DETAILED ACTION
Notice of Pre-AIA or AIA Status
Allowable Subject Matter
Dependent claim 18 would be allowable is rewritten in independent form with all of the limitations of the base claims and any intervening claims.
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The previous rejection is withdrawn.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.
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Claim 1 is amended to recite and the primary reference is silent but CHUN teaches “...determination code configured to determine in which region of the image the sign appears, the region including at least one of an upper side, a lower side, and a lateral side in the image, (see Fig. 1-8 where the sign is detected by the uav or the vehicle and the sign can be detected in the right hand upper sign of the image)
and wherein the first airframe orientation is determined based on a correspondence between the region where the sign appears and a direction the unmanned aerial vehicle is facing”. (see paragraph 43 and 65, 85-87 where an angle of the sign relative to the drone can be taken to determine if this a traffic object and the vehicle is moving forwardly toward the traffic object and where the detection code can be provided in the drone 10 and see paragraph 45 where the traffic sign detection device can be detected as being moving forwardly with the lidar beam moving toward the sign and see block 900-940 where an orientation of the vehicle/drone can be determined based on the size of the traffic signs in the successive frames)
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 disclosure of the 892 publication with the teachings of CHUN with a reasonable expectation of success since CHUN teaches that a drone can be detected as moving forward and measuring an angle of the sign and an angle of a normal direction of travel. See paragraph 17-18, Then a height of an object can be taken. See paragraph 65. Then a position of the traffic sign candidate in 3d space and relative to the drone. See paragraph 66. Accordingly, in order to determine whether the at least one plane object satisfies the reference angle, the traffic sign detection unit 240 may determine whether an angle difference of a normal vector of the plane object and a moving direction of the drone is equal to or smaller than the reference angle. For example, the reference angle may be 20°. Then the drone can be detected as moving forwardly in a 3d space and the traffic sign is upright and large and at a zero-angle relative to the orientation of the drone and this is a traffic sign to be read. See paragraph 80-88.
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 1-7 and 15-17 are rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of Korean Patent Application Pub. No.: KR102263892B1 that was filed in 2020 (the ‘892 publication) and in view of United States Patent Application Pub. No.: US20210122495A1 to Rezvani et al that was filed in 2020 and in view of United States Patent Application Pub. No.: US20230069691A1 to Chun that was filed on 8-31-21 (hereinafter “CHUN”).
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Claims 1 and 15-16 are amended to recite and the primary reference is silent but CHUN teaches “...determination code configured to determine in which region of the image the sign appears, the region including at least one of an upper side, a lower side, and a lateral side in the image, (see Fig. 1-8 where the sign is detected by the uav or the vehicle and the sign can be detected in the right hand upper sign of the image)
and wherein the first airframe orientation is determined based on a correspondence between the region where the sign appears and a direction the unmanned aerial vehicle is facing”. (see paragraph 43 and 65, 85-87 where an angle of the sign relative to the drone can be taken to determine if this a traffic object and the vehicle is moving forwardly toward the traffic object and where the detection code can be provided in the drone 10 and see paragraph 45 where the traffic sign detection device can be detected as being moving forwardly with the lidar beam moving toward the sign and see block 900-940 where an orientation of the vehicle/drone can be determined based on the size of the traffic signs in the successive frames)
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 disclosure of the 892 publication with the teachings of CHUN with a reasonable expectation of success since CHUN teaches that a drone can be detected as moving forward and measuring an angle of the sign and an angle of a normal direction of travel. See paragraph 17-18, Then a height of an object can be taken. See paragraph 65. Then a position of the traffic sign candidate in 3d space and relative to the drone. See paragraph 66. Accordingly, in order to determine whether the at least one plane object satisfies the reference angle, the traffic sign detection unit 240 may determine whether an angle difference of a normal vector of the plane object and a moving direction of the drone is equal to or smaller than the reference angle. For example, the reference angle may be 20°. Then the drone can be detected as moving forwardly in a 3d space and the traffic sign is upright and large and at a zero-angle relative to the orientation of the drone and this is a traffic sign to be read. See paragraph 80-88.
