3d printing method and device for concrete structure and storage medium

Abstract

The invention is suitable for the technical field of 3d printing, and provides a 3d printing method and device for a concrete structure and a storage medium. The method comprises the steps of obtaining material characteristic parameters of printed concrete, actual environment parameters of a printing environment, historical printing parameters of printing equipment and historical material distribution parameters of material distribution equipment; according to the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material distribution parameters, target printing parameters of printing equipment and target material distribution parameters of material distribution equipment are determined; and controlling the material distribution equipment to perform material distribution according to the target material distribution parameters, and controlling the printing equipment to perform 3d printing of the concrete structure according to the target printing parameters. Through the method, the printing parameters of the printing equipment can reach the most ideal printing parameters, and the material distribution parameters of the material distribution equipment can also reach the most ideal material distribution parameters, so that the 3d printing quality of the concrete structure is improved.

Description

Technical Field

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

[0002] 3D printing technology can be applied to manufacture some specific concrete structures. Specifically, the materials for making concrete can be delivered to the printing device through the material delivery equipment for mixing, so that the printing device can obtain the concrete to be printed, and then the concrete to be printed can be used by the printing device to perform 3D printing of the concrete structure.

[0003] At present, in the process of 3D printing of concrete structures, the printing parameters of the printing equipment and the material delivery parameters of the material delivery equipment are usually fixed. However, since the material characteristic parameters of the printed concrete and the actual environmental parameters of the printing environment are usually changing, the most ideal printing parameters and material delivery parameters will also change. Since the fixed printing parameters and material delivery parameters cannot adapt to the most ideal printing parameters and material delivery parameters that change all the time, the 3D printing quality of the concrete structure is reduced. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a 3D printing method, device and storage medium for concrete structures to solve the technical problem of low quality of existing 3D printing of concrete structures.

[0005] In a first aspect, an embodiment of the present application provides a 3D printing method for a concrete structure, comprising: Obtaining material property parameters of printed concrete, actual environmental parameters of the printing environment, historical printing parameters of the printing device, and historical material distribution parameters of the material distribution device; Determining target printing parameters of the printing device and target material distribution parameters of the material distribution device according to the material characteristic parameters, the actual environment parameters, the historical printing parameters, and the historical material distribution parameters; The material distribution equipment is controlled to perform material distribution according to the target material distribution parameters, and the printing equipment is controlled to perform 3D printing of the concrete structure according to the target printing parameters.

[0006] Optionally, determining the target printing parameters of the printing device and the target material distribution parameters of the material distribution device according to the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material distribution parameters includes: Under the conditions of the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material delivery parameters, predict the flow velocity and pressure distribution of the simulated concrete obtained by printing under preset conditions, the stress-strain relationship when subjected to a preset load, the potential breaking point, and the third temperature, curing rate and bubble distribution during the curing process; The target printing parameters of the printing device and the target material distribution parameters of the material distribution device are determined based on the flow velocity and pressure distribution of the simulated concrete under preset conditions, the stress-strain relationship when subjected to a preset load, the potential breaking point, and the third temperature, curing rate and bubble distribution during the curing process.

[0007] Optionally, determining the target printing parameters of the printing device and the target material distribution parameters of the material distribution device according to the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material distribution parameters includes: Under the conditions of the material characteristic parameters, the actual environmental parameters, the historical printing parameters and the historical material distribution parameters, predict the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the simulated concrete obtained by printing; According to the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the simulated concrete, target printing parameters of the printing device and target material distribution parameters of the material distribution device are determined.

[0008] Optionally, determining the target printing parameters of the printing device and the target material distribution parameters of the material distribution device according to the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material distribution parameters includes: Under the conditions of the material characteristic parameters, the actual environmental parameters, the historical printing parameters and the historical material delivery parameters, predict the stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance, and structural stability evaluation results of the simulated concrete obtained by printing; The target printing parameters of the printing device and the target material distribution parameters of the material distribution device are determined based on the stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance, and structural stability evaluation results of the simulated concrete.

[0009] Optionally, before controlling the material distribution device to perform material distribution according to the target material distribution parameters, and controlling the printing device to perform 3D printing of the concrete structure according to the target printing parameters, the method further includes: If the printed concrete is deformed, determining the position and parameters of the deformation; The target printing parameters and the target material delivery parameters are adjusted according to the position and parameters of the deformation.

[0010] Optionally, also include: detecting preset deformation parameters of concrete of a long-range structure contained in the printed concrete; Determining the health status of the printed concrete according to the preset deformation parameters; If the health status does not meet the preset conditions, a warning signal is output, and the target printing parameters and the target material delivery parameters are adjusted.

[0011] Optionally, also include: Determining the optimal environmental parameters corresponding to each preset area in the printed concrete; For each of the preset areas, the actual environmental parameters of the preset area are modified to the optimal environmental parameters.

