Appendix A
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`(‘490 Patent)
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`1
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`IROBOT 2010
`Shenzhen Silver Star v. iRobot
`IPR2018-00897
`
`
`
`(‘490 Patent)
`
`
`
`
`
`
`
`1
`
`IROBOT 2010
`Shenzhen Silver Star v. iRobot
`IPR2018-00897
`
`
`
`
`
`
`Element
`
`The ‘490 Patent
`
`1[a]
`
`A mobile robot comprising:
`
`1[b]
`
`means for moving the robot over
`a surface;
`
`1[c]
`
`an obstacle detection sensor;
`
`Presence of each limitation in JP11-212642
`(“Ueno”)
`Ueno describes a method and device for
`controlling a self-propelled robot that can
`travel exhaustively over a given area in as
`short a time as possible. See Ueno at ¶ [0001]
`and Figs. 1, 2, and 3.
`The robot 1 is moved forward, backward, and
`stopped over a given area by the wheels 3, 4
`that are driven by separate motors. Id. at ¶¶
`[0001], [0015], and Figs. 2 and 3.
`A plurality of infrared sensors for detecting
`boundaries and obstacles in a noncontact
`manner are included in the robot 1. For
`example, sensors 26R and 26L are disposed in
`front of the robot 1 in an advancing direction,
`sensors 26MR and 26ML are disposed in a
`slanted front direction, and sensors 26RR and
`26RL are respectively disposed in a rear
`direction. The letter R is for obstacle
`detection on the right side with respect to the
`travel direction and the letter L is for obstacle
`detection on the left side with respect to the
`travel direction. Id. at ¶ [0016] and Figs. 2
`and 3.
`
`Although the sensors are preferably infrared
`sensors, any type of sensor such as an
`ultrasonic sensor or other optical sensor can
`be used as a proximity sensor capable of
`detecting an obstacle within a planned short
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`4833-4448-3405.v1
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`1[d]
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`and a control system operatively
`connected to said obstacle
`detection sensor and said means
`for moving;
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`1[e]
`
`said control system configured to
`operate the robot in a plurality of
`operational modes and to select
`from among the plurality of
`modes in real time in response to
`signals generated by the obstacle
`detection sensor
`
`distance. Id. at ¶ [0017].
`FIGs. 1 and 16 are block diagrams showing
`hardware configurations of devices for
`controlling a self-propelled robot. The
`hardware configurations include a control
`device 7 including a CPU 8. Id. at ¶¶ [0007],
`[0018], and Figs. 1 and 16.
`
`The control device 7, as illustrated in Fig. 1, is
`connected to drive motors 14 and 15, left and
`right brakes 12 and 13 and sensors 25L and
`26. Id. at ¶¶ [0018],[0020], and Figs. 1 and
`16.
`
`CPU 8 controls the operations of the drive
`systems such as the right and left motors 14
`and 15 and right and left brakes 12 and 13.
`Specifically, based on contact information
`from the sensors 25L and 26 and the contact
`sensor 5A, the CPU 8 controls the drive
`system operations of the right and left motors
`14 and 15. Id. at ¶¶ [0007], [0019], and
`[0020].
`“Based on the information from a pair of
`multiple ultrasonic sensors 6 positioned
`oriented toward front, right and left side
`surfaces and slanting -front direction etc,
`contact sensor 5A positioned on front end
`bumper etc, rotation number sensor 10 of right
`and left wheels, CPU 8 controls the operations
`of right and left wheel drive motors 14, 15,
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`4833-4448-3405.v1
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`3
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`right and left brakes 12, 13 etc, enabling the
`robot to execute each operation of moving
`forward, retreat, stopping and ultra-pivot turn,
`pivot turn, rapid turn and slow turn.” Id. at ¶
`[0007].
`
`“[B]ased on the proximity and contact
`information from sensors 25L, 26 and a
`contact sensor 5A (hereinafter called [sensors]
`collectively), CPU 8 decides the drive system
`operations of left and right wheel drive
`motors 14, 15 etc.” Id. at ¶ [0020].
`
`Ueno discloses three travel modes: spiral,
`random, and border-following. Id. at ¶¶
`[0014] and [0035].