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In regard to claim 1, 15 and 16, the ‘892 publication discloses “...1. (currently amended): An information processing device comprising:
at least one memory configured to store program code; and at least one processor (see drone 4, the drone 1000 according to the present invention includes a wireless communication unit 1110, an A/V (Audio/Video) input unit 1120, a user input unit 1130, a sensing unit 1140, and an output unit ( 1150 ), a memory 1160 , an interface unit 1170 , a controller 1180 , a power supply unit 1190 , and the like.)
configured to access the program code and operate as instructed by the program code, the
program code including: (see drone 4, the drone 1000 according to the present invention includes a wireless communication unit 1110, an A/V (Audio/Video) input unit 1120, a user input unit 1130, a sensing unit 1140, and an output unit ( 1150 ), a memory 1160 , an interface unit 1170 , a controller 1180 , a power supply unit 1190 , and the like.)
a--first acquisition code configured to cause the at least one processor to acquire image information that indicates an image (see abstract and claims 1-5 where the drone can include a sensor can a server to detect a rail using the camera to detect rail damage and the installation direction of the rail)
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The 892 is silent but REZVANI teaches “..including at least a part of a sign attached in advance in a port in which an unmanned aerial vehicle is placed, the image being captured by a camera in the unmanned aerial vehicle; and (see FIG. 4 where the sign is an RFID or magnetic sign being placed on the dock and the sign can provide an indication of where to land and the orientation of the drone when it is docked and the correct way of facing)
a--detection code configured to cause the at least one processor to detect a first airframe orientation of the unmanned aerial vehicle on the basis of at least one of a position of the sign and indication of the sign in the image indicated by the image information”. (see paragraph 28-32 and 39; FIG. 4 where the drone has a sensor to capture an image of the RFID sensor and then it understands the location to land and can rotate itself before landing)
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 disclosure of the 892 publication with the teachings of REZVANI with a reasonable expectation of success since REZVANI teaches that a drone can land on a ground station. The ground station can generate and detect the magnetic field to guide the drone and place the drone in the correct position. The correction position is where the retention force grabs the drone and capture the drone. The correct position aligns the port and the camera. The correct orientation is where the port is aligned and the drone faces a wall when the human is in the home for privacy. When no one is home the drone can be placed in an opposite direct to monitor the home. See paragraph 13-14, 18-22 and 90-93 and the abstract.
The 892 is silent but REZVANI teaches “..2. (currently amended): The information processing device according to claim 1, the program
code further including further comprising:
a--second acquisition code configured to cause the at least one processor to acquire
direction information indicating a first direction detected by a magnetic sensor in the unmanned
aerial vehicle; and (see paragraph 32-39 and FIG. 4 where the sign is an RFID or magnetic sign being placed on the dock and the sign can provide an indication of where to land and the orientation of the drone when it is docked and the correct way of facing)
a--first determination code configured to cause the at least one processor to determine
whether or not the magnetic sensor is abnormal by comparing a second direction indicated by the
first airframe orientation detected by the detection unit and the first direction indicated by the direction information. (see paragraph 31-40)
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 disclosure of the 892 publication with the teachings of REZVANI with a reasonable expectation of success since REZVANI teaches that a drone can land on a ground station. The ground station can generate and detect the magnetic field to guide the drone and place the drone in the correct position. The correction position is where the retention force grabs the drone and capture the drone. The correct position aligns the port and the camera. The correct orientation is where the port is aligned and the drone faces a wall when the human is in the home for privacy. When no one is home the drone can be placed in an opposite direct to monitor the home. See paragraph 13-14, 18-22 and 90-93 and the abstract.
