Building structure 3D printing device based on multi-unmanned aerial vehicle cooperation and use method

Abstract

The application discloses a kind of based on the construction of building 3D printing device and use method of multi-unmanned aerial vehicle cooperation, mainly related to geotechnical test device technical field. Including telescopic upper printing head, telescopic lower printing head, wing printing head, wing arm beam, wing power box, motor, steering knuckle, propeller, signal receiving processor, processor antenna, cabin upper cover plate, raw material storage box, cabin lower bottom plate, telescopic support leg.The beneficial effects of the application are that: the model printing of high-difficulty building of various different types and different shapes can be realized.And when printing, real-time control command printing system can be realized, to ensure that printing meets actual needs.Effectively replace manual work, more efficient 3D printing can be completed for complex high-rise building.

Description

Technical Field

[0001] This invention relates to the field of geotechnical testing equipment technology, specifically a 3D printing device for buildings based on multi-UAV collaboration and its usage method. Background Technology

[0002] With the rapid development of information technology, drones are developing faster and faster and are being used more and more widely. They can be seen in people's normal life, work and military fields. Drones are officially called "unmanned aerial vehicles". As the name suggests, they can be operated remotely to replace humans in completing many tasks, greatly reducing the amount of human labor.

[0003] 3D printing is also a new technology that has emerged with the development of information technology. After a three-dimensional model is created by a computer, various 3D printers can be used to create the required components. Drones are small and flexible machines that can complete various commands we want through their small internal chips. Using drones as 3D printers in the construction field can perfectly solve various construction problems and save a lot of labor.

[0004] However, to date, the civil engineering and construction industry still relies heavily on manpower to complete some repetitive and tedious tasks. In many cases, working conditions are still quite harsh. Effective machines to replace manual labor are essential, but ordinary robots are not up to the task of constructing tall and complex buildings. Drones, on the other hand, perfectly meet this need. Drones can fly and hover, easily ascend to the required height, and are small in size, allowing them to complete some detailed tasks.

[0005] Traditional drones are mostly controlled by remote control handles and can only control one drone at a time. However, to complete the 3D printing of building components, more drones are obviously needed to work together. A signal transmitter that can centrally control multiple drones to work together is particularly necessary when 3D printing building models. Summary of the Invention

[0006] The purpose of this invention is to provide a 3D printing device and method for building structures based on multi-UAV collaboration, which can solve the technical problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention employs the following technical solution:

[0008] A 3D printing device for structures based on multi-UAV collaboration includes 3D-printable UAVs and a signal transmission control system. The 3D-printable UAVs include: a retractable upper printhead, a retractable lower printhead, wing printheads, wing arm beams, a wing power supply box, a motor, a steering knuckle, a propeller, a signal receiver processor, a processor antenna, a cabin upper cover, a material storage box, a cabin lower floor plate, and retractable support legs. Six wing arm beams are connected to the cabin lower floor plate via screw holes. The upper part of the wing arm beams is connected to the cabin upper cover via screw holes. A material storage box is installed on the cabin lower floor plate, and the two are connected by positioning protrusions on the cabin lower floor plate. The retractable lower printhead is connected to the material storage box below the lower floor plate via pre-drilled holes. The material storage box is connected to the retractable upper printhead via pre-drilled holes in the cabin upper cover and the signal receiver processor. The material storage box is connected to each wing arm beam via a material transfer pipe. The end has a 360-degree rotating steering knuckle, which is connected to the wing print head. The upper part of the steering knuckle is a motor, and above the motor is a propeller. The side of the wing arm spars root has a wing power box containing a removable battery. Above the cabin cover is a signal receiver processor, which is connected to a signal receiving antenna. Four retractable support legs are connected to the lower floor of the cabin. The signal transmission control system includes: a signal transmission processor, a transmitting antenna, an antenna base, a wiring harness, a touch control panel, a power supply box, a control host, and a signal conversion control console. The signal transmission processor is connected to the power supply box and the control host. An external LCD touch control panel is mounted on the power supply box and the control host. The signal transmission processor is connected to a wiring harness, which is connected to the antenna base. There are 12 transmitting antennas on the antenna base. Several signal conversion control consoles are placed around the structure to be 3D printed.

