of lateral arms each fixated to a different end of the central rod in parallel to the longitudinal axis of the central frame; (see FIG. 1 where the drone has two arms that are connected to the ends of the rod for supporting a propeller via element 40-50)”.
The primary reference to RAFFNER is silent but Miller teaches “...motors attached opposing sides of the longitudinal axis of each lateral arm, each motor having a rotor; (see paragraph 73-74 where the power source can include a rotor and propellors and a rotor and there can be a second power source that can include a second rotor and a second electric motor)
a motor frame IMU connected to the motor frame and adapted to output motor
frame inertial measurements of the motor frame to the at least one flight controller_;_, (see paragraph 83 where the drone control system 222 and 200 can include a IMU that can detect acceleration or gyroscopic movements and can have multiple IMUs and see paragraph 84 where the frame 224 supports the sensors)
wherein the controller is configured to maintain and adjust the roll and yaw of central frame based from measurements made by motor frame IMU by adjusting the rotational speed of each motor and the rotational direction of each rotor;” (see paragraph 12-15 where the device has a linear motor to adjust a mass and a second mass to move the mass to adjust the roll or the pitch or the yaw the vehicle in paragraph 69 and 85 and an angular position of the rotor and the thrust of the rotor can provide the adjustment of the yaw in paragraph 85 and see paragraph 93 where the state estimator can use the accelerometer to adjust 1. The flight path 2. Predicted flight path and 3. The thrust or adjust the masses to move the roll or pitch and yaw)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of MILLER with the disclosure of RAFFNER since MILLER teaches that the UAV can include a body and an IMU device. The imu device can detect a state of the vehicle. The imu device also can adjust a pitch, yaw and roll. The drone can also include a linear motor to move a mass to further adjust the pitch and roll. This can provide an improved drone maneuvering vehicle that can take a center of gravity of the drone into consideration for piloting the drone. See claims 1-29 and paragraph 11-15.
Raffner discloses “.. a motor frame (IMU) adapted to output motor frame inertial measurements of the motor frame to the flight controller, (see paragraph 39-41)
wherein the central frame is further electro-mechanically connected to:
the at least one controller adapted to calculate control signals for rotating the central frame according to the central frame inertial......, and (see paragraph 41-43 and 47-50)
a stabilizing motor .......adapted to rotate the central frame according to the control signals”. (See claims 1-15)”
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
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The primary reference is silent but Alzahrani teaches “...the at least one controller adapted to calculate control signals for rotating the central frame according to the central frame inertial. measurements, (see FIG. 34 where the flight control system has a IMU 3433 to control the pitch, roll and yaw, and speed, and cyclic motion)
and
a stabilizing motor in the central frame connected to the central rod adapted to rotate the central frame according to the control signals”. (see Fig. 24 where the drone has a tilting mechanism that includes two motors 21 that are on the base and that can be controlled to use a pulley to rotate the frame relative to the propellers)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of Alzahrani with the disclosure of RAFFNER since Alzahrani teaches that the UAV can include a chassis and fuselage with a first and a second motor and an IMU to determine the pitch and roll. When desired, the user can control the titling mechanism to articulate the propellers relative to the housing as shown in FIG. 22a. The tilting mechanism has a first set of servo actuators connected via a bevel gear group to a right and left set of horizontally-oriented shafts integrated with the right tilt wing and the left tilt wing, respectively. The device also has an integrated autonomous flight control system including processing circuitry configured to control flight and navigation of the multi-mode unmanned aerial vehicle and to control the tilting mechanism using the IMU. This can provide vertical flight or horizontal flight when needed for noise control/ See claims 1-11.
Raffner discloses “...2. (Original) The aerial vehicle of claim 1, wherein the at least on controller is at least one of a flight controller and a gimbal controller. (see paragraph 41 where the device has a flight controller)”.
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
Raffner discloses “.. 3. (Currently Amended) The aerial vehicle of claim 1-or claim 2, wherein the rotation of the central frame under control of the gimbal controller maintains a steady angle of pitch of the central frame. (see paragraph 41-56)”.
