DETAILED ACTION
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 .
Information Disclosure Statement
The information disclosure statement (IDS) submitted on 11/03/2025 is in compliance with the provisions of 37 CFR 1.97. Accordingly, the information disclosure statement is being considered by the examiner.
Drawings
The drawings submitted on 09/30/2024 are being considered by the examiner.
Claim Objections
Claims 2-15 and 17-19 are objected to because of the following informalities:
In claims 2-15 and 17-19, the preambles may be amended as “The method of Claim …”
In line 17 of claim 9, line 14 of claim 11, and line 11 of claim 13, the term may be amended as “the .
Appropriate correction is required.
Double Patenting
The nonstatutory double patenting rejection is based on a judicially created doctrine grounded in public policy (a policy reflected in the statute) so as to prevent the unjustified or improper timewise extension of the “right to exclude” granted by a patent and to prevent possible harassment by multiple assignees. A nonstatutory double patenting rejection is appropriate where the conflicting claims are not identical, but at least one examined application claim is not patentably distinct from the reference claim(s) because the examined application claim is either anticipated by, or would have been obvious over, the reference claim(s). See, e.g., In re Berg, 140 F.3d 1428, 46 USPQ2d 1226 (Fed. Cir. 1998); In re Goodman, 11 F.3d 1046, 29 USPQ2d 2010 (Fed. Cir. 1993); In re Longi, 759 F.2d 887, 225 USPQ 645 (Fed. Cir. 1985); In re Van Ornum, 686 F.2d 937, 214 USPQ 761 (CCPA 1982); In re Vogel, 422 F.2d 438, 164 USPQ 619 (CCPA 1970); In re Thorington, 418 F.2d 528, 163 USPQ 644 (CCPA 1969).
A timely filed terminal disclaimer in compliance with 37 CFR 1.321(c) or 1.321(d) may be used to overcome an actual or provisional rejection based on nonstatutory double patenting provided the reference application or patent either is shown to be commonly owned with the examined application, or claims an invention made as a result of activities undertaken within the scope of a joint research agreement. See MPEP § 717.02 for applications subject to examination under the first inventor to file provisions of the AIA as explained in MPEP § 2159. See MPEP §§ 706.02(l)(1) - 706.02(l)(3) for applications not subject to examination under the first inventor to file provisions of the AIA . A terminal disclaimer must be signed in compliance with 37 CFR 1.321(b).
The USPTO Internet website contains terminal disclaimer forms which may be used. Please visit www.uspto.gov/patent/patents-forms. The filing date of the application in which the form is filed determines what form (e.g., PTO/SB/25, PTO/SB/26, PTO/AIA /25, or PTO/AIA /26) should be used. A web-based eTerminal Disclaimer may be filled out completely online using web-screens. An eTerminal Disclaimer that meets all requirements is auto-processed and approved immediately upon submission. For more information about eTerminal Disclaimers, refer to www.uspto.gov/patents/process/file/ efs/guidance/eTD-info-I.jsp.
Claims 1, 2, 5, 8, 9, 11, 13, 15, 16, 17, and 20 are rejected on the ground of nonstatutory double patenting as being unpatentable over Claims 1, 3-6, 9, 12-14, and 16-18 of U.S. Patent No. 12,134,166. Although the claims at issue are not identical, they are not patentably distinct from each other for at least the following reasons.
Claim 1 of the Subject Application
Claim 1 of US Patent No. 12,134,166
A method comprising:
A method for autonomously grinding a workpiece comprising:
accessing a virtual model representing a workpiece;
accessing a set of images captured by an optical sensor arranged on an end effector traversing a scan path over a workpiece during a scan cycle; compiling the set of images into a virtual model of the workpiece;
accessing a target surface profile assigned to a first target region on the workpiece;
identifying a first grinding region on the workpiece; projecting a target grinding profile onto the first grinding region on the workpiece represented in the virtual model, the target grinding profile defining final contour characteristics of the first grinding region;
based on the virtual model, generating a toolpath for removal of material from the first target region on the workpiece according to the target surface profile;
based on a geometry of the workpiece and the target grinding profile, generating a first tool path for removal of material from the first grinding region toward the target grinding profile;
accessing a first target force for the first target region on the workpiece;
assigning a first target force to the first grinding region;
during a processing cycle:
during a first processing cycle:
accessing a sequence of force values output by a force sensor coupled to a grinding head;
accessing a first sequence of force values output by a force sensor coupled to a grinding head arranged on the end effector;
via a set of actuators coupled to the grinding head:
via a set of actuators coupled to the end effector:
navigating the grinding head across the first target region on the workpiece according to the toolpath;
navigating the grinding head across the first grinding region according to the first tool path;
based on the sequence of force values, deviating the grinding head from the toolpath to maintain forces of the grinding head on the first target region on the workpiece proximal the first target force.
