PATENT LIABILITY ANALYSIS. Daniel Barrett Sebastian Hening Sandunmalee Abeyratne Anthony Myers

Transcription

1 PATENT LIABILITY ANALYSIS Autonomous Targeting Vehicle (ATV) Daniel Barrett Sebastian Hening Sandunmalee Abeyratne Anthony Myers

2 Autonomous wheeled vehicle with obstacle avoidance Two infrared range finder Single sonic range finder Vision assisted navigation MAIN FEATURES Webcam used to follow targets Allows user input for destination queue Method of dead-reckoning using Kalman filter Sensor data fusion Compass, Accelerometer, Wheel Encoders, GPS 2

3 Patent #1 Autonomous moving apparatus having obstacle avoidance function United States Patent Filing Date: October 11, 2001 Description: An autonomous moving apparatus that moves toward a destination while detecting and avoiding obstacles Horizontal plane scanning radar device to detect a position of an obstacle An obstacle sensor for detecting an obstacle in a space different from the scanning plane of the radar device. 3

4 Patent #1: Doctrine of Equivalents CLAIMS The non-scantype sensor is a set of supersonic sensors, arranged in a semicircular shaped area, or an optical sensor. ATV Onesonic range finder (on webcam) and two IR range finders (on front of vehicle). When obstacledetected, decrease speed. Same functionality. (Seems obvious) Vehicle is only allowed within certain distance of an object When obstacle detected, change direction until no obstacle is detected, then resume movement. Utilizes a specific-configuration detecting element. Same functionality. (Seems obvious) Does not detectspecific features of surrounding objects. 4

5 Robot system with vision sensor United States Patent Filing Date: October 5, 2005 Description: Patent #2 A robot system having a vision system that obtains image data of a working environment of the robot. A system consisting of a control section, imaging section, image processing section, vision controlling section, communication network. 5

6 Patent #2: Literal Infringement CLAIMS Robot system with said control / communication network. Robot has a vision controlling section that makes the imaging section obtain image data at predetermined time intervals. Perform position correctionbased on position data retrieved from imaging section. ATV Same functionality. (Seems obvious) Same functionality. Vision feature of ATV is used to track intended target,but does not indicate position. 6

7 Patent #3 Method and apparatus for reckoning position of moving robot United States Patent Filing Date: October 17, 2006 Description: A method and apparatus for reckoning a position of a moving robot using dead-reckoning and range sensing. The apparatus reckons its position by: Performing dead-reckoning to determine a variation state Determining absolute position by measuring its distance from a fixed object Predicting an optimized current position of the moving robot using said variation state and absolute position. 7

8 Patent #3: Doctrine of Equivalents CLAIMS Dead-reckoningis performed using an encoder and/or gyroscope. Fixedpositions are used in determining absolute position. A Kalman filter calculates the current state using the variation state and the absolute position,using information from an auxiliary sensor. Theauxiliary sensor is either a nearby obstacle sensor, a laser sensor, a distance sensor, or a camera. ATV Dead-reckoningis performed using two wheel encoders, accelerometer, and magnetometer. No fixed positions are used. GPS signal gives approximation of current location. Same functionality. Uses three range finders to determine relative distance to objects. 8

9 Google Maps Copyright Permission guidelines regarding specific use cases: All use of Google Maps and Google Earth and Content MUST provide attribution to Google and our suppliers. Content cannot be scraped or exported from Google Maps or Earth or be saved for offline use. The ATV uses a screenshot of Google Maps for the GUI This is in direction violation of the Google Copyright Licensing the image saved from the Google service is the only option 9

10 Questions? 10