The 892 is silent but REZVANI teaches “..3. (currently amended): The information processing device according to claim 2, wherein the
first determination code unit-causes the at least one processor to determines- that the magnetic sensor is abnormal in a case where a difference between the second direction indicated by the
first airframe orientation detected by the detection unit and the first direction indicated by the direction information is equal to or greater than a first threshold value. (see paragraph 31-40)
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 disclosure of the 892 publication with the teachings of REZVANI with a reasonable expectation of success since REZVANI teaches that a drone can land on a ground station. The ground station can generate and detect the magnetic field to guide the drone and place the drone in the correct position. The correction position is where the retention force grabs the drone and capture the drone. The correct position aligns the port and the camera. The correct orientation is where the port is aligned and the drone faces a wall when the human is in the home for privacy. When no one is home the drone can be placed in an opposite direct to monitor the home. See paragraph 13-14, 18-22 and 90-93 and the abstract.
The 892 is silent but REZVANI teaches “..4. (currently amended): The information processing device according to claim 3, the program
code further including further comprising a determining code configured to cause the at
least one processor to determine prohibition of takeoff of the unmanned aerial vehicle in a case
where ithe magnetic sensor is determined to be abnormal. (see paragraph 92-99 where when the drone is facing a wall it cannot take off and instead when the drone is facing away from the wall then it is allowed to take off and the magnetic sensors can confirm the correction positioning and then repel the uav to spring it into the air)
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 disclosure of the 892 publication with the teachings of REZVANI with a reasonable expectation of success since REZVANI teaches that a drone can land on a ground station. The ground station can generate and detect the magnetic field to guide the drone and place the drone in the correct position. The correction position is where the retention force grabs the drone and capture the drone. The correct position aligns the port and the camera. The correct orientation is where the port is aligned and the drone faces a wall when the human is in the home for privacy. When no one is home the drone can be placed in an opposite direct to monitor the home. See paragraph 13-14, 18-22 and 90-93 and the abstract.
The 892 is silent but REZVANI teaches “..5. (currently amended): The information processing device according to claim 2, the program
code further including further comprising a notification code configured to cause the at least
one processor to notify a staff member at the port to check the first airframe orientation in a case
where the difference between the second direction indicated by the first airframe orientation
detected by the detection unit and the first direction indicated by the direction information is less than the first threshold value and equal to or greater than a second threshold value”. (see paragraph 90-93 where the drone has not captured any motion in the home from 1. a PIR motion sensor and 2. no human has been detected and then therefore, based on this items 1-2 the drone is inferred as being landed correctly and facing away from the wall on the landing pad)
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 disclosure of the 892 publication with the teachings of REZVANI with a reasonable expectation of success since REZVANI teaches that a drone can land on a ground station. The ground station can generate and detect the magnetic field to guide the drone and place the drone in the correct position. The correction position is where the retention force grabs the drone and capture the drone. The correct position aligns the port and the camera. The correct orientation is where the port is aligned and the drone faces a wall when the human is in the home for privacy. When no one is home the drone can be placed in an opposite direct to monitor the home. See paragraph 13-14, 18-22 and 90-93 and the abstract.
The 892 is silent but REZVANI teaches “..6. (currently amended): The information processing device according to claim 1, the program
code further including further comprising:
a-first identification code configured to cause the at least one processor to identify a planned flight route of the unmanned aerial vehicle;
a-second identification code configured to cause the at least one processor to identify
a second airframe orientation according to the planned flight route; and
a-second determination code configured to cause the at least one processor to
determine whether or not the first airframe orientation of the unmanned aerial vehicle satisfies a
prescribed condition is appropriate by comparing the first airframe orientation detected by the
detection unit and the second airframe orientation identified by the second identification unit. (see paragraph 90-93 where the drone has not captured any motion in the home from 1. a PIR motion sensor and 2. no human has been detected and then therefore, based on this items 1-2 the drone is inferred as being landed correctly and facing away from the wall on the landing pad)
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 disclosure of the 892 publication with the teachings of REZVANI with a reasonable expectation of success since REZVANI teaches that a drone can land on a ground station. The ground station can generate and detect the magnetic field to guide the drone and place the drone in the correct position. The correction position is where the retention force grabs the drone and capture the drone. The correct position aligns the port and the camera. The correct orientation is where the port is aligned and the drone faces a wall when the human is in the home for privacy. When no one is home the drone can be placed in an opposite direct to monitor the home. See paragraph 13-14, 18-22 and 90-93 and the abstract.