[0009] The drone has six wing spars, each with its own wing power box, motor, and propeller, which effectively improves the drone's hovering time and stability during 3D printing. The bottom of the wing spars is thicker, with three screw holes and two plates connecting the top and bottom, ensuring the overall stability and high load-bearing capacity of the drone during flight. The outer end of the wing spars is connected to a detachable wing print head via a steering knuckle, which can rotate 360 ​​degrees and be adjusted to the appropriate angle as needed during printing. The wing print heads on all six wing spars can be detached and removed when not in use, reducing the drone's weight and size, achieving greater endurance, and meeting the needs of higher altitude, longer duration, and smaller area operations. The raw material storage box can carry and store a large amount of raw materials needed for 3D printing at once. It is equipped with an inlet and outlet for replenishing raw materials. When the printing material is insufficient, the inlet and outlet will return the drone to the ground raw material warehouse for replenishment. The raw material storage box is connected to a retractable upper print head, a retractable lower print head, and wing print heads on six wing arm beams through pipes that can output printing material. When needed, printing material is supplied to the print heads in different positions. This allows the drone to print the upper structure from below the building, print the lower structure from above the building, print the surrounding building components from the middle of the building, and print building components in all directions at the same time. This can effectively improve the efficiency of printing complex building structures. Moreover, each print head is retractable, which can print into certain parts as needed according to different structures. It can also print curved building components such as arcs and spheres, which can effectively improve the problem of encountering dead angles and obstacles when printing complex building components, or meet the printing needs of various beautifully shaped building structures.

[0010] A method for using a 3D printing device for structures based on multi-UAV collaboration includes the following steps:

[0011] Before drone 3D printing, the print head is reasonably disassembled and assembled according to the different parts or printing positions, and drones equipped with different types of print heads are used to print different building components.

[0012] S1. Place the required number of signal conversion control consoles around the building to be printed beforehand, and connect the signal transmission control system to the power supply.

[0013] S2, then input the established BIM model into the liquid touch control panel and import it into the control host. The control host analyzes and decomposes the BIM model, optimizes the printing order of each component of the building, and transmits the optimized model to the signal conversion control console through the signal transmission processor to command the start of multiple drones.

[0014] S3 then transmits the signal of the model to be built to the pre-placed signal conversion console through the twelve transmitting antennas above the signal transmitting processor. The signal conversion console then transmits signals to multiple drones simultaneously for coordinated command and precise positioning, enabling the drones to accurately print building components in different locations.

[0015] Step S3 above also includes optimizations for different building printing scenarios in S31 and S32:

[0016] When printing complex high-rise buildings with pure steel structures (S31), due to their large height and numerous floors, the required materials for building components such as the core steel plate shear walls are also very large. During printing, multiple drones carrying the same raw material are used simultaneously, and a signal conversion control console directs the multiple drones to work together in 3D printing. Therefore, printing with multiple drones simultaneously can significantly improve printing efficiency.

[0017] When printing complex high-rise buildings with tube-in-tube structures, the S32 requires various materials such as concrete, steel, and wood for its inner and outer tubes and outrigger trusses. During printing, multiple drones carry different building materials, and the signal conversion control console issues different commands to each drone to simultaneously begin printing different building components. This shortens the printing cycle and significantly improves printing efficiency.

[0018] In the S4 drone 3D printing process, when any drone runs out of material or power, it will send a warning signal. The signal transmission control system will then command it to return to the ground material warehouse to replenish materials or power. Simultaneously, it can connect and command other idle drones to begin printing. Sufficient drones should be deployed according to the needs of the building model during 3D printing, allowing them to work alternately. This effectively eliminates the necessary rest time required for manual construction and significantly shortens the printing cycle of the building model.

[0019] S5. Throughout the printing process, engineers monitor the 3D printing quality of each UAV and whether the position of the 3D printed parts is accurate. They then use the touch control panel (19) to give commands and control as needed until all building components or the entire building model are printed.

[0020] S6. When the building is large, increase the number of signal conversion control consoles (21) so that signal conversion control consoles (21) are arranged around the building model. This will enable the signal to fully cover the area of ​​the model to be built, avoid the problem of drones being unable to operate due to signal obstruction, and enable drones to 3D print any part of the building from all directions without blind spots.

[0021] Further details:

[0022] Depending on the part being printed or the location being printed, the print head can be disassembled and assembled in a reasonable manner. Drones equipped with different types of print heads can print different building components, which can specifically solve the problems encountered in the printing of various detailed structures, make fuller use of the drone's battery, improve the drone's battery life during printing, and complete 3D printing more efficiently.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] 1. This drone is equipped with three types of printing heads: a retractable upper printing head, a retractable lower printing head, and a wing printing head. Each printing head can be extended to a specific length for 3D printing as needed. The wing printing head is connected to a steering knuckle, which can be rotated to a specific angle for 3D printing as needed. It can handle the detailed construction of complex building structures and realize the printing of models of various types and shapes of high-difficulty buildings.

