KR102001143B1 - Apparatus for 3d printer on drone and method for controlling there of - Google Patents

Abstract

According to an aspect of the present invention, there is provided a drone type 3D printer including a drone unit and an injection unit, the drone type 3D printer comprising: a receiver for receiving position information signals from outside; A photographing unit for photographing an image; And a control unit for controlling the movement of the drone unit, the injection direction of the injection unit, and the injection position based on the position information signals and the photographed image. And an injection unit coupled to the dron unit for injecting a raw material stored at a target point.

Description

TECHNICAL FIELD [0001] The present invention relates to a 3D printer and a control method thereof,

The present invention relates to a drone type 3D printer and a control method thereof, and more particularly to a drone type 3D printer having an injection unit capable of 3D printing on a drone unit and a control method thereof.

The 3D printer is a technology that inputs 3D digital design information into a 3D printer and outputs it in a stereoscopic form. It is evaluated as a key technology for creating a new market for manufacturing innovation and creative economy by changing the paradigm of existing industry.

There are seven major technologies for 3D printing, depending on the material type (liquid, filament, powder, sheet, etc.) and the output method (extrusion, sintering, curing, spraying, etc.).

3D printers are being used in a wide range of applications including automotive, medical, aerospace, industrial equipment, construction, and consumer electronics, and the market for 3D printers is expected to grow in the future.

However, the conventional 3D printer is a structure in which a compressor installed in a frame is required to extrude melted filaments and mold a product while moving within a limited working space.

Therefore, since the size of the moldable product is limited according to the size of the work space and it is difficult to install the 3D printer in the case of a high place or a disaster area where the worker can not access, Is also limited.

KR 1020140059243 A

The present invention relates to a 3D printing machine capable of 3D printing without space limitation by combining an injection unit capable of 3D printing with a drone unit and precisely controlling the position of the drone unit, the injection direction of the injection unit and the injection position of the injection unit, To a drone type 3D printer capable of performing accurate 3D printing and a control method thereof.

According to an embodiment of the present invention, there is provided a drone type 3D printer including: a receiver for receiving position information signals from outside; A photographing unit for photographing an image; And a control unit for controlling the movement of the drone unit, the injection direction of the injection unit, and the injection position of the injection unit based on the position information signals and the photographed image. And an injection unit coupled to the dron unit for injecting a raw material stored at a target point.

The control unit may detect the marker in the photographed image, calculate the distance between the marker and the dron unit, and move the dron unit to the position of the marker.

The marker may be displayed around the target point and may be an image recognizable by the control unit through the photographed image.

The receiving unit may receive the position information signals at a position of the marker.

The ward information signals may be position information signals received from signal transmitters installed around the target point.

The control unit may calculate the distance between the target point and the drone unit based on the received position information signals, and move the drone unit to the target point.

When the injection unit injects the raw material, the photographing unit can photograph an image of the output formed by the injected raw material.

The control unit may identify the output from the photographed image, compare the identified output with a pre-stored model, and measure an error between the output and the pre-stored model.

The control unit may correct at least one of the position of the drone unit, the injection direction of the injection unit, or the injection position of the injection unit so as to correspond to the pre-stored model, when the error is measured .

The control unit may identify the target point on the photographed image and measure the slope of the ground surface of the target point when the drone unit has moved to the target point.

The control unit may adjust the injection direction of the injection unit so as to face the position corresponding to the pre-stored model at the target point, based on the measured inclination.

The control unit may control the injection unit to inject the raw material toward the adjusted injection direction.

The drone type 3D printer may further include a coupling unit provided at a lower end of the drone unit and coupled to the injection unit.

The control unit may adjust the injection direction of the injection unit by rotating the engagement unit.

Wherein the controller moves the position of the engaging portion in a direction perpendicular to the paper surface of the target point when the rotation axis of the engaging portion is parallel to the paper surface of the target point or forms an acute angle, Can be adjusted.

According to another aspect of the present invention, there is provided a method of controlling a drone type 3D printer, the method comprising: moving the drones unit to a target point based on received position information signals and a photographed image; Adjusting at least one of an injection direction or an injection position of the injection unit to inject the stored raw material after the drone unit moves to the target point; And comparing the output formed by the injected raw material with the pre-stored model when the raw material is injected, thereby correcting the error.

The step of moving to the target point may include: extracting a marker from the photographed image; And moving the drone unit to a first position, which is the position of the extracted marker.

Wherein the moving to the first position comprises: calculating a first distance between the extracted marker and the dron unit; And moving the drones unit to a first position, which is the position of the marker, based on the first distance.