based on the first sequence of force values, deviating the grinding head from the first tool path to maintain forces of the grinding head on the first grinding region proximal the first target force.
Claim 2 of the Subject Application
Claim 3 of US Patent No. 12,134,166
accessing a reference virtual model corresponding to the workpiece and representative of the workpiece at a target surface finish;
accessing a reference virtual model corresponding to the workpiece, the reference virtual model representative of the workpiece at a target surface finish;
based on a difference between the reference virtual model and the virtual model,selecting the first target region of the workpiece
based on a difference between the reference virtual model and the virtual model of the workpiece, identifying the first grinding region on the workpiece as corresponding to a first gate zone comprising a first gate;
Claim 5 of the Subject Application
Claim 6 of US Patent No. 12,134,166
projecting the marker onto the virtual model;
identifying a first marker on the workpiece, depicted in the first image, based on the first set of visual features; projecting the first marker onto the virtual model based on the first image;
deriving a boundary, based on the marker, of a first virtual region corresponding to the first target region on the workpiece represented in the virtual model;
deriving a boundary, based on the first marker, of a first virtual region corresponding to the first grinding region on the workpiece represented in the virtual model;
wherein generating the toolpath comprises defining a sequence of toolpath coordinates within the boundary;
wherein generating the first tool path comprises defining a sequence of tool path coordinates within the boundary of the first grinding region on the workpiece;
wherein navigating the grinding head across the first target region comprises navigating the grinding head along the sequence of toolpath coordinates within the boundary.
wherein navigating the grinding head across the first grinding region comprises navigating the grinding head along the sequence of tool path coordinates within the boundary of the first grinding region.
Claim 8 of the Subject Application
Claim 5 of US Patent No. 12,134,166
further comprising accessing a set of characteristics corresponding to a base metal of the workpiece;
further comprising accessing a set of characteristics corresponding to a base metal of the workpiece;
wherein assigning the first target force comprises, based on the set of characteristics, assigning the first target force to the first target region;
wherein assigning the first target force comprises, based on the set of characteristics, assigning the first target force to the first grinding region;
further comprising, based on the set of characteristics, setting a set of grinding parameters for the toolpath comprising:
further comprising, based on the set of characteristics, setting a set of grinding parameters for the first tool path comprising:
a nominal feed rate for navigating the grinding head over the workpiece;
a nominal feed rate for navigating the grinding head over the workpiece;
a nominal stepover distance across the workpiece;
a nominal stepover distance across the workpiece;
a nominal offset angle between an axis of the grinding head and a normal vector per unit area on the workpiece;
a nominal offset angle between an axis of the grinding head and a normal vector per unit area on the workpiece;
wherein navigating the grinding head across the first target region according to the toolpath comprises navigating the grinding head at the first target force, the nominal feed rate, the nominal stepover distance, and the nominal offset angle across the first target region.
wherein navigating the grinding head across the first grinding region according to the first tool path comprises navigating the grinding head at the first target force, the nominal feed rate, the nominal stepover distance, and the nominal offset angle across the first grinding region.
