掃地機器人訴訟由iRobot興起，大概也只有他們有能力在全球開戰，相關報導如：掃地機器專利訴訟報告 - 從專利瞭解iRobot技術與一些歷史（http://enpan.blogspot.tw/2017/07/irobot.html）
iRobot多角度展開訴訟，立即而快速傷害對手的方式之一就是ITC，相關報導節錄：
"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"
在ITC的爭議中，松騰實業宣稱他們是唯一在此訴訟中存活的公司，相關報導：
http://www.matsutek.com.tw/news_detail.html?id=87
http://www.matsutek.com.tw/news_detail.html?id=86
iRobot的ITC訴狀：
http://www.itcblog.com/images/iRobotcomplaintapril2017.pdf
系爭專利與相關權利要求：
訴狀中提到系爭專利在國外的專利經挑戰後沒有被駁回，強調專利性，並仔細比對各個產品與系爭專利範圍的對照，以及各被告產品在多個地方法院的訴訟關係，這或許在需要完整資訊與快速判決的ITC訴訟中有益處：
從此訴狀可知，Matsutek為Bissell掃地機器人的製造商，相關被告產品為1974, 1605 Bissell Robot Vacuum Cleaner，Amazon網站有資料：
Matsutek在地方法院（UNITED STATES DISTRICT COURT DISTRICT OF MASSACHUSETTS）提出反訴：
http://iknow.stpi.narl.org.tw/Post/Files/complaint/complaint_pclass_14055_Matsutek_Enterprises_v_iRobot.pdf
被告後，反過來提出反將一軍主要武器還是專利，除了直接談和解外，告回去是反制告訴最有效的方法之一。
案件資訊：
原告：MATSUTEK ENTERPRISES CO., LTD
被告：IROBOT CORPORATION
系爭專利：US8,310,684（專利權人：工研院）
系爭專利US8,310,684關於一種裝置定位的系統，用以估計裝置的姿態，並建立地圖，其中包括了慣性感測器、視覺感測器、控制器，用以運算裝置運行的姿態，如位置與速度等，並且不會重複運算。
Claim 1：
1. A system for localizing a carrier, estimating a posture of the carrier and establishing a map, comprising:
an inertial measurement device, for measuring a motion state and a rotation state of the carrier;
a vision measurement device, disposed on a surface of the carrier for picturing at least an environment feature in an indoor environment where the carrier locates; and
a controller, for controlling the inertial measurement device and the vision measurement device, receiving a measuring result from the inertial measurement device and a measuring result from the vision measurement device to estimate a posture information, a location information and a velocity information of the carrier and establishing a map having the environment feature;
wherein the controller estimates based on a corrected measuring result of one of the inertial measurement device and the vision measurement device, then the controller controls the other one of the inertial measurement device and the vision measurement device to measure and accordingly correct the posture information, the location information and the velocity information of the carrier and the map;
wherein, before controlling the inertial measurement device to measure, the controller estimates the posture information, the location information and the velocity information of the carrier;
if the controller already calculated the corrected measuring result of the vision measurement device before the controller estimates, the controller estimates based on the corrected measuring result of the vision measurement device;
under control of the controller, the inertial measurement device measures the motion state and the rotation state of the carrier and sends the measuring result back to the controller; and
the controller corrects the posture information, the location information and the velocity information based on the measuring result of the inertial measurement device.
訴狀列舉被告iRobot的產品中的地圖功能，以及對照在Youtube的展示影片，算是頗有勝算的訴訟，當然也是給iRobot和解的機會。
目前進度：
iRobot在其網站上公佈「和解」的訊息，同時解除對Matsutek等公司（倒也不是唯一的被告，但有可能是上下游連帶關係）在地方法院與ITC的訴訟，我想也是訴訟者想要的結果之一，藉此宣告和解是選項之一：
"As part of the agreement, iRobot has agreed to remove Black & Decker from the pending U.S. International Trade Commission ("ITC") investigation No. 337-TA-1057 ("In the Matter of Certain Robotic Vacuum Cleaning Devices and Components Thereof Such as Spare Parts") and the United States District Court of Massachusetts Case No. 1:17-cv-10647. The actions involving Bissell Homecare, Inc., bObsweep, Inc., bObsweep USA, Hoover, Shenzhen ZhiYi Technology Co., Ltd., Matsutek Enterprises Co., Ltd., and Shenzhen Silver Star Intelligent Technology Co., Ltd. will proceed. An evidentiary hearing in the ITC investigation is scheduled for March 2018."
http://media.irobot.com/2017-12-18-iRobot-Announces-Agreement-with-Black-Decker-in-Patent-Dispute
my two cents (updated on March 14, 2018):
（我的表面看法）或許對抗國際大廠的專利僅一件，專利範圍不見得最優（但可能正中下懷），卻是成為和解的主要因子之一，我想，堅持下去是理由之一，也保住了北美市場。
資料參考：
https://www.lexology.com/library/detail.aspx?g=56a85694-b392-4199-8de6-a91adf5ad9e4
Ron
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