UHPC jet 3D printing device based on unmanned aerial vehicle

Abstract

The invention discloses a UHPC jet 3D printing device based on an unmanned aerial vehicle. The UHPC jet 3D printing device comprises the unmanned aerial vehicle. A flight control device is arranged on the unmanned aerial vehicle and used for adjusting the flight attitude and direction in real time; a real-time data transmission device is arranged on the unmanned aerial vehicle and used for transmitting data in the flight process and monitoring result data back to the ground control center in real time; a 3D printing UHPC device is arranged below the unmanned aerial vehicle and comprises a UHPC spraying device, one end of the UHPC spraying device is connected with a high-precision spraying printing head, and the other end of the UHPC spraying device is connected with a UHPC pumping connecting device through a spraying flow device and a power transmission device. The power transmission device controls the jetting speed and the jetting angle through a jetting speed adjusting device and a jetting angle control device. The flexibility of the unmanned aerial vehicle and the jet printing technology are combined, and UHPC construction under the high-altitude, complex or dangerous environment is achieved.

Description

Technical Field

[0001] The invention relates to a UHPC jet 3D printing device based on an unmanned aerial vehicle, belonging to the technical field of intelligent construction. Background Art

[0002] As the construction industry's requirements for structural performance and construction environment continue to increase, ultra-high performance concrete (UHPC) has been widely used in multiple extreme environments due to its excellent mechanical properties, durability and corrosion resistance. In particular, in special fields such as marine engineering, construction in extremely cold areas, underground engineering and high-altitude operations, ultra-high performance concrete has demonstrated irreplaceable advantages. However, despite the broad application prospects of UHPC in engineering, its construction process still faces many challenges. For example, ultra-high performance concrete usually has low fluidity and high viscosity due to its large amount of cementitious materials and low water-cement ratio, which makes it easy to cause construction difficulties in traditional construction methods. Traditional concrete pouring and molding methods are difficult to perform precise operations under extreme conditions such as high altitude, high temperature, low temperature, and narrow space. In these environments, construction workers face greater safety risks, and traditional construction equipment has significant limitations in operational flexibility and adaptability.

[0003] In recent years, 3D printing technology has been widely used in the construction field, especially in concrete construction. 3D printing technology can stack materials layer by layer according to design drawings through computer-controlled precise printing, which can greatly improve construction efficiency, reduce material waste, and build complex architectural forms. However, when using existing 3D printing technology in ultra-high performance concrete (UHPC), it often faces problems such as limited reinforcement methods (especially vertical reinforcement), insufficient interlayer bonding, and low construction accuracy. Especially in extreme environments, traditional printing equipment often cannot meet the construction requirements of high precision, reliability, and reasonable reinforcement methods.

[0004] In extreme environments, drone technology, as a technology with high flexibility, high adaptability and high automation capabilities, has gradually been applied to the construction field. Drones can enter high altitudes, small spaces or harsh environments that traditional equipment cannot reach, perform precise operations, and greatly improve construction efficiency and safety. In extremely cold areas or high altitude areas, the use of drones for construction can not only avoid manual entry into dangerous areas, but also reduce dependence on ground equipment and reduce construction costs. Combining drone technology and 3D printing technology, drones can be used to perform UHPC jet printing operations in extreme environments. This device can solve the difficulties faced in traditional construction methods, especially under extreme weather or geographical conditions such as high temperature, low temperature, strong wind, and strong earthquakes. It can effectively ensure the accuracy and quality of construction, reduce dependence on manual labor, and improve construction safety and efficiency. At present, although some drone devices have been used in construction, most of them are mainly used for tasks such as material transportation, monitoring or surface spraying, and have not yet been able to achieve high-precision UHPC jet printing operations, especially in extreme environments. There are still technical bottlenecks. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to solve the difficulties in combining drones with jet 3D printing UHPC technology in the prior art, so as to realize the construction of concrete structures in high altitude and complex environments and improve construction efficiency and safety.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: A UHPC jet 3D printing device based on a drone, comprising: Drones; The UAV is equipped with a flight control device for adjusting the flight attitude and direction in real time; A real-time data transmission device is installed on the drone to transmit the flight data and monitoring result data back to the ground control center in real time; A 3D printing UHPC device is arranged under the drone, and the 3D printing UHPC device includes a UHPC injection device, one end of the UHPC injection device is connected to a high-precision injection print head, and the other end of the UHPC injection device is connected to a UHPC pumping connection device through an injection flow device and a power transmission device. The power transmission device controls the injection speed and angle through an injection speed adjustment device and an injection angle control device respectively.