Claim 9 of the Subject Application
Claim 14 of US Patent No. 12,134,166
wherein generating the toolpath comprises:
wherein generating the first tool path comprises:
defining the toolpath comprising an ordered sequence of keypoints located on the first target region and defined in the virtual model;
defining the first tool path comprising an ordered sequence of keypoints located on the first grinding region and defined in the virtual model of the workpiece;
for each keypoint in the ordered sequence of keypoints:
for each keypoint in the ordered sequence of keypoints:
calculating a vector normal to the virtual model at a location of the keypoint on the virtual model;
calculating a vector normal to the virtual model at a location of the keypoint on the virtual model;
storing the vector in the keypoint;
storing the vector in the keypoint;
wherein navigating the grinding head across the workpiece according to the toolpath comprises:
wherein navigating the grinding head across the workpiece according to the first tool path comprises:
for a first keypoint in the ordered sequence of keypoints:
for a first keypoint in the ordered sequence of keypoints:
locating the grinding head at a first position intersecting the first keypoint;
locating the grinding head at a first position intersecting the first keypoint;
aligning an axis of the grinding head to a first vector associated with the first keypoint;
aligning an axis of the grinding head to a first vector associated with the first keypoint;
driving the grinding head coaxial with the first vector, toward the workpiece to match force values, in the first sequence of force values, to the first target force.
driving the grinding head coaxial with the first vector, toward the workpiece to match force values, in the first sequence of force values, to the first target force.
Claim 11 of the Subject Application
Claim 9 of US Patent No. 12,134,166
during a first pre-processing cycle preceding the processing cycle:
during a first pre-processing cycle preceding the processing cycle:
navigating the grinding head, at the first target force, across the first target region according to a first roughing pass of the toolpath;
navigating the grinding head, at the first target force, across the first grinding region according to a first roughing pass of the first tool path;
following the first roughing pass, accessing a first image captured by an optical sensor arranged over the first target region;
following the first roughing pass, accessing a first image captured by the optical sensor arranged on the end effector over the first grinding region;
based on the first image, interpreting a first scope of material removal from the first target region;
based on the first set of visual features, interpreting a first scope of material removal from the first grinding region;
based on the first scope of material removal, setting a set of roughing passes to the toolpath for removal of material from the first target region;
based on the first scope of material removal, setting a set of roughing passes to the first tool path for removal of material from the first grinding region;
during the first processing cycle:
during the first processing cycle:
navigating the grinding head across the first target region according to the set of roughing passes of the toolpath;
navigating the grinding head across the first grinding region according to the set of roughing passes of the first tool path;
based on the first sequence of force values, deviating the grinding head from the set of roughing passes of the toolpath to maintain forces of the grinding head on the first target region proximal the first target force.
based on the first sequence of force values, deviating the grinding head from the set of roughing passes of the first tool path to maintain forces of the grinding head on the first grinding region proximal the first target force.
Claim 13 of the Subject Application
Claim 12 of US Patent No. 12,134,166
accessing a target temperature threshold of the grinding head;
accessing a target temperature threshold of the grinding head;
reading a sequence of temperature values from a temperature sensor coupled to the grinding head during navigation of the grinding head across the first target region according to the toolpath;
reading a sequence of temperature values from a temperature sensor coupled to the end effector and intersecting the first grinding region during navigation of the grinding head across the first grinding region according to the first tool path;
during the processing cycle: at a first time, in response to the sequence of temperature values approaching a first temperature threshold:
at a first time, in response to the sequence of temperature values approaching a first temperature threshold:
assigning a second target force, less than the first target force, to the first target region;
assigning a second target force, less than the first target force, to the first grinding region; and
based on the first sequence of force values, deviating the grinding head from the toolpath to maintain forces of the grinding head on the first target region proximal the second target force;
based on the first sequence of force values, deviating the grinding head from the first tool path to maintain forces of the grinding head on the first grinding region proximal the second target force.
Claim 13 of US Patent No. 12,134,166
at a second time following the first time, in response to the sequence of temperature values approximating a second temperature threshold, greater than the first temperature threshold:
at a second time following the first time, in response to the sequence of temperature values approximating a second temperature threshold, greater than the first temperature threshold:
triggering an air supply to dispense an air stream across the grinding head;
triggering an air supply to dispense an air stream across the grinding head;
modifying a speed parameter of the grinding head to lower energy output toward the first target region on the workpiece.
modifying a speed parameter of the grinding head to lower energy output toward the first grinding region on the workpiece.