`
`These modes occur in real time because they
`occur in reaction to the sensors. For example,
`¶ [0052] discloses that the travel mode and
`travel parameters to be executed are
`determined “based on the detection result of
`the proximity sensors provided on the front
`and side of the robot respectively.” Ueno also
`discloses that border-following travel
`(following the wall to correspond to the
`claimed “obstacle following mode”) starts
`when the side sensor 25L detects a boundary
`such as a wall during execution of the random
`travel or spiral travel modes (the claimed
`“bounce” and “spot-coverage” modes). Id. at
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`4833-4448-3405.v1
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`1[f]
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`said plurality of operational
`modes comprising: a spot-
`coverage mode whereby the
`robot operates in an isolated area,
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`1[g]
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`an obstacle following mode
`whereby said robot travels
`adjacent to an obstacle,
`
`¶[0023]. Ueno also discloses that the spiral
`travel is switched to the random travel mode
`based on detecting an obstacle (wall or
`boundary). Id. at ¶¶[0005], [0028] and Fig. 6.
`
`Further, Ueno describes switching to a spiral
`travel mode after the robot 1 has turned back
`a preset number of times because of the
`detection of a wall surface during a random
`travel mode. Id. at ¶ [0030].
`Fig. 6 illustrates a spiral travel mode. “Here,
`in order not to make space in a travel
`trajectory, the speed of left and right wheels 3,
`4, that is, the rotation speed of each wheel
`drive motor 14, 15 is calculated and by
`updating these speeds, the rotation radius is
`gradually increased. A spiral gets bigger and
`based on the output of sensors 26 and 25L,
`when it is recognized that the robot 1
`approached within the planned distance with
`respect to the wall surface B, the spiral travel
`is stopped and a random travel is started to
`move to the next spiral travel start position[.]”
`Id. at ¶[0028]; see also id.at ¶ [0027] and Fig.
`6.
`Ueno describes that the robot includes a
`border-following travel pattern when a side
`sensor 25L detects a boundary such as a wall.
`Id. at ¶ [0023] and Fig. 4.
`
`Specifically, Ueno describes that when the
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`1[h]
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`and a bounce mode whereby the
`robot travels substantially in a
`direction away from an obstacle
`after encountering the obstacle,
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`1[i]
`
`wherein, when in the obstacle
`following mode, the robot travels
`adjacent to an obstacle for a
`distance at least twice the work
`width of the robot.
`
`side sensor 25L or 26 senses a boundary such
`as a wall and generates an output during
`random travel or spiral travel, the CPU 8
`generates a border-following travel start
`instruction. Id. at ¶ [0024] and Fig. 4.
`
`The description in Fig. 4 provides details of
`the method by which the robot continues to
`travel along a boundary such as a wall. Id. at ¶
`[0025] and Fig. 4.
`“For instance, if the robot 1 detects the wall
`surface B, it stops at the position, and
`depending on the needs, after retreating a
`planned distance, makes a 135 ͦ (or, another
`optional angle) ultra-pivot turn, and turn[s]
`back and makes a straight advance to get far
`away from the wall surface B.” Id. at ¶
`[0029]; see also id. at ¶ [0030] and Fig. 5.
`
`See also id. at ¶[0005] discussing “random
`travel mode” in reference to Fig. 6.
`
`See also id. at ¶[0033] discussing how turns
`are made away from the side of the proximity
`sensor that detected an obstacle during
`random travel.
`Ueno describes a method where the robot 1
`continues to travel along a boundary in the
`border-following travel mode and that the
`border-following travel is stopped after
`continuing for a planned time (or distance),
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`and the mode is then changed to a random
`travel mode. Id. at ¶ [0025].
`
`Ueno describes that the diameter of the robot
`1 is 20 cm and provides examples of regions
`in which work is performed to be 4.2m x
`4.2m and 4.2m x 8.4m. Id. at [0010] and Fig.
`18. The object of Ueno’s invention is to be
`able to increase the coverage area of the work
`performed by the robot 1 even in a case where
`there are obstacles such as partitions and
`furnitures in a work region. Id. at ¶ [0013].