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
Claims 4 and 9 are rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of United States Patent Application Pub. No.: US20180354622A1 to Raffler and in view of Chinese Patent Pub. No.: CN108100243A to Shenzhen Autel and in view of United States Patent Application Pub. No.: US20190061941A1 to Zhang et al. that was filed in 2018 that is before 1-21-2021 and in view of United States Patent Application Pub. NO.: 2017/0369162 A1 to Alzahrani that was filed in 2016 and Miller.
Raffner is silent but Shenzhen teaches ‘...4. (Currently Amended) The aerial vehicle of claim 1, wherein each of central frame (IMU) and the motor frame IMU are utilized separately to detect changes in the axes of pitch, roll and yaw of the central frame and (The holder 602 carries the filming apparatus 604.The holder 602 be three-axis stability augmentation holder, the three-axis stability augmentation Holder to the photographic device 604 in-flight increase steady on three axis：Course axis (Yaw), pitch axis (Pitch) and is turned over Roller bearing (Roll).The pitch axis is perpendicular to roll axis, and course axis is perpendicular to pitch axis and roll axis.)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
Raffner is silent but Zhang teaches “.. the motor frame respectively and to convey the changes to the gimbal controller and the flight controller (see paragraph 49) respectively, wherein a pitch angle of the central frame in the axes relative to the horizon (see paragraph 43-48) is with respect to control signals from the gimbal controller applied to stabilizing motor. (see paragraph 43-48)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of ZHANG with the disclosure of RAFFNER since ZHANG teaches that the UAV can include a body with a video camera and a motor that can adjust an operating position of an angle of the camera while hovering. This can provide a 360 degree field of view and an adjusted operating position by a tilt mechanism to tilt the drone at an angle relative to the center of gravity. This can be used with a stabilizing and a counter rotation. See claims 1-15 and paragraph 25-26.
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The primary reference is silent but Alzahrani teaches “... , wherein each of central frame ([MU} and the motor frame IMU are utilized separately, the central frame IMU to detect changes in the axes of pitch, of the central frame; and the motor frame IMU to detect changes in the pitch, roll, (see FIG. 34 where the flight control system has a IMU 3433 to control the pitch, roll and yaw, and speed, and cyclic motion) (see Fig. 24 where the drone has a tilting mechanism that includes two motors 21 that are on the base and that can be controlled to use a pulley to rotate the frame relative to the propellers)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of Alzahrani with the disclosure of RAFFNER since Alzahrani teaches that the UAV can include a chassis and fuselage with a first and a second motor and an IMU to determine the pitch and roll. When desired, the user can control the titling mechanism to articulate the propellers relative to the housing as shown in FIG. 22a. The tilting mechanism has a first set of servo actuators connected via a bevel gear group to a right and left set of horizontally-oriented shafts integrated with the right tilt wing and the left tilt wing, respectively. The device also has an integrated autonomous flight control system including processing circuitry configured to control flight and navigation of the multi-mode unmanned aerial vehicle and to control the tilting mechanism using the IMU. This can provide vertical flight or horizontal flight when needed for noise control/ See claims 1-11.
Claims 5 and 15 are rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of United States Patent Application Pub. No.: US20180354622A1 to Raffler and in view of Chinese Patent Pub. No.: CN108100243A to Shenzhen Autel and in view of United States Patent Application Pub. NO.: 2017/0369162 A1 to Alzahrani that was filed in 2016 and Miller.
In regard to claim 5 and 15, Shenzhen teaches “.. 5. (Currently Amended) The aerial vehicle of claim 1, wherein each lateral arm includes a rotor where the axis of rotation is perpendicular to the longitudinal axis”. (see FIG. 4 where the rotors extend pointing outward relative to the longitudinal axis of the frame 10)”.