[0007] The aforementioned UHPC jet 3D printing device based on a drone is equipped with a variety of environmental perception sensors on the drone, including temperature and humidity sensors, air pressure sensors, wind speed sensors, infrared sensors, etc., which are used to monitor changes in the external environment in real time and feed back the monitoring data to the flight control device. The flight control device adjusts the flight parameters according to the monitoring data.

[0008] In the aforementioned UHPC jet 3D printing device based on a drone, the flight control device includes a control module, and the control module performs the following control steps: 21) Obtain the position, speed and heading information of the UAV through the Beidou navigation device, and obtain the attitude data of the UAV from the onboard sensors, the onboard sensors include accelerometers, gyroscopes and barometers, and the attitude data include pitch angle, roll angle and yaw angle; 22) Based on the attitude information data obtained by each sensor, the Kalman filter method is used to obtain the position and attitude data of the drone, and the three-dimensional position, speed and attitude of the drone are calculated; 23) Set the target state according to the task requirements and calculate the error between the target state and the actual state; 24) Using the adaptive PID control algorithm, the gain of the PID controller is dynamically adjusted according to the current UAV flight status and error. The gain includes proportional, integral and differential coefficients; 25) Calculate the control output position, speed and heading data information according to the PID control formula, and use the control output data information to adjust the control input parameters, including the rudder angle and thrust.

[0009] In the aforementioned UHPC jet 3D printing device based on a drone, the flight control device also includes an automatic route planning and path optimization module, which performs the following steps: First, input the mission requirements, including the starting point, target point, mission area and constraints, wherein the constraints include flight altitude and obstacle avoidance requirements; Generate a preliminary route based on flight constraints using the Dijkstra algorithm; Then, the route is optimized using a genetic algorithm or a particle swarm optimization algorithm to obtain the best path under a set target, wherein the set target is the shortest time or the minimum energy consumption.

[0010] In the aforementioned UHPC jet 3D printing device based on a drone, the real-time data transmission device performs the following steps: 41) UAVs collect flight data in real time through various sensors, and filter and correct the flight data; 42) Packing the flight data obtained in step 41 into a standard format, compressing the image and video data, and transmitting them to the ground control center via wireless communication; 43) After receiving the data, the ground control center decodes it and displays the flight trajectory, equipment status and environmental parameters in real time through a visual interface. If abnormal data is detected, the ground control center sends instructions to the drone to adjust the flight path, speed or altitude based on the monitoring results.

[0011] In the aforementioned UHPC jet 3D printing device based on a drone, the jet flow device 7 includes a jet pipeline, on which a flow regulating valve is arranged, and the flow regulating valve is electrically or pneumatically driven; a flow sensor is arranged on the jet pipeline, and the flow sensor is connected to an intelligent data monitoring device for real-time monitoring of the jet flow, and the flow data of the flow sensor is used to adjust the flow of concrete in real time.

[0012] In the aforementioned UHPC jet 3D printing device based on a drone, the power transmission device uses a high-pressure pump, one end of the high-pressure pump is connected to the UHPC pumping connection device, and the other end is connected to the jet flow control device through a pipeline, and the jet pressure control device includes a jet pressure sensor, which is arranged at the outlet of the high-pressure pump, monitors the jet pressure in real time, and feeds back the jet pressure data to the intelligent data monitoring device; the pressure regulating valve is arranged at the outlet of the high-pressure pump, and the intelligent data monitoring device controls the opening of the pressure regulating valve through the jet pressure data.

[0013] In the aforementioned UHPC jet 3D printing device based on a drone, the jet pressure control device also includes a pressure protection device arranged at the outlet of the high-pressure pump, including a pressure relief valve and a safety valve.