[0025] 2. All drone printheads are detachable, meaning that a single printing system can have multiple types of drones, including only the lower printhead, only the upper printhead, only the four-wing printhead, or any combination of various printheads. Different types of 3D printing drones can be used according to the specific needs of the scenario.

[0026] 3. The control system of the present invention can input BIM models of complex buildings and print out buildings that better meet actual needs, no longer limited to simple building shapes, and can control and direct the printing system in real time during printing to ensure that the printing meets actual needs.

[0027] 4. A signal transmission control system can control multiple drones to collaboratively print complex buildings. Each drone can carry different building materials and can print different parts of the same building with different materials at the same time, or print buildings with different materials at the same time. Multiple drones can work in cycles and alternately to make full use of time, effectively replace manual labor, and complete complex high-rise buildings more efficiently in 3D printing.

[0028] 5. The number of signal conversion control consoles can be increased according to the size of the building or structure. Even for large and complex buildings or structures, signal obstruction problems can be avoided, and full coverage of transmission control signals can be achieved to control multiple drones to perform 3D printing on any part of the building or structure. Attached Figure Description

[0029] Appendix Figure 1 This is a schematic diagram of the top side of the 3D-printable drone according to the present invention.

[0030] Appendix Figure 2 This is a side view of the 3D-printable drone of the present invention.

[0031] Appendix Figure 3This is the front view of the 3D drone of the present invention.

[0032] Appendix Figure 4 This is a top view of the 3D-printable drone of this invention.

[0033] Appendix Figure 5 This is a schematic diagram of the processor-related parts in the signal transmission control system of this invention.

[0034] Appendix Figure 6 This is an overall distribution diagram of the signal transmission control system in this invention.

[0035] The labels shown in the attached diagram:

[0036] 1-Retractable upper printhead, 2-Retractable lower printhead, 3-Wing printhead, 4-Wing arm spars, 5-Wing power supply box, 6-Motor, 7-Steering knuckle, 8-Propeller, 9-Signal receiver processor, 10-Processor antenna, 11-Nacelle upper cover, 12-Raw material storage box, 13-Nacelle lower floor plate, 14-Retractable support leg, 15-Signal transmitter processor, 16-Transmitting antenna, 17-Antenna base, 18-Wire harness conduit, 19-Touch control panel, 20-Power supply box and control host, 21-Signal conversion control console. Detailed Implementation

[0037] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined in this application.

[0038] like Figures 1 to 4As shown, the present invention relates to a 3D printing device for building structures based on multi-UAV collaboration, comprising 3D-printable UAVs and a signal transmission control system; the 3D-printable UAVs include: a retractable upper print head 1, a retractable lower print head 2, a wing print head 3, wing arm beams 4, a wing power box 5, a motor 6, a steering knuckle 7, a propeller 8, a signal receiver processor 9, a processor antenna 10, a cabin upper cover 11, a raw material storage box 12, a cabin lower base plate 13, and retractable support legs 14. Six wing arm beams 4 are connected to the cabin lower base plate 13 via screw holes, and the upper part of the wing arm beams 4 is connected to the cabin upper cover 11 via screw holes. The raw material storage box 12 is provided on the cabin lower base plate 13, and the two are connected by positioning protrusions on the cabin lower base plate 13. Next, the retractable lower printhead 2 is connected to the lower base plate of the raw material storage box 12 through a pre-drilled hole. The retractable upper printhead 1 is connected to the upper cover plate 11 and the signal receiver processor 9 through pre-drilled holes. The raw material storage box 12 is connected to each wing arm spar 4 through a raw material transfer pipe. The outer end of the wing arm spar 4 has a 360-degree rotatable steering knuckle 7. The steering knuckle 7 is connected to the wing printhead 3. The upper part of the steering knuckle 7 is the motor 6. Above the motor 6 is the propeller 8. The side of the root of the wing arm spar 4 is the wing power box 5 containing a removable battery. The upper part of the upper cover plate 11 is the signal receiver processor 9. The signal receiver processor 9 is connected to the processor antenna 10 that can receive signals. Four retractable support legs 14 are connected to the lower base plate 13 of the cabin. Figure 5 and Figure 6 As shown, the signal transmission control system includes: a signal transmission processor 15, a transmitting antenna 16, an antenna base 17, a wiring harness duct 18, a touch control panel 19, a power supply box, a control host 20, and a signal conversion control console 21. The signal transmission processor 15 is connected to the power supply box and the control host 20. An external LCD touch control panel 19 is mounted on the power supply box and the control host 20. The signal transmission processor 15 is connected to the wiring harness duct 18, and the antenna base 17 is connected to the wiring harness duct 18. There are a total of 12 transmitting antennas 16 on the antenna base 17. Several signal conversion control consoles 21 are placed around the required 3D printed building structure.

