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公开(公告)号：US20180348735A1
公开(公告)日：2018-12-06
申请号：US15613070
申请日：2017-06-02
Applicant: AUTODESK, INC.
Inventor： Evan Patrick ATHERTON , David THOMASSON , Maurice Ugo CONTI , Heather KERRICK , Nicholas COTE , Hui LI
IPC: G05B19/4099 , B22D23/00 , B33Y50/00 , B23K9/04 , B23K9/095
CPC classification number: G05B19/4099 , B22D23/003 , B23K9/044 , B33Y50/00 , G05B2219/49023
Abstract: An agent engine allocates a collection of agents to scan the surface of an object model. Each agent operates autonomously and implements particular behaviors based on the actions of nearby agents. Accordingly, the collection of agents exhibits swarm-like behavior. Over a sequence of time steps, the agents traverse the surface of the object model. Each agent acts to avoid other agents, thereby maintaining a relatively consistent distribution of agents across the surface of the object model over all time steps. At a given time step, the agent engine generates a slice through the object model that intersects each agent in a group of agents. The slice associated with a given time step represents a set of locations where material should be deposited to fabricate a 3D object. Based on a set of such slices, a robot engine causes a robot to fabricate the 3D object.
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公开(公告)号：US20180307207A1
公开(公告)日：2018-10-25
申请号：US15495947
申请日：2017-04-24
Applicant: AUTODESK, INC.
Inventor： Evan ATHERTON , David THOMASSON , Maurice Ugo CONTI , Heather KERRICK , Nicholas COTE
IPC: G05B19/4099 , B23K9/04 , B29C67/00 , B33Y10/00 , B33Y50/02
CPC classification number: G05B19/4099 , B23K9/04 , B29C67/0088 , B33Y10/00 , B33Y50/02
Abstract: A robot system is configured to fabricate three-dimensional (3D) objects using closed-loop, computer vision-based control. The robot system initiates fabrication based on a set of fabrication paths along which material is to be deposited. During deposition of material, the robot system captures video data and processes that data to determine the specific locations where the material is deposited. Based on these locations, the robot system adjusts future deposition locations to compensate for deviations from the fabrication paths. Additionally, because the robot system includes a 6-axis robotic arm, the robot system can deposit material at any locations, along any pathway, or across any surface. Accordingly, the robot system is capable of fabricating a 3D object with multiple non-parallel, non-horizontal, and/or non-planar layers.
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公开(公告)号：US20180307206A1
公开(公告)日：2018-10-25
申请号：US15495944
申请日：2017-04-24
Applicant: AUTODESK, INC.
Inventor： Evan ATHERTON , David THOMASSON , Maurice Ugo CONTI , Heather KERRICK , Nicholas COTE
IPC: G05B19/4099 , B33Y50/02 , B29C67/00
CPC classification number: G05B19/4099 , B29C64/386 , B33Y50/02 , G05B2219/40557 , G05B2219/49007 , G05B2219/49023
Abstract: A robot system is configured to fabricate three-dimensional (3D) objects using closed-loop, computer vision-based control. The robot system initiates fabrication based on a set of fabrication paths along which material is to be deposited. During deposition of material, the robot system captures video data and processes that data to determine the specific locations where the material is deposited. Based on these locations, the robot system adjusts future deposition locations to compensate for deviations from the fabrication paths. Additionally, because the robot system includes a 6-axis robotic arm, the robot system can deposit material at any locations, along any pathway, or across any surface. Accordingly, the robot system is capable of fabricating a 3D object with multiple non-parallel, non-horizontal, and/or non-planar layers.
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公开(公告)号：US20190337161A1
公开(公告)日：2019-11-07
申请号：US16513548
申请日：2019-07-16
Applicant: AUTODESK, INC.
Inventor： Evan ATHERTON , David THOMASSON , Heather KERRICK , Maurice CONTI
Abstract: One embodiment of the present invention sets forth a technique for determining a location of an object that is being manipulated or processed by a robot. The technique includes capturing a digital image of the object while the object is disposed by the robot within an imaging space, wherein the digital image includes a direct view of the object and a reflected view of the object, detecting a visible feature of the object in the direct view and the visible feature of the object in the reflected view, and computing a first location of the visible feature in a first direction based on a position of the visible feature in the direct view. The technique further includes computing a second location of the visible feature in a second direction based on a position of the visible feature in the reflected view and causing the robot to move the object to a processing station based at least in part on the first location and the second location.
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公开(公告)号：US20180341730A1
公开(公告)日：2018-11-29
申请号：US15607289
申请日：2017-05-26
Applicant: AUTODESK, INC.
Inventor： Evan Patrick ATHERTON , David THOMASSON , Maurice Ugo CONTI , Heather KERRICK , Nicholas COTE
Abstract: A robotic assembly cell is configured to generate a physical mesh of physical polygons based on a simulated mesh of simulated triangles. A control application configured to operate the assembly cell selects a simulated polygon in the simulated mesh and then causes a positioning robot in the cell to obtain a physical polygon that is similar to the simulated polygon. The positioning robot positions the polygon on the physical mesh, and a welding robot in the cell then welds the polygon to the mesh. The control application captures data that reflects how the physical polygon is actually positioned on the physical mesh, and then updates the simulated mesh to be geometrically consistent with the physical mesh. In doing so, the control application may execute a multi-objective solver to generate an updated simulated mesh that meets specific design criteria.