[0014] The aforementioned UHPC jet 3D printing device based on a drone, the UHPC mixing and conveying integrated device is arranged on the ground and connected to the UHPC pumping connection device, including a concrete storage silo for storing UHPC, and the storage silo is equipped with a mixing device to prevent concrete sedimentation.

[0015] In the aforementioned UHPC jet 3D printing device based on a drone, the jet angle control device and the jet speed regulating valve are both arranged at the outlet of the high-pressure pump.

[0016] The aforementioned UHPC jet 3D printing device based on a drone also includes an intelligent data monitoring device for realizing real-time monitoring and precise adjustment of various parameters during the construction process, and performs the following steps: 51) Real-time acquisition of building data provided by BIM devices, including design drawings, structural requirements and construction progress, and automatic analysis of different areas and operation objectives of the building after data preprocessing; 52) Based on the three-dimensional building model, the Dijkstra algorithm is used to plan the optimal flight path to avoid obstacles and cover the mission area. The spray trajectory is smoothly generated by the B-spline curve algorithm to make the spray uniform, and the flight path and spray trajectory of the drone are dynamically adjusted using real-time data monitoring and feedback algorithms; 53) Automatically generate and schedule work plans based on construction progress and task priority, optimize workload, and use deep learning methods to continuously optimize path and trajectory planning.

[0017] The beneficial effects achieved by the present invention are as follows: the device of the present invention realizes concrete construction in complex, high-altitude or dangerous environments through the 3D printing UHPC device arranged under the drone, which significantly improves the safety and efficiency of the construction; the injection flow device, the injection speed adjustment device, and the injection angle control device can accurately complete the injection and printing of concrete, reduce manual intervention, and reduce human errors in the construction process. The jet printing device avoids the problems of limited printing methods faced by traditional printing devices, and the structural design of UHPC can be realized by first tying the steel bars and then injecting.

[0018] At the same time, the device of the present invention adopts a modular design, which can be flexibly adjusted according to specific construction needs and adapt to various construction scenarios. It is particularly suitable for high-altitude, complex terrain and other environments that are difficult to complete with traditional construction methods. Through real-time monitoring and feedback, accuracy and safety of the construction process are ensured.

[0019] Using the device of the present invention for construction can enable more efficient, safe and precise operations in extreme environments, such as high temperature, severe cold, ocean, etc., promote the widespread application of UHPC, have great application potential and economic benefits, and will also provide an innovative way to realize the combination of drones and jet printing UHPC technology, promoting the intelligent and automated development of construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the 3D printing device based on UAV-jet UHPC in Invention Example 1; Figure 2 It is a schematic diagram of the jet printing device in the second embodiment of the invention; Figure 3 It is a schematic diagram of a power transmission device in embodiment 2 of the invention; Figure 4 This is a schematic diagram of the energy power device in Invention Example 2; Figure 5 This is a logical diagram of the intelligent data monitoring device in Embodiment 3 of the invention; Figure 6Schematic diagram of UAV-coordinated UHPC jet 3D printing in Invention Example 1.

[0021] In the figure, 1. UAV multi-rotor structure, 2. flight control device, 3. environmental perception sensor, 4. data transmission device, 5. UHPC injection device, 6. high-precision free-rotating injection print head, 7. injection flow control device, 8. injection pressure control device, 9. UHPC pumping connection device, 10. injection speed adjustment device, 11. UHPC mixing and conveying integrated device, 12. injection angle control device, 13. power transmission device, 14. energy power device, 15. injection pressure sensor, 16. pressure release valve, 17. safety valve, 18. pressure regulating valve, 19 connecting pipe, 20. high-pressure pump, 21. vertical steel bars, 22. horizontal steel bars. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings. Example 1

[0023] like Figure 1 As shown, this embodiment provides a UHPC jet 3D printing device based on a drone, comprising: UAV 1 is provided with a multi-rotor structure on the top of the UAV, so that the UAV has a strong load-bearing capacity; flight stability devices are provided on the head, tail and both sides of the UAV to improve the flight stability of the UAV, so that the UAV can maintain precise heading control in a complex airflow environment. Through the lift provided by multiple rotors, the platform can stably float in the air and adapt to construction and spraying tasks that require highly precise control.

