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 .
Priority
1. Acknowledgment is made of applicant’s claim for foreign priority based on application filed in People’s Republic of China on 12/30/2022.
Information Disclosure Statement
2. The information disclosure statement (IDS) submitted on 06/27/2025 was filed. The submission is in compliance with the provisions of 37 CFR 1.97. Accordingly, the information disclosure statement is being considered by the examiner.
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.
Claim(s) 1-12 are rejected under 35 U.S.C. 103 as being unpatentable over Yamauchi et al (U.S. 2016/0100522) and further in view of Thompson et al (U.S. 20120029754).
1. As per claims 1, 11,12 Yamauchi disclosed a method for determining a working boundary of an operating equipment, wherein the operating equipment is adapted to perform at least one work task in an operating area [In some aspects, prior to storing the geospatially referenced data, determining locations of discrete markers along the perimeter of the area to be mowed. The geospatially referenced data are geospatially referenced as the mowing robot is guided about the perimeter in relation to the discrete markers. Prior to removing data points from the set of perimeter data, determining the reference point from a location of the mowing robot within the area to be mowed. The method comprises prompting an operator to position the mowing robot within the area to be mowed and to then initiate reference point determination. The boundary corresponding to the redacted data set is an interior boundary or an exterior boundary of the area to be mowed is determined from the location of the reference point with respect to the boundary] (Paragraph. 0004), and the method comprises:
obtaining an initial virtual boundary of the operating area; wherein the initial virtual boundary is generated from position data collected by a position information collection device moving along an operation boundary of the operating area, and there is a first vertical distance between a positioning device on the position information collection device and a portion closest to the operation boundary of the position information collection device during an operation boundary [In other aspects of this disclosure, an autonomous mowing robot comprises a robot body carrying a grass cutter, a drive system including a motorized wheel supporting the robot body, a controller operably coupled to the motorized wheel for maneuvering the mowing robot to traverse a bounded lawn area while cutting grass. The controller is configured to: in a teaching mode, store in non-transient memory a set of geospatially referenced boundary data corresponding to positions of the mowing robot as the mowing robot is guided about a border of the lawn area, in the teaching mode, store reference data corresponding to a reference position within the lawn area, remove from the set of boundary data one or more data points corresponding to positions spatially closer to the reference position than another adjacent position represented by another data point of the set of boundary data, thereby creating a redacted boundary data set, and then, in an autonomous operating mode, control the mowing robot to autonomously mow an area bounded by a path corresponding to the redacted boundary data set, including altering direction of the mowing robot at or near a position corresponding to data in the redacted data set so as to redirect the robot back into the bounded area.] (Paragraph. 0006)- following process;
obtaining an adjustment vector; wherein the adjustment vector points toward the interior of the operating area, and there is a second vertical distance between a positioning device on the operating equipment and a portion closest to the operation boundary of the operating equipment during the operation boundary-following process, and an adjustment magnitude of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance [This data processing unit may be the controller 150 mounted on the robot lawnmower (see FIG. 1B), or may be a separate data processing unit. The data processing unit generates a 2D grid or matrix 25 of cells to represent the lawn, and as the robot lawnmower 10 determines its position relative to the beacons 810, the data processing unit determines and saves the coordinates of each cell containing the robot lawnmower 10 during its motion. Each cell in grid 25 can have one of three possible mowing-area values indicating whether the cell is understood to be outside the perimeter 21 or NONMOWABLE, inside the perimeter 21 or MOWABLE, or on the area perimeter 21 BOUNDARY. In FIG. 6A, representative NONMOWABLE cells 25A, MOWABLE cells 25B, and BOUNDARY cells 25C are illustrated. Each cell of the grid 25 can be assigned (x, y) coordinates based on a chosen origin or reference position (0, 0) cell. Each cell can represent a square area, with each cell having a pre-determined length and width (e.g., between 5-20 cm, between 8-12 cm, about 10 cm). For example, the grid 25 can be a grid of cells, each 10 cm×10 cm. The robot lawnmower 10 stores the (x, y) coordinates of each cell traversed by the robot lawnmower along the actual teaching path 23 travelled during the teaching mode. The robot lawnmower 10 can mark the actual teaching path 23 as a simple line tracing the path of the robot 10 through single cells as shown in FIG. 6A. Alternatively the robot can mark all cells under the footprint of the robot as BOUNDARY cells 25C] (Paragraph. 0058);
However, Yamauchi did not disclose adjusting a portion of the initial virtual boundary that meets a preset condition at least according to the adjustment vector; determining the working boundary of the operating equipment according to the adjusted initial virtual boundary.
In the same field of endeavor Thompson disclosed in one embodiment, in block 504 the vehicle control unit determines if the robotic mower has bumped an obstacle, as indicated by one or more accelerometers, for example. If the robotic mower has detected an obstacle, in block 508 the vehicle control unit may command both traction wheel motors to rotate in reverse to back up at a reduced ground speed, and to maintain the same yaw angle. If the robotic mower has not bumped an obstacle in block 504, the vehicle control unit may determine if one or more boundary sensors indicate the mower is closer to the main boundary wire than a prespecified threshold distance. If one or more boundary sensors indicate the robotic mower is not close to the main boundary wire, the vehicle control unit commands the left and right wheel motors to continue rotating forward as indicated in block 502. If the boundary sensor(s) indicate the robotic mower is close to the main boundary wire, in block 508 the vehicle control unit may command the wheel motors to rotate in reverse at a reduced ground speed, and to maintain the same yaw angle. In block 510, the vehicle control unit may determine if the traction wheel motors have rotated in reverse a prespecified or threshold time or distance. If the traction wheel motors have not rotated the prespecified time or distance in reverse, the vehicle control unit may command the motors to continue in reverse as indicated in block 510 (Paragraph. 0049).