Wherein the step of moving to the target point comprises: receiving the position information signals at the first position; And moving the drone unit to a second position that is the target point, based on the received position information signals.

The step of moving to the second position may include calculating a second distance between the target point and the dron unit based on the received position information signals. And moving the drone unit to a second position, the target point, based on the second distance.

The step of injecting may include extracting the target point from the photographed image and measuring a slope of the ground of the target point; Adjusting the injection direction of the injection unit so as to face the position corresponding to the pre-stored model at the target point, based on the measured inclination; And injecting the stored raw material toward the injection direction of the adjusted injection unit.

Wherein the injecting step comprises the steps of: adjusting the injection position of the injection unit based on the changed injection direction when the injection direction of the injection unit is changed in the process of injecting the stored raw material; And injecting the stored raw material toward the modified injection direction at an injection position of the adjusted injection unit.

Wherein the step of adjusting the injection position includes a step of adjusting the position of the injection unit in a direction perpendicular to the paper surface of the target point when the rotation axis when the injection direction of the injection unit is changed is parallel or acute to the paper surface of the target point And adjusting the injection position of the injection unit by moving the injection unit.

The step of correcting the error may include: photographing the output image when the raw material is injected; Identifying an output from the image and comparing the identified output with the pre-stored model; And correcting the error by adjusting at least one of the position of the drone unit, the injection direction of the injection unit, or the injection position so as to correspond to the pre-stored model when the error is measured as a result of the comparison have.

According to the drone type 3D printer and the control method thereof according to an embodiment of the present invention, 3D printing can be performed without being limited by the space.

Further, based on the position information signals and the photographed image, the position of the drone unit, the position of the injection unit, and the injection direction are precisely controlled, thereby achieving more accurate 3D printing.

Also, there is an effect that an error occurring in the printing process can be minimized by correcting an error by taking an image of an output during a printing process and comparing it with a pre-stored model.

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the technical features of the invention.
1 is a block diagram of a drone type 3D printer according to an embodiment of the present invention.
FIG. 2 is a schematic diagram illustrating a drone type 3D printer according to an embodiment of the present invention. Referring to FIG.
3 is a flowchart briefly showing a method of controlling a drone type 3D printer according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating an example of adjusting the injection direction of the injection unit so as to face the target point in the drone type 3D printer and the control method thereof according to the embodiment of the present invention.
FIG. 5 is a diagram illustrating an example of correcting an error by comparing an output and a pre-stored model in a 3D printing process in a drone type 3D printer and a control method thereof according to an embodiment of the present invention.
6 is a diagram illustrating an example of adjusting the injection position of the injection unit in the drone type 3D printer and the control method thereof according to an embodiment of the present invention.

The terms first and / or second in this specification are used only for the purpose of distinguishing one element from another. That is, the components are not intended to be limited by the terms.

The components, features, and steps referred to in the specification as " comprising " in this specification are intended to mean that there are corresponding components, features, and steps, and do not preclude the presence of one or more other components, features, steps, and the like Is not.

Includes plural forms as long as it is not specified and specified in the singular form herein. That is, the components and the like referred to in this specification may mean the presence or addition of one or more other components or the like.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs to be.

That is, terms such as those defined in commonly used dictionaries should be construed as meaning consistent with meaning in the context of the related art, and unless otherwise expressly defined herein, interpreted in an ideal or overly formal sense It does not.

Hereinafter, a drone type 3D printer according to an embodiment of the present invention and a control method thereof will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a drone type 3D printer according to an embodiment of the present invention.

FIG. 2 is a schematic diagram illustrating a drone type 3D printer according to an embodiment of the present invention. Referring to FIG.

2A is a front view of a drone type 3D printer according to an embodiment of the present invention, and FIG. 2B is a side view of a drone type 3D printer according to an embodiment of the present invention.

Referring to FIGS. 1 and 2, a drone type 3D printer according to an embodiment of the present invention may include a dron unit 100 and an injection unit 110.

The drone unit 100 corresponds to a base portion of a drone type 3D printer and may include a photographing unit 101, a receiving unit 103, a coupling unit 105, a control unit 107, and a propulsion unit 109.

The photographing unit 101 is coupled to the drone unit 100, and can photograph an image of a target point, a marker, and an output object.

The photographing unit 101 is positioned below the injection unit 110, and the injection unit 110 may not be exposed in the photographed image.

The photographing unit 101 can maintain the horizontal position such as a gimbal in order to avoid the influence of the movement of the dron unit 100 and the injection direction or the injection position of the injection unit 110, Can be coupled to a possible coupling device.