`
`Further, Fig. 5 illustrates that the length of a
`room is at least twice the work width of the
`robot 1. In a border-following travel mode,
`the robot 1 would travel at least twice the
`work width of the robot 1 to cover the length
`of the room. Id. at Fig. 5.
`“As to in what sequence these travel modes
`are executed varies depending on the size and
`shape of the region planned for travel and also
`if there are obstacles, but the inventors
`involved herein confirmed that a good result
`later described was obtained by simulations in
`which the combination of a spiral travel, a
`random travel and a border-following travel
`and a random travel are executed repeatedly
`in this sequence.” Id. at ¶ [0035].
`
`“Travel modes can be suitably combined, but
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`4833-4448-3405.v1
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`A mobile robot according to
`claim 1 in which said control
`system is configured to operate
`first in said spot-coverage mode,
`then alternate operation between
`said obstacle following mode and
`said bounce mode.
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`7
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`in the simulation where spiral travel – random
`travel – border-following - random travel
`combination was repeatedly executed, the
`travel planned area is 35m2 or 57m2, and
`inside the target region where obstacles are
`scattered can be somewhat filled up 100% at
`the time of 124 minutes and 271 minutes
`respectively.” Id. at ¶ [0014].
`Fig. 6 illustrates a spiral running mode.
`“Here, in order not to make space in a travel
`trajectory, the speed of left and right wheels 3,
`4, that is, the rotation speed of each wheel
`drive motor 14, 15 is calculated and by
`updating these speeds, the rotation radius is
`gradually increased. A spiral gets bigger and
`based on the output of sensors 26 and 25L,
`when it is recognized that the robot 1
`approached within the planned distance with
`respect to the wall surface B, the spiral travel
`is stopped and a random travel is started to
`move to the next spiral travel start position[.]”
`Id. at ¶¶ [0027] and [0028] and Fig. 6.
`The robot 1 in Ueno is described to include a
`contact sensor 5A that detects an obstacle. Id.
`at ¶¶ [0007] and [0009] and Figs. 1, 16, and
`17.
`A plurality of infrared sensors for detecting
`boundaries and obstacles are provided in
`robot 1. Ueno at ¶¶ [0016], [0017], [0018],
`and Figs. 1 and 16.
`Ueno describes that various combinations of
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`4833-4448-3405.v1
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`A mobile robot according to
`claim 2 in which said spot-
`coverage mode comprises
`substantially spiral movement.
`
`A mobile robot according to
`claim 1, whereby said obstacle
`detection sensor comprises a
`tactile sensor.
`A mobile robot according to
`claim 7, whereby said obstacle
`detection sensor further
`comprises an IR sensor.
`The mobile robot according to
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`8
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`13[a]
`13[b]
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`13[c]
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`13[d]
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`13[e]
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`13[f]
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`claim 1, further comprising a
`means for manually selecting an
`operational mode.
`
`A mobile robot comprising:
`means for moving the robot over
`a surface;
`an obstacle detection sensor;
`
`and a control system operatively
`connected to said obstacle
`detection sensor and said means
`for moving;
`said control system configured to
`operate the robot in a plurality of
`operational modes and to select
`from among the plurality of
`modes in real time in response to
`signals generated by the obstacle
`detection sensor
`said plurality of operational
`modes comprising: an obstacle
`following mode whereby said
`robot travels adjacent to an
`obstacle for a distance at least
`twice the work width of the robot
`and
`
`sequences of different modes (for example,
`different combinations of spiral travel, border-
`following travel, and random travel modes)
`can be set up and registered by a worker each
`time or can be preregistered by the worker so
`that the combinations of sequences can be
`selected and set up at the start of work. Id. at ¶
`[0036].
`See claim element 1[a]
`See claim element 1[b].
`
`See claim element 1[c].
`
`See claim element 1[d].
`
`
`See claim element 1[e].
`
`
`See claim elements 1[g] and 1[i].
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`13[g]
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`13[i]
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`a bounce mode whereby the robot
`travels substantially in a direction
`away from an obstacle after
`encountering the obstacle;
`whereby said control system is
`configured to alternate into said
`obstacle following mode after a
`predetermined number of sensor
`interactions,
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`9
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`See claim element 1[h].
