A concrete printing method, system, terminal device and computer-readable storage medium

Abstract

The present application is applicable to the field of 3D printing technology, and provides a concrete printing method, system, terminal device and computer-readable storage medium, including: obtaining intended use and environmental data, selecting concrete preparation parameters to prepare concrete materials; loading a printing decision model to obtain initial printing parameters; executing concrete printing operations; during the printing process, generating real-time printing quality data, and obtaining optimized printing parameters based on the printing decision model. The present application prepares concrete materials based on intended use and environmental data, obtains initial printing parameters through a printing decision model, performs concrete printing, monitors the printing quality in real time during the printing process, and feeds back to the printing decision model to optimize the printing parameters, which can improve the overall printing quality lower limit under different environments, and through real-time optimization of the printing parameters of concrete materials, achieves stable and accurate printing of concrete materials, ensures the quality of the printed structure, improves printing efficiency, and reduces printing costs.

Description

Technical Field

[0001] The present application belongs to the field of 3D printing technology, and in particular, relates to a concrete printing method, system, terminal device and computer-readable storage medium. Background Art

[0002] As the global construction industry urgently needs efficient and sustainable construction technology, 3D printing technology has gradually emerged with its unique advantages. 3D printing technology can quickly build complex and precise building structures by stacking materials layer by layer, greatly improving the production efficiency and sustainability of the construction industry. However, although 3D printing technology has shown great potential in the construction industry, it still faces a series of challenges in its actual application.

[0003] First, the impact of environmental changes on material properties is one of the main challenges facing 3D printing technology. During the printing process, the performance of the material may be significantly affected by environmental factors such as temperature, humidity, and light, resulting in changes in the physical and chemical properties of the material, which in turn affects the stability and durability of the printed structure. Secondly, the stability and repeatability of the printing process are key factors in ensuring printing quality. Due to the influence of various factors such as printing equipment, materials, and process parameters, the printing process often has problems of instability and poor repeatability, which may lead to substandard quality of the printed structure and may even cause safety hazards. In addition, the inconsistency of the characteristics of the printed materials is also an urgent problem to be solved. Since materials from different batches and different manufacturers may have performance differences, such differences may cause problems in the printing process, such as poor material fluidity and insufficient printing accuracy, which seriously affect the stability of the printing process and the quality and accuracy of the printed structure. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a concrete printing method, system, terminal device and computer-readable storage medium to achieve stable and accurate printing of concrete materials in different environments and ensure the quality of the printed structure.

[0005] A first aspect of an embodiment of the present application provides a concrete printing method, comprising:

[0006] Obtain intended use and environmental data;

[0007] Selecting concrete preparation parameters according to the intended use and the environmental data to prepare concrete material;

[0008] Load the printing decision model;

[0009] Based on the printing decision model, the performance data of the concrete material and the environmental data, initial printing parameters are obtained, and the initial printing parameters are set as actual printing parameters;

[0010] According to the actual printing parameters, executing the concrete printing operation;

[0011] In the process of performing the concrete printing operation, the following steps are performed:

[0012] Evaluate real-time print quality and generate real-time print quality data;

[0013] Obtaining optimized printing parameters based on the printing decision model, the actual printing parameters and the real-time printing quality data;

[0014] If the optimized printing parameters are different from the actual printing parameters, the optimized printing parameters are set as the actual printing parameters, and the process returns to the step of performing the operation of concrete printing according to the actual printing parameters.

[0015] In one form of the first aspect, the performance data of the concrete material includes a predicted setting time;

[0016] Before loading the printing decision model, the method further includes:

[0017] Load the setting time prediction model;

[0018] Prediction is performed based on the setting time prediction model, the concrete preparation parameters and the environmental data to obtain a predicted setting time.

[0019] In an implementation of the first aspect, the environmental data includes temperature data and humidity data;

[0020] Before performing the operation of concrete printing according to the actual printing parameters, the method further includes:

[0021] If the temperature data exceeds the preset printing temperature range, adjusting the temperature data by a heating / cooling system until the temperature data falls within the preset printing temperature range;

[0022] If the humidity data exceeds the preset printing humidity range, the humidity data is adjusted by a humidification / dehumidification system until the humidity data falls within the preset printing humidity range.