When the control unit 107 rotates or moves the coupling unit 105 to adjust the injection direction or the injection position of the injection unit 110, .

The control unit 107 controls the operation of the injection unit 110 in order to photograph an output image output through the injection unit 110 when the injection unit 110 or the injection unit 110 is rotated or moved by rotating the joint unit 105, The photographing unit 101 can be rotated or moved so as to correspond to the rotation or the movement of the unit 105. [

The marker may be a QR code, a Flash code, or a Bar code, which is displayed around the target point, and the marker may include positional information on the coordinates of the marker.

When the photographing section 101 photographs the image of the marker, the control section 107 can detect the marker in the photographed image.

The control unit 107 can calculate the distance between the marker and the drones unit 100 through the detected marker and move the drones unit 100 to the position of the marker.

For example, when a marker is detected at a distance of 10 m in the west direction from the dron unit 100 in the photographed image, the control unit 107 controls the propulsion unit 109 to move the dron unit 100 in the west direction by 10 m, It is possible to move to the first point, which is the position of the marker.

The photographing unit 101 can photograph an image of the target point when the dron unit 100 is located at the second point, which is the target point.

The target point is a processing point set for generating an output through a printing process in which the injection unit 110 injects the stored raw material.

The control unit 107 measures the inclination of the ground surface of the target point in the image taken by the photographing unit 101 of the target point and rotates the engaging unit 105 so that the injection direction of the injection unit 110 is directed to the target point .

Here, the inclination of the ground surface of the target point is equal to the angle between the vertical axis of the dron unit 100 and the vertical axis of the ground surface of the target point, so that the control unit 107 measures the inclination of the ground surface of the target point, The engaging portion 105 can be rotated such that the ejecting direction is directed to the target point.

In addition, the photographing unit 101 can photograph the printing process in real time.

The control unit 107 identifies the output from the photographed image, and when the error is measured by comparing the identified output with the pre-stored model, the controller 107 moves the drone unit 100 to correspond to the pre-stored model, 110), it is possible to correct the error between the output product and the pre-stored model.

The pre-stored model may be a model for the result included in the drawing for performing 3D printing such as a CAD drawing.

For example, the control unit 107 can identify an output item every one second in the image of the printing process, compare the model with the previously stored model, and correct the error.

That is, the control unit 107 identifies the printout at predetermined intervals in consideration of the operation speed of the control unit 107, etc. in the image photographed by the printing process, and compares the output with the pre-stored model, Can be corrected.

When the drones 100 are in the first position, the receiving unit 103 can receive a signal from a plurality of position information transmitters provided around the target point via wired or wireless communication.

The control unit 107 measures the position of the drones unit 100 by calculating the relative distance between the position information transmitters and the drones 100 based on the plurality of position information signals received by the receiving unit 103, The distance between the target point and the drone unit 100 may be calculated and the propulsion unit 109 may be controlled to move the position of the drone unit 100 to the target position.

For example, when a plurality of beacons are installed around the target point to transmit beacon signals, the receiving unit 103 receives the beacon signals, and the control unit 107 determines, based on the received beacon signals, 100, the current position of the drones unit 100 can be measured.

Thereafter, the control unit 107 may control the propelling unit 109 to measure the distance between the target point and the drones unit 100 and move the drones unit 100 to the target position, i.e., the second position.

The coupling unit 105 is provided at the lower end of the dron unit 100 and is a part where the dron unit 100 and the injection unit 200 are coupled to each other. The control unit 107 controls the yaw, roll, , The pitch can be rotated to move the injection unit in the x, y, and z axes.

The injection direction of the injection unit 110 can be determined through the rotation of the engagement part 105 and the injection position of the injection unit 110 can be determined through the movement of the engagement part 105, And can be controlled by the control unit 107 independently of movement.

For example, the control unit 107 may not rotate the coupling unit 105 when the drill unit 100 moves to the first or second position, and may rotate the coupling unit 105 even if the drill unit 100 moves to the left. You can rotate it to the right rather than to the left.

That is, the control unit 107 can control the raw material injection direction or the injection position of the injection unit 110 by rotating or moving the coupling unit 105 regardless of the moving direction of the dron unit 100.

The control unit 107 extracts a marker from the image photographed by the photographing unit 101 and calculates a first distance between the marker and the dron unit 100 so that the dron unit 100 moves to the first position, The propulsion unit 109 can be controlled.

The control unit 107 calculates the relative distance between each transmitter and the dron unit 100 through the plurality of position information signals received by the receiver 103 when the dron unit 100 is located at the first position, It is possible to measure the current position of the drill unit 100 and to control the propulsion unit 109 to move the dron unit 100 to the second position as the target position.

