Systems and methods for precise and dynamic positioning over volumes
AssigneeBuilding Machines, Inc.
InventorsJeremy Samuel De Bonet, Nicholas Charles McMahon
Life of this patent
Estimating the term…
Abstract
Embodiments of positioning systems and methods are disclosed herein. Embodiments of such positioning systems may include a hierarchy of positioning systems. Each of the positioning systems in the hierarchy may be adapted to move each positioning system lower in the hierarchy along with one or more end-effectors. A control system may control the positioning systems of the hierarchy using a control method comprising a coarse step, a refinement step, or an adaptive step.
Claims22
A positioning system, comprising:
- a hierarchical positioning system comprising a plurality of positioning systems, the plurality of positioning systems comprising a coarser positioning system and a finer positioning system, the plurality of positioning systems arranged in hierarchy, wherein the coarser positioning system is adapted to move a head assembly;
- a control system adapted to control the hierarchical positioning system by:
- performing a coarse positioning step, wherein performing the coarse positioning step comprises controlling the coarser positioning system of the hierarchical positioning system to move the head assembly to a first position;
- and
- performing an adaptive positioning step, wherein performing the adaptive positioning step comprises:
- obtaining data associated with an environment;
- and
- controlling at least the finer positioning system to move the head assembly to a desired position based on the obtained data.
A three-dimensional (3D) construction system for printing of concrete structures, comprising:
- a nozzle for delivering a cementitious material;
- a material flow path connected to the nozzle for delivery the cementitious material to the nozzle;
- a sensor;
- a hierarchical positioning system to position the nozzle, the hierarchical positioning system comprising a plurality of positioning systems arranged in a hierarchy, the plurality of positioning systems comprising a coarser positioning system and a finer positioning system;
- a control system coupled to the sensor and the hierarchical positioning system, the control system adapted to control the hierarchical positioning system by:
- performing a coarse positioning step, wherein performing the coarse positioning step comprises controlling the coarser positioning system of the hierarchical positioning system to move the nozzle to a first position;
- and
- performing an adaptive positioning step, wherein performing the adaptive positioning step comprises:
- obtaining data from the sensor;
- and
- controlling at least the finer positioning system to adjust the nozzle to a desired position based on the obtained data.
A method for three-dimensional (3D) printing of a concrete structure, comprising:
- positioning a nozzle of a 3D construction system using a hierarchical positioning system that comprises a plurality of positioning systems in a hierarchical arrangement, wherein positioning the nozzle comprises adaptively positioning the nozzle, and wherein adaptively positioning the nozzle comprises:
- obtaining data associated with an environment from a sensor;
- and
- controlling at least a finer positioning system of the hierarchical positioning system to move the nozzle based on the obtained data;
- and
- dispensing a cementitious material through the nozzle when the nozzle is positioned at a desired location to build a portion of an object under construction.
Dependencies are inferred from the claim text.