The 892 is silent but REZVANI teaches “.7. (currently amended): The information processing device according to claim 1, the program
code further including further comprising:
a-third identification code configured to cause the at least one processor to identify a
third airframe orientation with respect to the port in which the unmanned aerial vehicle is placed; and (see paragraph 19)
a-second determination code configured to cause the at least one processor to
determine whether or not the first airframe orientation of the unmanned aerial vehicle satisfies a
prescribed condition is appropriate by comparing the first airframe orientation detected by the
detection unit and the third airframe orientation identified by the third identification unit”. (see paragraph 29-36 and 90-93 where the drone has not captured any motion in the home from 1. a PIR motion sensor and 2. no human has been detected and then therefore, based on this items 1-2 the drone is inferred as being landed correctly and facing away from the wall on the landing pad)
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 disclosure of the 892 publication with the teachings of REZVANI with a reasonable expectation of success since REZVANI teaches that a drone can land on a ground station. The ground station can generate and detect the magnetic field to guide the drone and place the drone in the correct position. The correction position is where the retention force grabs the drone and capture the drone. The correct position aligns the port and the camera. The correct orientation is where the port is aligned and the drone faces a wall when the human is in the home for privacy. When no one is home the drone can be placed in an opposite direct to monitor the home. See paragraph 13-14, 18-22 and 90-93 and the abstract.
Claim 8 is rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of Korean Patent Application Pub. No.: KR102263892B1 that was filed in 2020 (the ‘892 publication) and in view of United States Patent Application Pub. No.: US20210122495A1 to Rezvani et al that was filed in 2020 and in view of Japanese Patent Pub. No.: JP2021157494A to Aoyama et al. filed in 2020 and in view of Chun.
The primary reference is silent but Aoyama teaches “...8. (currently amended): The information processing device according to claim 6 , the
program code further including further comprising a notification code configured to cause
the at least one processor to notify a staff member at the port to check the first airframe
orientation of the unmanned aerial vehicle in a case where the second
determination unit determines that the first airframe orientation is determined not to satisfy the prescribed
condition is not appropriate”. (see abstract and claims 1-10 where the drone has an electronic compass that can obtain a magnetic flux density and a GPS that can provide the position and a map can be provided. A flux density based on the nose direction of the uav can be provided; then if an abnormal condition is detected then a flight control output message can be provided)
Claim 9 is rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of Korean Patent Application Pub. No.: KR102263892B1 that was filed in 2020 (the ‘892 publication) and in view of United States Patent Application Pub. No.: US20210122495A1 to Rezvani et al that was filed in 2020 and in view of Aoyoma and in view of Chun.
The 892 is silent but REZVANI teaches “.9. (currently amended): The information processing device according to claim 1 , the program code further including further comprising a third determination code
unit configured to cause the at least one processor to determine whether or not the port in which
the unmanned aerial vehicle is placed satisfies a prescribed condition is appropriate on the basis of the indication of the sign in the image indicated by the image information and installation information of the sign in the port. (see paragraph 29-36 and 90-93 where the drone has not captured any motion in the home from 1. a PIR motion sensor and 2. no human has been detected and then therefore, based on this items 1-2 the drone is inferred as being landed correctly and facing away from the wall on the landing pad)
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 disclosure of the 892 publication with the teachings of REZVANI with a reasonable expectation of success since REZVANI teaches that a drone can land on a ground station. The ground station can generate and detect the magnetic field to guide the drone and place the drone in the correct position. The correction position is where the retention force grabs the drone and capture the drone. The correct position aligns the port and the camera. The correct orientation is where the port is aligned and the drone faces a wall when the human is in the home for privacy. When no one is home the drone can be placed in an opposite direct to monitor the home. See paragraph 13-14, 18-22 and 90-93 and the abstract.
Claims 10-14 are rejected under 35 U.S.C. sec. 103 as being unpatentable as obvious in view of Korean Patent Application Pub. No.: KR102263892B1 that was filed in 2020 (the ‘892 publication) and in view of United States Patent Application Pub. No.: US20210122495A1 to Rezvani et al that was filed in 2020 and in view of Aoyama and in view of Chun.