Claim 15 of the Subject Application
Claim 16 of US Patent No. 12,134,166
further comprising, following the processing cycle:
following the processing cycle, further comprising:
accessing a first image captured by an optical sensor arranged over the first target region;
accessing a first image captured by the optical sensor arranged on the end effector over the first grinding region;
based on the first image, calculating a first scope of material removal from the first target region;
based on the first set of visual features, interpreting a first scope of material removal from the first grinding region;
generating a spatial contour representation based on the first scope of material removal;
generating a spatial contour representation based on the first scope of material;
projecting the spatial contour representation and the target surface profile onto the virtual model;
projecting the spatial contour representation and the target grinding profile onto the first grinding region on the workpiece represented in the virtual model;
in response to the spatial contour representation deviating from a target contour defined by the target surface profile:
in response to the spatial contour representation deviating from contour characteristics in the target grinding profile:
based on a difference between the spatial contour representation and the target surface profile, generating a second toolpath for removal of material from the first target region to the target surface profile;
based on a difference between the spatial contour representation and the target grinding profile, generating a second tool path for removal of material from the first grinding region to the target grinding profile;
during the second processing cycle, via the set of actuators, navigating the grinding head across the first target region according to the second toolpath.
during a second processing cycle, navigating the grinding head across the first grinding region according to the second tool path
Claim 16 of the Subject Application
Claim 17 of US Patent No. 12,134,166
A method comprising:
A method for autonomously grinding a workpiece comprising:
during a pre-processing cycle:
during a pre-processing cycle:
accessing a set of images captured by an optical sensor traversing a scan path proximal a workpiece; generating a virtual model of the workpiece based on the set of images;
accessing a virtual model representing the workpiece; accessing a first image captured by an optical sensor arranged on an end effector traversing a scan path over the workpiece;
detecting a marker, on the workpiece, in the set of images;
detecting a marker, on the workpiece, depicted in the first image;
identifying a first target region on the workpiece based on the marker
based on a geometry of the marker: identifying a first grinding region on the workpiece;
accessing a target surface profile assigned to the first target region;
accessing a target grinding profile associated with the first grinding region and representing final contour characteristics of the first grinding region;
based on the virtual model, generating a toolpath for removal of material from the first target region on the workpiece according to the target surface profile;
projecting the target grinding profile onto the first grinding region on the workpiece represented in the virtual model; based on a geometry of the workpiece and the target grinding profile, generating a first tool path for removal of material from the first grinding region to the target grinding profile;
during a processing cycle, via a set of actuators, navigating the grinding head across the first target region of the workpiece according to the toolpath.
during a processing cycle: navigating the grinding head across the first grinding region according to the first tool path;
Claim 17 of the Subject Application
Claim 18 of US Patent No. 12,134,166
further comprising:projecting the marker onto the virtual model;
further comprising: projecting the marker onto the virtual model based on the first image;
detecting a coordinate location bounded by the first marker of a first virtual region corresponding to the first target region on the workpiece represented in the virtual model;
deriving a coordinate location bounded by the first marker of a first virtual region corresponding to the first grinding region on the workpiece represented in the virtual model;
wherein generating the toolpath comprises
wherein generating the first tool path comprises:
calculating a boundary of the first target region based on the coordinate location bounded by the marker of the first virtual region;
calculating a boundary of the first grinding region based on the coordinate location bounded by the first marker of the first virtual region on the virtual model;
defining a sequence of toolpath coordinates within the boundary of the first target region;
defining a sequence of tool path coordinates within the boundary of the first grinding region on the workpiece;
wherein navigating the grinding head across the first target region comprises navigating the grinding head along the sequence of toolpath coordinates within the boundary of the first target region.
wherein navigating the grinding head across the first grinding region comprises navigating the grinding head along the sequence of tool path coordinates within the boundary of the first grinding region.
Claim 20 of the Subject Application
Claim 1 of US Patent No. 12,134,166
A method comprising
A method for autonomously grinding a workpiece comprising:
during a pre-processing cycle: accessing a set of images captured by an optical sensor traversing a scan path over a workpiece;
accessing a set of images captured by an optical sensor arranged on an end effector traversing a scan path over a workpiece during a scan cycle;
defining a first virtual model of the workpiece based on the set of images
compiling the set of images into a virtual model of the workpiece;
during a processing cycle, via a set of actuators, navigating a grinding head across the first target region according to the toolpath.