[0012] Optionally, also include: determining a concrete type, a curing rate, an ultraviolet intensity, and a surface temperature of the printed concrete; The wavelength, intensity and exposure time of ultraviolet light output by the ultraviolet curing light source are determined according to the concrete type, curing rate, ultraviolet light intensity and surface temperature of the printed concrete.

[0013] In a second aspect, an embodiment of the present application provides a 3D printing device for a concrete structure, comprising: A parameter acquisition unit, used to acquire material characteristic parameters of printed concrete, actual environmental parameters of the printing environment, historical printing parameters of the printing device, and historical material distribution parameters of the material distribution device; a target parameter determination unit, configured to determine a target printing parameter of the printing device and a target material distribution parameter of the material distribution device according to the material characteristic parameter, the actual environment parameter, the historical printing parameter and the historical material distribution parameter; A control unit is used to control the material distribution equipment to perform material distribution according to the target material distribution parameters, and control the printing equipment to perform 3D printing of the concrete structure according to the target printing parameters.

[0014] In a third aspect, an embodiment of the present application provides a control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, each step in the 3D printing method for concrete structures as described in any one of the first aspects above is implemented.

[0015] In a fourth aspect, an embodiment 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, each step in the 3D printing method for a concrete structure as described in any one of the first aspects above is implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a control device, the control device executes each step in the 3D printing method for a concrete structure as described in any one of the first aspects above.

[0017] The 3D printing method, device and storage medium of the concrete structure provided by the embodiments of the present application have the following beneficial effects: In the 3D printing method of concrete structure provided in the embodiment of the present application, the material characteristic parameters of the printed concrete, the actual environmental parameters of the printing environment, the historical printing parameters of the printing device and the historical material distribution parameters of the material distribution device are first obtained, and then the target printing parameters of the printing device and the target material distribution parameters of the material distribution device are determined according to the material characteristic parameters, the actual environmental parameters, the historical printing parameters and the historical material distribution parameters, and finally the material distribution device is controlled to perform material distribution according to the target material distribution parameters, and the printing device is controlled to perform 3D printing of the concrete structure according to the target printing parameters. In the 3D printing method of concrete structure of the present application, the printing parameters of the printing device and the material distribution parameters of the material distribution device can be determined according to the material characteristic parameters of the printed concrete and the actual environmental parameters of the printing environment, so that the printing parameters of the printing device can reach the most ideal printing parameters, and the material distribution parameters of the material distribution device can also reach the most ideal material distribution parameters, thereby improving the 3D printing quality of the concrete structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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 creative labor.

[0019] Figure 1 A flowchart of a 3D printing method for a concrete structure provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a 3D printing device for a concrete structure provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] It should be noted that the terms used in the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, "multiple" refers to two or more than two, and "at least one", "one or more" refers to one, two or more. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, it is defined that the "first" and "second" features can explicitly or implicitly include one or more of the features.

[0021] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear at 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.

[0022] The execution subject of the 3D printing method for a concrete structure provided in an embodiment of the present application may be a control device, and the control device may execute each step of the 3D printing method for a concrete structure provided in an embodiment of the present application.

[0023] See also Figure 1 , Figure 1 The present invention provides a flowchart of a 3D printing method for a concrete structure according to an embodiment of the present invention. The 3D printing method for a concrete structure may include S101 to S103, which are described in detail as follows: In S101, material property parameters of the printed concrete, actual environmental parameters of the printing environment, historical printing parameters of the printing device, and historical material distribution parameters of the material distribution device are obtained.

[0024] In the embodiment of the present application, when printing a concrete structure, the control device may first control the material distribution device to perform material distribution according to preset material distribution parameters, and control the printing device to perform 3D printing of the concrete structure according to preset printing parameters.

[0025] Afterwards, the control device can obtain the material characteristic parameters of the printed concrete, the actual environmental parameters of the printing environment, the historical printing parameters of the printing device, and the historical material distribution parameters of the material distribution device, so as to adjust the current printing parameters of the printing device and the current material distribution parameters of the material distribution device, so that the printing parameters of the printing device can reach the most ideal printing parameters, and the material distribution parameters of the material distribution device can also reach the most ideal material distribution parameters.

[0026] Specifically, the control device can obtain the material characteristic parameters of the printed concrete, the actual environmental parameters of the printing environment, the historical printing parameters of the printing device, and the historical material distribution parameters of the material distribution device at a preset frequency, so as to adjust the current printing parameters of the printing device and the current material distribution parameters of the material distribution device at the preset frequency.

[0027] The printed concrete refers to the concrete that has been printed by the printing device during the process of printing the concrete structure. The material characteristic parameters of the printed concrete may include but are not limited to the first temperature, viscosity, flow rate, density and pressure of the printed concrete.

[0028] The printing environment refers to the environment in which the printing device is located during the process of printing the concrete structure. The actual environmental parameters of the printing environment may include but are not limited to the second temperature, humidity and wind speed of the printing environment.