When the drone unit 100 is in the second position, the control unit 107 controls the injection unit 110 to inject the raw material into the injection unit 110 based on the image of the target point photographed by the photographing unit 101 The portion 105 can be rotated.

That is, since the inclination of the ground surface of the target point is equal to the angle between the vertical axis of the drones unit 100 and the vertical axis of the ground surface of the target point, the control unit 107 measures the inclination of the ground surface of the target point, The injection direction of the injection unit 110 can be directed to the target point by rotating the engagement portion 105. [

When the injection direction of the injection unit 110 is changed by rotating the coupling unit 105 in the process of injecting the raw material stored at the target point, the control unit 107 controls the coupling unit 105 The engaging portion 105 can be moved along the rotation axis when rotating.

For example, when the engaging portion 105 rotates, the height of the lowermost point and the height of both ends of the pendulum are different from each other, as in the motion of the pendulum, and an error may occur.

The controller 107 controls the position of the coupling part 105 in accordance with the degree of rotation of the coupling part 105 when the rotation axis of the coupling part 105 is parallel or acute to the ground of the target point The error can be reduced by moving the injection unit 110 in the direction perpendicular to the paper surface of the target point and adjusting the injection position of the injection unit 110. [

The control unit 107 analyzes the image photographed in real time through the photographing unit 101 in the printing process of injecting the raw material stored at the target point by the injection unit 110 and outputs the position of the drone unit 100, At least one of the injection direction of the injection unit 110 and the injection position of the injection unit 110 may be adjusted to correct an error between the output and the pre-stored model.

The photographing unit 101 photographs the image of the output in real time during the printing process, and the controller 107 analyzes the image every predetermined period to identify the output. Thereafter, the control unit 107 can compare the identified output with the pre-stored model.

When the error between the output product and the pre-stored model is measured as a result of the comparison, the control unit 107 controls the injection unit 110 to move the drone unit 100 based on the measured error, The engaging part 105 can be moved to rotate the part 105 or adjust the injection position of the injection unit 110. [

For example, if the extracted extract analyzed by image analysis is formed on the left side by 10 mm with respect to the pre-stored model, the control unit 107 may move the drone unit 100 to the right by 10 mm or correspond to the right side 10 mm The injection direction and the injection position of the injection unit 100 can be adjusted by moving the position of the engagement portion 105. [

That is, the control unit 107 detects the marker in the photographed image, moves the drone unit 100 to the first position, which is the position of the marker, and moves the drone unit 100 to the second position, 100 again.

Then, when the error is measured, the position of the drone unit 100, the injection direction of the injection unit 110, or the injection position of the injection unit 110 is determined It is possible to correct the error between the output product and the pre-stored model to control the 3D printing more precisely.

For example, when the position of the drone unit 100 is controlled based on marker extraction using an image and a plurality of position information signals, control is possible within an error range of 1 cm to 10 cm with respect to the pre-stored model.

However, it is possible to precisely control the pre-stored model within a tolerance range of 0.1 mm or more and 10 mm or less, by comparing the output and pre-stored models during the printing process.

Also, in the 3D printing process, since the drone unit 100 is in a hovering state, slight errors that are not measured by a plurality of position information signals due to the influence of wind or the like may occur.

Since 3D printing, unlike 2D printing, can have a significant impact on the output even with small errors, the positioning of the drones unit 100 through the location information signals alone can have a significant impact on the output.

Accordingly, in the printing process, the output is compared with the pre-stored model in real time, and fine errors that can not be measured by the position information signals are measured. Based on the measured error, the position of the dron unit 100, By adjusting the injection direction or the injection position of the injection unit 110 in real time, it is possible to reduce the error of the finally produced result.

The propulsion unit 109 includes a propeller capable of flying the dron unit 100 and the control unit 107 controls the propulsion unit 109 to move the dron unit 100 to the first or second position .

In addition, when the error is measured by comparing the output and the pre-stored model in the printing process, the control unit 107 controls the propelling unit 109 to move the drones unit 100 in correspondence with the pre-stored model.

3 is a flowchart briefly showing a method of controlling a drone type 3D printer according to an embodiment of the present invention.

3A is a flowchart briefly showing an overall flow of a method of controlling a drone type 3D printer according to an embodiment of the present invention.

FIG. 3B is a flowchart illustrating steps of moving a position of a drone unit in a method of controlling a drone type 3D printer according to an exemplary embodiment of the present invention. Referring to FIG.