[0039] The drone has six wing arm spars 4, each equipped with an individual wing power box 5, motor 6, and propeller 8. This effectively improves the drone's hovering time and stability during 3D printing. Each wing arm spar 4 has three screw holes and two connecting plates at the top and bottom, ensuring overall stability and high load-bearing capacity during flight. The outer ends of the wing arm spars 4 are connected to detachable wing printheads 3 via steering knuckles 7, allowing for 360-degree rotation. All six wing printheads 3 on the wing arm spars 4 can be detached and removed when not in use, reducing the drone's weight and size, achieving greater endurance, and meeting the needs of higher altitude, longer duration, and smaller operational areas. The raw material storage box 12 can carry and store a large amount of raw materials required for 3D printing at one time. It is equipped with an inlet and outlet for replenishing raw materials. When the printing material is insufficient, the inlet and outlet will return the drone to the ground raw material warehouse for replenishment. The raw material storage box 12 is connected to the retractable upper print head 1, the retractable lower print head 2, and the wing print head 3 on the six wing arm beams 4 through pipes that can output printing material. When needed, it provides printing material to the print heads in different positions, enabling the drone to print the upper structure from below the building, print the lower structure from above the building, print the surrounding building components from the middle of the building, and print building components in all directions at the same time. This can effectively improve the efficiency of printing complex buildings. Moreover, each print head is retractable, and can print into certain parts as needed according to different structures. It can also print curved building components such as arcs and spheres, which can effectively improve the problem of encountering dead angles and obstacles when printing complex building components, or meet the printing needs of various beautifully shaped buildings.

[0040] A method for using a 3D printing device for buildings based on multi-UAV collaboration.

[0041] Includes the following steps:

[0042] Before drone 3D printing, the print head is reasonably disassembled and assembled according to the different parts or printing positions, and drones equipped with different types of print heads are used to print different building components.

[0043] S1, Place the required number of signal conversion control consoles 21 around the building to be printed beforehand, and connect the signal transmission control system to the power supply.

[0044] S2, then input the established BIM model into the control host 20 via the liquid touch control panel 19. The control host 20 analyzes and decomposes the BIM model, optimizes the printing order of each component of the building, and transmits the optimized model to the signal conversion control console 21 via the signal transmitter processor to command the start of multiple drones.

[0045] S3, then through the twelve transmitting antennas 16 above the signal transmitting processor, the signal of the model to be built is transmitted to the pre-placed signal conversion control console 21. The signal conversion control console 21 then transmits signals to multiple drones simultaneously for coordinated command and precise positioning, so as to realize the accurate printing of building components in different locations by the drones.

[0046] Step S3 above also includes optimizations for different building printing scenarios in S31 and S32:

[0047] When printing complex high-rise buildings with pure steel structures (S31), due to their large height and numerous floors, the required materials for building components such as the core steel plate shear walls are also very large. During printing, multiple drones carrying the same raw material are used simultaneously, and the signal conversion control console 21 directs multiple drones to coordinate 3D printing. Therefore, printing with multiple drones simultaneously can significantly improve printing efficiency.

[0048] When printing complex high-rise buildings with tube-in-tube structures, the inner and outer tubes and outrigger trusses require various materials such as concrete, steel, and wood. During printing, multiple drones carry different building materials, and the signal conversion control console 21 issues different commands to each drone to start printing different building components at the same time, thus shortening the printing cycle and greatly improving printing efficiency.

[0049] In the S4 drone 3D printing process, when any drone runs out of material or power, it will send a warning signal. The signal transmission control system will then command it to return to the ground material warehouse to replenish materials or power. Simultaneously, it can connect and command other idle drones to begin printing. Sufficient drones should be deployed according to the needs of the building model during 3D printing, allowing them to work alternately. This effectively eliminates the necessary rest time required for manual construction and significantly shortens the printing cycle of the building model.