[0023] In an implementation of the first aspect, the real-time printing quality includes layer uniformity and structural stability;

[0024] The step of evaluating the real-time print quality and generating the real-time print quality data comprises:

[0025] Load the quality assessment model;

[0026] Get real-time visual data of the concrete printing process;

[0027] Based on the quality assessment model and the real-time visual data, real-time printing quality data including layer uniformity and structural stability are generated.

[0028] In an implementation of the first aspect, after performing the operation of concrete printing according to the actual printing parameters, the method further includes:

[0029] Evaluate final print quality and generate final print quality data;

[0030] If the final print quality data does not meet the expected final quality standard, designing a repair printing plan and performing repair according to the real-time print quality data and the final print quality data;

[0031] The final printing quality includes structural integrity.

[0032] In an implementation of the first aspect, before evaluating the real-time print quality and generating the real-time print quality data, the method further includes:

[0033] Obtain the flow rate and pressure of concrete material;

[0034] evaluating the fluidity of the concrete material according to the flow rate and pressure of the concrete material;

[0035] The step of obtaining optimized printing parameters based on the printing decision model, the actual printing parameters and the real-time printing quality data comprises:

[0036] Optimized printing parameters are obtained based on the printing decision model, the actual printing parameters, the real-time printing quality data and the fluidity of the concrete material.

[0037] In an implementation of the first aspect, the printing parameters include material flow rate, nozzle temperature, nozzle speed and printing path.

[0038] A second aspect of an embodiment of the present application provides a concrete printing system, comprising:

[0039] A concrete preparation module, used to obtain expected use and environmental data, and select concrete preparation parameters according to the expected use and the environmental data to prepare concrete materials;

[0040] A printing decision module, used for loading a printing decision model, obtaining initial printing parameters based on the printing decision model, the performance data of the concrete material and the environmental data, and setting the initial printing parameters as actual printing parameters;

[0041] A printing module, used for executing the operation of concrete printing according to the actual printing parameters;

[0042] The real-time optimization module is used to perform the following steps during the process of performing the operation of concrete printing: evaluating the real-time printing quality and generating real-time printing quality data; obtaining the optimized printing parameters based on the printing decision model, the actual printing parameters and the real-time printing quality data; if the optimized printing parameters are different from the actual printing parameters, setting the optimized printing parameters as the actual printing parameters, and returning to the step of performing the operation of concrete printing according to the actual printing parameters.

[0043] A third aspect of an embodiment of the present application provides a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the concrete printing method described in the first aspect when executing the computer program.

[0044] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the concrete printing method described in the first aspect are implemented.

[0045] The beneficial effects of the first aspect of the embodiment of the present application are: selecting concrete preparation parameters based on the expected use and environmental data to prepare concrete materials, then obtaining initial printing parameters through a printing decision model, performing concrete printing, monitoring the printing quality in real time during the printing process, and feeding back to the printing decision model to optimize the printing parameters, which can improve the lower limit of the overall printing quality under different environments, and through real-time optimization of the printing parameters of the concrete material, achieving stable and accurate printing of the concrete material, ensuring the quality of the printed structure, and at the same time improving printing efficiency and reducing printing costs.

[0046] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 This is a schematic diagram of the implementation process of the first concrete printing method provided in the embodiment of the present application;

[0049] Figure 2 It is a schematic diagram of the implementation process of the second concrete printing method provided in the embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of the implementation process of the third concrete printing method provided in the embodiment of the present application;

[0051] Figure 4 This is a schematic diagram of the implementation process of the fourth concrete printing method provided in the embodiment of the present application;

[0052] Figure 5 is a schematic diagram of a concrete printing system provided in an embodiment of the present application;

[0053] Figure 6 It is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0055] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0056] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0057] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0058] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0059] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0060] The concrete printing method provided in the embodiment of the present application is applied to printing concrete building structures. Concrete materials are prepared by selecting concrete preparation parameters based on expected use and environmental data, and then initial printing parameters are obtained through a printing decision model to perform concrete printing. During the printing process, the printing quality is monitored in real time and fed back to the printing decision model to optimize the printing parameters. This can improve the lower limit of the overall printing quality under different environments. In addition, through real-time optimization of the printing parameters of the concrete material, stable and accurate printing of the concrete material is achieved to ensure the quality of the printed structure. At the same time, the printing efficiency can be improved and the printing cost can be reduced.