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
The primary reference to RAFFNER is silent but Miller teaches “...15. (Currently Amended) The method of claim 11, wherein and a pair of lateral arms are each fixated to a different end of the central rod, wherein the pair of lateral arms are in parallel to the longitudinal axis of the central frame, wherein each lateral arm includes at least one motor and each motor has a rotor, wherein the axis of rotation
of the rotor is perpendicular to the longitudinal axis (see paragraph 73-74 where the power source can include a rotor and propellors and a rotor and there can be a second power source that can include a second rotor and a second electric motor) (see paragraph 83 where the drone control system 222 and 200 can include a IMU that can detect acceleration or gyroscopic movements and can have multiple IMUs and see paragraph 84 where the frame 224 supports the sensors) (see paragraph 12-15 where the device has a linear motor to adjust a mass and a second mass to move the mass to adjust the roll or the pitch or the yaw the vehicle in paragraph 69 and 85 and an angular position of the rotor and the thrust of the rotor can provide the adjustment of the yaw in paragraph 85 and see paragraph 93 where the state estimator can use the accelerometer to adjust 1. The flight path 2. Predicted flight path and 3. The thrust or adjust the masses to move the roll or pitch and yaw)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of MILLER with the disclosure of RAFFNER since MILLER teaches that the UAV can include a body and an IMU device. The imu device can detect a state of the vehicle. The imu device also can adjust a pitch, yaw and roll. The drone can also include a linear motor to move a mass to further adjust the pitch and roll. This can provide an improved drone maneuvering vehicle that can take a center of gravity of the drone into consideration for piloting the drone. See claims 1-29 and paragraph 11-15.
Claims 6 and 7-8 and 14 and 18 are rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of United States Patent Application Pub. No.: US20180354622A1 to Raffler and in view of Chinese Patent Pub. No.: CN108100243A to Shenzhen Autel and in view of United States Patent Application Pub. NO.: 2017/0369162 A1 to Alzahrani that was filed in 2016 and Miller.
Raffner discloses “... 6. (Currently Amended) The aerial vehicle of claim 1, wherein the central frame is aerodynamic”. (see FIG. 2)
Shenzhen teaches “... 7. (Currently Amended) The aerial vehicle of claim 1, wherein a rotation of central rod provides an adjustment of an attack angle of the motor frame in relation to the central frame”.(See FIG. 2 where the rod can be adjusted via a gearing 60)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
In regard to claim 8, 14 and 18, Shenzhen teaches “... 8. (Currently Amended) The aerial vehicle of claim 1, wherein the adjustment of the attack angle of the motor frame relative to a horizon is without a substantial increase of drag when the central frame is parallel to the horizon”. (see specification that recites “..In the unmanned vehicle 100 in use, the motor 40 works, the propeller 50 is driven to rotate, is described Unmanned vehicle 100 provides flying power.In 100 flight of unmanned vehicle, the camera assembly 60 can be located at institute The lower section of fuselage 10 is stated, to horizontally or obliquely direction being descended to shoot.It is described when needing to shoot the top of fuselage 10 Unmanned vehicle 100 controls the motor 202 to work, and the rotation axis of the motor 202 drives the worm screw 203, is the snail Wheel 204 and drive shaft 205 provide rotary power.Since the horn component 30 is fixedly connected on the drive shaft 205, the spiral shell Rotation paddle 50 provides the thrust opposite with the direction of rotation of the drive shaft 205 for the horn component 30 so that the drive shaft 205 and worm gear 204 remain stationary as.In the case where the drive shaft 205 and worm gear 204 remain stationary as, the first helical teeth tooth 2032 engage with the second helical teeth tooth 2042, and the rotary power that the motor 202 provides causes the worm screw 203 and motor 202 rotate around the worm gear 204 and drive shaft 205, so that the fuselage 10 can do 180 degree rotation, the camera assembly 60 are located at the top of the fuselage 10, upward direction can be shot, without being blocked by the fuselage 10.Similarly, the machine Body 10 can do 360 degree of rotations, can arbitrarily adjust operating position and the angle of the camera assembly 60”.)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
Raffler discloses “... 9. (Currently Amended) The aerial vehicle of claim 1, wherein the central frame contains a main power board, (see paragraph 41) the flight controller, (see paragraph 41) ...controller, a first person view camera, (see claim 20) and one or more flight batteries”. (see paragraph 41)
Zhang teaches “... the gimbal ...a video transmitter module”. (see paragraph 26-27 amd 49 and 60).