[0029] The printing device may include a heating device for heating concrete to be printed, a print head for ejecting concrete to be printed, and a cooling device for cooling printed concrete. The historical printing parameters of the printing device may include but are not limited to a first ejection amount of the print head, a first diameter of the print head, a first position of the print head, a first speed of the print head, a first heating parameter of the heating device, and a first cooling parameter of the cooling device.

[0030] The material distribution equipment is used to distribute several materials to the printing equipment so that the printing equipment obtains the concrete to be printed. The historical material distribution parameters of the material distribution equipment may include but are not limited to the first proportion and the first type of various materials.

[0031] In a possible implementation, the first temperature of the printed concrete may be the first temperature of different positions of the printed concrete. Specifically, the first temperature of different positions of the printed concrete may be the depth position temperature, the horizontal position temperature, and the surface position temperature of the printed concrete. The depth position temperature may be the temperature from the casting surface of the printed concrete to each depth level inside; the horizontal position temperature may be the temperature of each different horizontal level within the same depth level; and the surface position temperature may be the temperature at different positions on the surface of the structure.

[0032] In practical applications, the first temperature of different locations of the printed concrete can be determined by using a thermocouple array, an infrared thermal imager or other temperature sensors.

[0033] In a possible implementation, after obtaining the material property parameters of the printed concrete, the actual environmental parameters of the printing environment, the historical printing parameters of the printing device, and the historical material distribution parameters of the material distribution device, data processing can also be performed on the obtained parameters.

[0034] The control device can remove the noise in the acquired parameters through the wavelet transform denoising algorithm. In the 3D printing process, due to the movement of the equipment and external environmental factors, there will be noise in the acquired parameters. Using wavelet transform denoising can not only effectively filter out these noises, but also retain important features in the signal, such as starting points and mutations. For the specific noise characteristics of 3D printing (such as mechanical vibration and electromagnetic interference), a customized wavelet basis can be developed to improve the denoising efficiency and signal quality.

[0035] In addition, during the 3D printing process, the devices that acquire parameters may use different sampling rates, which will lead to the complexity of data synchronization and analysis. Based on this, the control device can also perform data interpolation and resampling on the acquired parameters through a preset data interpolation and resampling model that can handle multiple sampling rates and optimize the interpolation algorithm to adapt to dynamically changing printing speeds and environmental conditions.

[0036] In S102, target printing parameters of the printing device and target material distribution parameters of the material distribution device are determined according to material characteristic parameters, actual environment parameters, historical printing parameters, and historical material distribution parameters.

[0037] In an embodiment of the present application, after obtaining the material characteristic parameters of the printed concrete, the actual environmental parameters of the printing environment, the historical printing parameters of the printing device, and the historical material delivery parameters of the material delivery device, the control device can determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device based on the acquired material characteristic parameters, actual environmental parameters, historical printing parameters, and historical material delivery parameters.

[0038] In a possible implementation, the control device may determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device through steps a and b. The details are as follows: In step a, under the conditions of material property parameters, actual environmental parameters, historical printing parameters and historical material delivery parameters, the flow velocity and pressure distribution of the simulated concrete under preset conditions, the stress-strain relationship when subjected to a preset load, the potential breaking point, and the third temperature, curing rate and bubble distribution during the curing process are predicted.

[0039] In this implementation, the control device can predict the flow velocity and pressure distribution of the printed simulated concrete under preset conditions, the stress-strain relationship when subjected to a preset load, potential breaking points, and the third temperature, curing rate and bubble distribution during the curing process through a trained concrete rheology model based on material property parameters, actual environmental parameters, historical printing parameters and historical material delivery parameters.

[0040] Exemplarily, the control device can predict the flow velocity and pressure distribution of the printed simulated concrete under preset conditions through the improved Bingham model and the multiphase flow model; the control device can predict the stress-strain relationship and potential fracture points of the printed simulated concrete when subjected to a preset load through the Herschel-Bulkley model; the control device can also predict the third temperature, curing rate and bubble distribution of the printed simulated concrete during the curing process through the multiphase flow model.

[0041] In step b, target printing parameters of the printing device and target material delivery parameters of the material delivery device are determined based on the flow velocity and pressure distribution of the simulated concrete under preset conditions, the stress-strain relationship when subjected to a preset load, potential breaking points, and the third temperature, curing rate and bubble distribution during the curing process.

[0042] In this implementation, the control device can determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device after determining the flow velocity and pressure distribution of the simulated concrete under preset conditions, the stress-strain relationship when subjected to a preset load, the potential breaking point, and the third temperature, curing rate and bubble distribution during the curing process.