Aoyama teaches “...10. (currently amended): The information processing device according to claim 9, the program
code further including further comprising a notification code unit configured to cause the at least” (see abstract and claims 1-10 where the drone has an electronic compass that can obtain a magnetic flux density and a GPS that can provide the position and a map can be provided. A flux density based on the nose direction of the uav can be provided; then if an abnormal condition is detected then a flight control output message can be provided)
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 disclosure of the 892 publication with the teachings of AOYAMA with a reasonable expectation of success since AOYAMA teaches that a drone can include 1.a range LIDAR sensor and 2. A GPS sensor and 3. A compass that provides a magnetic flux density to determine a nose direction of the uav. An abnormality in the compass can be detected an a signal can be provided to the flight control means and server device. The compass reading can be abnormal and the GPS can be unavailable and the flight control can be provided based on the other sensors such as a LIDAR sensor and the hall effect sensor and a map. This can provide a flight in an underground power line environment where there is a lot of inference. See abstract and paragraph 1-21.
The 892 is silent but REZVANI teaches “one processor to notify a staff member at the port to check the port in a case where
the port is determined not to satisfy the prescribed
condition . (see paragraph 29-36 and 90-93 where the drone has not captured any motion in the home from 1. a PIR motion sensor and 2. no human has been detected and then therefore, based on this items 1-2 the drone is inferred as being landed correctly and facing away from the wall on the landing pad)
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 disclosure of the 892 publication with the teachings of REZVANI with a reasonable expectation of success since REZVANI teaches that a drone can land on a ground station. The ground station can generate and detect the magnetic field to guide the drone and place the drone in the correct position. The correction position is where the retention force grabs the drone and capture the drone. The correct position aligns the port and the camera. The correct orientation is where the port is aligned and the drone faces a wall when the human is in the home for privacy. When no one is home the drone can be placed in an opposite direct to monitor the home. See paragraph 13-14, 18-22 and 90-93 and the abstract.
Aoyama teaches “...11. (currently amended): The information processing device according to claim 1 any one of
claims 1 to 7, the program code further including further comprising a fourth determination code configured to cause the at least one processor to determine whether or not the position of the
placed unmanned aerial vehicle satisfies a prescribed condition is appropriate (see abstract and claims 1-10 where the drone has an electronic compass that can obtain a magnetic flux density and a GPS that can provide the position and a map can be provided. A flux density based on the nose direction of the uav can be provided; then if an abnormal condition is detected then a flight control output message can be provided)
on the basis of at least one of the position of the sign and the indication of the sign in the image indicated by the
image information”. (see range sensor 4; where the range senor can confirm the current position to the companion controller 2. The range sensor 4 detects an obstacle around the drone 1 and outputs information indicating the relative position of the detected obstacle (distance and direction with respect to the current position of the drone 1) to the companion computer 2. The range sensor 4 is, for example, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) capable of detecting an obstacle at a circumference of 360 degrees in the horizontal direction. The range sensor 4 is an example of the range sensor according to the present disclosure.
The electronic compass module 5 detects the magnetism passing through the electronic compass module 5 itself, obtains a first magnetic flux density indicating the detected magnetism, and outputs the obtained first magnetic flux density to the flight controller 3. The electronic compass module 5 is, for example, an electronic compass module including a Hall element and detecting magnetism by the Hall element. The electronic compass module 5 is an example of the electronic compass module according to the present disclosure.
The satellite positioning module 6 receives a radio signal from a positioning satellite, and based on the received radio signal, obtains and obtains first positioning information representing the position of the drone 1 on the earth in latitude, longitude, and altitude. The first positioning information is output to the flight controller 3. However, when the satellite positioning module 6 cannot normally receive the radio signal from the positioning satellite, the satellite positioning module 6 outputs the information indicating that the positioning could not be performed to the flight controller 3 as the first positioning information. The satellite positioning module 6 is, for example, a GPS receiver that receives and positions radio waves from GPS satellites. The satellite positioning module 6 is an example of the satellite positioning module according to the present disclosure.