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of ZHANG with the disclosure of RAFFNER since ZHANG teaches that the UAV can include a body with a video camera and a motor that can adjust an operating position of an angle of the camera while hovering. This can provide a 360 degree field of view and an adjusted operating position by a tilt mechanism to tilt the drone at an angle relative to the center of gravity. This can be used with a stabilizing and a counter rotation. See claims 1-15 and paragraph 25-26.
Claim 10 is rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of United States Patent Application Pub. No.: US20180354622A1 to Raffler and in view of Chinese Patent Pub. No.: CN108100243A to Shenzhen Autel and in view of United States Patent Application Pub. No.: US20190061941A1 to Zhang et al. that was filed in 2018 that is before 1-21-2021 and in view of United States Patent Application Pub. NO.: 2017/0369162 A1 to Alzahrani that was filed in 2016 and Miller.
Shenzhen teaches “..10. (Original) The aerial vehicle of claim 1, wherein the motor frame is H shaped”. (see Fig. 3).
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
Claims 11-12 are rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of United States Patent Application Pub. No.: US20180354622A1 to Raffler and in view of Chinese Patent Pub. No.: CN108100243A to Shenzhen Autel and in view of United States Patent Application Pub. NO.: 2017/0369162 A1 to Alzahrani that was filed in 2016 and Miller.
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Raffner discloses “... 11. (Original) A method for an optimization of a flight process for an aerial vehicle (See paragraph 39-41 and FIG. 1-2 where the drone has a body that is centrally located and being connected to an IMU and a processor)that includes a motor frame : (see paragraph 34 where the uav has a tilting motor arms to adjust the camera angel of the propeller drone automatically)”
The primary reference is silent but Shenzhen teaches “... and a central frame, the method comprising: mechanically connecting a central rod of the motor frame through the central frame perpendicular to a longitudinal axis of the central frame; (see FIG. 1 where the device has a central rod perpendicular to the longitudinal axis of the uAV)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
Raffner discloses “.. in a flight mode of the aerial vehicle, measuring the inertia of the central frame and the motor frame with a central frame inertial measurement unit IMU); (see paragraph 39-41) in the flight mode, calculating control signals for the flight process of the aerial vehicle based on the measuring; and rotating the central frame with a stabilizing motor, according to the control signals. (see paragraph 41-43 and 47-50 and claims 1-15)
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The primary reference is silent but Alzahrani teaches “...| connecting mechanically a central rod of the motor frame through the central frame perpendicular to a longitudinal axis of the central frame;
measuring the inertia of the central frame with a central frame inertial
measurement unit (IMU)I and the inertia of the motor frame with a central frame inertial measurement unit TMU) with a motor frame IMU;, (see FIG. 34 where the flight control system has a IMU 3433 to control the pitch, roll and yaw, and speed, and cyclic motion)
and
rotating with a stabilizing motor according to the control signals”. (see Fig. 24 where the drone has a tilting mechanism that includes two motors 21 that are on the base and that can be controlled to use a pulley to rotate the frame relative to the propellers)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of Alzahrani with the disclosure of RAFFNER since Alzahrani teaches that the UAV can include a chassis and fuselage with a first and a second motor and an IMU to determine the pitch and roll. When desired, the user can control the titling mechanism to articulate the propellers relative to the housing as shown in FIG. 22a. The tilting mechanism has a first set of servo actuators connected via a bevel gear group to a right and left set of horizontally-oriented shafts integrated with the right tilt wing and the left tilt wing, respectively. The device also has an integrated autonomous flight control system including processing circuitry configured to control flight and navigation of the multi-mode unmanned aerial vehicle and to control the tilting mechanism using the IMU. This can provide vertical flight or horizontal flight when needed for noise control/ See claims 1-11.