[0061] like Figure 1 As shown, the embodiment of the present application provides a concrete printing method, comprising:

[0062] Step S10, obtaining intended use and environmental data;

[0063] Step S11, selecting concrete preparation parameters according to the expected use and the environmental data to prepare concrete material;

[0064] Step S20, loading a printing decision model;

[0065] Step S21, obtaining initial printing parameters based on the printing decision model, the performance data of the concrete material and the environmental data, and setting the initial printing parameters as actual printing parameters;

[0066] Step S30, performing a concrete printing operation according to the actual printing parameters;

[0067] Step S40, during the process of performing the concrete printing operation, performing the following steps:

[0068] Step S41, evaluating the real-time printing quality and generating real-time printing quality data;

[0069] Step S42, obtaining optimized printing parameters based on the printing decision model, the actual printing parameters and the real-time printing quality data;

[0070] Step S43: if the optimized printing parameters are different from the actual printing parameters, the optimized printing parameters are set as the actual printing parameters, and the process returns to the step of performing the operation of concrete printing according to the actual printing parameters.

[0071] In applications, the intended use of concrete printing determines the performance data that concrete materials should have. Different concrete materials should be prepared according to different intended uses. However, environmental data will also affect the performance data of concrete materials such as setting time and temperature. Therefore, when preparing concrete materials, the impact of environmental factors on the performance data of concrete materials should also be considered. In applications, the performance data of concrete materials is controlled by controlling the concrete preparation parameters. Therefore, by selecting concrete preparation parameters according to the intended use and environmental data to prepare concrete materials, it is possible to accurately control the prepared concrete materials to have performance data that meets the intended use under any environmental conditions.

[0072] In application, concrete preparation parameters include concrete model, mix ratio, mixing time and additives. The performance data of concrete materials include the temperature, viscosity, mixing uniformity and setting time of concrete materials. Different types of concrete have different strengths and densities, and concrete is the main component of concrete materials, so it is necessary to select the appropriate concrete model. Mix ratio refers to the proportion of water, cement, sand and aggregate. Different mix ratio schemes can adjust the hardening time, fluidity and final compressive strength of concrete. Mixing time mainly affects the mixing uniformity of concrete materials. Appropriate mixing time can ensure that all ingredients are fully mixed and optimize the mechanical properties of concrete. Additives such as water reducers are used to maintain the fluidity of concrete, and retarders adjust the curing time. Selecting concrete preparation parameters such as concrete model, mix ratio, mixing time and additives according to the intended use and environmental data can accurately control the performance data of the prepared concrete materials.

[0073] In the application, the printing decision model is a pre-trained reinforcement learning model, which is used to output the initial printing parameters according to the performance data and environmental data of the concrete material. Setting the initial printing parameters as the actual printing parameters can ensure the stability of the printing process and improve the lower limit of the printing quality. In the application, the reinforcement learning model uses a reinforcement learning algorithm suitable for continuous actions and state spaces, such as Deep Deterministic Policy Gradient (DDPG) or Proximal Policy Optimization (PPO). During the training of the reinforcement learning model, printing quality, structural strength, etc. can be used as rewards.

[0074] In the application, the operation of concrete printing is performed with the initial printing parameters as the actual printing parameters. During the concrete printing process, the printing quality can be evaluated in real time to generate real-time printing quality data; then, by feeding back the real-time printing quality data to the printing decision model, the printing decision model can output the optimized printing parameters based on the real-time printing quality and the actual printing parameters. If the optimized printing parameters are different from the actual printing parameters, it means that there is room for optimization in the current printing process. Therefore, the optimized printing parameters are set as the actual printing parameters, and the concrete printing operation is performed according to the new actual printing parameters. It can be understood that by evaluating the printing quality in real time and feeding back to the printing decision model, the real-time optimization of the printing parameters can be achieved, which can dynamically ensure the stability of the printing process and improve the printing quality.