[0043] Exemplarily, the control device may pre-acquire a first mapping relationship between each of the above parameters (simulating the flow velocity and pressure distribution of concrete under preset conditions, the stress-strain relationship when subjected to a preset load, potential fracture points, and a third temperature, curing rate, and bubble distribution during the curing process) and the target printing parameters of the printing device and the target material delivery parameters of the material delivery device, and determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device based on the first mapping relationship.

[0044] In a possible implementation, the control device may determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device through steps c to d. The details are as follows: In step c, under the conditions of material property parameters, actual environmental parameters, historical printing parameters and historical material distribution parameters, the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the printed simulated concrete are predicted.

[0045] In this implementation, the control device can predict the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the printed simulated concrete under the conditions of material property parameters, actual environmental parameters, historical printing parameters and historical material distribution parameters through a trained model.

[0046] Exemplarily, the control device can predict the hydration reaction time of the printed simulated concrete through a cement hydration reaction kinetic model; the control device can predict the strength development data and cracking risk probability of the printed simulated concrete through a strength development prediction model; the control device can predict the shrinkage risk probability, creep risk probability and stability of the printed simulated concrete through a shrinkage and creep model.

[0047] In step d, target printing parameters of the printing device and target material distribution parameters of the material distribution device are determined based on the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the simulated concrete.

[0048] In this implementation, after determining the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the simulated concrete, the control device can determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device.

[0049] Exemplarily, the control device may pre-acquire a second mapping relationship between each of the above parameters (hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of simulated concrete) and the target printing parameters of the printing device and the target material delivery parameters of the material delivery device, and determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device based on the second mapping relationship.

[0050] In a possible implementation, the control device may determine the target printing parameters of the printing device and the target material distribution parameters of the material distribution device through step e and step f. The details are as follows: In step e, under the conditions of material property parameters, actual environmental parameters, historical printing parameters and historical material delivery parameters, the stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, debonding risk probability, structural parameters and performance, and structural stability evaluation results of the printed simulated concrete are predicted.

[0051] In this implementation, the control device can predict the stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance, and structural stability evaluation results of the printed simulated concrete under the conditions of material property parameters, actual environmental parameters, historical printing parameters, and historical material delivery parameters through a trained concrete structure mechanics model.

[0052] Exemplarily, the control device can predict the stress distribution, strain distribution, structural weaknesses and failure modes of the printed simulated concrete through a multi-scale finite element analysis model; the control device can predict the interlayer bonding quality data, interlayer bonding strength data, cracking risk probability and peeling risk probability of the printed simulated concrete through an interlayer bonding strength model; the control device can predict the structural parameters and performance of the printed simulated concrete, as well as the structural stability evaluation results through a structural stability analysis model.

[0053] In step f, target printing parameters of the printing device and target material delivery parameters of the material delivery device are determined based on the simulated concrete stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance, and structural stability evaluation results.

[0054] In this implementation, the control device can determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device after determining the stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance, and structural stability evaluation results of the simulated concrete.

[0055] Exemplarily, the control device may pre-acquire a third mapping relationship between each of the above parameters (simulated concrete stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance, and structural stability assessment results) and the target printing parameters of the printing device and the target material delivery parameters of the material delivery device, and determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device based on the third mapping relationship.

[0056] In the embodiment of the present application, after determining the target printing parameters of the printing device and the target material delivery parameters of the material delivery device, and before step S103, the control device can also detect whether the printed concrete is deformed. If the control device detects that the printed concrete is deformed, the position and parameters of the deformation can be determined, and the target printing parameters of the printing device and the target material delivery parameters of the material delivery device can be adjusted according to the position and parameters of the deformation. In practical applications, the control device can detect whether the printed concrete is deformed by using laser displacement sensors, strain gauges, optical fiber sensors, and 3D scanning technology.

[0057] In an embodiment of the present application, the control device can also detect the stress state of key parts in the printed concrete, and can determine the health state of the printed concrete based on the stress state of key parts in the printed concrete. If the health state does not meet the preset conditions, a warning signal is output, and the target printing parameters of the printing device and the target material delivery parameters of the material delivery device can be adjusted to enable the user to understand the health state of the printed concrete structure, so that timely measures can be taken to prevent or repair potential structural problems, ensuring the safety of the concrete structure and the long-term stability of its function.

[0058] The following are some examples of adjusting the target printing parameters of the printing device and the target material delivery parameters of the material delivery device according to the stress state of the key parts of the printed concrete: For example, if it is monitored that the stress level in a certain area is too high, the printing speed of this area can be reduced, or more support structures can be added to reduce stress concentration; if it is monitored that the stress level in a certain area is too high, the type and proportion of materials can be adjusted, such as adding or reducing the proportion of a certain additive, to improve the performance of the printed concrete.

[0059] Here are some examples of outputting warning signals based on the stress state of key parts in printed concrete: For example, if it is determined based on the stress state of a key part that the key part may have cracks and interlayer separation, a warning signal can be output to prompt the user that the key part may have cracks and interlayer separation, so that the user can take measures, such as adding cross-links in the printing path or changing the direction of the layer, to enhance the overall stability and durability of the structure.