FIG. 3C is a flowchart illustrating a step of spraying a raw material in a method of controlling a drone type 3D printer according to an embodiment of the present invention.

FIG. 3D is a flowchart showing a step of correcting an error in a method of controlling a drone type 3D printer according to an embodiment of the present invention.

3A to 3D, a method of controlling a drone type 3D printer according to an embodiment of the present invention may include a step of moving (S101), a step of injecting (S103), and a step of correcting an error (S105) have.

The moving step S101 is a step of moving the drones 100 to the first position and the second position. The step of extracting the marker (S201), the step of moving to the first position (S203) Receiving step S205 and moving to the second position S207.

The step of extracting the marker (S201) is a step of the controller 107 extracting the marker from the photographed image. The control unit 107 can extract the marker from the photographed image.

The step of moving the drones 100 to the first position (S203) calculates the first distance between the marker extracted by the controller 107 and the drones 100, and then, based on the first distance, To the first position.

The control unit 107 may extract the marker from the image and measure the first distance between the extracted marker and the dron unit 100. [

For example, the control unit 107 measures the distance between the marker and the drones 100 based on the pixel information of the frame of the image extracted from the marker, or if the marker includes the coordinate information about the position, The distance can be measured by recognizing the included data and comparing the coordinate information of the marker with the coordinate information of the dron unit 100.

The control unit 107 can move the drones unit 100 to the first position, which is the position of the marker, by controlling the pushing unit 109 based on the first distance between the measured marker and the dron unit 100. [

The step S205 of receiving the position information is a step of receiving the position information signal from the plurality of position information transmitters provided around the target point when the drone unit 100 is in the first position.

For example, a plurality of ultrasonic beacons may be installed around the target point, and the receiving unit 103 may receive beacon signals transmitted from each beacon.

The step of moving to the second position (S207) calculates a second distance between the target point and the drones unit 100 based on the received position information signals, Respectively.

The control unit 107 measures the current position of the drones 100 by measuring the relative distance between each position information transmitter and the drones 100 based on the plurality of position information signals received by the receiver 103, The second distance between the target point and the drones unit 100 can be measured.

The control unit 107 can move the dron unit 100 to the target position, i.e., the second position, by controlling the propelling unit 109 based on the measured second distance.

The injecting step S103 is a step of adjusting the injection direction of the injection unit 110 toward the target point and injecting the stored raw material when the drone unit 100 moves to the target position.

The step of injecting S103 includes steps S301, S303, S305, S305, S305, S302, S304, S302, (S307). ≪ / RTI >

The step S301 of measuring the inclination of the ground of the target point is a step of the control unit 107 extracting the target point from the image photographed through the photographing unit 101 and measuring the inclination of the ground of the target point.

The photographing unit 101 can photograph an image of the target point when the dron unit 100 is located at the second position. The control unit 107 can extract the target point from the photographed image and measure the inclination of the ground surface of the target point.

Since the vertical axis of the drone unit 100 coincides with the vertical axis, the inclination of the ground surface of the target point is the same as the angle between the vertical axis of the drones unit 100 and the vertical axis of the ground surface of the target point.

Therefore, the control unit 107 can measure the inclination of the ground surface of the target point by measuring the angle between the vertical axis of the dron unit 100 and the vertical axis of the ground surface of the target point.

The step S303 of adjusting the injection direction of the injection unit 110 is a step of adjusting the injection direction of the injection unit 110 based on the inclination of the ground of the measured target point.

The control unit 107 can rotate the coupling unit 105 so that the injection direction of the injection unit 110 is directed to the target point based on the inclination of the ground surface of the measured target point.

For example, when the measured inclination is 10 degrees to the east, the control unit 107 rotates the engaging unit 105 by 10 degrees to the east so that the injection direction of the injection unit 110 can be adjusted so as to face the target point.

The step S305 of adjusting the injection position of the injection unit is a step of adjusting the injection position of the injection unit 110 based on the injection direction of the injection unit 110 adjusted by rotating the engagement portion 105. [

Since the engaging portion 105 rotates, the height of the lowermost point and the height of the both end portions are different from each other, for example, as in a pendulum movement, so that an error may occur at the time of outputting. Therefore, the control unit 107 can correct the error by moving the position of the coupling unit 105 when the coupling unit 105 is rotated.

The control unit 107 can move the position of the coupling unit 105 when the rotation axis when rotating the coupling unit 105 is parallel to the ground of the target point extracted or has an acute angle.

For example, if the ground surface of the target point is on a horizontal plane and the rotational axis of the engaging portion 105 coincides with the vertical axis of the ground of the target point, the distance between the injection unit 110 and the ground of the target point does not change, The position of the engaging portion 105 is not moved.

