CN116628810A - Unmanned building 3D printing construction method and system - Google Patents
Unmanned building 3D printing construction method and system Download PDFInfo
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- CN116628810A CN116628810A CN202310586855.6A CN202310586855A CN116628810A CN 116628810 A CN116628810 A CN 116628810A CN 202310586855 A CN202310586855 A CN 202310586855A CN 116628810 A CN116628810 A CN 116628810A
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- 238000010146 3D printing Methods 0.000 title claims abstract description 130
- 238000010276 construction Methods 0.000 title claims abstract description 47
- 238000007639 printing Methods 0.000 claims abstract description 60
- 238000005516 engineering process Methods 0.000 claims abstract description 40
- 238000012544 monitoring process Methods 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 12
- 230000007613 environmental effect Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 6
- 238000009435 building construction Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 239000000843 powder Substances 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000004886 process control Methods 0.000 description 5
- 241000209140 Triticum Species 0.000 description 4
- 235000021307 Triticum Nutrition 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 238000005086 pumping Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000004570 mortar (masonry) Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2113/00—Details relating to the application field
- G06F2113/10—Additive manufacturing, e.g. 3D printing
Abstract
The utility model discloses a 3D printing construction method and a system for an unmanned building, wherein the system comprises the following steps: the model processing module is used for constructing a CAD model of the building; the program writing module is used for outputting a 3D printing program according to the CAD model; the 3D printing module adopts a mobile 3D printing robot autonomous navigation technology and is used for automatically printing a building on site according to a 3D printing program; a feed module for providing printing material to the 3D printing module; the quality detection module is used for acquiring quality parameters of the printing lines in the 3D printing process by adopting a machine vision detection technology; the background monitoring module is communicated with the model processing module, the program writing module, the 3D printing module, the feeding module and the quality detection module and is used for adjusting working parameters of the 3D printing module and the feeding module according to the quality parameters. The utility model introduces machine vision and autonomous navigation technology, and realizes unmanned automatic construction.
Description
Technical Field
The utility model relates to the technical field of building 3D printing, in particular to an unmanned building 3D printing construction method based on machine vision and autonomous navigation technology and an unmanned construction system applying the method to a building.
Background
Traditional building construction generally requires a great deal of manpower, material resources and time, and is inefficient and subject to human error. In recent years, with the rapid development of 3D printing technology, the building 3D printing technology is widely applied to the field of building, and has the advantages of rapidness, high efficiency, high precision, low cost and the like.
The building 3D printing technology is an emerging technology in the building field, and the building model can be directly converted into an entity by utilizing the 3D printing technology, so that building construction is rapidly and conveniently completed. However, the traditional building construction has the defects of high labor and time cost, low precision, danger in the construction process and the like.
With the continuous development of technology, unmanned building construction gradually becomes a popular research field. Unmanned construction can improve efficiency of construction and quality, reduces the manpower input, reduce cost, reduces the construction risk.
Currently, some unmanned building 3D printing systems have been developed, but most of these systems require manual intervention or have problems such as printing process control, quality detection, etc. The traditional building 3D printing especially needs manual operation under the conditions of material stirring, feeding links, printing discharge ports and printing head material level, can not completely realize unmanned operation, and still has a certain bottleneck.
Therefore, it is necessary to provide a new 3D printing construction method for unmanned building and a corresponding 3D printing construction system for unmanned building, so as to improve the efficiency, quality and safety of 3D printing of building.
Disclosure of Invention
The utility model aims to provide a 3D printing construction method of an unmanned building and an unmanned construction system applying the method to the building, so that efficient, high-quality and safe construction of the building is realized.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
an unmanned building 3D printing construction system, comprising:
the model processing module is used for constructing a CAD model of the building;
the program writing module is used for outputting a 3D printing program according to the CAD model of the building;
the 3D printing module adopts a mobile 3D printing robot autonomous navigation technology and is used for automatically printing a building on site according to a 3D printing program;
a feed module for providing printing material to the 3D printing module;
the quality detection module is used for acquiring quality parameters of the printing lines in the 3D printing process by adopting a machine vision detection technology;
the background monitoring module is communicated with the model processing module, the program writing module, the 3D printing module, the feeding module and the quality detection module and is used for adjusting working parameters of the 3D printing module and the feeding module according to quality parameters.
