為了討論這些專利訴訟的內容（同時包括ITC與地方法院侵權訴訟），也趁機初步瞭解一下"iRobot"的專利現狀，先從美國專利開始。用"iRobot"搜尋美國專利，會看到幾個專利權人："IROBOT CORPORATION"與"IROBOT DEFENSE HOLDINGS, INC."，其中專利權人為"IROBOT CORPORATION"應該是母公司，漸漸地成為家電大廠，目前為止擁有429件美國專利（資料來自USPTO），經查，確實都是一般熟知"iRobot"掃地機器人的相關專利。而分出的"IROBOT DEFENSE HOLDINGS, INC."則是繼續專注軍事用途的事業。
（Gallery of Figures）"IROBOT CORPORATION"為數眾多的"9"與"8"為首的專利，顯見近年積極佈局的企圖，而且主要針對在地上爬行圓盤式的掃地機器人，目前可知美國設計專利有31件，我覺得這類家電除了其中人工智慧、電路設計的發明外，「外觀設計」應該也是重點，甚至可以看出家電產品的演變史。從已公告設計專利來看，"iRobot"是在投身家電掃地機器人後才積極佈局設計專利。一些統計資料由chrome外掛"petapator"形成。
2004年5月5日D510066可以看出掃地機器人的充電基地：
2006年10月31日D556961已經是圓盤形掃地機器人：
2015年2月12日D790141：
US8,854,001為自動引導掃地機器人回到充電基地台的技術：
US8,380,350為利用紅外線（三支）引導掃地機器人航行的技術：
D670877：
US8,368,339也是一個限制機器人航行的技術：
從專利公開資料也可以粗略得出一個公司的發展史，例如，簡單從早期專利US6,263,989（Robotic platform，優先權日溯及1998年3月27日）可知，"iRobot"最早就是以遙控或自走式機器人開始，特別是軍事用途機器人。
US6,845,297：
US8,019,223：
US8,370,985開始有"現代"掃地機器人的前身：
ITC案/侵權訴訟資訊：
原告：IROBOT CORPORATION
系爭產品： Robotic Vacuum Cleaning Devices and Components Thereof
被告：Bissell Homecare, Inc., Grand Rapids, Michigan; Hoover Inc., Glenwillow, Ohio; Royal Appliance Manufacturing Co., Inc. d/b/a TTI Floor Care North America, Inc., Glenwillow, Ohio; Bobsweep, Inc., Canada; Bobsweep USA, Henderson, Nevada; The Black & Decker Corporation, Towson, Maryland; Black & Decker (U.S) Inc., Towson, Maryland; Shenzhen ZhiYi Technology Co., Ltd., d/b/a iLife, China; Matsutek Enterprises Co., Ltd., Taiwan; Suzhou Real Power Electric Appliance Co., Ltd., China; and Shenzhen Silver Star Intelligent Technology Co., Ltd., China. （台灣松騰實業也列為被告）
系爭專利：6,809,490、7,155,308、8,474,090、8,600,553、9,038,233、9,486,924
US6,809,490
這是一個具有障礙偵測器的掃地機器人，當面對地面障礙時，可以提出幾種迴避模式。
1. A mobile robot comprising:
(a) means for moving the robot over a surface;
(b) an obstacle detection sensor;
(c) and a control system operatively connected to said obstacle detection sensor and said means for moving;
(d) 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: a spot-coverage mode whereby the robot operates in an isolated area, 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, and 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.
US7,155,308
此專利揭示掃地機器人發出一個範圍的光線，其中光偵測器接收後，判斷是否有障礙物以迴避此障礙，包括迴避突起障礙與懸崖式障礙。
1. A sensor subsystem for an autonomous robot which rides on a surface, the sensor subsystem comprising:
an optical emitter which emits a directed optical beam having a defined field of emission;
a photon detector having a defined field of view which intersects the field of emission of the emitter at a region; and
a circuit in communication with the detector providing an output when an object is not present in the region thereby re-directing the autonomous robot.
US8,474,090
提出可替換式組件，可以應付幾種掃地時會遇到的障礙。
1. A floor cleaning robot comprising:
a housing and a chassis;
wheels and at least one motor to drive the wheels disposed at least partially within the housing and configured to move the floor cleaning robot across a floor, each of the wheels being attached to the chassis via a respective arm having a distal end and a proximal end;
a control module disposed within the housing and directing movement of the floor cleaning robot across the floor;
at least one sensor for detecting an obstacle and communicating obstacle information to the control module so that the control module can cause the floor cleaning robot to react to the obstacle;
a removable bin disposed at least partially within the housing and configured to receive particulates; and
a first rotating member configured to direct particulates toward the bin,
wherein one of the wheels is rotatably attached to the distal end of each arm, and the proximal end of each arm is pivotably attached to the chassis,
wherein each wheel is biased to an extended position away from the robot chassis by a spring extending between the arm and the robot chassis, and
wherein, during cleaning, the weight of the floor cleaning robot overcomes a force from the spring biasing the wheels to an extended position.