`
`Ueno at [0014] states that “[t]ravel modes can
`be suitable combined” and that it alternates
`into “border-following” after a random travel
`event.
`Ueno at [0023] states that the border-
`following travel pattern “is started when the
`side sensor 25L detects the boundary such as
`a wall etc. and is continued for a planned time
`from then.” See also id. at ¶ [0024].
`
`Ueno at [0027] also teaches that the random
`travel can be “repeated a planned number of
`times” before entering spiral mode. Ueno at
`[0028]-[0032] discusses keeping track of the
`number of sensor interactions for switching
`modes.
`
`The sequences in Ueno at [0035]-[0037] also
`perform border following after a set number
`of sensor interactions. Each of the other
`modes is ended by a sensor interaction, and
`that governs the sequence described.
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`4833-4448-3405.v1
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`Element
`
`The ‘490 Patent
`
`1[a]
`
`A mobile robot comprising:
`
`1[b]
`
`means for moving the robot over
`a surface;
`
`1[c]
`
`an obstacle detection sensor;
`
`Presence of each limitation in U.S. Patent
`No. 6,076,025 (Ueno ‘025)
`Ueno ‘025 “relates to a mobile robot steering
`method and a controlling device for a mobile
`robot.” Specifically, Ueno ‘025 describes “a
`method which allows the mobile robot to run
`throughout almost the entirety of a given area
`in a shorter period of time and a device for
`implementing the same.” See Ueno ‘025 at
`1:7-12 and Figs. 1 and 2.
`The robot 1 “operates forward running,
`backward running, pausing, and turning
`motions with a pair of caterpillar treads 3, 4
`mounted on right and left sides, respectively,
`of the body 2 of the robot 1.” The caterpillar
`treads 3, 4 are joined to a driving motor, and
`the driving motor drives the caterpillar treads
`3, 4. Id. at 3:42-51, 4:31-35, and Figs. 1 and
`2.
`The robot 1 includes a plurality of supersonic
`sensors for detecting an obstacle without
`contact. For example, “sensors 6R and 6L
`mounted on the front right and left side,
`respectively; sensors 6ML and 6MR mounted
`on the left and right front ends, respectively;
`sensors 6DL and 6DR mounted on the front
`left and right lower side, respectively; and
`sensors 6SL and 6SR mounted on the left and
`right sides, respectively, of the robot 1.” Id.
`at 3:56-63 and Figs. 1-3.
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`The robot 1 also includes a contact sensor 5A
`that can sense pressure upon touching an
`obstacle, and thus can detect the presence of
`an obstacle. Id. at 3:52-55, 4:31-38, and Fig.
`2.
`
`Although supersonic sensors are described as
`being preferable to detect obstacles, Ueno
`‘025 notes that other types of sensors, such as
`optical sensors, can be used to detect
`obstacles. Id. at 3:63-64.
`FIG. 2 is a block diagram showing hardware
`structure of the robot. The hardware
`structure includes a controller 7 including a
`CPU 8. Id. at 4:24-31 and Figs. 1 and 2.
`
`The control device 7, as illustrated in Fig. 2,
`is connected to right motor 14, left motor 15,
`right brake 12, left brake 13, and sensors 5A
`and 6. Id. at 4:24-43 and Fig. 2.
`
`Further, Ueno ‘025 describes that the CPU 8
`determines the actions of the drive system
`(which includes the right motor 14 and the
`left motor 15) in response to input signals
`received from the supersonic sensor group 6
`and the contact sensor 5A. Id. at 4:52-56.
`“In this arrangement, the CPU 8 is responsive
`to the inputs from the supersonic sensor group
`6 and the contact sensor [5]A (referred all-
`inclusively to as "sensors" hereinafter) for
`
`1[d]
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`and a control system operatively
`connected to said obstacle
`detection sensor and said means
`for moving;
`
`1[e]
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`said control system configured to
`operate the robot in a plurality of
`operational modes and to select
`from among the plurality of
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`modes in real time in response to
`signals generated by the obstacle
`detection sensor,
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`1[f]
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`said plurality of operational
`modes comprising: a spot-
`coverage mode whereby the
`
`determining the action of a drive system
`including the right motor 14 and the left motor
`15. The forward running, backward running,
`pausing, and turning motions of the robot are
`independently controlled, as the functions of
`their corresponding modules, by the CPU 8.”