As a further scheme of the utility model, the mobile 3D printing robot comprises a mobile base, a mechanical arm module movably mounted on the mobile base and a printing head controlled by the mechanical arm.
As a further scheme of the utility model, the movable base adopts a crawler-type movable base or a wheel-type movable base.
As a further scheme of the utility model, the autonomous navigation technology of the 3D printing robot adopts a radar and is arranged on the mobile 3D printing robot.
As a further scheme of the utility model, the quality detection module adopts a camera and is arranged on a 3D printing site or a 3D printing robot.
As a further scheme of the utility model, the system further comprises an environment monitoring module, wherein the environment monitoring module is used for acquiring environment parameters of the 3D printing site, including at least one of temperature, humidity, wind speed and building strength, and the environment monitoring module is in communication connection with the background monitoring module.
The 3D printing construction method of the unmanned building comprises the following steps:
building a CAD model of the building;
outputting a 3D printing program according to the CAD model of the building;
adopting a mobile 3D printing robot autonomous navigation technology, automatically printing a building on site according to a 3D printing program, and adopting a double-mixing pump automatic feeding;
acquiring quality parameters of the printed lines in the 3D printing process by adopting a machine vision detection technology;
and adjusting the working parameters of the 3D printing and the double-mixing pump feeding according to the quality parameters.
As a further aspect of the present utility model, the method further includes collecting environmental parameters of the 3D printing site, including at least one of temperature, humidity, wind speed, building strength, and adjusting working parameters of the 3D printing and the dual-mixing pump feeding according to the environmental parameters and the quality parameters.
As a further aspect of the present utility model, the method further comprises detecting and evaluating the quality of the building after the 3D printing of the building is completed.
By adopting the technical scheme, the utility model has the following beneficial effects:
the utility model has the advantages that the unmanned building 3D printing construction method is adopted, and the efficient, high-quality and safe construction of the building is realized. Meanwhile, the machine vision and autonomous navigation technology is introduced, unmanned automatic construction is realized, the advantages of digital design and manufacture can be fully utilized by combining the building 3D printing technology and the unmanned construction technology, the precision and quality of a building are improved, the construction cost and the manpower input are reduced, and the method has good practical application value and commercial popularization prospect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an unmanned building 3D printing construction system according to an embodiment of the present utility model.
Fig. 2 is a flow chart of a 3D printing construction method of an unmanned building according to an embodiment of the utility model.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.
Example 1:
referring to fig. 1, the embodiment of the utility model provides an unmanned building 3D printing construction system, which mainly comprises the following functional modules:
the model processing module 11 is used for constructing a CAD model of the building;
a program writing module 12 for outputting a 3D printing program according to the building CAD model;
the 3D printing module 13 adopts a mobile 3D printing robot autonomous navigation technology and is used for automatically printing a building on site according to a 3D printing program;
a feed module 14 for providing printing material to the 3D printing module;
the quality detection module 16 is used for acquiring quality parameters of the printing lines in the 3D printing process by adopting a machine vision detection technology;
the background monitoring module 15 is in communication with the model processing module 11, the program writing module 12, the 3D printing module 13, the feeding module 14 and the quality detection module 16, and is used for adjusting the working parameters of the 3D printing module and the feeding module according to the quality parameters.
Preferably, the 3D printing construction system for an unmanned building further includes an environment monitoring module 17, configured to obtain environmental parameters of a 3D printing site, including at least one of temperature, humidity, wind speed, and building strength, where the environment monitoring module 17 is in communication connection with the background monitoring module 15 for communication.
Currently, some unmanned building 3D printing systems have been developed, but most of these systems require manual intervention or have problems such as printing process control, quality detection, etc. The traditional building 3D printing especially needs manual operation under the conditions of material stirring, feeding links, printing discharge ports and printing head material level, can not completely realize unmanned operation, and still has a certain bottleneck.