[0075] like Figure 2 As shown, in one embodiment, the performance data of the concrete material includes a predicted setting time;

[0076] Before step S20, the method further includes:

[0077] Step S12, loading a setting time prediction model;

[0078] Step S13: performing prediction based on the setting time prediction model, the concrete preparation parameters and the environmental data to obtain a predicted setting time.

[0079] In the application, the setting time prediction model is a pre-trained machine learning model. The training process of the setting time prediction model is as follows: measure the initial setting time and final setting time of concrete based on the needle penetration sensor, and measure the resistivity change in concrete based on the resistivity sensor to monitor the cement hydration process and the setting state of concrete; synchronize the timestamps of each sensor; preprocess all data, such as cleaning, standardization, feature extraction, and feature combination; select a regression model, and train the setting time prediction model based on the preprocessed data, environmental data, and concrete preparation parameters to evaluate whether the performance and accuracy of the setting time prediction model meet the prediction requirements. If so, output the setting time prediction model.

[0080] In one embodiment, the environmental data includes temperature data and humidity data;

[0081] Before step S30, the method further includes:

[0082] Step S22, if the temperature data exceeds the preset printing temperature range, adjusting the temperature data by a heating / cooling system until the temperature data falls within the preset printing temperature range;

[0083] Step S23: if the humidity data exceeds the preset printing humidity range, the humidity data is adjusted by a humidification / dehumidification system until the humidity data falls within the preset printing humidity range.

[0084] In the application, the environment refers to the environment for preparing concrete materials and printing concrete. The environmental data includes temperature data and humidity data. In environments with different temperature data and humidity data, the concrete materials prepared by the same concrete preparation parameters may also have different performance data. For example, the higher the temperature and the lower the humidity, the shorter the setting time of the concrete material. Therefore, when selecting concrete parameters to prepare concrete materials, concrete preparation parameters are selected according to the intended use and environmental data including temperature data and humidity data to prepare concrete, ensuring that concrete materials that meet the intended use can be prepared in any environment.

[0085] In applications, in some extreme environments, the temperature data or humidity data is relatively extreme, and it is difficult to prepare concrete materials that meet the intended purpose by adjusting the preparation parameters. For example, in an arid desert with high temperature and low humidity, or in a high-latitude area with low temperature, it is difficult for the concrete material to show its original performance, and it is also difficult to ensure the quality of concrete printing by selecting printing parameters. Therefore, a preset printing temperature range and a preset printing humidity range are set for the concrete material to work normally. Before executing concrete printing, it is detected whether the temperature data of the environment is within the preset printing temperature range, and whether the humidity data is within the preset printing humidity range; if the temperature data exceeds the preset printing temperature range, the temperature data is adjusted by the heating / cooling system; if the humidity data exceeds the preset printing humidity range, the humidity data is adjusted by the humidification / dehumidification system; through detection and adjustment, the temperature and humidity of the environment are suitable for the normal operation of the concrete material, the stability of the concrete printing process is improved, and the quality of concrete printing is guaranteed.

[0086] In the application, environmental data also includes: wind speed and wind direction. Wind speed and wind direction will affect the solidification of concrete materials and the stability of the printing process. Therefore, when the wind speed is greater than the preset printing wind speed, you can choose to set up a fence to control the environmental wind speed and ensure the stability of the printing process.

[0087] like Figure 3 As shown, in one embodiment, the real-time printing quality includes layer uniformity and structural stability;

[0088] The step S41 comprises:

[0089] Step S410, loading a quality assessment model;

[0090] Step S411, obtaining real-time visual data of the concrete printing process;

[0091] Step S412: generating real-time printing quality data including layer uniformity and structural stability based on the quality assessment model and the real-time visual data.