[0024] A flight control device 2 is provided on the UAV for adjusting the flight attitude and direction in real time; the flight control device includes a control module, and the control module performs the following control steps: 21) Obtaining information data such as the position, speed and heading of the drone through the Beidou navigation device, and obtaining the attitude data of the drone from the onboard sensors, the onboard sensors including accelerometers, gyroscopes and barometers, and the attitude data including pitch angle, roll angle and yaw angle; 22) Based on the attitude information data obtained by each sensor, the Kalman filter method is used to obtain accurate UAV position and attitude data, and the state variables such as the three-dimensional position, speed and attitude of the UAV are calculated; 23) Set the target state according to the task requirements and calculate the error between the target state and the actual state; 24) Using the adaptive PID control algorithm, the gain of the PID controller is dynamically adjusted according to the current UAV flight status and error. The gain includes proportional, integral and differential coefficients. For example, when encountering strong winds or airflow disturbances, the PID controller will automatically increase the proportional gain to quickly respond to external disturbances. 25) Calculate the control output position, speed and heading data information according to the PID control formula, and use the control output data information to adjust the control input parameters, including the rudder angle, thrust, etc.; At the same time, the flight control device also includes an automatic route planning and path optimization module, which performs the following steps: First, input the mission requirements, including the starting point, target point, mission area and constraints, the constraints including flight altitude, obstacle avoidance requirements, etc.; Generate a preliminary route based on flight constraints using the Dijkstra algorithm; Then, a genetic algorithm or a particle swarm optimization algorithm is used to optimize the route to obtain the best path under a set target, wherein the set target is the shortest time or the minimum energy consumption, etc.; During the flight of the drone, the flight control device uses Beidou navigation, inertial navigation and visual positioning technology, and integrates positioning data through the Kalman filter algorithm to estimate the position and attitude of the drone in real time, and adjust the heading according to the deviation. In a dynamic environment, real-time sensor data (such as lidar, infrared, and camera) detect obstacles and replan the obstacle avoidance path through the dynamic A or RRT algorithm; using the PID control algorithm, the optimized path and heading adjustment are converted into specific flight control instructions to ensure that the drone accurately performs the task and flies stably; finally, when the task is completed, the device replans the return path based on the current position and target point to ensure that the drone safely returns to the starting point or designated location. The flight control device integrates technologies such as automatic route planning, path optimization, real-time positioning and obstacle avoidance, enabling the drone to autonomously complete complex construction tasks while ensuring flight accuracy and mission efficiency.

[0025] A variety of environmental sensing sensors 3 are provided on the drone, including temperature and humidity sensors, air pressure sensors, wind speed sensors, infrared sensors, etc., which are used to monitor changes in the external environment in real time and feed back the monitoring data to the flight control device, which adjusts the flight parameters according to the monitoring data. The temperature, humidity and air pressure sensors can judge changes in the external climate, especially in high temperature, low temperature and humid environments, and automatically adjust the flight parameters. The wind speed sensor can monitor the changes in wind speed during flight in real time and feed back the data to the flight control device, so as to adjust the flight altitude and speed according to the size of the wind force, so that the drone can operate stably. The platform's carbon fiber shell is made of high-performance heat-proof, cold-proof and wind-resistant materials, with strong weather resistance, which can effectively isolate the external extreme temperature, prevent the internal equipment of the platform from being damaged due to excessively high or low temperatures, and enhance the adaptability of the drone in complex and extreme environments.

[0026] A real-time data transmission device 4 is provided on the UAV, which is used to transmit the data during the flight and the monitoring result data to the ground control center in real time. The monitoring result data includes information such as flight trajectory, environmental parameters, equipment status, etc., so that the ground control center can timely understand the working status of the UAV and make adjustments. The real-time data transmission device performs the following steps: 41) The drone collects flight data in real time through various sensors, and filters and corrects the flight data to ensure the accuracy of the data. The sensors include GPS, IMU, meteorological sensors and cameras, etc.; 42) Packing the flight data obtained in step 41 into a standard format, such as JSON or Protocol Buffers, and compressing the image and video data, and transmitting them to the ground control center via wireless communication, which includes Wi-Fi, 4G / 5G or LoRa; during the data transmission process, using transmission protocols and error detection technologies to ensure data reliability, the transmission protocols include MQTT, HTTP, TCP, and the detection technologies include CRC, FEC, etc.; 43) After receiving the data, the ground control center decodes it and displays the flight trajectory, equipment status and environmental parameters in real time through a visual interface. At the same time, the data is stored for subsequent analysis. If abnormal data is detected, such as low battery or abnormal flight path, an alarm will be automatically issued and the operator will be notified. Based on the monitoring results, the ground control center sends instructions to the drone to adjust the flight path, speed or altitude, and issue an emergency landing order in an emergency.