The unmanned building 3D printing construction system provided by the embodiment of the utility model has the advantages that the unmanned automatic construction on the printing site is realized by introducing the machine vision, the autonomous navigation technology and the intelligent digital control technology, the advantages of digital design and manufacture can be fully utilized by combining the building 3D printing technology and the unmanned construction technology, the precision and the quality of a building are improved, the construction cost and the labor input are reduced, and the unmanned building 3D printing construction system has good practical application value and commercial popularization prospect.
Specifically, the model processing module 11 can use CAD and BIM technology to perform modeling according to CAD drawing of a building on a computer. The drawing can be optimized by comprehensively considering the angles of modeling aesthetic degree, field use condition, transportation condition, hoisting convenience and the like. Further, in determining the CAD model, the building may be broken down into individual parts to facilitate assembly during construction.
The program writing module 12 is program code for representing the building BIM model obtained by the model processing module 11 as recognizable by the building 3D printer. The program writing module 12 can be implemented by adopting a building 3D printing slicing system, see a building 3D printing slicing method and system disclosed in chinese patent No. ZL 202010031359.0, wherein the building 3D printing slicing system comprises: the acquisition module is used for acquiring the line width of the building model and the line width of the 3D printing line; the splitting module is connected with the acquisition module and used for splitting the building model to form a plurality of component units; the design module is connected with the acquisition module and the splitting module and is used for designing corresponding shell printing lines and reinforcing rib printing lines arranged in the shell printing lines for the component units according to the line widths of the printing lines; and the layer height calculation module is connected with the splitting module and the acquisition module and is used for calculating layering information of a printing layer according to the height of the component unit. The slicing system can realize the function of providing the building model with the function of splitting and forming the component units, design corresponding shell printing lines and reinforcing rib printing lines for each component unit, and provide layering information (namely program codes) of printing layers of each component unit for the 3D printing module 13 to directly perform 3D printing operation.
The 3D building printing technology is a building component technology which can automatically and intelligently print out building components reaching building construction standards through machine equipment (printers). Compared with the traditional building, the technology does not need huge building construction teams and tedious and complex template support and disassembly, and can effectively improve the production efficiency by efficient extrusion type integrated construction.
The 3D printing module 13 is preferably a mobile 3D printing robot with autonomous navigation technology. The mobile 3D printing robot may employ a building 3D printing robot device. See chinese patent No. ZL 202022240248.9 for disclosure of a building 3D printing robot apparatus comprising: a frame, the top of which is provided with a workbench; the mechanical arm is arranged on the workbench, and the position of the tail end of the mechanical arm can be movably adjusted; the printing head is arranged at the tail end of the mechanical arm and used for realizing 3D printing; the moving mechanism is arranged at the bottom of the frame, and the frame can be movably adjusted through the moving mechanism; and the control module is arranged on the frame and is in control connection with the mechanical arm, the printing head and the moving mechanism. Further, the building 3D printing robot device further comprises a laser sensor arranged at the opposite angle of the frame, wherein the laser sensor is used for measuring the distance between the frame and a calibration plate arranged on the 3D printing job site to obtain distance measurement information; the laser sensor is connected with the control module, and sends ranging information to the control module, the control module calculates position information of the frame according to the ranging information, and a printing path is planned according to the obtained position information and the 3D printing job task to be completed. Further, an inertial sensor (IMU sensor, inertial measurement unit) is also mounted on the gantry, the inertial sensor being capable of detecting a pose angle of the gantry, the pose angle comprising a three-axis pose angle. The inertial sensor is connected with the control module and is used for sending the pose angle obtained in real time to the control module, and the control module can calculate the position information of the frame by combining the pose angle and the ranging information sent by the two laser sensors. Specifically, a plurality of calibration plates are arranged on a 3D printing operation site, the coordinate information of each calibration plate is a known value, the coordinate information of each calibration plate is input to a control module in advance, when the control module calculates the position information of a rack, the control module obtains distance measurement information by obtaining the distance between each calibration plate and a laser sensor, repeatedly obtains the information of each calibration plate, establishes a coordinate system of each calibration plate through iteration, and further combines the pose angle detected by an inertial sensor to calculate the position information of the rack, namely the coordinate value of the rack is obtained. Still further, the laser sensor is also used for measuring the distance between the frame and surrounding obstacles to obtain obstacle information, and the control module receives the obstacle information and plans the walking path of the frame according to the 3D printing job task to be completed. Preferably, the laser sensor can detect an obstacle in a far range, the control module designs a walking path of the frame to avoid the obstacle and ensure that the walking path is shortest after obtaining the obstacle information, when the frame can move to a working position point along a straight line, the straight line is selected as the walking path, and when the frame needs to avoid the obstacle and moves to the working position point along a curve, the curve with the shortest length is selected as the walking path. Preferably, the control module acquires a next target position point from the 3D print job task, and the current position of the connecting frame and the next target position point are walking paths, and the moving mechanism is controlled to move according to the walking paths.