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Patent Agency Ranking
公开(公告)号：US20180304550A1
公开(公告)日：2018-10-25
申请号：US15495945
申请日：2017-04-24
Applicant: AUTODESK, INC.
Inventor： Evan ATHERTON , David THOMASSON , Maurice Ugo CONTI , Heather KERRICK , Nicholas COTE
CPC classification number: B29C67/0088 , B23K9/04 , B25J11/005 , B33Y10/00 , B33Y50/02 , G05B19/29 , G05B2219/40557 , G05B2219/45135
Abstract: A robot system is configured to fabricate three-dimensional (3D) objects using closed-loop, computer vision-based control. The robot system initiates fabrication based on a set of fabrication paths along which material is to be deposited. During deposition of material, the robot system captures video data and processes that data to determine the specific locations where the material is deposited. Based on these locations, the robot system adjusts future deposition locations to compensate for deviations from the fabrication paths. Additionally, because the robot system includes a 6-axis robotic arm, the robot system can deposit material at any locations, along any pathway, or across any surface. Accordingly, the robot system is capable of fabricating a 3D object with multiple non-parallel, non-horizontal, and/or non-planar layers.
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公开(公告)号：US20170151676A1
公开(公告)日：2017-06-01
申请号：US15363956
申请日：2016-11-29
Applicant: Autodesk, Inc.
Inventor： Evan ATHERTON , David THOMASSON , Heather KERRICK , Maurice CONTI
CPC classification number: B25J13/088 , B25J11/00 , H04N5/2256
Abstract: One embodiment of the present invention sets forth a technique for determining a location of an object that is being manipulated or processed by a robot. The technique includes capturing a digital image of the object while the object is disposed by the robot within an imaging space, wherein the digital image includes a direct view of the object and a reflected view of the object, detecting a visible feature of the object in the direct view and the visible feature of the object in the reflected view, and computing a first location of the visible feature in a first direction based on a position of the visible feature in the direct view. The technique further includes computing a second location of the visible feature in a second direction based on a position of the visible feature in the reflected view and causing the robot to move the object to a processing station based at least in part on the first location and the second location.
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公开(公告)号：US20240255917A1
公开(公告)日：2024-08-01
申请号：US18629686
申请日：2024-04-08
Applicant: AUTODESK, INC.
Inventor： Evan Patrick ATHERTON , David THOMASSON , Maurice Ugo CONTI , Heather KERRICK , Nicholas COTE , Hui LI
IPC: G05B19/4099 , B22D23/00 , B23K9/04 , B33Y50/00
CPC classification number: G05B19/4099 , B22D23/003 , B33Y50/00 , B23K9/044 , G05B2219/49023 , G06T2219/008
Abstract: An agent engine allocates a collection of agents to scan the surface of an object model. Each agent operates autonomously and implements particular behaviors based on the actions of nearby agents. Accordingly, the collection of agents exhibits swarm-like behavior. Over a sequence of time steps, the agents traverse the surface of the object model. Each agent acts to avoid other agents, thereby maintaining a relatively consistent distribution of agents across the surface of the object model over all time steps. At a given time step, the agent engine generates a slice through the object model that intersects each agent in a group of agents. The slice associated with a given time step represents a set of locations where material should be deposited to fabricate a 3D object. Based on a set of such slices, a robot engine causes a robot to fabricate the 3D object.
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公开(公告)号：US20210208563A1
公开(公告)日：2021-07-08
申请号：US17209065
申请日：2021-03-22
Applicant: AUTODESK, INC.
Inventor： Evan ATHERTON , David THOMASSON , Maurice Ugo CONTI , Heather KERRICK , Nicholas COTE
IPC: G05B19/29 , B23K9/04 , B33Y10/00 , B33Y50/02 , G05B19/4099 , B29C64/386
Abstract: A robot system is configured to fabricate three-dimensional (3D) objects using closed-loop, computer vision-based control. The robot system initiates fabrication based on a set of fabrication paths along which material is to be deposited. During deposition of material, the robot system captures video data and processes that data to determine the specific locations where the material is deposited. Based on these locations, the robot system adjusts future deposition locations to compensate for deviations from the fabrication paths. Additionally, because the robot system includes a 6-axis robotic arm, the robot system can deposit material at any locations, along any pathway, or across any surface. Accordingly, the robot system is capable of fabricating a 3D object with multiple non-parallel, non-horizontal, and/or non-planar layers.
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公开(公告)号：US20190084158A1
公开(公告)日：2019-03-21
申请号：US15709361
申请日：2017-09-19
Applicant: AUTODESK, INC.
Inventor： Evan ATHERTON , David THOMASSON , Heather KERRICK , Hui LI
IPC: B25J9/16 , G05B19/048 , G05B19/418
Abstract: A robot system models the behavior of a user when the user occupies an operating zone associated with a robot. The robot system predicts future behaviors of the user, and then determines whether those predicted behaviors interfere with anticipated behaviors of the robot. When such interference may occur, the robot system generates dynamics adjustments that can be implemented by the robot to avoid such interference. The robot system may also generate dynamics adjustments that can be implemented by the user to avoid such interference.
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