The primary reference to RAFFNER is silent but Miller teaches “...measuring the inertia of the motor frame with a motor frame IMU and controlling the yaw and the roll of the central frame in a flight mode based on and according to the inertial measurement of the motor frame IMU (see paragraph 73-74 where the power source can include a rotor and propellors and a rotor and there can be a second power source that can include a second rotor and a second electric motor)
(see paragraph 83 where the drone control system 222 and 200 can include a IMU that can detect acceleration or gyroscopic movements and can have multiple IMUs and see paragraph 84 where the frame 224 supports the sensors) (see paragraph 12-15 where the device has a linear motor to adjust a mass and a second mass to move the mass to adjust the roll or the pitch or the yaw the vehicle in paragraph 69 and 85 and an angular position of the rotor and the thrust of the rotor can provide the adjustment of the yaw in paragraph 85 and see paragraph 93 where the state estimator can use the accelerometer to adjust 1. The flight path 2. Predicted flight path and 3. The thrust or adjust the masses to move the roll or pitch and yaw)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of MILLER with the disclosure of RAFFNER since MILLER teaches that the UAV can include a body and an IMU device. The imu device can detect a state of the vehicle. The imu device also can adjust a pitch, yaw and roll. The drone can also include a linear motor to move a mass to further adjust the pitch and roll. This can provide an improved drone maneuvering vehicle that can take a center of gravity of the drone into consideration for piloting the drone. See claims 1-29 and paragraph 11-15.
Raffner discloses “... 12. (Original) The method of claim 11, wherein the flight mode of the aerial vehicle is at least one of hovering in a static position, moving upwards or downwards, moving forwards or backwards, moving left and right, moving left and right in the static position, moving left and right while moving upwards or downwards, moving left and right while moving forwards or backwards. (see paragraph 41-43 and 47-50 and claims 1-15)
Claim 13 is rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of United States Patent Application Pub. No.: US20180354622A1 to Raffler and in view of Chinese Patent Pub. No.: CN108100243A to Shenzhen Autel and in view of United States Patent Application Pub. No.: US20190061941A1 to Zhang et al. that was filed in 2018 that is before 1-21-2021 and in view of United States Patent Application Pub. NO.: 2017/0369162 A1 to Alzahrani that was filed in 2016 and Miller.
Raffner is silent but Shenzhen teaches ‘...... 13. (Currently Amended) The method of claim 11-or 12, further comprising: enabling a constant pitch angle difference between the central frame and the motor frame with respect to the longitudinal axis; and maintaining during the enabling and while transitioning from the flight mode to another flight mode, an orientation of the central frame with respect to a horizon (The holder 602 carries the filming apparatus 604.The holder 602 be three-axis stability augmentation holder, the three-axis stability augmentation Holder to the photographic device 604 in-flight increase steady on three axis：Course axis (Yaw), pitch axis (Pitch) and is turned over Roller bearing (Roll).The pitch axis is perpendicular to roll axis, and course axis is perpendicular to pitch axis and roll axis.)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of SHENZHEN AUTEL with the disclosure of RAFFNER since SHENZHEN teaches that the UAV can include a body that can adjust an operating position of an angle of the camera by rotating the center shaft. This can provide a 360 degree field of view and an adjusted operating position for a multi-angled shooting of the object using the drone that can remain stationary and hovering using a worm gear and motor. See abstract and claims 1-16.
Raffner is silent but Zhang teaches “.. wherein the maintaining provides a single gimbal function to the central frame at a single central point of the central frame. (see paragraph 26-30 and 43-48)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of ZHANG with the disclosure of RAFFNER since ZHANG teaches that the UAV can include a body with a video camera and a motor that can adjust an operating position of an angle of the camera while hovering. This can provide a 360 degree field of view and an adjusted operating position by a tilt mechanism to tilt the drone at an angle relative to the center of gravity. This can be used with a stabilizing and a counter rotation. See claims 1-15 and paragraph 25-26.