The distance between the injection unit 110 and the ground of the target point changes in accordance with the rotation of the coupling unit 105. In contrast, when the rotation axis of the coupling unit 105 is parallel or acute to the ground of the target point, Can move the coupling portion 105 in a direction perpendicular to the plane of the target point so that the distance between the injection unit 110 and the ground of the target point can be kept constant.

When at least one of the injection direction or the injection position of the injection unit 110 is directed to a position corresponding to the pre-stored model at the target position, the control unit 107 injects the stored raw material (S307) (110).

The step of correcting the error (S105) compares the output outputted through the injection unit 110 and the pre-stored model in the printing process to determine the position of the dron unit 100 or the injection of the injection unit 110 Direction and correcting the error by adjusting at least one of the directions.

The step of correcting the error (S105) may include a step S401 of photographing the output in the printing process, a step S403 of comparing the output and the pre-stored model, and an adjusting step S405.

A step S401 of photographing an output image is a step of photographing a process of forming an output by the injection unit 110 injecting a raw material in the 3D printing process of the photographing unit 101. [

In step S403, the output is compared with the pre-stored model, and the output is identified from the photographed image in the 3D printing process, and the identified output is compared with the pre-stored model.

The control unit 107 can identify the output from the image photographed by the 3D printing process, and compare the output with the pre-stored model, thereby measuring an error occurring in the output process.

For example, the control unit 107 can identify the output from the image photographed every second, and compare the output with the pre-stored model to measure the error.

The adjusting step S405 is a step of adjusting at least one of the drones or the injection units to correct the error based on the measured error.

For example, when the output product is output with a 1 cm position to the left with respect to the pre-stored model, the droplet unit 100 is moved to the right by 1 cm, which is the measured error, or the error is corrected by adjusting the injection direction or injection position of the injection unit 110 Can be corrected.

Since the drone unit 100 is in a stationary flying state during the printing process, an error that can not be measured with the position information signals may occur, and these errors may have a large influence on the result during the printing process.

Therefore, the control unit 107 measures the error generated in the printing process, and adjusts the injection direction or injection position of the drones 100 or the injection unit 110 to correct the error, Can be generated.

For example, when 3D printing is performed based on the position information signals, the control unit 107 can perform printing within a tolerance range of 1 cm or more and 10 cm or less with respect to the pre-stored model.

However, in the 3D printing, such an error range can greatly affect the result. Therefore, the control unit 107 corrects the error occurring in the printing process through the correction of the error (S105) Printing can be performed within an error range of 0.1 mm or more and 10 mm or less.

FIG. 4 is a diagram illustrating an example of adjusting the injection direction of the injection unit so as to face the target point in the drone type 3D printer and the control method thereof according to the embodiment of the present invention.

4, since the vertical axis 209 of the dron unit 100 is the same as the vertical axis, the slope 207 of the ground surface 203 at the target point with respect to the horizontal plane 205 is perpendicular to the vertical axis of the dron unit 100 209 and the vertical axis 211 of the land 203 of the target point.

Therefore, the control unit 107 measures the slope 207 of the ground surface 203 of the target point with respect to the horizontal plane 205 in the image of the target point 201, and based on the measured slope 207, The engaging portion 109 can be rotated such that the ejecting direction of the unit 110 is directed to the target point 201. [

The drone type 3D printer according to the embodiment of the present invention can independently control the movement of the dron unit 100 and the injection direction of the injection unit 110 so that the target point 201 is located on the horizontal plane 205 The 3D printing can be performed by controlling the injection direction of the injection unit 110 even if it is not positioned.

In addition, since the error of the output output in the printing process is corrected in real time, more accurate and precise results can be generated.

FIG. 5 is a diagram illustrating an example of correcting an error by comparing an output and a pre-stored model in a 3D printing process in a drone type 3D printer and a control method thereof according to an embodiment of the present invention.

5A is a diagram showing a target point and a drone type 3D printer, and FIG. 5B is a diagram showing a target point. In the example in which an error is corrected by comparing an output and a pre-stored model in a 3D printing process, FIG.

5, the control unit 107 can identify the pre-correction output 303 from the image of the printing process, compare the pre-correction model 301 with the pre-correction output 303, and measure the error .

When the error between the pre-stored model 301 and the pre-correction output 303 is measured, as shown in the figure, the control unit 107 controls the drones 301 and 302 to correspond to the pre- The position of the unit 100 can be moved.