The drive unit 7 generates lift based on the control by the flight controller 3 to fly the drone 1. The drive unit 7 includes, for example, an ESC (Electric Speed Controller), a motor, and a propeller. For example, when the drone 1 is a multicopter equipped with four propellers, the drive unit 7 includes four sets of an ESC, a motor, and a propeller.)
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 disclosure of the 892 publication with the teachings of AOYAMA with a reasonable expectation of success since AOYAMA teaches that a drone can include 1.a range LIDAR sensor and 2. A GPS sensor and 3. A compass that provides a magnetic flux density to determine a nose direction of the uav. An abnormality in the compass can be detected an a signal can be provided to the flight control means and server device. The compass reading can be abnormal and the GPS can be unavailable and the flight control can be provided based on the other sensors such as a LIDAR sensor and the hall effect sensor and a map. This can provide a flight in an underground power line environment where there is a lot of inference. See abstract and paragraph 1-21.
Aoyama teaches “...12. (currently amended): The information processing device according to claim 11, the program
code further including further comprising a notification code configured to cause the at least
one processor to notify the staff member at the port to check the position in a case where that (see abstract and claims 1-10 where the drone has an electronic compass that can obtain a magnetic flux density and a GPS that can provide the position and a map can be provided. A flux density based on the nose direction of the uav can be provided; then if an abnormal condition is detected then a flight control output message can be provided)
the position is determined not to satisfy the
prescribed condition . (see range sensor 4; where the range senor can confirm the current position to the companion controller 2. The range sensor 4 detects an obstacle around the drone 1 and outputs information indicating the relative position of the detected obstacle (distance and direction with respect to the current position of the drone 1) to the companion computer 2. The range sensor 4 is, for example, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) capable of detecting an obstacle at a circumference of 360 degrees in the horizontal direction. The range sensor 4 is an example of the range sensor according to the present disclosure.
The electronic compass module 5 detects the magnetism passing through the electronic compass module 5 itself, obtains a first magnetic flux density indicating the detected magnetism, and outputs the obtained first magnetic flux density to the flight controller 3. The electronic compass module 5 is, for example, an electronic compass module including a Hall element and detecting magnetism by the Hall element. The electronic compass module 5 is an example of the electronic compass module according to the present disclosure.
The satellite positioning module 6 receives a radio signal from a positioning satellite, and based on the received radio signal, obtains and obtains first positioning information representing the position of the drone 1 on the earth in latitude, longitude, and altitude. The first positioning information is output to the flight controller 3. However, when the satellite positioning module 6 cannot normally receive the radio signal from the positioning satellite, the satellite positioning module 6 outputs the information indicating that the positioning could not be performed to the flight controller 3 as the first positioning information. The satellite positioning module 6 is, for example, a GPS receiver that receives and positions radio waves from GPS satellites. The satellite positioning module 6 is an example of the satellite positioning module according to the present disclosure.
The drive unit 7 generates lift based on the control by the flight controller 3 to fly the drone 1. The drive unit 7 includes, for example, an ESC (Electric Speed Controller), a motor, and a propeller. For example, when the drone 1 is a multicopter equipped with four propellers, the drive unit 7 includes four sets of an ESC, a motor, and a propeller.)
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 disclosure of the 892 publication with the teachings of AOYAMA with a reasonable expectation of success since AOYAMA teaches that a drone can include 1.a range LIDAR sensor and 2. A GPS sensor and 3. A compass that provides a magnetic flux density to determine a nose direction of the uav. An abnormality in the compass can be detected an a signal can be provided to the flight control means and server device. The compass reading can be abnormal and the GPS can be unavailable and the flight control can be provided based on the other sensors such as a LIDAR sensor and the hall effect sensor and a map. This can provide a flight in an underground power line environment where there is a lot of inference. See abstract and paragraph 1-21.