`Id. at 4:52-59.
`
`“The CPU 8 includes a motion scheme
`selector 18 for assigning the robot to do one of
`a number of predetermined motions in
`conditioned response to the inputs from the
`sensor group 6.” Id. at 4:66-5:2.
`
`
`Ueno ‘025 discloses at least two travel
`patterns: spiral and random. These travel
`patterns are selected based on a detection
`signal received from sensors 6. Id. at 6:19-44
`and Figs. 6A-C.
`For example, Ueno ‘025 discloses that a
`spiral travel pattern is switched to a random
`travel pattern when the robot 1 comes within
`a predetermined distance from a wall, and the
`random travel pattern is switched to a spiral
`travel pattern when a turning operation
`during a random travel pattern is repeated a
`predetermined number of times. Id. at 6:19-
`7:5.
`Fig. 6 illustrates a spiral travel pattern. “In
`the spiral running, the radius of circling is
`gradually increased in turns. This motion is
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`robot operates in an isolated
`area,
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`1[g]
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`1[h]
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`an obstacle following mode
`whereby said robot travels
`adjacent to an obstacle,
`and a bounce mode whereby the
`robot travels substantially in a
`direction away from an obstacle
`after encountering the obstacle,
`
`controlled by a decision which is different
`from those for the forward running, the
`swivel turning, and backward running and
`will be explained later in more detail
`referring to FIG. 14. In brief, the speeds of
`the two treads 3, 4 or the revolution speeds of
`the two motors 14, 15 are calculated so that
`there are no gaps between any two adjacent
`circling tracks of the robot 1. The speeds of
`the two treads 3, 4 or the revolution speeds of
`the two motors 14, 15 are then updated for
`increasing the radius of circling in turns.” Id.
`at 6:24-34 and Fig. 6.
`
`Fig. 6c illustrates that the spiral travel pattern
`is performed in an isolated portion of area A.
`Id. at Fig. 6c.
`See above under the “Obviousness” section.
`
`“The random pattern running motion includes
`first turning from the forward direction by a
`predetermined angle to run away from the
`boundary, running straight forward, then
`repeating the turning motion and the straight
`forward running motion whenever the
`boundary is detected.” Id. at 2:17-22.
`
`“When the robot 1 comes close to the wall B
`and any supersonic sensor 6 detects that the
`robot 1 is at about a predetermined distance
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`1[i]
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`2
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`from the wall B, the turning motion,
`explained with reference to FIGS. 5A and
`5B, starts. For example, when the current
`distance of the robot 1 from the wall B is
`smaller than the predetermined distance at
`the moment of the detection of the wall B,
`the robot 1 immediately stops its forward
`running, moves backward a predetermined
`distance if required, and performs a swivel
`turn through 135 degrees (or any other
`desired angle) before resuming a forward
`running to move away from the wall B.” Id.
`at 6:47-57.
`See above under the “Obviousness” section.
`
`See above under the “Obviousness” section.
`
`See above regarding claim element 1[f].
`
`The robot 1 in Ueno ‘025 is described to
`include a contact sensor 5A that detects an
`
`wherein, when in the obstacle
`following mode, the robot travels
`adjacent to an obstacle for a
`distance at least twice the work
`width of the robot.
`A mobile robot according to
`claim 1 in which said control
`system is configured to operate
`first in said spot-coverage mode,
`then alternate operation between
`said obstacle following mode
`and said bounce mode.
`A mobile robot according to
`claim 2 in which said spot-
`coverage mode comprises
`substantially spiral movement.
`A mobile robot according to
`claim 1, whereby said obstacle
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`13[a]
`13[b]
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`13[c]
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`13[d]
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`13[e]
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`detection sensor comprises a
`tactile sensor.