[0050] S5. Throughout the printing process, engineers monitor the 3D printing quality of each drone and the accuracy of the position of the 3D printed parts. They then use the touch control panel 19 to give instructions and control as needed until all building components or the entire building model are printed.

[0051] S6. When the building structure is relatively large, increase the number of signal conversion control consoles 21 so that signal conversion control consoles 21 are arranged around the building structure model. This ensures that the signal can fully cover the area of ​​the model to be built, avoiding the problem of drones being unable to be controlled due to signal obstruction. This allows drones to perform 3D printing on any part of the building structure from all directions without blind spots.

[0052] Further details:

[0053] Depending on the part being printed or the location being printed, the print head can be disassembled and assembled in a reasonable manner. Drones equipped with different types of print heads can print different building components, which can specifically solve the problems encountered in the printing of various detailed structures, make fuller use of the drone's battery, improve the drone's battery life during printing, and complete 3D printing more efficiently.

[0054] In summary:

[0055] This drone is equipped with three types of print heads: a retractable upper print head, a retractable lower print head, and a wing print head. Each print head can be extended to a specific length for 3D printing as needed. The wing print head is connected to a steering knuckle, allowing it to rotate to a specific angle for 3D printing. This enables the processing of detailed structures in complex buildings and the printing of various types and shapes of complex architectural models. The drone print heads are all detachable, meaning a single printing system can contain drones with only a lower print head, only an upper print head, only four wing print heads, or any combination of various print heads. Different types of 3D printing drones can be used depending on the specific needs of the scenario. The control system of this invention can input BIM models of complex architectural structures, printing structures that better meet actual requirements, no longer limited to simple architectural shapes. Furthermore, the printing system can be controlled in real time during printing to ensure that the printing meets actual needs. A signal transmission control system can control multiple drones to collaboratively print complex structures. Each drone can carry different building materials, allowing for simultaneous printing of different materials on the same structure, or printing structures made of different materials simultaneously. Multiple drones can work in rotation, maximizing time utilization, effectively replacing manual labor, and enabling more efficient 3D printing of complex high-rise buildings. The drone control system can increase the number of signal conversion control consoles according to the size of the structure, avoiding signal obstruction issues even for large and complex structures, achieving full coverage of transmission control signals, and controlling multiple drones to 3D print any part of the structure.

Claims

1. A 3D printing device for buildings based on multi-UAV collaboration, characterized in that: The system includes a 3D-printable drone and a signal transmission control system. The 3D-printed drone includes: a retractable upper print head (1), a retractable lower print head (2), a wing print head (3), wing arm spars (4), a wing power box (5), a motor (6), a steering knuckle (7), a propeller (8), a signal receiver processor (9), a processor antenna (10), a cabin upper cover (11), a raw material storage box (12), a cabin lower floor plate (13), and retractable support legs (14). Six wing arm spars (4) are connected to the cabin lower floor plate (13) via screw holes. The cabin upper cover plate (11) is connected to the wing arm spars (4) via screw holes. The raw material storage box (12) is installed on the cabin lower floor plate (13). The two are connected by screw holes. The lower floor plate (13) of the cabin is connected to a positioning protrusion. The retractable lower print head (2) is connected to the lower part of the raw material storage box (12) through the reserved hole of the lower floor plate. The retractable upper print head (1) is connected to the upper cover plate (11) of the cabin and the reserved hole of the signal receiver processor (9). The raw material storage box (12) is connected to each wing arm spade (4) through the raw material transmission pipe. The outer end of the wing arm spade (4) has a steering knuckle (7) that can rotate 360 ​​degrees. The steering knuckle (7) is connected to the wing print head (3) outward. The upper part of the steering knuckle (7) is the motor (6). The propeller (8) is above the motor (6). The side of the root of the wing arm spade (4) is the wing power box (5) containing a removable battery. The upper part of the upper cover plate (11) is the signal... The signal receiving processor (9) is connected to a processor antenna (10) capable of receiving signals, and four retractable support legs (14) are connected below the cabin floor plate (13); the signal transmission control system includes: a signal transmission processor (15), a transmitting antenna (16), an antenna base (17), a wiring harness duct (18), a touch control panel (19), a power supply box, a control host (20), and a signal conversion control console (21). The signal transmission processor (15) is connected to the power supply box and the control host (20). An external LCD touch control panel (19) is mounted on the power supply box and the control host (20). The signal transmission processor (15) is connected to the wiring harness duct (18), and the wiring harness duct (18) is connected to... The antenna base (17) has 12 transmitting antennas (16) on it, and several signal conversion control consoles (21) are placed around the building to be 3D printed. The outer end of the wing arm beam (4) is connected to a detachable wing print head (3) through a steering knuckle (7), and the wing print heads (3) on the six wing arm beams (4) can be detached and connected. When needed, printing materials are provided to the print heads in different directions, so that the UAV can print the upper structure under the building, print the lower structure above the building, print the surrounding building components in the middle of the building, and print building components in all directions at the same time. Each print head can be extended and retracted.