[0060] In practical applications, the key parts of printed concrete can be determined through structural design analysis. Specifically, during the design phase, finite element analysis tools can be used to simulate the behavior of the structure under expected loads and conditions. This analysis helps determine which areas are subject to the greatest stress or are most likely to experience significant deformation when subjected to force, so that the key parts can be determined; in addition, the key parts of printed concrete can be determined through historical data and experience; in addition, the key parts can be determined based on the actual application of concrete structures (such as bridges, buildings, support structures, etc.) and functional requirements; in addition, the key parts of printed concrete can be determined through real-time monitoring feedback. Specifically, during actual use, by continuously monitoring the stress and strain data of the structure, areas that are more affected than expected can be dynamically identified, so that the key parts can be determined. In practical applications, the key parts of printed concrete can be dynamically changing. In practical applications, after the key parts are determined, stress and strain sensors such as strain gauges, fiber optic sensors or other high-precision monitoring equipment can be installed in these areas to detect the stress state of key parts in the printed concrete.

[0061] In an embodiment of the present application, the control device can also detect preset deformation parameters of the concrete of the long-range structure contained in the printed concrete, and can determine the health status of the printed concrete based on the preset deformation parameters. If the health status does not meet the preset conditions, a warning signal is output, and the target printing parameters of the printing device and the target material delivery parameters of the material delivery device can be adjusted to enable the user to understand the health status of the concrete of the long-range structure, so that timely measures can be taken to prevent or repair potential structural problems, ensuring the long-term stability of the safety and function of the long-range structure.

[0062] Specifically, the preset deformation parameters may include displacement data, tilt data, bending data, vibration data, and crack development data. Displacement data is used to describe the movement of the long-range structure in space, including vertical displacement and horizontal displacement; tilt data is used to describe the tilt of the long-range structure relative to its original vertical or horizontal position; bending data is used to describe the bending or curvature change of the long-range structure in the length direction; vibration data is used to describe the vibration frequency and amplitude of the long-range structure due to environmental or usage influences; crack development data is used to describe the formation and expansion of cracks in the long-range structure, especially in the area of ​​concentrated force or material weakness.

[0063] The following provides some examples of adjusting target printing parameters of a printing device and target material delivery parameters of a material delivery device according to preset deformation parameters of concrete of a long-range structure included in the printed concrete: For example, if it is determined based on the displacement data and tilt data that a certain area has stability problems, the printing path can be adjusted or the printing speed can be changed to reduce uneven settlement or displacement of future layers. If it is determined based on the bending data and crack development data that a certain area has increased bending and cracking, the type and proportion of materials can be adjusted, such as adding or reducing the proportion of a certain additive, to improve the performance of the printed concrete.

[0064] Here are some examples of outputting warning signals based on the stress state of key parts in printed concrete: For example, if it is determined based on the stress state of a key part that the key part may have cracks and interlayer separation, a warning signal can be output to prompt the user that the key part may have cracks and interlayer separation, so that the user can take measures, such as adding cross-links in the printing path or changing the direction of the layer, to enhance the overall stability and durability of the structure.

[0065] In S103, the material distribution equipment is controlled to perform material distribution according to the target material distribution parameters, and the printing equipment is controlled to perform 3D printing of the concrete structure according to the target printing parameters.

[0066] In an embodiment of the present application, after determining the target printing parameters of the printing device and the target material delivery parameters of the material delivery device, the control device can control the material delivery device to deliver materials according to the target material delivery parameters, and control the printing device to perform 3D printing of the concrete structure according to the target printing parameters.

[0067] The target material delivery parameters may include but are not limited to the second ratio and the second type of various materials. The target printing parameters may include but are not limited to the second ejection amount of the print head, the second diameter of the print head, the second position of the print head, the second speed of the print head, the second heating parameter of the heating device, and the second cooling parameter of the cooling device.

[0068] In actual applications, the number of print heads in the printing device can be multiple, that is, multiple print heads can be used to collaborate to perform 3D printing of concrete structures. Based on this, the target printing parameters can also include the moving path, starting and ending points, obstacle avoidance path, workload, start / stop time, etc. of each print head. These target printing parameters can ensure the precise synchronization and coordination of each print head.

[0069] In practical applications, the control device may repeatedly execute steps S101 to S103 until the target concrete structure is printed.