Aoyama teaches “...13. (currently amended): The information processing device according to claim 1 any one of
claims 1 to 7, wherein the detection code causes the at least one processor to detects the first airframe orientation of the unmanned aerial vehicle on the basis of the position of the sign and the indication of the sign in the image indicated by the image information. (see abstract and claims 1-10 where the drone has an electronic compass that can obtain a magnetic flux density and a GPS that can provide the position and a map can be provided. A flux density based on the nose direction of the uav can be provided; then if an abnormal condition is detected then a flight control output message can be provided) (see range sensor 4; where the range senor can confirm the current position to the companion controller 2. The range sensor 4 detects an obstacle around the drone 1 and outputs information indicating the relative position of the detected obstacle (distance and direction with respect to the current position of the drone 1) to the companion computer 2. The range sensor 4 is, for example, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) capable of detecting an obstacle at a circumference of 360 degrees in the horizontal direction. The range sensor 4 is an example of the range sensor according to the present disclosure.
The electronic compass module 5 detects the magnetism passing through the electronic compass module 5 itself, obtains a first magnetic flux density indicating the detected magnetism, and outputs the obtained first magnetic flux density to the flight controller 3. The electronic compass module 5 is, for example, an electronic compass module including a Hall element and detecting magnetism by the Hall element. The electronic compass module 5 is an example of the electronic compass module according to the present disclosure.
The satellite positioning module 6 receives a radio signal from a positioning satellite, and based on the received radio signal, obtains and obtains first positioning information representing the position of the drone 1 on the earth in latitude, longitude, and altitude. The first positioning information is output to the flight controller 3. However, when the satellite positioning module 6 cannot normally receive the radio signal from the positioning satellite, the satellite positioning module 6 outputs the information indicating that the positioning could not be performed to the flight controller 3 as the first positioning information. The satellite positioning module 6 is, for example, a GPS receiver that receives and positions radio waves from GPS satellites. The satellite positioning module 6 is an example of the satellite positioning module according to the present disclosure.
The drive unit 7 generates lift based on the control by the flight controller 3 to fly the drone 1. The drive unit 7 includes, for example, an ESC (Electric Speed Controller), a motor, and a propeller. For example, when the drone 1 is a multicopter equipped with four propellers, the drive unit 7 includes four sets of an ESC, a motor, and a propeller.)
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 disclosure of the 892 publication with the teachings of AOYAMA with a reasonable expectation of success since AOYAMA teaches that a drone can include 1.a range LIDAR sensor and 2. A GPS sensor and 3. A compass that provides a magnetic flux density to determine a nose direction of the uav. An abnormality in the compass can be detected an a signal can be provided to the flight control means and server device. The compass reading can be abnormal and the GPS can be unavailable and the flight control can be provided based on the other sensors such as a LIDAR sensor and the hall effect sensor and a map. This can provide a flight in an underground power line environment where there is a lot of inference. See abstract and paragraph 1-21.
Aoyama teaches “...14. (currently amended): The information processing device according to claim 1 , wherein the detection code causes the at least one processor to detects the first airframe orientation of the unmanned aerial vehicle on the basis of at least one of the position of the sign and the indication of the sign in the image indicated by the image information, and installation information of the sign in the port”. (see abstract and claims 1-10 where the drone has an electronic compass that can obtain a magnetic flux density and a GPS that can provide the position and a map can be provided. A flux density based on the nose direction of the uav can be provided; then if an abnormal condition is detected then a flight control output message can be provided) (see range sensor 4; where the range senor can confirm the current position to the companion controller 2. The range sensor 4 detects an obstacle around the drone 1 and outputs information indicating the relative position of the detected obstacle (distance and direction with respect to the current position of the drone 1) to the companion computer 2. The range sensor 4 is, for example, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) capable of detecting an obstacle at a circumference of 360 degrees in the horizontal direction. The range sensor 4 is an example of the range sensor according to the present disclosure.
The electronic compass module 5 detects the magnetism passing through the electronic compass module 5 itself, obtains a first magnetic flux density indicating the detected magnetism, and outputs the obtained first magnetic flux density to the flight controller 3. The electronic compass module 5 is, for example, an electronic compass module including a Hall element and detecting magnetism by the Hall element. The electronic compass module 5 is an example of the electronic compass module according to the present disclosure.