Claim 16 is rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of United States Patent Application Pub. No.: US20180354622A1 to Raffler and in view of Chinese Patent Pub. No.: CN108100243A to Shenzhen Autel and in view of United States Patent Application Pub. No.: US20190061941A1 to Zhang et al. that was filed in 2018 that is before 1-21-2021 and in view of United States Patent Application Pub. NO.: 2017/0369162 A1 to Alzahrani that was filed in 2016 and in view of Miller.
Raffner discloses “... 16. (Currently Amended) The method of claim 11, further comprising: detecting changes in the axes of pitch, roll and yaw of the central frame and motor frame with the central frame inertial measurement unit (IMU) and a motor frame IMU respectively; and conveying the changes to a gimbal controller and a flight controller respectively, wherein the levelling of the central frame in the axes is with respect to control signals from the gimbal controller to the stabilizing motor. (see paragraph 41-56)”.
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The primary reference is silent but Alzahrani teaches “...detecting the changes in the axes of pitch of the central frame with IMU and pitch, roll and yaw axes of the motor frame IMU (see FIG. 34 where the flight control system has a IMU 3433 to control the pitch, roll and yaw, and speed, and cyclic motion) (see Fig. 24 where the drone has a tilting mechanism that includes two motors 21 that are on the base and that can be controlled to use a pulley to rotate the frame relative to the propellers)
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of Alzahrani with the disclosure of RAFFNER since Alzahrani teaches that the UAV can include a chassis and fuselage with a first and a second motor and an IMU to determine the pitch and roll. When desired, the user can control the titling mechanism to articulate the propellers relative to the housing as shown in FIG. 22a. The tilting mechanism has a first set of servo actuators connected via a bevel gear group to a right and left set of horizontally-oriented shafts integrated with the right tilt wing and the left tilt wing, respectively. The device also has an integrated autonomous flight control system including processing circuitry configured to control flight and navigation of the multi-mode unmanned aerial vehicle and to control the tilting mechanism using the IMU. This can provide vertical flight or horizontal flight when needed for noise control/ See claims 1-11.
Claims 17-19 are rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of United States Patent Application Pub. No.: US20180354622A1 to Raffler and in view of Chinese Patent Pub. No.: CN108100243A to Shenzhen Autel and in view of United States Patent Application Pub. NO.: 2017/0369162 A1 to Alzahrani that was filed in 2016 and Miller.
Raffner discloses “.. 17. (Currently Amended) The method of claim 11, wherein the central frame is aerodynamic. (See paragraph 39-41 and FIG. 1-2 where the drone has a curved body that is centrally located and being connected to an IMU and a processor):
Raffner discloses “.. 18. (Currently Amended) The method of claim 11, wherein the adjustment of the attack angle of the motor frame relative to a horizon is without a substantial increase of drag when the central frame is parallel to the horizon. (See paragraph 39-41 and FIG. 1-2 where the drone has a curved body that is centrally located and being connected to an IMU and a processor):
Zhang teaches”... 19. (Currently Amended) The method of claim 11 wherein the central frame contains a main power board, the flight controller, the gimbal controller, a first person view camera, a video transmitter module and one or more flight batteries”. (see paragraph 26 and 52-60),
It would have been obvious for one of ordinary skill in the art before the effective filing date of the present disclosure to combine the teachings of ZHANG with the disclosure of RAFFNER since ZHANG teaches that the UAV can include a body with a video camera and a motor that can adjust an operating position of an angle of the camera while hovering. This can provide a 360 degree field of view and an adjusted operating position by a tilt mechanism to tilt the drone at an angle relative to the center of gravity. This can be used with a stabilizing and a counter rotation. See claims 1-15 and paragraph 25-26.
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/JEAN PAUL CASS/Primary Examiner, Art Unit 3666