Here, the correction position 305 means the position of the drones unit 100 at a certain point in time when the control unit 107 identifies the output from the image every predetermined period and compares it with the pre-stored model 301. [

For example, if the preset period is set to 1 second in consideration of the operation speed of the control unit 107, the control unit 107 can identify the pre-correction output 303 in the image every one second.

After the correction position 305, the post-correction output 307 output in accordance with the direction of the dragon movement is output so as to correspond to the pre-stored model 307, and the error is gradually decreased.

In 3D printing, an error of about 1 cm has a great influence on the result, so that the photographing unit 103 photographs the printing process, the control unit 107 identifies the output from the image every predetermined period, The error can be corrected.

In this example, the post-correction output 307 is outputted so as to correspond to the pre-stored model 301 by correcting the movement of the drill unit 100. However, the control unit 107 rotates or moves the coupling unit 105, At least one of the ejection direction or the ejection position of the unit 110 may be adjusted to output the corrected output 307.

Through such a calibration process, the control unit 107 can perform printing within an error range of 1 mm or more and 10 mm or less with respect to the pre-stored model 301. Therefore, when printing is performed based only on the position information signals More precise control is possible.

6 is a diagram illustrating an example of adjusting the injection position of the injection unit in the drone type 3D printer and the control method thereof according to an embodiment of the present invention.

6, when the control unit 107 rotates the coupling unit 105 to adjust the injection direction 405 of the injection unit 110, the pre-stored model 301 and the pre- An error 403 may be generated between the prints 401.

For example, since the rotation of the coupling portion 105 is similar to the pendulum movement and the heights at the lowest point and the both end points are different from each other, the rotation axis when the coupling portion 105 rotates is parallel or acute to the ground of the target point An error 403 may be generated.

When the rotation axis of the coupling portion 105 is parallel or acute to the plane of the target point, the position of the coupling portion 105 is moved in the direction 407 perpendicular to the plane of the target point, By adjusting the injection position, it is possible to output the output item 409 in which the error 403 is corrected.

In this example, the target position is shown on the horizontal plane. However, even when the target position is located on the inclined plane with respect to the horizontal plane, the control unit 107 determines the position of the engagement unit 105 at the inclination of the target point It is possible to correct the error 403 by moving it in the direction 407 perpendicular to the paper surface and output the output 409 corrected for the error.

When the injection direction 405 of the injection unit 110 is changed by the rotation of the coupling part 105 as described above, the control part 107 controls the coupling part 105 in the direction 407 perpendicular to the paper of the target point The injection position of the injection unit 110 can be adjusted by moving it, so that more precise printing can be performed.

Although the description herein has been made in some illustrative aspects, various modifications and variations can be made from the categories defined by the following claims, and the technical scope of the invention is defined in the following claims It should be decided by.

100: Drone unit
101:
103: Receiver
105:
107:
109: Propulsion unit
110: Injection unit
201: Target point
203: Ground of target point
205: Horizontal plane
207: Slope of the ground of the target point
209: Vertical axis of the drone unit
211: vertical axis of the ground of the target point
301: Pre-stored model
303: Output before correction
305: correction position
307: Output after correction
401: Output
403: Error
405: injection direction of the injection unit
407: direction perpendicular to the ground of the target point
409: Error corrected output

Claims (21)