The satellite positioning module 6 receives a radio signal from a positioning satellite, and based on the received radio signal, obtains and obtains first positioning information representing the position of the drone 1 on the earth in latitude, longitude, and altitude. The first positioning information is output to the flight controller 3. However, when the satellite positioning module 6 cannot normally receive the radio signal from the positioning satellite, the satellite positioning module 6 outputs the information indicating that the positioning could not be performed to the flight controller 3 as the first positioning information. The satellite positioning module 6 is, for example, a GPS receiver that receives and positions radio waves from GPS satellites. The satellite positioning module 6 is an example of the satellite positioning module according to the present disclosure.
The drive unit 7 generates lift based on the control by the flight controller 3 to fly the drone 1. The drive unit 7 includes, for example, an ESC (Electric Speed Controller), a motor, and a propeller. For example, when the drone 1 is a multicopter equipped with four propellers, the drive unit 7 includes four sets of an ESC, a motor, and a propeller.) 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 disclosure of the 892 publication with the teachings of AOYAMA with a reasonable expectation of success since AOYAMA teaches that a drone can include 1.a range LIDAR sensor and 2. A GPS sensor and 3. A compass that provides a magnetic flux density to determine a nose direction of the uav. An abnormality in the compass can be detected an a signal can be provided to the flight control means and server device. The compass reading can be abnormal and the GPS can be unavailable and the flight control can be provided based on the other sensors such as a LIDAR sensor and the hall effect sensor and a map. This can provide a flight in an underground power line environment where there is a lot of inference. See abstract and paragraph 1-21.
Chun teaches “...17. (new): The information processing device according to claim 1, wherein the indication of the sign comprises at least one of a character indicating
a direction, a color-coding, or a symbol that is a component of the sign, and
wherein the detection code is further configured to cause the at least one processor to perform image analysis to recognize the at least one of the character, the color coding,
or the symbol appearing in the image (see abstract and paragraph 65), (see paragraph 43 and 65, 85-87 where an angle of the sign relative to the drone can be taken to determine if this a traffic object and the vehicle is moving forwardly toward the traffic object and where the detection code can be provided in the drone 10 and see paragraph 45 where the traffic sign detection device can be detected as being moving forwardly with the lidar beam moving toward the sign and see block 900-940 where an orientation of the vehicle/drone can be determined based on the size of the traffic signs in the successive frames)
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 disclosure of the 892 publication with the teachings of CHUN with a reasonable expectation of success since CHUN teaches that a drone can be detected as moving forward and measuring an angle of the sign and an angle of a normal direction of travel. See paragraph 17-18, Then a height of an object can be taken. See paragraph 65. Then a position of the traffic sign candidate in 3d space and relative to the drone. See paragraph 66. Accordingly, in order to determine whether the at least one plane object satisfies the reference angle, the traffic sign detection unit 240 may determine whether an angle difference of a normal vector of the plane object and a moving direction of the drone is equal to or smaller than the reference angle. For example, the reference angle may be 20°. Then the drone can be detected as moving forwardly in a 3d space and the traffic sign is upright and large and at a zero-angle relative to the orientation of the drone and this is a traffic sign to be read. See paragraph 80-88.
Applicant's amendment necessitated the new ground(s) of rejection presented in this Office action. Accordingly, THIS ACTION IS MADE FINAL. See MPEP § 706.07(a). Applicant is reminded of the extension of time policy as set forth in 37 CFR 1.136(a).
A shortened statutory period for reply to this final action is set to expire THREE MONTHS from the mailing date of this action. In the event a first reply is filed within TWO MONTHS of the mailing date of this final action and the advisory action is not mailed until after the end of the THREE-MONTH shortened statutory period, then the shortened statutory period will expire on the date the advisory action is mailed, and any nonprovisional extension fee (37 CFR 1.17(a)) pursuant to 37 CFR 1.136(a) will be calculated from the mailing date of the advisory action. In no event, however, will the statutory period for reply expire later than SIX MONTHS from the mailing date of this final action.
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/JEAN PAUL CASS/ Primary Examiner, Art Unit 3666 DEATAILED ACTION