[0092] In the application, real-time printing quality refers to the layer uniformity and structural stability during the printing process. The quality assessment model is a pre-trained Convolutional Neural Networks (CNN) model. The training process of the quality assessment model is as follows: pre-processing and feature extraction of the training data set, inputting the training data into the pre-set Convolutional Neural Network architecture, training a Convolutional Neural Network model that can predict the layer uniformity and structural stability during the printing process, verifying and testing the Convolutional Neural Network model, and optimizing the accuracy and generalization ability of the Convolutional Neural Network model by adjusting hyperparameters, and outputting the quality assessment model. In the application, real-time visual data during the printing process is captured, and real-time vision includes pictures and videos. The real-time visual data is input into the quality assessment model to obtain real-time printing quality data including layer uniformity and structural stability.

[0093] In the application, in the process of training the quality assessment model, the feature scaling formula can be introduced. ,in, represents the feature map, According to the printing progress The adjusted scaling factor can be dynamically calculated based on real-time print quality feedback. Feature scaling can enable the quality assessment model to dynamically adjust the learning focus of the network according to real-time data.

[0094] In applications, the structural integrity of some areas of the print is more critical than other areas. A structural importance weight can be introduced into the loss function to ensure that the model provides more accurate predictions in these critical areas. The weighted loss function is: .

[0095] in, is the correct answer for the i-th data in a batch, is the predicted value given by the convolutional neural network model, It is a weighting factor based on the importance of the structure and can be pre-defined by the structural engineer based on the designed load and stress distribution.

[0096] In the application, considering the long duration of the printing process and the different learning requirements at each stage, a time-varying dynamic learning rate strategy is implemented to enable the convolutional neural network to adaptively adjust its learning rate at different stages. Dynamic learning rate formula: .

[0097] in, is the initial learning rate, is the attenuation coefficient, represents the training round or time, Represents a dynamic learning rate, which adjusts the learning rate over time to adapt to different stages of the printing process.

[0098] In application, real-time feedback can be integrated directly into the convolutional neural network training process, allowing the convolutional neural network to instantly adjust its parameters in response to any deviations observed during the printing process. Feedback adjustment term formula: .

[0099] in, is the weight update amount, is based on the gradient of the loss function, is the feedback collected from the real-time monitoring system and used to adjust the current weight update strategy. is the learning rate of the feedback ensemble.

[0100] like Figure 4 As shown, in one embodiment, after step S30, the method further includes:

[0101] Step S31, evaluating the final printing quality and generating final printing quality data;

[0102] Step S32, if the final print quality data does not meet the expected final quality standard, designing a repair printing plan and performing repair according to the real-time print quality data and the final print quality data;

[0103] The final printing quality includes structural integrity.

[0104] In the application, even if real-time quality assessment is performed during the printing process, in order to ensure the final printing quality, the final printing quality needs to be evaluated and the final printing data needs to be generated after the concrete printing operation is completed. If the final printing quality does not meet the expected final quality standard, a repair printing plan is designed and repaired based on the real-time printing quality data and the final printing quality data to strengthen the weaknesses of the printed structure. After the repair, the structural integrity and strength need to be re-evaluated to ensure the quality of the repaired structure.

[0105] In the application, if the final printing quality data does not meet the expected final quality standards, in addition to repairs, cause analysis and parameter adjustment are also required. Cause analysis includes: reviewing the data, checking the relevant printing parameter records, such as material flow, nozzle speed, environmental conditions, etc., to find the parameters that may cause the problem; diagnosing the problem, using sensor data (vibration analysis, optical scanning, etc.) and quality inspection reports (cracks, holes, poor lamination) to identify the cause of the problem. Adjust the corresponding printing parameters according to the results of the problem diagnosis, increase the material flow to improve the bonding strength between layers, or adjust the printing speed to ensure more uniform material deposition.

[0106] In one embodiment, before step S41, the method further includes:

[0107] Step S401, obtaining the flow rate and pressure of the concrete material;

[0108] Step S402, evaluating the fluidity of the concrete material according to the flow rate and pressure of the concrete material;

[0109] The step S42 comprises:

[0110] Step S420: obtaining optimized printing parameters based on the printing decision model, the actual printing parameters, the real-time printing quality data and the fluidity of the concrete material.