`A mobile robot according to
`claim 7, whereby said obstacle
`detection sensor further
`comprises an IR sensor.
`
`The mobile robot according to
`claim 1, further comprising a
`means for manually selecting an
`operational mode.
`
`A mobile robot comprising:
`means for moving the robot over
`a surface;
`an obstacle detection sensor;
`
`and a control system operatively
`connected to said obstacle
`detection sensor and said means
`for moving;
`said control system configured to
`operate the robot in a plurality of
`operational modes and to select
`from among the plurality of
`
`obstacle. Id. at 3:51-55, 4:31-35, and Fig. 2.
`
`Ueno ‘025 describes that optical sensors can
`be used for detecting an obstacle without
`contact. Id. at 3:56-64.
`
`Also see above under the “Obviousness”
`section.
`Ueno ‘025 describes that the spiral running
`process is started by a command from an
`operator of the robot 1 and that the operator
`of the robot 1 can select either distance D or
`time T as a parameter before the robot 1
`starts traveling in a spiral direction. Id. at
`7:7-10 and 11:51-53.
`
`Also see above under the “Obviousness”
`section.
`See claim element 1[a]
`See claim element 1[b].
`
`See claim element 1[c].
`
`See claim element 1[d].
`
`
`See claim element 1[e].
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`13[f]
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`13[g]
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`13[i]
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`modes in real time in response to
`signals generated by the obstacle
`detection sensor
`said plurality of operational
`modes comprising: an obstacle
`following mode whereby said
`robot travels adjacent to an
`obstacle for a distance at least
`twice the work width of the robot
`and
`a bounce mode whereby the
`robot travels substantially in a
`direction away from an obstacle
`after encountering the obstacle;
`whereby said control system is
`configured to alternate into said
`obstacle following mode after a
`predetermined number of sensor
`interactions,
`
`See claim elements 1[g] and 1[i].
`
`See claim element 1[h].
`
`See above under the “Obviousness” section.
`
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`Element
`
`The ‘490 Patent
`
`1[a]
`
`A mobile robot comprising:
`
`1[b]
`
`means for moving the robot over
`a surface;
`
`1[c]
`
`an obstacle detection sensor;
`
`Presence of each limitation in U.S. Patent
`No. 5,109,566 (“Kobayashi”)
`Kobayashi describes “a self-running cleaning
`apparatus which cleans a room in a self-
`running manner.” See Kobayashi at 1:66-2:6
`and Figs. 1-3.
`Kobayashi describes that the main body of
`the cleaning apparatus includes driving
`wheels 15 and 16 that are driven by a moving
`motor 18 through a driving part 17.
`Specifically, Kobayashi describes that the
`drive part 17 is rotated by a steering motor 23
`through a steering shaft 21 and a steering
`gear 22, and the moving direction of the
`cleaning apparatus is varied. Kobayashi also
`describes free wheels 19 and 20 that are
`mounted on the bottom of the main body 1 of
`the cleaning apparatus. Id. at 4:57-63 and
`Fig. 1.
`The cleaning apparatus includes “remote type
`sensing devices (infrared or ultrasonic type)
`or contact type (limit switches or pressure
`sensors)” that detect obstacles so as to allow
`the cleaning apparatus to change direction in
`response to the detection of the obstacles. Id.
`at 2:51-54 and Fig. 1.
`
`For example, the cleaning apparatus includes
`a plurality of ultrasonic sensors 27 and 28
`and a touch sensor for detecting obstacles.
`Id. at 5:12-25.
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`17
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`4833-4448-3405.v1
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`1[d]
`
`and a control system operatively
`connected to said obstacle
`detection sensor and said means
`for moving;
`
`1[e]
`
`said control system configured to
`operate the robot in a plurality of
`operational modes and to select
`from among the plurality of
`modes in real time in response to
`signals generated by the obstacle
`detection sensor,
`
`FIG. 5 is a block diagram of a control
`apparatus that includes a main processor 40
`and subprocessors 41, 42, 43, and 44. Id. at
`3:48-49 and 6:8-13.
