Control System for Movable Additive Manufacturing

A method of depositing sequential layers of material to form a structure at a work site using a mobile implement system having a linkage assembly including a nozzle, the method comprising:

• accessing a site map of the work site;
• accessing a model of the structure to be manufactured;
• accessing a kinematic model and operating characteristics of the mobile implement system;
• determining a plurality of potential poses of the mobile implement system at the work site based upon the site map and the model of the structure;
• for each potential pose, determining a plurality of potential paths of the nozzle to form at least a portion of the structure by depositing a plurality of sequential layers of material based upon the site map, the model of the structure, the kinematic model and operating characteristics of the mobile implement system;
• selecting a desired pose of the mobile implement system from the plurality of potential poses and a desired path of the nozzle from the plurality of potential paths;
• determining a first sequence and rate of operation of the mobile implement system based upon the desired path of the nozzle and the kinematic model and the operating characteristics of the mobile implement system, the first sequence and rate of operation of the mobile implement system causing the nozzle to follow the desired path while the mobile implement system is at the desired pose;
• generating a movement command to move the mobile implement system towards the desired pose;
• determining a current pose of the mobile implement system at the work site based upon implement system pose signals from an implement system pose sensor indicative of a pose of the mobile implement system;
• determining a difference between the current pose and the desired pose;
• generating a modified sequence and rate of operation of the mobile implement system based upon at least the difference between the current pose and the desired pose, the modified sequence and rate of operation of the mobile implement system causing the nozzle to follow the desired path while the mobile implement system is at the current pose;
• and
• generating command instructions to move the nozzle along the desired path to deposit the plurality of sequential layers of material along the desired path to form the at least a portion of the structure.

A movable machine comprising:

• a traction device configured to propel the movable machine about a work site;
• an implement system associated with the movable machine and having a linkage assembly including a nozzle, the nozzle being configured to deposit sequential layers of material to form a structure;
• an implement system pose sensor for generating implement system pose signals indicative of a pose of the implement system;
• a controller configured to:
• access a site map of the work site;
• access a model of the structure to be manufactured;
• access a kinematic model and operating characteristics of the implement system;
• determine a plurality of potential poses of the implement system at the work site based upon the site map and the model of the structure;
• for each potential pose, determine a plurality of potential paths of the nozzle to form at least a portion of the structure by depositing a plurality of sequential layers of material based upon the site map, the model of the structure, the kinematic model and operating characteristics of the implement system;
• select a desired pose of the implement system from the plurality of potential poses and a desired path of the nozzle from the plurality of potential paths;
• determine a first sequence and rate of operation of the implement system based upon the desired path of the nozzle and the kinematic model and the operating characteristics of the implement system, the first sequence and rate of operation of the implement system causing the nozzle to follow the desired path while the implement system is at the desired pose;
• generate a movement command to move the implement system towards the desired pose;
• determine a current pose of the implement system at the work site based upon the implement system pose signals;
• determine a difference between the current pose and the desired pose;
• generate a modified sequence and rate of operation of the implement system based upon at least the difference between the current pose and the desired pose, the modified sequence and rate of operation of the implement system causing the nozzle to follow the desired path while the implement system is at the current pose;
• and
• generate command instructions to move the nozzle along the desired path to deposit the sequential layers of material along the desired path to form the at least a portion of the structure.