In the building 3D printing robot equipment, the frame has a moving function, the frame is driven to move through the moving mechanism, and the frame can move to the corresponding printing job position, so that the flexibility is good. The mechanical arm and the printing head are arranged on the frame, the printing head is connected with the feeding module 14 and used for extruding 3D printing materials, 3D printing is carried out, the integration is high, the size is small, the mounting and dismounting are not needed, the manual labor is greatly reduced, and the labor cost is saved. The building 3D printing robot device controls the movement of the moving mechanism through the control module, and the movement of the mechanical arm is controlled to realize automatic printing, so that the degree of automation is high and the safety is high.
In another embodiment, the above-mentioned mobile 3D printing robot may be further implemented by a walking building 3D printing process control system, see a walking building 3D printing process control system and method disclosed in chinese patent No. ZL 201910620443.3, where the walking building 3D printing process control system is characterized by comprising: the automatic batching device is used for preparing printing materials according to the proportion of the printing materials; wheat wheel type travelling trolley; the lifting platform is fixedly arranged on the wheat wheel type travelling trolley; the manipulator is fixedly arranged on the lifting platform, and a feeder is fixedly arranged at the tail end of the manipulator; the pumping device is connected with the automatic batching device and the feeder and is used for pumping the printing material prepared by the automatic batching device into the feeder; identification codes which are distributed on the working surface and are arranged at intervals along the walking route; and the control unit is connected with the automatic batching device, the pumping device (the automatic batching device and the pumping device are equivalent to the feeding module 14), the wheat wheel type walking trolley, the lifting platform and the manipulator, scans the identification code and acquires the walking coordinate and the walking direction, and further controls the wheat wheel type walking trolley to move and drive the manipulator to move according to the acquired walking coordinate and the walking direction, and simultaneously controls the manipulator and the feeder to print in the moving process.
The feed module 14 is preferably a dual mixing pump, which is a device capable of quantitatively mixing dry powder and water and outputting a mixed fluid. It consists of two independent pumps (dry powder pump and water pump) and a mixer, the dry powder pump and water pump are used to deliver dry powder and water respectively. The two pumps mix the dry powder and water into a uniform mixture through a mixer and then output the mixture. In operation, the mixing ratio and output can be precisely controlled by controlling the flow rates of the dry powder and the water. The unmanned building 3D printing material adopts a double-mixing pump to stir, wet mix, pump and remote automatic control, so that unmanned feeding is realized.