[0111] In the application, the flow rate and pressure of the concrete material are monitored by the fluid dynamics sensor, and the fluidity of the concrete is evaluated according to the flow rate and pressure of the concrete material. The optimized printing parameters are obtained based on the printing decision model, actual printing parameters, real-time printing quality data and the fluidity of the concrete material.

[0112] In one embodiment, the printing parameters include material flow rate, nozzle temperature, nozzle speed and printing path.

[0113] In application, material flow refers to the amount of material ejected through the print head; nozzle temperature refers to the temperature of the print head; nozzle speed refers to the speed at which the print head moves; and nozzle position refers to the exact position of the print head on the X, Y, and Z axes.

[0114] In application, different printing parameters will affect different aspects of the printed building. Material flow and nozzle speed will affect the deposition density and uniformity of the material during the printing process. The optimization of the two can greatly increase the printing speed and reduce the construction time, while maintaining the economic use of materials and reducing waste; appropriate material flow ensures that the material is evenly distributed, avoiding structural weaknesses caused by too little material or structural deformation caused by too much material. Optimizing the printing path can ensure that the material has better support and reinforcement in key structural parts, and improve the bearing capacity and stability of the overall structure; reasonable path planning can reduce the use of support structures and improve surface finish, especially in the printing of complex geometric shapes; nozzle speed, too fast nozzle speed may cause the material to fail to position correctly, affecting the printing accuracy; too slow speed may cause excessive accumulation of materials, which also affects the accuracy and appearance of the printing results; smooth nozzle movement helps to ensure that the printed surface is smooth and beautiful, reducing the workload of post-processing.

[0115] In the application, the above concrete printing method also includes detecting manual intervention instructions and executing manual intervention instructions before or after any step. In the process of concrete printing, although automation and intelligent systems can significantly improve efficiency and accuracy, manual intervention is still very important in some cases to ensure the quality and safety of the final product. For example, if there is a significant deviation in the printing path, the manual intervention instruction can be detected, the printing process can be stopped, the printing path can be adjusted, or the printer can be recalibrated; when the equipment fails, the manual intervention instruction can be detected and manual maintenance can be waited; after the final printing is completed, the final inspection result instruction from the professional is received.

[0116] In one embodiment, the concrete printing method further comprises:

[0117] Real-time display of environmental data, printing parameters, and printing quality data.

[0118] In the application, operation history, error log and warning information can also be displayed.

[0119] In one embodiment, the concrete printing method further comprises:

[0120] The concrete printing process is kept safe through safety protocols.

[0121] In applications, safety can be ensured through safety protocols such as emergency stop switches, automatic power-off protection, and login permission management.

[0122] In the application, the vibration and environmental noise of the printer can also be detected. If the vibration amplitude is greater than the vibration threshold or the environmental noise meets the preset noise standard, printing will be suspended and wait for manual troubleshooting.

[0123] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0124] The embodiment of the present application also provides a concrete printing system, which is used to execute the steps in the above concrete printing method embodiment. The concrete printing system can be a virtual appliance in a terminal device, which is run by a processor of the terminal device, or it can be the terminal device itself.

[0125] like Figure 5 As shown, the concrete printing system 5 provided in the embodiment of the present application includes:

[0126] A concrete preparation module 51 is used to obtain expected use and environmental data, and select concrete preparation parameters according to the expected use and the environmental data to prepare concrete materials;

[0127] A printing decision module 52, used to load a printing decision model, obtain initial printing parameters based on the printing decision model, the performance data of the concrete material and the environmental data, and set the initial printing parameters as actual printing parameters;

[0128] A printing module 53, used for executing the operation of concrete printing according to the actual printing parameters;

[0129] The real-time optimization module 54 is used to perform the following steps during the process of performing the operation of concrete printing: evaluating the real-time printing quality and generating real-time printing quality data; obtaining the optimized printing parameters based on the printing decision model, the actual printing parameters and the real-time printing quality data; if the optimized printing parameters are different from the actual printing parameters, setting the optimized printing parameters as the actual printing parameters, and returning to the step of performing the operation of concrete printing according to the actual printing parameters.