`
`“Detected signals from the ultrasonic
`distance sensors 27 and 28 and the touch
`sensor of the bumper 29 are input to the
`subprocessor 42 for detecting the obstacles
`through an amplifier 47. The subprocessor 43
`for controlling the moving motor 18 is
`connected to the motor control circuit 48 to
`which the moving motor 18 and the rotary
`encoder 24 are connected.” Specifically,
`Kobayashi describes that the subprocessors
`43 and 44 serve as controllers for moving the
`cleaning apparatus. Id. at 6:20-35 and Fig. 5.
`“Moreover, when an obstacle 105 is detected
`by the ultrasonic distance sensor 27 or 28 or
`the touch sensor of the bumper 29, a detected
`signal is output from the ultrasonic distance
`sensor 27 or 28 and/or the touch sensor of the
`bumper 29. The detected signal is received by
`the main processor 40 through the
`subprocessor 42, and the block on which the
`main body can not run due to the obstacle 105
`is also identified as a passed block. The main
`processor 40, in addition to the above-
`mentioned basic operation, determines a
`moving path in a manner that the main body 1
`does not come on the block which was already
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`18
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`1[f]
`
`said plurality of operational
`modes comprising: a spot-
`coverage mode whereby the
`robot operates in an isolated
`area,
`
`passed.” Id. at 7:21-32 and Fig. 6.
`
`
`Kobayashi discloses at least two travel
`modes: along-wall and bounce. These travel
`modes are selected based on a detection
`signal received from sensors. For example,
`Kobayashi discloses that the cleaning
`apparatus turns 180 degrees whenever it
`arrives in front of a wall or any other an
`obstacle, and “when the ultrasonic distance
`sensors 27 and 28 detect an obstacle, the
`main body 1 runs on the basis of the "along-
`wall" operation.” Id. at 7:39-54, 8:53-56, and
`Fig. 6.
`
`The selection of a mode happens in “real
`time” because the selection happens in
`response to a signal received from the
`sensors.
`Kobayashi describes performing a cleaning
`operation in an isolated region. For example,
`Kobayashi describes that a zone to be cleaned
`is identified by moving the main body 1, and
`then the main body 1 is moved along a path
`M to be cleaned. Further, Kobayashi
`describes that “[t]he main body 1 runs along
`the path M2 and cleans the zone surrounded
`by the path M. The cleaning operation is
`finished at the position N. Then the main
`body 1 returns to the starting position B via a
`position O in a similar manner to that
`
`19
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`4833-4448-3405.v1
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`20
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`1[g]
`
`an obstacle following mode
`whereby said robot travels
`adjacent to an obstacle,
`
`1[h]
`
`and a bounce mode whereby the
`robot travels substantially in a
`direction away from an obstacle
`after encountering the obstacle,
`
`described in the second embodiment (step D,
`E, F).” Id. at 13:31-56 and Figs. 12 and 18.
`
`Also, see above under the “Obviousness”
`section.
`“When the main body 1 arrives at the
`position D of a corner of the obstacle 105, the
`main body 1 can run to the west which has
`the highest priority. Consequently, the main
`body 1 turns to the right direction and runs to
`the west along the obstacle 105.” Id. at 7:50-
`54 and Figs. 6 and 7.
`
`“"Along-wall" operation represents to move
`along a wall or along an obstacle with a
`predetermined inte[r]val therebetween. In the
`along-wall operation, the main body 1 travels
`along the wall on the basis of the detected
`signals of the ultrasonic distance sensors 27
`and 28.” Id. at 8:39-44 and Figs. 6 and 7.
`“When the main body 1 arrives at a position
`C which is in front of the wall 104, since the
`ultrasonic distance sensor 27 detects the wall
`104, the main body 1 does not run forward.
`Whereat the main body 1 turns by 180°, and
`runs to the south, because the south is given
`priority over east. Then the main body 1
`arrives in front of the obstacle 105.
`Subsequently, the main body 1 turns
`counterclockwise by 180° and runs to the
`north. As mentioned above, the main body 1
`
`20
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`1[i]
`
`2
`
`3
`
`7
`
`turns by 180° whenever it arrives in front of
`the wall or the obstacle.” Id. at 7:39-49 and
`Figs. 6 and 7. See also id. at 7:55-61 and
`10:56-59.