[0070] It can be seen from the above that in the 3D printing method of concrete structure provided in the embodiment of the present application, the material characteristic parameters of the printed concrete, the actual environmental parameters of the printing environment, the historical printing parameters of the printing device, and the historical material distribution parameters of the material distribution device are first obtained, and then the target printing parameters of the printing device and the target material distribution parameters of the material distribution device are determined according to the material characteristic parameters, the actual environmental parameters, the historical printing parameters, and the historical material distribution parameters. Finally, the material distribution device is controlled to perform material distribution according to the target material distribution parameters, and the printing device is controlled to perform 3D printing of the concrete structure according to the target printing parameters. In the 3D printing method of concrete structure of the present application, the printing parameters of the printing device and the material distribution parameters of the material distribution device can be determined according to the material characteristic parameters of the printed concrete and the actual environmental parameters of the printing environment, so that the printing parameters of the printing device can reach the most ideal printing parameters, and the material distribution parameters of the material distribution device can also reach the most ideal material distribution parameters, thereby improving the 3D printing quality of the concrete structure.

[0071] In the embodiment of the present application, in the process of controlling the printing device to perform 3D printing of the concrete structure according to the target printing parameters, the control device can also correct the position of the printing device. Specifically, the control device can also correct the position of the print head and / or the mechanical arm in the printing device, wherein the mechanical arm is a device for controlling the print head.

[0072] Exemplarily, the position of the print head and / or the mechanical arm can be corrected by a visual servo system. Specifically, the position feedback frequency of the visual servo system, the parameters of the position correction algorithm, and the camera resolution and field of view can be determined first. Among them, the position feedback frequency is the frequency at which the visual servo system obtains position information and updates position correction, the parameters of the position correction algorithm are the size of the correction step of the visual servo system, the correction speed, and the strategy for applying the correction, and the camera resolution and field of view determine the minimum displacement that the camera in the visual servo system can detect and the size of the monitoring area.

[0073] Afterwards, the actual position of the print head and / or mechanical arm during the printing process can be determined by the visual servo system, and the actual position of the print head and / or mechanical arm can be corrected according to the ideal position of the print head and / or mechanical arm and the actual position of the print head and / or mechanical arm. Through this visual servo system, the accuracy of 3D printing can be significantly improved, defects caused by position errors can be reduced, and the accuracy and quality of the structure can be guaranteed.

[0074] In a possible implementation, during the process of printing the concrete structure, the printed concrete can also be cured. Based on this, the control device can also perform steps g to h during the process of printing the concrete structure, as detailed below: In step g, the optimal environmental parameters corresponding to each preset area in the printed concrete are determined.

[0075] In this implementation, when the printed concrete needs to be cured, the control device can first determine each preset area in the printed concrete, and then determine the optimal environmental parameters corresponding to each preset area in a preset manner.

[0076] Exemplarily, the optimal environmental parameters may include optimal temperature, optimal humidity, and optimal wind speed, etc.

[0077] In step h, for each preset area, the actual environmental parameters of the preset area are modified to the optimal environmental parameters.

[0078] In this implementation, after determining the optimal environmental parameters corresponding to each preset area in the printed concrete, the control device can modify the actual environmental parameters of each preset area to the optimal environmental parameters.

[0079] In a possible implementation, during the process of printing the concrete structure, the printed concrete can also be cured by an ultraviolet curing light source. Based on this, the control device can also perform steps i to j during the process of printing the concrete structure, as detailed below: In step i, the concrete type, curing rate, UV intensity, and surface temperature of the printed concrete are determined.

[0080] In this implementation, when the printed concrete needs to be cured by an ultraviolet curing light source, the control device can detect the concrete type, curing rate, ultraviolet intensity and surface temperature of the printed concrete.

[0081] In step j, the wavelength, intensity and exposure time of the ultraviolet light output by the ultraviolet curing light source are determined according to the concrete type, curing rate, ultraviolet light intensity and surface temperature of the printed concrete.

[0082] In this implementation, after determining the concrete type, curing rate, ultraviolet intensity and surface temperature of the printed concrete, the control device can determine the ultraviolet light wavelength, ultraviolet light intensity and exposure time output by the ultraviolet curing light source according to the concrete type, curing rate, ultraviolet light intensity and surface temperature of the printed concrete, and can control the ultraviolet curing light source according to the determined ultraviolet light wavelength, ultraviolet light intensity and exposure time output by the ultraviolet curing light source.

[0083] The above methods can be used to maintain and solidify the printed concrete with high quality, thus improving the performance and durability of the concrete structure.

[0084] Based on the 3D printing method for concrete structure provided in the above embodiment, the present application further provides a 3D printing device for concrete structure implementing the above method embodiment. Figure 2 , Figure 2 A schematic diagram of a 3D printing device for a concrete structure provided in an embodiment of the present application. Figure 2 As shown, the 3D printing device 20 for concrete structures may include: a parameter acquisition unit 21, a target parameter determination unit 22, and a control unit 23. Among them: The parameter acquisition unit 21 is used to acquire material characteristic parameters of the printed concrete, actual environmental parameters of the printing environment, historical printing parameters of the printing device, and historical material distribution parameters of the material distribution device.