It would have been obvious to one having ordinary skill in the art before the effective filing was made to have incorporated in one embodiment, in block 504 the vehicle control unit determines if the robotic mower has bumped an obstacle, as indicated by one or more accelerometers, for example. If the robotic mower has detected an obstacle, in block 508 the vehicle control unit may command both traction wheel motors to rotate in reverse to back up at a reduced ground speed, and to maintain the same yaw angle. If the robotic mower has not bumped an obstacle in block 504, the vehicle control unit may determine if one or more boundary sensors indicate the mower is closer to the main boundary wire than a prespecified threshold distance. If one or more boundary sensors indicate the robotic mower is not close to the main boundary wire, the vehicle control unit commands the left and right wheel motors to continue rotating forward as indicated in block 502. If the boundary sensor(s) indicate the robotic mower is close to the main boundary wire, in block 508 the vehicle control unit may command the wheel motors to rotate in reverse at a reduced ground speed, and to maintain the same yaw angle. In block 510, the vehicle control unit may determine if the traction wheel motors have rotated in reverse a prespecified or threshold time or distance. If the traction wheel motors have not rotated the prespecified time or distance in reverse, the vehicle control unit may command the motors to continue in reverse as indicated in block 510 as taught by Thompson in the method and system of Yamauchi to provide more efficient boundary sensing system.
2. As per claim 2 Yamauchi-Thompson disclosed wherein adjusting a portion of the initial virtual boundary that meets a preset condition at least according to the adjustment vector comprises: obtaining a marked initial virtual boundary of the initial virtual boundary; wherein the marked initial virtual boundary is at least used to indicate an initial virtual boundary with a collision risk; adjusting the marked initial virtual boundary at least according to the adjustment vector (Yamauchi, Paragraph. 0042).
3. As per claim 3 Yamauchi-Thompson disclosed wherein the adjustment vector is pre-stored in a memory, wherein obtaining the adjustment vector for the initial virtual boundary comprises: retrieving the adjustment vector for the initial virtual boundary from the memory (Yamauchi, Paragraph. 0038).
4. As per claim 4 Yamauchi-Thompson disclosed wherein the memory is set in one or more of the following devices: the position information collection device, the operating equipment, a terminal device, a cloud server (Yamauchi, Paragraph. 0045).
5. As per claim 5 Yamauchi-Thompson disclosed wherein: the first vertical distance is determined at least based on a first installation position of the positioning device on the position information collection device and a width of the position information collection device; the second vertical distance is determined at least based on a second installation position of the positioning device on the operating equipment and a width of the operating equipment (Yamauchi, Paragraph. 0005).
6. As per claim 6 Yamauchi-Thompson disclosed wherein the first installation position is located on a longitudinal center symmetry plane of the position information collection device, the second installation position is located on a longitudinal center symmetry plane of the operating equipment, and the adjustment vector is determined at least based on a width difference between the position information collection device and the operating equipment (Yamauchi, Paragraph. 0029).
7. As per claim 7 Yamauchi-Thompson disclosed wherein obtaining the adjustment vector for the initial virtual boundary comprises: obtaining a first width of the position information collection device and a second width of the operating equipment (Yamauchi, Paragraph. 0005); determining the first vertical distance according to the first installation position and the first width; determining the second vertical distance according to the second installation position and the second width; determining the adjustment magnitude of the adjustment vector according to the first vertical distance and the second vertical distance (Yamauchi, Paragraph. 0042).
8. As per claim 8 Yamauchi-Thompson disclosed wherein adjusting a portion of the initial virtual boundary that meets a preset condition at least according to the adjustment vector comprises: obtaining a portion of the initial virtual boundary where a satellite positioning signal output by the positioning device on the position information collection device during the operation boundary- following process does not meet a quality condition; obtaining a shadow area compensation vector for the portion of the initial virtual boundary; wherein the shadow area compensation vector points toward the interior of the operating area; determining the working boundary of the operating equipment corresponding to the portion of the initial virtual boundary according to the initial virtual boundary, the adjustment vector, and the shadow area compensation vector (Yamauchi, Paragraph. 0042).
9. As per claim 9 Yamauchi-Thompson disclosed wherein a compensation magnitude of the shadow area compensation vector is determined at least based on a positioning deviation amount of the positioning device on the operating equipment in a shadow area (Thompson, Paragraph. 0040). Claim 9 has the same motivation as to claim 1.
10. As per claim 10 Yamauchi-Thompson disclosed wherein the adjustment
magnitude is determined at least based on the following relation:
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d2-d|Din|L-d3+(d2-d1 wherein DinI represents the adjustment magnitude, di represents the first vertical distance, d2 represents the second vertical distance, d represents a third vertical distance between an outermost edge of an operating tool of the operating equipment and the portion closest to the operation boundary of the operating equipment during the operation boundary-following process, L represents a grass-leaving width threshold at the operation boundary (Yamauchi, Paragraph. 0049).
Conclusion
11. Any inquiry concerning this communication or earlier communication from the
examiner should be directed to Adnan Mirza whose telephone number is (571)-272-3885.
12. The examiner can normally be reached on Monday to Friday during normal
business hours. If attempts to reach the examiner by telephone are unsuccessful, the
examiner’s supervisor, Faris Almatrahi can be reached on (313)-446-4821.
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/ADNAN M MIRZA/Primary Examiner, Art Unit 3667
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