2. The 3D printing device for buildings based on multi-UAV collaboration according to claim 1, characterized in that: The UAV has six wing arms (4), each with a separate wing power box (5), motor (6) and propeller (8); the wing arms (4) have three screw holes on the top and bottom and two plates on the top and bottom. The material storage box (12) can carry and store a large amount of 3D printing materials at one time. It is equipped with an inlet and outlet for replenishing materials. When the printing materials are insufficient, the inlet and outlet will return the UAV to the ground material warehouse for replenishment. The material storage box (12) is connected to the retractable upper print head (1), the retractable lower print head (2) and the wing print head (3) on the six wing arms (4) through a pipe that can output printing materials.

3. The method of using the multi-UAV collaborative 3D printing device for buildings according to claim 2, characterized in that: Includes the following steps: S1, Place the required number of signal conversion control consoles (21) around the building to be printed in advance. When the building is large, increase the number of signal conversion control consoles (21) so that signal conversion control consoles (21) are arranged around the building model. This will enable the signal to fully cover the area of ​​the model to be built, avoid the problem of drones being unable to operate due to signal obstruction, and enable drones to 3D print any part of the building without blind spots. Connect the signal transmission control system to the power supply. S2, then input the established BIM model into the control host (20) on the liquid touch control panel (19), analyze and decompose the BIM model through the control host (20), optimize the printing order of each component of the building, and transmit the optimized model to the signal conversion control console (21) through the signal transmission processor to command the start of multiple drones; S3, then through the twelve transmitting antennas (16) above the signal transmitting processor, the signal of the model to be built is transmitted to the signal conversion control console (21) that has been placed in advance. The signal conversion control console (21) then transmits signals to multiple drones at the same time to coordinate command and precise positioning, so as to realize the accurate printing of building components in different locations by drones.

4. The method of using the multi-UAV collaborative 3D printing device for buildings according to claim 3, characterized in that: Step S3 above also includes: S31, When printing complex high-rise buildings with pure steel structures, due to their large building height and many floors, the building components in the core steel plate shear wall system also require a lot of materials. During printing, multiple drones carry one type of raw material at the same time, and the signal conversion control console (21) directs multiple drones to work together to carry out 3D printing.

5. The method of using the multi-UAV collaborative 3D printing device for buildings according to claim 3, characterized in that: Step S3 above also includes: S32, when printing a complex high-rise building with a tube-in-tube structure, its inner and outer tubes and outrigger trusses require a variety of materials such as concrete, steel and wood. During printing, multiple drones carry different building materials. The signal conversion control console (21) issues different commands to each drone and starts printing different building components.

6. The method of using the multi-UAV collaborative 3D printing device for buildings according to any one of claims 3-5, characterized in that: It also includes the following steps: S4. During the 3D printing of building components by drones, if any drone runs out of material or has insufficient power, it will send back a warning signal. The signal transmission control system will then command it to return to the ground material warehouse to replenish materials or power, and at the same time connect and command the remaining idle drones to start printing.

7. The method of using the multi-UAV collaborative 3D printing device for buildings according to claim 6, characterized in that: It also includes the following steps: Before step S1, step S0 is also included: S0, Before drone 3D printing, the print head is reasonably disassembled and assembled according to the different parts or printing positions, and drones equipped with different types of print heads are used to print different building components.

8. The method of using the multi-UAV collaborative 3D printing device for buildings according to claim 7, characterized in that: It also includes the following steps: S5. Throughout the printing process, engineers monitor the 3D printing quality of each UAV and whether the position of the 3D printed parts is accurate. They then use the touch control panel (19) to give commands and control as needed until all building components or the entire building model are printed.

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