In a drone type 3D printer including a drone unit and an injection unit,
A receiving unit for receiving position information signals from outside;
A photographing unit for photographing an image; And
And a control unit for controlling the movement of the drone unit, the injection direction of the injection unit, and the injection position of the injection unit based on the position information signals and the photographed image.
An injection unit provided in the dron unit for injecting a raw material stored at a target point; And
And a coupling unit installed in the drone unit to support the injection unit and rotated by the control unit so that the injection unit can be moved so that the injection direction or the injection position of the injection unit is changed,
The control unit controls the coupling unit to rotate in a direction perpendicular to the ground surface of the target point so that the error of the injection position of the injection unit with respect to the ground surface of the target point generated by the rotation of the coupling unit can be reduced. Moving,
Drones 3D printers. The method according to claim 1,
Wherein,
Detecting a marker in the photographed image,
Calculating a distance between the marker and the drone unit, moving the drone unit to a position of the marker,
The marker
Wherein the control unit displays an image that is displayed around the target point,
Drones 3D printers. 3. The method of claim 2,
The receiver may further comprise:
And receiving the position information signals at a position of the marker,
Drones 3D printers. The method according to claim 1,
The position information signals,
And position information signals received from signal transmitters installed around the target point,
Wherein,
Calculating a distance between the target point and the dronon unit based on the received position information signals, and moving the dronon unit to the target point,
Drones 3D printers. The method according to claim 1,
Wherein,
And an image of an output formed of the injected raw material is taken when the injection unit injects the raw material,
Drones 3D printers. 6. The method of claim 5,
Wherein,
Identifying the output from the photographed image,
Comparing the identified output with a pre-stored model, and measuring an error between the output and the pre-stored model,
Drones 3D printers. The method according to claim 6,
Wherein,
And correcting the error by adjusting at least one of the position of the drone unit, the injection direction of the injection unit, or the injection position of the injection unit so as to correspond to the pre-stored model when the error is measured,
Drones 3D printers. The method according to claim 1,
Wherein,
And when the drone unit moves to the target point, identifying the target point in the photographed image, and measuring a slope of the ground of the target point,
Drones 3D printers. 9. The method of claim 8,
Wherein,
And adjusting the injection direction of the injection unit so as to face the position corresponding to the pre-stored model at the target point, based on the measured inclination,
Drones 3D printers. 10. The method of claim 9,
Wherein,
And controls the injection unit to inject the raw material toward the adjusted injection direction.
Drones 3D printers.
delete The method according to claim 1,
The above-mentioned drone type 3D printer,
And a coupling unit provided at a lower end of the drone unit and coupled to the injection unit,
Wherein,
When the rotation axis when rotating the engaging portion is parallel or acute to the ground of the target point,
And the injection position of the injection unit is adjusted by moving the position of the engagement portion in a direction perpendicular to the paper surface of the target point,
Drones 3D printers. A method of controlling a drone type 3D printer including a drone unit and an injection unit,
Moving the dron unit to a target point based on the received position information signals and the photographed image;
Adjusting at least one of an injection direction or an injection position of the injection unit to inject the stored raw material after the drone unit moves to the target point; And
And correcting an error by comparing an output formed by the injected raw material with a pre-stored model when the raw material is injected,
The step of spraying
Adjusting the injection position of the injection unit based on the changed injection direction when the injection direction of the injection unit is changed in the process of injecting the stored raw material; And
Injecting the stored raw material toward the modified injection direction at an injection position of the adjusted injection unit,
Wherein the step of adjusting the injection position comprises:
Wherein when the coupling unit is rotated to reduce an error of the injection position of the injection unit with respect to the ground surface of the target point generated by rotation of the coupling unit provided on the drone unit to support the injection unit, And the injection position of the injection unit is adjusted by moving the injection unit in a direction perpendicular to the paper surface,
Control method of drones 3D printer
14. The method of claim 13,
Wherein the step of moving to the target point comprises:
Extracting a marker from the photographed image; And
And moving the drones unit to a first position that is a position of the extracted marker.
A method of controlling a drone type 3D printer. 15. The method of claim 14,
Wherein the step of moving to the first position comprises:
Calculating a first distance between the extracted marker and the dron unit; And
Moving the drones unit to a first position, which is a position of the marker, based on the first distance;
A method of controlling a drone type 3D printer. 16. The method of claim 15,
Wherein the step of moving to the target point comprises:
Receiving the position information signals at the first position; And
Further comprising moving the dron unit to a second position, the target position, based on the received position information signals.
A method of controlling a drone type 3D printer. 17. The method of claim 16,
Wherein the step of moving to the second position comprises:
Calculating a second distance between the target point and the dron unit based on the received position information signals; And
And moving the drones unit to a second position, the target point, based on the second distance.
A method of controlling a drone type 3D printer. 14. The method of claim 13,
Wherein the step of injecting comprises:
Extracting the target point from the photographed image and measuring a slope of the ground of the target point;
Adjusting the injection direction of the injection unit so as to face the position corresponding to the pre-stored model at the target point, based on the measured inclination; And
And injecting the stored raw material toward the injection direction of the adjusted injection unit.
A method of controlling a drone type 3D printer. delete 14. The method of claim 13,
Wherein the step of adjusting the injection position comprises:
When the rotation axis when the injection direction of the injection unit is changed is parallel or acute to the ground of the target point,
And adjusting the injection position of the injection unit by moving the position of the injection unit in a direction perpendicular to the plane of the target point.
A method of controlling a drone type 3D printer. 14. The method of claim 13,
The step of correcting the error includes:
Capturing an image of the output when the raw material is injected;
Identifying an output from the image and comparing the identified output with the pre-stored model; And
And correcting the error by adjusting at least one of the position of the drone unit, the injection direction of the injection unit, or the injection position so as to correspond to the pre-stored model when the error is measured as a result of the comparison.
A method of controlling a drone type 3D printer.

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