via a set of actuators coupled to the end effector: navigating the grinding head across the first grinding region according to the first tool path;
Claim 3 of US Patent No. 12,134,166
accessing a reference virtual model corresponding to the workpiece and representative of the workpiece at a target surface finish;
accessing a reference virtual model corresponding to the workpiece, the reference virtual model representative of the workpiece at a target surface finish;
based on a difference between the reference virtual model and the first virtual model of the workpiece, selecting a first target region on the workpiece;
based on a difference between the reference virtual model and the virtual model of the workpiece, identifying the first grinding region on the workpiece as corresponding to a first gate zone comprising a first gate;
Claim 4 of US Patent No. 12,134,166
calculating a first scope of material removal for removal of material from the first target region toward the target surface finish; based on the first scope of material removal and the first virtual model, generating a toolpath for removal of material from the first target region of the workpiece;
based on a difference between a first set of dimensions of the grinding region represented in the virtual model and the set of target dimensions, calculating a first scope of material removal from the first grinding region; and generating the first tool path according to the first scope of material removal from the first grinding region.
As shown in the table above, Claims 1, 2, 5, 8, 9, 11, 13, 15, 16, 17, and 20 of the subject application claims subject matter that is different, but not patentably distinct, from the subject matter of Claims 1, 3-6, 9, 12-14, and 16-18 of U.S. Patent No. 12,134,166. Thus, Claims 1, 2, 5, 8, 9, 11, 13, 15, 16, 17, and 20 are anticipated by Claims 1, 3-6, 9, 12-14, and 16-18 of U.S. Patent No. 12,134,166 and a patent to Claims 1, 2, 5, 8, 9, 11, 13, 15, 16, 17, and 20 would, necessarily, extend the right to exclude granted by U.S. Patent No. 12,134,166. See In re Goodman.
Allowable Subject Matter
Claims 1-20 would be allowable after the terminal disclaimer is filed.
The following is an examiner’s statement of reasons for allowance:
The instant invention is neither anticipated nor rendered obvious by the prior art because a system is not disclosed nor taught having the allowable subject matter that was placed into the claims detailing a method comprising: accessing a virtual model representing a workpiece, accessing a target surface profile assigned to a first target region, based on the virtual model, generating a toolpath for removal of material, accessing a first target force, and during a processing cycle: accessing a sequence of force values output and via a set of actuators coupled to a grinding head, navigating the grinding head across the first target region on the workpiece, based on the sequence of force values, deviating the grinding head from the toolpath to maintain forces of grinding head on the first target region, in combination with all the other claimed limitations.
Regarding claims 1, 16, and 20, Heilig et al. (WO 2014057061A1, hereinafter Heilig) is the closest prior art. Heilig teaches an automated surface grinding method (Heilig English translation, p. 3:7-8). The method includes accessing a set of images captured by an optical sensor, generating a virtual model of a workpiece, accessing the virtual model of a profile surface, detecting a marker/identifier, and a machining tool is guided according to the virtual model of the profile (Heilig English translation, p. 6:20-7:10).
However, Heilig does not teach accessing a first target force for the first target region on the workpiece, accessing a sequence of force values output by a force sensor coupled to a griding head, calculating a first scope of material removal, generating a toolpath for removal of material, and based on the sequence of force values, deviating the grinding head from the toolpath to maintain forces of the grinding head on the first target region on the workpiece proximal the first target force.
Dependent claims 2-15 are allowed in view of their respective dependence from claim 1, and dependent claims 17-19 are allowed in view of their respective dependence from claim 16.
Any comments considered necessary by applicant must be submitted no later than the payment of the issue fee and, to avoid processing delays, should preferably accompany the issue fee. Such submissions should be clearly labeled “Comments on Statement of Reasons for Allowance.”
Conclusion
The prior art made of record and not relied upon is considered pertinent to applicant's disclosure.
Aubin et al. (US 2020/0171620) discloses a system for sanding a surface including a robotic manipulator to move a sanding tool relative to the surface by setting sanding parameters corresponding to a model material removal rate.
Any inquiry concerning this communication or earlier communications from the examiner should be directed to SUKWOO JAMES CHANG whose telephone number is (571)272-7402. The examiner can normally be reached M-F 8:00a-5:00p.
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/SUKWOO JAMES CHANG/Examiner, Art Unit 3723
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