[0027] The drone can carry a large amount of equipment. A 3D printing UHPC device is arranged under the drone. The 3D printing UHPC device includes a UHPC injection device 5. One end of the UHPC injection device 5 is connected to a high-precision injection print head 6. The other end of the UHPC injection device 5 is connected to a UHPC pumping connection device 9 through an injection flow device 7 and a power transmission device 13. The power transmission device 13 controls the injection speed and angle through an injection speed adjustment device 10 and an injection angle control device 12, respectively, to ensure that multiple tasks can be completed while maintaining long-term stable work. Example 2

[0028] like Figure 2 As shown, in order to complete the construction in extreme environments, the 3D printing UHPC device of the present invention includes a jet flow device 7, the jet flow device 7 includes a jet pipeline, a flow regulating valve is arranged on the jet pipeline, and the flow regulating valve is electrically or pneumatically driven; A flow sensor is installed on the injection pipeline, which is connected to the intelligent data monitoring device for real-time monitoring of the injection flow. The flow data of the flow sensor is used to adjust the flow of concrete in real time to ensure stable flow during the injection process and avoid blockage or excessive injection. At the same time, the intelligent data monitoring device transmits the injection flow data to the ground control center through a feedback mechanism to ensure that the flow meets the construction requirements.

[0029] The intelligent data monitoring device automatically adjusts the flow parameters according to task requirements and optimizes the injection flow using a PID control algorithm to adapt to different environments and construction conditions.

[0030] The high-precision jet printing head 6 is connected to the UHPC jetting device 5. The high-precision jet printing head 6 adopts advanced manufacturing technology to ensure uniformity and accuracy during the jetting process, thereby achieving efficient and stable jetting effects.

[0031] like Figure 3As shown, the power transmission device 13 uses a high-pressure pump 20, one end of the high-pressure pump 20 is connected to the UHPC pumping connection device 9, and the other end is connected to the injection flow control device 7 through a pipeline. The connection is a core component. The high-pressure pump is driven by air pressure and can generate sufficient pressure to push the UHPC through the nozzle. The pump has a wide pressure adjustment range and can adapt to the needs of different construction environments. The injection pressure control device 8 includes an injection pressure sensor 15, and the injection pressure sensor 16 is arranged at the outlet of the high-pressure pump 20 to monitor the injection pressure in real time and feed back the injection pressure data to the intelligent data monitoring device to prevent excessive or low pressure, thereby avoiding damage to the concrete or uneven injection; the pressure regulating valve 18 is arranged at the outlet of the high-pressure pump 20, and the intelligent data monitoring device controls the opening of the pressure regulating valve through the injection pressure data to adjust the pressure and ensure the pressure stability during the injection process; at the same time, the injection pressure control device 8 also includes a pressure protection device arranged at the outlet of the high-pressure pump 20, including a pressure release valve 16 and a safety valve 17, etc. When the pressure exceeds the set range, it can automatically release excess pressure to effectively protect the various components of the device from damage.

[0032] The UHPC integrated mixing and conveying device 11 is arranged on the ground and connected to the UHPC pumping connection device 9, and includes a concrete storage silo for storing UHPC. In order to maintain the fluidity and consistency of UHPC, the storage silo is equipped with a stirring device to prevent concrete sedimentation; the pumping pump body uses an efficient piston pump or a screw pump to provide continuous and stable pumping power to ensure that the concrete is efficiently and continuously conveyed to the injection device; the concrete flow controller adjusts the pumping speed and flow rate in real time through an intelligent algorithm based on the data of the pressure and flow sensors to ensure uniform concrete delivery and avoid blockage; in addition, the UHPC integrated mixing and conveying device 11 ensures that the concrete maintains optimal fluidity and viscosity throughout the process and adapts to complex construction environments.

