Control Architecture for Additive Manufacturing Robotic Systems

1 . A method for visualizing a space, the method comprising:

receiving, at a set of one or more processors, a set of print data, wherein the set of print data comprises:

a first set of data for a first visualization, wherein the first set of data is received from a control system that controls a set of one or more robots for a print job to print a part; and

a second set of data for a second visualization associated with the part;

rendering, at the set of processors, the first and second visualizations based on the print data, wherein the first visualization comprises a visualization of the print job; and

displaying the rendered first and second visualizations.

2 . The method of claim 1 , wherein the first set of data further comprises robot data for the set of robots and rendering the first visualization comprises rendering representations of the set of robots.

3 . The method of claim 2 , wherein the robot data comprises at least one selected from the group consisting of arm length, arm angle, robot type, configuration data, robot connection, base width, and 3D model data.

4 . The method of claim 1 , wherein the first visualization and the second visualization differ in at least one selected from the group consisting of color and texture.

5 . The method of claim 1 , wherein:

the set of robots comprises a plurality of robots; and

displaying the rendered first and second visualizations comprises displaying potential collisions between the plurality of robots.

6 . The method of claim 1 , wherein the set of print data comprises a print material for the part and rendering the first visualization comprises rendering a texture based on the print material.

7 . The method of claim 1 , wherein the set of robots are simulated robots in a virtual space.

8 . The method of claim 1 , wherein:

the set of robots are in a physical space;

the second set of data comprises sensed data from the physical space; and

rendering the second visualization comprises rendering a visualization of the print job based on the sensed data.

9 . The method of claim 8 , wherein the sensed data comprises data collected from a set of one or more sensors comprising at least one selected from the group consisting of a camera, a laser scanner, a motion detector, and an accelerometer.

10 . The method of claim 1 , wherein:

the second set of data comprises process monitoring data associated with a corresponding part; and

rendering the second visualization comprises rendering a visualization of a print job to print the corresponding part.

11 . The method of claim 10 , wherein the corresponding part is a historic print job of a prior printing of the part.

12 . The method of claim 10 , wherein the process monitoring data comprises at least one selected from the group consisting of TCP positions, axis position data, arc voltage data, temperature data, and weld parameters.

13 . The method of claim 10 , wherein:

rendering the visualization of the print job of the corresponding part comprises generating a picking texture with object IDs associated each pixel of the picking texture; and

the method further comprises:

receiving input identifying a pixel of the picking texture; and

identifying a corresponding object based on the object ID associated with the identified pixel.

14 . The method of claim 1 , wherein displaying the rendered first and second visualizations comprises displaying a delta between the rendered first visualization and the rendered second visualization.

15 . The method of claim 1 , wherein the second set of data for the second visualization is based on a rendered visualization based on a third set of data received from the control system.

16 . The method of claim 1 , wherein the control system operates locally on the set of processors.

17 . The method of claim 1 , wherein the control system comprises a simulation module, wherein the first set of data comprises simulated data, wherein the control system simulates a first portion, wherein rendering comprises simulating a second portion.

18 . A method for updating a print plan, the method comprising:

receiving, at a set of one or more processors, a set of print data, wherein the set of print data comprises robot path data from a control system that controls a set of robots;

rendering, at the set of processors, visualizations based on the print data;

identifying a set of issues based on the rendered visualizations; and

communicating with the control system to update the print plan based on the identified set of issues.

19 . The method of claim 18 , wherein:

the print data further comprises:

robot configuration data for a set of one or more robots in a print cell; and

path data for the set of robots; and

rendering visualizations based on the print data comprises:

rendering representations of the set of robots based on the robot configuration data; and

rendering movement of the set of robots over time based on the path data.

20 . The method of claim 19 , wherein:

the print data further comprises:

a first set of print data of a print job being performed in a physical print cell; and

a second set of print data of a target print job; and

rendering visualizations based on the print data comprises:

rendering a first representation of the print job being performed in the physical print cell based on the first set of print data; and

rendering a second representation of the target print job based on the second set of print data, wherein the target print job is computed using a physics engine.