[0085] The target parameter determination unit 22 is used to determine the target printing parameters of the printing device and the target material delivery parameters of the material delivery device according to the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material delivery parameters.

[0086] The control unit 23 is used to control the material distribution equipment to perform material distribution according to the target material distribution parameters, and control the printing equipment to perform 3D printing of the concrete structure according to the target printing parameters.

[0087] Optionally, the target parameter determination unit 22 is specifically configured to: Under the conditions of material property parameters, actual environmental parameters, historical printing parameters and historical material delivery parameters, the simulated concrete obtained by printing is predicted to have a flow velocity and pressure distribution under preset conditions, a stress-strain relationship when subjected to a preset load, potential fracture points, and a third temperature, curing rate and bubble distribution during the curing process; The target printing parameters of the printing device and the target material delivery parameters of the material delivery device are determined based on the flow velocity and pressure distribution of the simulated concrete under preset conditions, the stress-strain relationship when subjected to a preset load, the potential breaking point, and the third temperature, curing rate and bubble distribution during the curing process.

[0088] Optionally, the target parameter determination unit 22 is specifically configured to: Under the conditions of material property parameters, actual environmental parameters, historical printing parameters and historical material delivery parameters, the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the simulated concrete obtained by printing are predicted; According to the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the simulated concrete, the target printing parameters of the printing equipment and the target material distribution parameters of the material distribution equipment are determined.

[0089] Optionally, the target parameter determination unit 22 is specifically configured to: Under the conditions of material property parameters, actual environmental parameters, historical printing parameters and historical material delivery parameters, the stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance, and structural stability evaluation results of the simulated concrete obtained by printing are predicted; The target printing parameters of the printing equipment and the target material delivery parameters of the material delivery equipment are determined based on the stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance of the simulated concrete, and the structural stability evaluation results.

[0090] Optionally, the 3D printing device 20 for concrete structures may further include a parameter adjustment unit. The parameter adjustment unit can be used to: If the printed concrete is deformed, determine the location and parameters of the deformation; According to the position and parameters of the deformation, the target printing parameters and the target material delivery parameters are adjusted.

[0091] Optionally, the parameter adjustment unit may be further configured to: detecting preset deformation parameters of concrete of long-range structures contained in the printed concrete; Determine the health status of the printed concrete based on preset deformation parameters; If the health status does not meet the preset conditions, a warning signal is output and the target printing parameters and target material delivery parameters are adjusted.

[0092] Optionally, the 3D printing device 20 for concrete structures may further include a curing unit, wherein: The maintenance unit can be used for: Determine the optimal environmental parameters corresponding to each preset area in the printed concrete; For each preset area, the actual environmental parameters of the preset area are modified to the optimal environmental parameters.

[0093] Optionally, the 3D printing device 20 for concrete structures may further include a curing unit, wherein: The curing unit can be used for: Determine the concrete type, curing rate, UV intensity, and surface temperature of the printed concrete; The wavelength of ultraviolet light output by the ultraviolet curing light source, the intensity of ultraviolet light, and the exposure time are determined according to the concrete type, curing rate, ultraviolet light intensity, and surface temperature of the printed concrete.

[0094] It should be noted that the information interaction, execution process and other contents between the above-mentioned units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be specifically referred to the method embodiment part and will not be repeated here.

[0095] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a control device provided in an embodiment of the present application. Figure 3 As shown, the control device 3 provided in this embodiment may include: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the processor 30, such as a program corresponding to the 3D printing method for concrete structures. When the processor 30 executes the computer program 32, the steps in the embodiment of the 3D printing method for concrete structures are implemented, such as Figure 1 Alternatively, when the processor 30 executes the computer program 32, the functions of each module / unit in the embodiment of the 3D printing device for concrete structure are realized, for example Figure 2 The functions of units 21 to 23 are shown.

[0096] Exemplarily, the computer program 32 may be divided into one or more modules / units, one or more modules / units are stored in the memory 31 and executed by the processor 30 to complete the present application. One or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 32 in the control device 3. For example, the computer program 32 may be divided into a parameter acquisition unit, a target parameter determination unit, and a control unit. The specific functions of each unit can be found in Figure 2The relevant descriptions in the corresponding embodiments are not repeated here.

[0097] Those skilled in the art will understand that Figure 3 This is only an example of the control device 3 and does not constitute a limitation on the control device 3 , which may include more or less components than shown in the figure, or a combination of certain components, or different components.

[0098] The processor 30 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. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0099] The memory 31 may be an internal storage unit of the control device 3, such as a hard disk or memory of the control device 3. The memory 31 may also be an external storage device of the control device 3, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, or a flash card, etc., equipped on the control device 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the control device 3. The memory 31 is used to store computer programs and other programs and data required by the control device. The memory 31 may also be used to temporarily store data that has been output or is to be output.