[0033] The spray angle control device 10 and the spray speed regulating valve 12 are both arranged at the outlet of the high-pressure pump 20 to ensure uniform spraying of the ultra-high performance concrete and to achieve good interlayer adhesion and structural stability under different operating conditions. Through the fine control of these parameters, the UHPC spray device 5 can adapt to complex environments and provide efficient and high-quality concrete spraying effects. In order to further improve the construction accuracy, the spray device also has high-precision spray angle and speed control functions. Through precise spray angle control, it can ensure that the concrete evenly covers the target area, avoiding material waste or uneven quality caused by improper spray angles. Example 3

[0034] It also includes intelligent data monitoring devices to achieve real-time monitoring and precise adjustment of various parameters during the construction process, such as Figure 5, perform the following steps: 51) Real-time acquisition of building data provided by BIM (Building Information Modeling) devices, including design drawings, structural requirements and construction progress, and automatic analysis of different areas and operation objectives of the building after data preprocessing; 52) Based on the 3D building model, the Dijkstra algorithm is used to plan the optimal flight path to avoid obstacles and cover the mission area. The spray trajectory is smoothly generated by the B-spline curve algorithm to make the spray uniform. The real-time data monitoring and feedback algorithm is used to dynamically adjust the flight path and spray trajectory of the drone to cope with changes on site; 53) Automatically generate and schedule work plans based on construction progress and task priority, optimize workload, and use deep learning methods to continuously optimize path and trajectory planning to further improve construction efficiency and work quality.

[0035] 54) If the jet print head device 6 fails or the equipment is abnormal, it will automatically detect and issue an alarm, and provide troubleshooting guidance to improve the quality of work and identify potential risk points in advance, such as UHPC curing too fast, uneven injection, etc., so that remedial measures can be taken in time.

[0036] The intelligent data monitoring device can not only monitor the construction process and environmental data in real time through highly integrated sensors and computing modules, but also automatically adjust the flight path, construction operations and equipment performance according to real-time feedback to ensure that each link can be accurately executed according to the predetermined goals, thereby greatly improving construction efficiency and safety. The intelligent control device is seamlessly connected with the BIM device, enabling the drone to accurately identify the architectural design requirements and automatically generate an operation plan based on the building structure. Through the BIM device, construction personnel can obtain real-time updated building data, including design drawings, structural requirements, construction progress and other data information. After the intelligent data monitoring device automatically analyzes this data information, it plans the optimal flight path and injection trajectory for the drone.

[0037] Figure 6 This is a schematic diagram of the collaborative operation of multiple drones. After the steel bars are tied, cluster drones are used to perform jet printing operations to achieve efficient and high-precision intelligent construction in the construction industry.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A UHPC jet 3D printing device based on drone, characterized in that: include: Drones; The UAV is equipped with a flight control device for adjusting the flight attitude and direction in real time; A real-time data transmission device is installed on the drone to transmit the flight data and monitoring result data back to the ground control center in real time; A 3D printing UHPC device is arranged under the drone, and the 3D printing UHPC device includes a UHPC injection device, one end of the UHPC injection device is connected to a high-precision injection print head, and the other end of the UHPC injection device is connected to a UHPC pumping connection device through an injection flow device and a power transmission device. The power transmission device controls the injection speed and angle through an injection speed adjustment device and an injection angle control device respectively.

2. A UHPC jet 3D printing device based on a drone according to claim 1, characterized in that: The drone is equipped with a variety of environmental perception sensors, including temperature and humidity sensors, air pressure sensors, wind speed sensors, and infrared sensors, which are used to monitor changes in the external environment in real time and feed the monitoring data back to the flight control device. The flight control device adjusts the flight parameters based on the monitoring data.