`Fig. 6 illustrates that the cleaning apparatus
`follows a wall from one end of a room to
`another end until an obstacle is detected. For
`example, the length of a room R1 in
`Kobayashi is at least twice the work width of
`the cleaning apparatus. In an along-wall
`travel mode, the cleaning apparatus would
`travel at least twice the work width of the
`cleaning apparatus to cover the length of the
`room. Id. at 7:50-54, 8:39-44, and Fig. 6.
`
`Also see above under the “Obviousness”
`section.
`See above under the “Obviousness” section.
`
`See above under the “Obviousness” section.
`
`The cleaning apparatus includes “remote type
`sensing devices (infrared or ultrasonic type)
`or contact type (limit switches or pressure
`
`wherein, when in the obstacle
`following mode, the robot travels
`adjacent to an obstacle for a
`distance at least twice the work
`width of the robot.
`
`A mobile robot according to
`claim 1 in which said control
`system is configured to operate
`first in said spot-coverage mode,
`then alternate operation between
`said obstacle following mode
`and said bounce mode.
`A mobile robot according to
`claim 2 in which said spot-
`coverage mode comprises
`substantially spiral movement.
`A mobile robot according to
`claim 1, whereby said obstacle
`detection sensor comprises a
`
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`8
`
`12
`
`13[a]
`13[b]
`
`13[c]
`
`13[d]
`
`13[e]
`
`tactile sensor.
`
`A mobile robot according to
`claim 7, whereby said obstacle
`detection sensor further
`comprises an IR sensor.
`
`The mobile robot according to
`claim 1, further comprising a
`means for manually selecting an
`operational mode.
`
`A mobile robot comprising:
`means for moving the robot over
`a surface;
`an obstacle detection sensor;
`
`and a control system operatively
`connected to said obstacle
`detection sensor and said means
`for moving;
`said control system configured to
`operate the robot in a plurality of
`operational modes and to select
`
`sensors)” that detect obstacles so as to allow
`the cleaning apparatus to change direction in
`response to the detection of the obstacles. Id.
`at 2:51-54 and Fig. 1.
`The cleaning apparatus includes “remote type
`sensing devices (infrared or ultrasonic type)
`or contact type (limit switches or pressure
`sensors)” that detect obstacles so as to allow
`the cleaning apparatus to change direction in
`response to the detection of the obstacles. Id.
`at 2:51-54 and Fig. 1.
`Kobayashi describes that the cleaning
`apparatus includes an operation switch 38
`which can be switched from a manual mode
`to an automatic operation mode. Id. at 13:35-
`51 and Figs. 1 and 3.
`
`Also, see above under the “Obviousness”
`section.
`See claim element 1[a]
`See claim element 1[b].
`
`See claim element 1[c].
`
`See claim element 1[d].
`
`
`See claim element 1[e].
`
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`13[f]
`
`13[g]
`
`13[i]
`
`42[a]
`42[b]
`
`42[c]
`42[d]
`
`from among the plurality of
`modes in real time in response to
`signals generated by the obstacle
`detection sensor
`said plurality of operational
`modes comprising: an obstacle
`following mode whereby said
`robot travels adjacent to an
`obstacle for a distance at least
`twice the work width of the robot
`and
`a bounce mode whereby the
`robot travels substantially in a
`direction away from an obstacle
`after encountering the obstacle;
`whereby said control system is
`configured to alternate into said
`obstacle following mode after a
`predetermined number of sensor
`interactions,
`A mobile robot comprising:
`means for moving the robot over
`a surface;
`an obstacle detection sensor;
`a cliff sensor;
`
`See claim elements 1[g] and 1[i].
`
`See claim element 1[h].
`
`See above under the “Obviousness” section.
`
`See claim element 1[a]
`See claim element 1[b].
`
`See claim element 1[c].
`See 5:26-32 (“The kind of floor surface such
`as a carpet or a bare floor and the state
`thereof such as a concave or a convex of the
`floor are detected by reflection of ultrasonic
`waves from the floor surface. Namely, the
`floor sensor 30 serves as means for
`deter
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