[0100] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional units as needed, that is, the internal structure of the 3D printing device for concrete structures can be divided into different functional units to complete all or part of the functions described above. The functional units in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into 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 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 in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0101] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0102] An embodiment of the present application provides a computer program product. When the computer program product is executed on a terminal device, the terminal device implements the steps in the above-mentioned method embodiments.

[0103] 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.

[0104] 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.

[0105] 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 3D printing method for a concrete structure, characterized in that: include: Obtaining material property parameters of printed concrete, actual environmental parameters of the printing environment, historical printing parameters of the printing device, and historical material distribution parameters of the material distribution device; Determining target printing parameters of the printing device and target material distribution parameters of the material distribution device according to the material characteristic parameters, the actual environment parameters, the historical printing parameters, and the historical material distribution parameters; The material distribution equipment is controlled to perform material distribution according to the target material distribution parameters, and the printing equipment is controlled to perform 3D printing of the concrete structure according to the target printing parameters.

2. The method according to claim 1, characterized in that The step of determining the target printing parameters of the printing device and the target material distribution parameters of the material distribution device according to the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material distribution parameters includes: Under the conditions of the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material delivery parameters, predict the flow velocity and pressure distribution of the simulated concrete obtained by printing under preset conditions, the stress-strain relationship when subjected to a preset load, the potential breaking point, and the third temperature, curing rate and bubble distribution during the curing process; The target printing parameters of the printing device and the target material distribution parameters of the material distribution device are determined based on the flow velocity and pressure distribution of the simulated concrete under preset conditions, the stress-strain relationship when subjected to a preset load, the potential breaking point, and the third temperature, curing rate and bubble distribution during the curing process.

3. The method according to claim 1, characterized in that The step of determining the target printing parameters of the printing device and the target material distribution parameters of the material distribution device according to the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material distribution parameters includes: Under the conditions of the material characteristic parameters, the actual environmental parameters, the historical printing parameters and the historical material distribution parameters, predict the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the simulated concrete obtained by printing; According to the hydration reaction time, strength development data, cracking risk probability, shrinkage risk probability, creep risk probability and stability of the simulated concrete, target printing parameters of the printing device and target material distribution parameters of the material distribution device are determined.

4. The method according to claim 1, characterized in that: The step of determining the target printing parameters of the printing device and the target material distribution parameters of the material distribution device according to the material characteristic parameters, the actual environment parameters, the historical printing parameters and the historical material distribution parameters includes: Under the conditions of the material characteristic parameters, the actual environmental parameters, the historical printing parameters and the historical material delivery parameters, predict the stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance, and structural stability evaluation results of the simulated concrete obtained by printing; The target printing parameters of the printing device and the target material distribution parameters of the material distribution device are determined based on the stress distribution, strain distribution, structural weaknesses, failure modes, interlayer bonding quality data, interlayer bonding strength data, cracking risk probability, peeling risk probability, structural parameters and performance, and structural stability evaluation results of the simulated concrete.

5. The method according to claim 1, characterized in that Before controlling the material distribution device to distribute materials according to the target material distribution parameters, and controlling the printing device to perform 3D printing of the concrete structure according to the target printing parameters, the method further includes: If the printed concrete is deformed, determining the position and parameters of the deformation; The target printing parameters and the target material delivery parameters are adjusted according to the position and parameters of the deformation.

6. The method according to claim 1, characterized in that Also includes: detecting preset deformation parameters of concrete of a long-range structure contained in the printed concrete; Determining the health status of the printed concrete according to the preset deformation parameters; If the health status does not meet the preset conditions, a warning signal is output, and the target printing parameters and the target material delivery parameters are adjusted.

7. The method according to claim 1, characterized in that Also includes: Determining the optimal environmental parameters corresponding to each preset area in the printed concrete; For each of the preset areas, the actual environmental parameters of the preset area are modified to the optimal environmental parameters.

8. The method according to any one of claims 1 to 7, characterized in that: Also includes: determining a concrete type, a curing rate, an ultraviolet intensity, and a surface temperature of the printed concrete; The wavelength, intensity and exposure time of ultraviolet light output by the ultraviolet curing light source are determined according to the concrete type, curing rate, ultraviolet light intensity and surface temperature of the printed concrete.

9. A 3D printing device for a concrete structure, characterized in that: include: A parameter acquisition unit, used to acquire material characteristic parameters of printed concrete, actual environmental parameters of the printing environment, historical printing parameters of the printing device, and historical material distribution parameters of the material distribution device; a target parameter determination unit, configured to determine a target printing parameter of the printing device and a target material distribution parameter of the material distribution device according to the material characteristic parameter, the actual environment parameter, the historical printing parameter and the historical material distribution parameter; A control unit is used to control the material distribution equipment to perform material distribution according to the target material distribution parameters, and control the printing equipment to perform 3D printing of the concrete structure according to the target printing parameters.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, each step of the 3D printing method for a concrete structure according to any one of claims 1 to 8 is implemented.

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