[0130] In applications, environmental data includes temperature data and humidity data.

[0131] In one embodiment, the concrete printing system 5 further includes:

[0132] The setting time prediction module is used to load the setting time prediction model, and to make a prediction based on the setting time prediction model, the concrete preparation parameters and the environmental data to obtain a predicted setting time.

[0133] In one embodiment, the concrete printing system 5 further includes:

[0134] The environmental adjustment module 55 is used to adjust the temperature data through the heating / cooling system until the temperature data falls within the preset printing temperature range if the temperature data exceeds the preset printing temperature range; and to adjust the humidity data through the humidification / dehumidification system until the humidity data falls within the preset printing humidity range if the humidity data exceeds the preset printing humidity range.

[0135] In one embodiment, the real-time printing quality includes layer uniformity and structural stability, and the real-time optimization module 54 is used to load a quality assessment model; obtain real-time visual data of the concrete printing process;

[0136] Based on the quality assessment model and the real-time visual data, real-time printing quality data including layer uniformity and structural stability are generated.

[0137] In one embodiment, the concrete printing system 5 further includes:

[0138] The final quality assessment and repair module 56 is used to assess the final printing quality and generate final printing quality data; if the final printing quality data does not meet the expected final quality standard, a repair printing plan is designed and repaired based on the real-time printing quality data and the final printing quality data; wherein the final printing quality includes structural integrity.

[0139] In one embodiment, the concrete printing system 5 further includes:

[0140] The fluidity evaluation module 57 is used to obtain the flow rate and pressure of the concrete material, and evaluate the fluidity of the concrete material according to the flow rate and pressure of the concrete material.

[0141] In application, each module in the concrete printing system can be a software program module or a hardware module.

[0142] Figure 6 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application. Figure 6 As shown, the terminal device 6 of this embodiment includes: at least one processor 60 ( Figure 6 (only one is shown in the figure) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein the processor 60 implements the steps in any of the above-mentioned concrete printing method embodiments when executing the computer program 62.

[0143] The terminal device 6 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6It is only an example of the terminal device 6 and does not constitute a limitation on the terminal device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include a printing system, a sensor system, etc.

[0144] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0145] In some embodiments, the memory 61 may be an internal storage unit of the terminal device 6, such as a hard disk or memory of the terminal device 6. In other embodiments, the memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0146] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0147] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0148] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0149] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0150] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0151] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0152] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0153] In the embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system and method embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0154] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0155] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A concrete printing method, characterized in that: include: Obtain intended use and environmental data; Selecting concrete preparation parameters according to the intended use and the environmental data to prepare concrete material; Load the printing decision model; Based on the printing decision model, the performance data of the concrete material and the environmental data, initial printing parameters are obtained, and the initial printing parameters are set as actual printing parameters; According to the actual printing parameters, executing the concrete printing operation; In the process of performing the concrete printing operation, the following steps are performed: Evaluate real-time print quality and generate real-time print quality data; Obtaining optimized printing parameters based on the printing decision model, the actual printing parameters and the real-time printing quality data; If the optimized printing parameters are different from the actual printing parameters, the optimized printing parameters are set as the actual printing parameters, and the process returns to the step of performing the operation of concrete printing according to the actual printing parameters; Wherein, the environmental data includes temperature data and humidity data; Before performing the operation of concrete printing according to the actual printing parameters, the method further includes: If the temperature data exceeds the preset printing temperature range, adjusting the temperature data by a heating / cooling system until the temperature data falls within the preset printing temperature range; If the humidity data exceeds the preset printing humidity range, adjusting the humidity data by a humidification / dehumidification system until the humidity data falls within the preset printing humidity range; Wherein, the real-time printing quality includes layer uniformity and structural stability; The step of evaluating the real-time print quality and generating the real-time print quality data comprises: Load the quality assessment model; Get real-time visual data of the concrete printing process; generating real-time printing quality data including layer uniformity and structural stability based on the quality assessment model and the real-time visual data; the real-time visual data including pictures and videos; The concrete printing method further includes: detecting a manual intervention instruction, and executing the manual intervention instruction; After performing the operation of concrete printing according to the actual printing parameters, the method further includes: Evaluate final print quality and generate final print quality data; If the final print quality data does not meet the expected final quality standard, designing a repair printing plan and performing repair according to the real-time print quality data and the final print quality data; Wherein, the final printing quality includes structural integrity; Review the data and check the printing parameter records including material flow, nozzle speed, and environmental conditions to find the parameters that cause the problem; Conduct problem diagnosis and identify the cause of the problem using sensor data and quality inspection reports; Adjust the corresponding printing parameters based on the results of the problem diagnosis, increase the material flow rate to improve the bonding strength between layers, or adjust the printing speed to ensure more uniform material deposition.