The quality detection module 16 can be installed on a 3D printing site or a 3D printing robot by adopting a camera, and is connected with a robot controller, and image information collected by the camera is sent to the background monitoring module 15 in a service communication mode. The upper computer control system in the background monitoring module 15 performs analysis processing according to the received printed line image, automatically adjusts the printing speed of a robot mechanical arm, the discharging speed of a printing head, the feeding speed of a feeding system and the like according to the line width and the surface quality of the processed printed line (the realization of the part can be seen in China patent No. ZL 201910512892.6, wherein the method and the system for compensating the line width of the building 3D printing are disclosed, the line width compensating system comprises an acquisition module, a calculation module, a processing module and a processing module, wherein the acquisition module is used for acquiring the actual width of the printed line in real time (realized by a camera) in the 3D printing process, the calculation module is connected with the acquisition module and is used for calculating the difference between the acquired actual width of the printed line and the designed width of the line according to the designed width of the line, the processing module is connected with the processing module, the processing module is also used for controlling and connecting the 3D printer, and the processing module is used for judging whether the difference is in an allowable range or not, and controlling and adjusting the traveling speed and/or the discharging speed of the 3D printer so that the difference is in the allowable range when the difference is judged to exceed the allowable range, the mechanical gesture is controlled, and the printing speed is remotely adjusted.
As an embodiment, when the camera is aligned with the extrusion material of the printing head, an image of the printing line can be obtained, the width data of the printing line is obtained and uploaded to the background monitoring module 15, and the operator adjusts the printing parameters, such as the printing speed, the temperature and the like, correspondingly in the background according to the real-time width condition of the printing line, so that the printing line is controlled within the threshold range, serious uneven thickness of the printing line is avoided, and the printing quality is improved. It should be understood that the camera is not limited to acquiring the width parameters of the printed lines, but may acquire other printing parameters, compare with a threshold preset by the system, and adjust when the threshold is exceeded, and not only can the 3D printing module be adjusted for printing parameters, but also the dual mixing pump can be adjusted for mixing and feeding parameters, so as to control the mortar proportion, the transmission rate and the like of the printing materials.
In addition, an environmental monitoring module 17, such as a temperature sensor, a humidity sensor, an anemometer, a strain gauge installed in a building, etc., may be further installed at the construction site to obtain environmental parameters of the 3D printing site, including temperature, humidity, wind speed, building strength, etc., and upload the obtained environmental parameters to the background monitoring module 15 in real time. The station monitoring module 15 displays the parameters to an operator, and the operator can comprehensively consider the environmental parameters and the 3D printing parameters to perform parameter adjustment on the 3D printing module and the feeding module. Of course, the scheme comparison table can be preset in the system of the background monitoring module 15, each printing or discharging scheme corresponds to a different parameter threshold value, the acquired real-time parameters are compared with the threshold value, the current optimal scheme for printing or feeding is obtained, and the 3D printing module and the feeding module are automatically controlled to perform on-site printing and feeding construction according to the optimal scheme.
Example 2:
referring to fig. 2, based on the unmanned building 3D printing construction system of the above embodiment 1, the present utility model further provides an embodiment of an unmanned building 3D printing construction method, which mainly includes the following steps:
s1: building a CAD model of the building, which is realized by a model processing module;
s2: outputting a 3D printing program according to the CAD model of the building, and realizing the 3D printing program by a program writing module;
s3: the automatic navigation technology of the mobile 3D printing robot is adopted, a building is automatically printed on site according to a 3D printing program, and automatic feeding of the double-mixing pump is adopted, and the automatic navigation technology is realized by a 3D printing module and a double-mixing pump feeding module;
s4: the quality parameters of the printed lines in the 3D printing process are obtained by adopting a machine vision detection technology and are realized by a quality detection module;
s5: and adjusting working parameters of 3D printing and double-mixing pump feeding according to the quality parameters, wherein the working parameters are realized by a background monitoring module.
S6: after the 3D printing of the building is completed, the quality of the building is detected and evaluated to ensure the quality and safety of the building.
Further, in step S3, the method may further include the steps of: and collecting environmental parameters of the 3D printing site, including at least one of temperature, humidity, wind speed and building strength, and adjusting working parameters of 3D printing and double-mixing pump feeding according to the environmental parameters and the quality parameters, wherein the working parameters are realized by an environment monitoring module and a background monitoring module.
Further, in step S1, the building may be broken down into individual parts for ease of assembly during construction when determining the CAD model.
