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公开(公告)号：US20230278213A1
公开(公告)日：2023-09-07
申请号：US18152980
申请日：2023-01-11
Applicant: AUTODESK, INC.
Inventor： Yoshihito Yotto KOGA , Sachin CHITTA , Heather KERRICK
CPC classification number: B25J9/1664 , B25J9/1687 , B25J9/1612 , B25J9/163 , B25J9/161 , B25J9/1671 , B25J19/023
Abstract: Techniques are disclosed for controlling robotic systems to perform assembly tasks. In some embodiments, a robot control application receives sensor data associated with one or more parts. The robot control application applies a grasp perception model to predict one or more grasp proposals indicating regions of the one or more parts that a robotic system can grasp. The robot control application causes the robotic system to grasp one of the parts based on a corresponding grasp proposal. If the pose of the grasped part needs to be changed in order to assemble the part with one or more other parts, the robot control application determines movements of the robotic system required to re-grasp the part in a different pose. In addition, the robot control application determines movements of the robot system for assembling the part with the one or more other parts based on results of a motion planning technique.
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公开(公告)号：US20180349527A1
公开(公告)日：2018-12-06
申请号：US15995003
申请日：2018-05-31
Applicant: AUTODESK, INC.
Inventor： Hui LI , Evan Patrick ATHERTON , Erin BRADNER , Nicholas COTE , Heather KERRICK
Abstract: One embodiment of the present invention sets forth a technique for generating simulated training data for a physical process. The technique includes receiving, as input to at least one machine learning model, a first simulated image of a first object, wherein the at least one machine learning model includes mappings between simulated images generated from models of physical objects and real-world images of the physical objects. The technique also includes performing, by the at least one machine learning model, one or more operations on the first simulated image to generate a first augmented image of the first object. The technique further includes transmitting the first augmented image to a training pipeline for an additional machine learning model that controls a behavior of the physical process.
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公开(公告)号：US20220193912A1
公开(公告)日：2022-06-23
申请号：US17691838
申请日：2022-03-10
Applicant: AUTODESK, INC.
Inventor： Hui LI , Evan Patrick ATHERTON , Erin BRADNER , Nicholas COTE , Heather KERRICK
Abstract: One embodiment of the present invention sets forth a technique for generating simulated training data for a physical process. The technique includes receiving, as input to at least one machine learning model, a first simulated image of a first object, wherein the at least one machine learning model includes mappings between simulated images generated from models of physical objects and real-world images of the physical objects. The technique also includes performing, by the at least one machine learning model, one or more operations on the first simulated image to generate a first augmented image of the first object. The technique further includes transmitting the first augmented image to a training pipeline for an additional machine learning model that controls a behavior of the physical process.
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公开(公告)号：US20200147794A1
公开(公告)日：2020-05-14
申请号：US16667843
申请日：2019-10-29
Applicant: AUTODESK, INC.
Inventor： Heather KERRICK , Erin BRADNER , Hui LI , Evan Patrick ATHERTON , Nicholas COTE
IPC: B25J9/16 , G05B19/4097
Abstract: An assembly engine is configured to generate, based on a computer-aided design (CAD) assembly, a set of motion commands that causes the robot to manufacture a physical assembly corresponding to the CAD assembly. The assembly engine analyzes the CAD assembly to determine an assembly sequence for various physical components to be included in the physical assembly. The assembly sequence indicates the order in which each physical component should be incorporated into the physical assembly and how those physical components should be physically coupled together. The assembly engine further analyzes the CAD assembly to determine different component paths that each physical component should follow when being incorporated into the physical assembly. Based on the assembly sequence and the component paths, the assembly engine generates a set of motion commands that the robot executes to assemble the physical components into the physical assembly.
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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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Patent Agency Ranking
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：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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