3. The UHPC jet 3D printing device based on a drone according to claim 1, characterized in that: The flight control device includes a control module, and the control module performs the following control steps: 21) Obtain the position, speed and heading information of the UAV through the Beidou navigation device, and obtain the attitude data of the UAV from the onboard sensors, the onboard sensors include accelerometers, gyroscopes and barometers, and the attitude data include pitch angle, roll angle and yaw angle; 22) Based on the attitude information data obtained by each sensor, the Kalman filter method is used to obtain the position and attitude data of the drone, and the three-dimensional position, speed and attitude of the drone are calculated; 23) Set the target state according to the task requirements and calculate the error between the target state and the actual state; 24) Using the adaptive PID control algorithm, the gain of the PID controller is dynamically adjusted according to the current UAV flight status and error. The gain includes proportional, integral and differential coefficients; 25) Calculate the control output position, speed and heading data information according to the PID control formula, and use the control output data information to adjust the control input parameters, including the rudder angle and thrust.

4. The UHPC jet 3D printing device based on a drone according to claim 3, characterized in that: The flight control device also includes an automatic route planning and path optimization module that performs the following steps: Enter the mission requirements, including the starting point, target point, mission area and constraints, where the constraints include flight altitude and obstacle avoidance requirements; Generate a preliminary route based on flight constraints using the Dijkstra algorithm; The route is optimized using a genetic algorithm or a particle swarm optimization algorithm to obtain the best path under a set target, wherein the set target is the shortest time or the minimum energy consumption.

5. The UHPC jet 3D printing device based on a drone according to claim 1, characterized in that: The real-time data transmission device performs the following steps: 41) UAVs collect flight data in real time through various sensors, and filter and correct the flight data; 42) Packing the flight data obtained in step 41) into a standard format, compressing the image and video data, and transmitting them to the ground control center via wireless communication; 43) After receiving the data, the ground control center decodes it and displays the flight trajectory, equipment status and environmental parameters in real time through a visual interface. If abnormal data is detected, the ground control center sends instructions to the drone to adjust the flight path, speed or altitude based on the monitoring results.

6. The UHPC jet 3D printing device based on a drone according to claim 1, characterized in that: The injection flow device includes an injection pipeline, on which a flow regulating valve is arranged, and the flow regulating valve is driven electrically or pneumatically; a flow sensor is arranged on the injection pipeline, and the flow sensor is connected to an intelligent data monitoring device for real-time monitoring of the injection flow, and adjusting the flow of concrete in real time using the flow data of the flow sensor.

7. The UHPC jet 3D printing device based on a drone according to claim 1, characterized in that: The power transmission device uses a high-pressure pump, one end of the high-pressure pump is connected to the UHPC pumping connection device, and the other end is connected to the injection flow control device through a pipeline. The injection pressure control device includes an injection pressure sensor, which is arranged at the outlet of the high-pressure pump, monitors the injection pressure in real time, and feeds back the injection pressure data to the intelligent data monitoring device; the pressure regulating valve is arranged at the outlet of the high-pressure pump, and the intelligent data monitoring device controls the opening of the pressure regulating valve according to the injection pressure data; The injection pressure control device further comprises a pressure protection device arranged at the outlet of the high pressure pump, comprising a pressure release valve and a safety valve.

8. The UHPC jet 3D printing device based on a drone according to claim 1, characterized in that: The UHPC mixing and conveying integrated device is arranged on the ground and connected to the UHPC pumping connection device, and comprises a concrete storage silo for storing UHPC, and the storage silo is equipped with a mixing device.

9. The UHPC jet 3D printing device based on a drone according to claim 1, characterized in that: The injection angle control device and the injection speed regulating valve are both arranged at the outlet of the high-pressure pump.

10. The UHPC jet 3D printing device based on a drone according to claim 1, characterized in that: It also includes an intelligent data monitoring device for achieving real-time monitoring and precise adjustment of various parameters during the construction process, performing the following steps: 51) Real-time acquisition of building data provided by BIM devices, including design drawings, structural requirements and construction progress, and automatic analysis of different areas and operation objectives of the building after data preprocessing; 52) Based on the three-dimensional building model, the Dijkstra algorithm is used to plan the optimal flight path to avoid obstacles and cover the mission area. The spray trajectory is smoothly generated by the B-spline curve algorithm to make the spray uniform, and the flight path and spray trajectory of the drone are dynamically adjusted using real-time data monitoring and feedback algorithms; 53) Automatically generate and schedule work plans based on construction progress and task priority, optimize workload, and use deep learning methods to continuously optimize path and trajectory planning.

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