2. The concrete printing method according to claim 1, characterized in that: The performance data of the concrete material includes a predicted setting time; Before loading the printing decision model, the method further includes: Load the setting time prediction model; Prediction is performed based on the setting time prediction model, the concrete preparation parameters and the environmental data to obtain a predicted setting time.

3. The concrete printing method according to claim 1, characterized in that: Before evaluating the real-time print quality and generating the real-time print quality data, the method further includes: Obtain the flow rate and pressure of concrete material; evaluating the fluidity of the concrete material according to the flow rate and pressure of the concrete material; The step of obtaining optimized printing parameters based on the printing decision model, the actual printing parameters and the real-time printing quality data comprises: Optimized printing parameters are obtained based on the printing decision model, the actual printing parameters, the real-time printing quality data and the fluidity of the concrete material.

4. The concrete printing method according to any one of claims 1 to 3, characterized in that: The printing parameters include material flow, nozzle temperature, nozzle speed and printing path.

5. A concrete printing system, characterized in that: include: A concrete preparation module, used to obtain expected use and environmental data, and select concrete preparation parameters according to the expected use and the environmental data to prepare concrete materials; A printing decision module, used for loading a printing decision model, obtaining initial printing parameters based on the printing decision model, the performance data of the concrete material and the environmental data, and setting the initial printing parameters as actual printing parameters; A printing module, used for executing the operation of concrete printing according to the actual printing parameters; A real-time optimization module is used to perform the following steps during the operation of performing concrete printing: evaluating real-time printing quality and generating real-time printing quality data; Obtaining optimized printing parameters based on the printing decision model, the actual printing parameters and the real-time printing quality data; If the optimized printing parameters are different from the actual printing parameters, the optimized printing parameters are set as the actual printing parameters, and the step of performing the operation of concrete printing according to the actual printing parameters is returned; wherein the real-time printing quality includes layer uniformity and structural stability; the step of evaluating the real-time printing quality and generating real-time printing quality data includes: loading a quality evaluation model; obtaining real-time visual data of the concrete printing process; generating real-time printing quality data including layer uniformity and structural stability based on the quality assessment model and the real-time visual data; the real-time visual data including pictures and videos; An environment adjustment module is used to obtain environment data, wherein the environment data includes temperature data and humidity data. If the temperature data exceeds a preset printing temperature range, the temperature data is adjusted by a heating / cooling system until the temperature data falls within the preset printing temperature range; if the humidity data exceeds a preset printing humidity range, the humidity data is adjusted by a humidification / dehumidification system until the humidity data falls within the preset printing humidity range; A manual intervention instruction module, used for detecting manual intervention instructions and executing manual intervention instructions; The final quality assessment and repair module is used to: assess the final printing quality and generate final printing quality data; if the final printing quality data does not meet the expected final quality standard, design a repair printing plan and perform repairs based on the real-time printing quality data and the final printing quality data; wherein the final printing quality includes structural integrity; conduct data review, check the printing parameter records including material flow, nozzle speed, and environmental conditions, and find the parameters that cause the problem; conduct problem diagnosis, and use sensor data and quality inspection reports to identify the cause of the problem; adjust the corresponding printing parameters according to the results of the problem diagnosis, increase the material flow to improve the bonding strength between layers, or adjust the printing speed to ensure more uniform material deposition.

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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