In step S2, structural features and actual requirements of the building are fully considered to optimize the printing process when the 3D printing program is automatically outputted.
In step S3, the autonomous navigation technology may adopt technologies such as Lidar radar and a laser sensor, so as to implement accurate autonomous navigation.
In step S4, in the machine vision detection technology, deep learning or machine learning may be used to improve the accuracy and efficiency of detection.
Corresponding measures such as a monitoring and early warning system, a building fence, a warning sign and the like can be taken according to specific conditions for the safety problem in the construction process.
Although embodiments of the utility model have been shown and described, the detailed description is to be construed as exemplary only and is not limiting of the utility model as the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples, and modifications, substitutions, variations, etc. may be made in the embodiments as desired by those skilled in the art without departing from the principles and spirit of the utility model, provided that such modifications are within the scope of the appended claims.
Claims (9)
1. An unmanned building 3D printing construction system, comprising:
the model processing module is used for constructing a CAD model of the building;
the program writing module is used for outputting a 3D printing program according to the CAD model of the building;
the 3D printing module adopts a mobile 3D printing robot autonomous navigation technology and is used for automatically printing a building on site according to a 3D printing program;
a feed module for providing printing material to the 3D printing module;
the quality detection module is used for acquiring quality parameters of the printing lines in the 3D printing process by adopting a machine vision detection technology;
the background monitoring module is communicated with the model processing module, the program writing module, the 3D printing module, the feeding module and the quality detection module and is used for adjusting working parameters of the 3D printing module and the feeding module according to quality parameters.
2. The unmanned building 3D printing construction system of claim 1, wherein the mobile 3D printing robot comprises a mobile base, a robotic arm module movably mounted on the mobile base, and a printhead operated by the robotic arm.
3. The unmanned building 3D printing construction system according to claim 2, wherein the mobile base is a crawler-type mobile base or a wheel-type mobile base.
4. The unmanned building 3D printing construction system according to claim 3, wherein the autonomous navigation technology of the 3D printing robot is installed on the mobile 3D printing robot by using a radar.
5. The unmanned building 3D printing construction system of claim 1, wherein the quality detection module is mounted on a 3D printing site or a 3D printing robot using a camera.
6. The unmanned building 3D printing construction system of claim 1, further comprising an environmental monitoring module for obtaining environmental parameters of the 3D printing site, including at least one of temperature, humidity, wind speed, building strength, and the environmental monitoring module is in communication with the background monitoring module.
7. The 3D printing construction method for the unmanned building is characterized by comprising the following steps of:
building a CAD model of the building;
outputting a 3D printing program according to the CAD model of the building;
adopting a mobile 3D printing robot autonomous navigation technology, automatically printing a building on site according to a 3D printing program, and adopting a double-mixing pump automatic feeding;
acquiring quality parameters of the printed lines in the 3D printing process by adopting a machine vision detection technology;
and adjusting the working parameters of the 3D printing and the double-mixing pump feeding according to the quality parameters.
8. The unmanned building 3D printing construction method of claim 7, further comprising collecting environmental parameters of the 3D printing site, including at least one of temperature, humidity, wind speed, building strength, and adjusting operating parameters of the 3D printing and the double mixing pump feeding according to the environmental parameters and the quality parameters.
9. The unmanned building 3D printing method according to claim 7, further comprising detecting and evaluating the quality of the building after the 3D printing of the building is completed.
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| CN202310586855.6A CN116628810A (en) | 2023-05-23 | 2023-05-23 | Unmanned building 3D printing construction method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117077233A (en) * | 2023-10-17 | 2023-11-17 | 珠海本色成型成像材料研究院有限公司 | Generation management system for 3D model |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117077233A (en) * | 2023-10-17 | 2023-11-17 | 珠海本色成型成像材料研究院有限公司 | Generation management system for 3D model |
| CN117077233B (en) * | 2023-10-17 | 2024-02-20 | 珠海本色成型成像材料研究院有限公司 | Generation management system for 3D model |
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