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

IPC: G06F17/50 ,  B25J9/10 ,  A01C7/04

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.

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

IPC: B29C67/00 ,  B23K9/04 ,  B25J11/00 ,  B33Y10/00 ,  B33Y50/02 ,  G05B19/29

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.

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.

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.

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.

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.

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.