US8,600,553
本案解決掃地機器人運作時會遇到的狀況，提出解決方案，根據各種感測器產生的資訊，執行碰撞、增減速、接觸障礙等反應，例如改變掃地刷的角度。
a drive system configured to maneuver the robot according to a heading setting and a speed setting;
a bump sensor responsive to a collision of the robot with an obstacle in a forward direction; and
a proximity sensor responsive to a potential obstacle forward of the robot;
wherein the drive system is configured to reduce the speed setting in response to a signal from the proximity sensor indicating detection of a potential obstacle, while continuing to advance the robot according to the heading setting;
wherein the drive system is configured to increase the speed setting if the drive system does not receive a subsequent signal indicating the presence of an obstacle while continuing to advance according to the heading setting and the reduced speed setting; and
wherein the drive system is configured to alter the heading setting in response to a signal received from the bump sensor indicating contact with an obstacle.
US9,038,233
本案即實際描述掃地機器人的控制電路與感測功能，包括偵測懸崖式障礙的感測器、障礙感測器，能夠反應地面狀態的掃地刷（主刷、側刷）等元件。
1. A self-propelled floor-cleaning robot comprising
a housing defining a housing perimeter;
a powered primary brush assembly disposed within the housing perimeter and positioned to engage a floor surface, the primary brush assembly being configured to rotate about an axis generally parallel to the floor surface;
a cliff detector carried by the housing and configured to direct a beam toward the floor surface and to respond to a falling edge of the floor surface; and
a powered side brush extending beyond the housing perimeter and positioned to brush floor surface debris from beyond the housing perimeter, the side brush being configured to rotate about an axis generally perpendicular to the floor surface and to rotate in a direction to direct debris toward the robot along a projected direction of movement of the powered primary brush assembly, the side brush having bundles of bristles and being positioned such that the bundles of bristles pass between the cliff detector and the floor surface during a rotation of the side brush around the axis, the bundles of bristles being separated by a gap, the gap being configured to prevent occlusion of the cliff detector beam during at least part of the rotation of the side brush around the axis;
a particulate receptacle positioned to receive and collect particulates brushed from the floor surface by the primary brush assembly and the powered side brush;
an obstacle detector responsive to obstacles encountered by the robot; and
a control circuit in electrical communication with a motor drive and configured to control the motor drive to maneuver the robot about detected obstacles across the floor surface during a floor-cleaning operation.
US9,486,924
這就酷了，是一種可以遠端編程掃地的方法，利用手機產生控制指令，設定行事曆，就從充電完成開始開始掃地巡航。
1. A method of cleaning a room, the method comprising:
transmitting from a cleaning robot to a mobile phone a status of the cleaning robot; and
receiving at the cleaning robot from the mobile phone, in response to an operator command input at the mobile phone and at least in part indicative of a schedule, information including instructions configured to cause a processor of the cleaning robot to execute a cleaning operation in the room according to the schedule, wherein executing the cleaning operation in the room according to the schedule comprises:
leaving a stationary charging device at which the cleaning robot is docked according to the schedule, and
navigating about a floor surface of the room.
被告產品琳瑯滿目，顯然也是很早就佈局的iRobot可以出手的時機，當然也可能低價、多功能的產品陸續出現產生了威脅。
如：Bissell SmartClean Model 1974
技術比對：
從Bissell型錄可得到的智慧巡航功能也成為侵權證據：
（圖案來自訴狀）
從ITC資料來看，iRobot自然是要當局作出有限排除進口、停止進口的命令。
my two cents:
從原告的專利佈局來看，還有捍衛市場佔有率的決心，顯然妥協與和解是被告考慮的措施之一。
JUSTIA找到的ITC資料：
http://regulations.justia.com/regulations/fedreg/2017/05/23/2017-10477.html
iRobot新聞稿：
http://media.irobot.com/2017-04-18-iRobot-Files-ITC-Patent-Infringement-Complaint-Against-Robotic-Vacuum-Cleaner-Products-Including-Robots-Sold-by-Bissell-Hoover-and-Black-Decker
科技產業資訊室訴訟整理：
http://iknow.stpi.narl.org.tw/Post/Read.aspx?PostID=13399
iRobot專利戰爭在中國的報導：
扫地机器专利大战一触即发？美国公司指控3家中国公司侵权（https://mp.weixin.qq.com/s/ojUnaUm7FBysZ3bgaTLFmg）
Ron
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