Architectural 3D printing system and architectural 3D printing deviation compensation method

Abstract

The present invention discloses a building 3D printing system and a building 3D printing deviation compensation method, which relate to the field of 3D printing technology. The building 3D printing system includes a mobile 3D printing device, a first detection device and a detection module; the mobile 3D printing device includes a mobile platform, a robotic arm and a printing nozzle, the robotic arm is arranged on the mobile platform, and the printing nozzle is arranged on the robotic arm; the first detection device is used to detect the real-time position of the printing nozzle; the mobile platform, the robotic arm, the printing nozzle and the first detection device are all communicatively connected to the control module; the technical solution provided by the present invention can print building components with a larger coverage area and larger volume than the 3D printing device body, and ensure the printing accuracy of the components.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a building 3D printing system and a building 3D printing deviation compensation method. Background Art

[0002] Architectural 3D printing has the advantages of being environmentally friendly, efficient, energy-saving, and highly automated during the construction process. In related technologies, there are two types of 3D printing equipment: one is a gantry truss printing device, which can complete the printing of the entire building component in one deployment, but the deployment time is long and it is difficult to move; the other is a mobile 3D printing device, which is relatively easy to move. However, in order to avoid printing deviations, the mobile 3D printing device needs to be stationary during printing. This will result in the need to split the larger component into multiple small components due to the size of the printing device, and then print them in different areas. That is, the printing device needs to move to the next area after completing printing in one area, making the components in different areas discontinuous and forming a structural weak point. Summary of the Invention

[0003] The main purpose of the present invention is to propose a building 3D printing system and a building 3D printing deviation compensation method, aiming to ensure the printing accuracy of components.

[0004] To achieve the above objectives, the architectural 3D printing system proposed in the present invention includes:

[0005] A mobile 3D printing device, comprising a mobile platform, a robotic arm, and a printing nozzle, wherein the robotic arm is disposed on the mobile platform, and the printing nozzle is disposed on the robotic arm;

[0006] a first detection device, the first detection device being used to detect the real-time position of the print head; and

[0007] A control module is provided, wherein the mobile platform, the robotic arm, the print head and the first detection device are all communicatively connected to the control module.

[0008] In one embodiment, the first detection device includes a reflective positioning member and an optical detection member, the reflective positioning member is provided on the print head, the optical detection member is provided corresponding to a preset printing position, the optical detection member is used to detect the position of the reflective positioning member relative to the optical detection member, and the optical detection member is communicatively connected to the control module.

[0009] In one embodiment, the first detection device includes a plurality of the reflective positioning members and a plurality of the optical detection members, the plurality of the reflective positioning members are arranged at intervals along the circumference of the print head, and the plurality of the optical detection members are arranged around the preset printing position.

[0010] In one embodiment, the architectural 3D printing system further includes a second detection device, which is used to detect the real-time position of the mobile platform, and the second detection device is communicatively connected to the control module.

[0011] In one embodiment, the second detection device includes a positioning target and a visual detection component, the positioning target is set near the preset printing position, the visual detection component is set on the mobile platform, the visual detection component is used to detect the position of the visual detection component relative to the positioning target, and the visual detection component is communicatively connected to the control module.

[0012] In one embodiment, the second detection device includes a plurality of the positioning targets and a plurality of the visual detection components, the plurality of the positioning targets are arranged around the preset printing position, and the plurality of the visual detection components are arranged at intervals on the mobile platform.

[0013] In one embodiment, the architectural 3D printing system further includes a mobile material transport device and a pumping pipe, wherein the mobile material transport device is used to store printing materials, the pumping pipe connects the mobile material transport device and the printing nozzle, and the pumping pipe is used to transport the printing materials stored in the material transport device to the printing nozzle.

[0014] In one embodiment, the mobile platform is provided with four first omnidirectional wheels, and the four first omnidirectional wheels are distributed in a rectangular array; and / or

[0015] The mobile material transport device is provided with four second omnidirectional wheels, and the four second omnidirectional wheels are distributed in a rectangular array.

[0016] The present invention further proposes a method for compensating for deviations in architectural 3D printing, which is applied to the architectural 3D printing system described above. The method comprises the following steps:

[0017] controlling the first detection device to obtain current position information of the print head;

[0018] Comparing and determining whether there is a deviation between the obtained current position information of the print head and the preset target position information;

[0019] If so, the movement of the mobile platform and the robotic arm is controlled by compensating according to the deviation information between the current position information of the print head and the preset target position information.

[0020] In one embodiment, the compensating and controlling the movement of the mobile platform and the robotic arm according to the deviation information between the current position information of the print head and the preset target position information includes the following steps:

[0021] Decomposing the deviation information compensation into first compensation information and second compensation information;

[0022] controlling the movement of the robotic arm according to the first compensation information;

[0023] The mobile platform activity is controlled according to the second compensation information.

[0024] In the technical solution of the present invention, by setting up a first detection device, during the printing process, the real-time position of the print head can be detected while the mobile platform moves. Then, the control module can control the movement of the mobile platform and the robotic arm according to this real-time position to ensure that the print head is in the correct position. In this way, printing while moving is achieved, which ensures the continuity of the printing process and also ensures the integrity and structural strength of the final component. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0026] Figure 1 This is a structural diagram of an embodiment of a building 3D printing system provided by the present invention;

[0027] Figure 2 A schematic structural diagram of another embodiment of the architectural 3D printing system provided by the present invention;

[0028] Figure 3 A schematic structural diagram of another embodiment of the architectural 3D printing system provided by the present invention;

[0029] Figure 4 A schematic structural diagram of another embodiment of the architectural 3D printing system provided by the present invention;

[0030] Figure 5 This is a flow chart of an embodiment of the method for compensating for deviations in 3D printing of buildings provided by the present invention.

[0031] Description of Figure Numbers:

[0032] 100. Architectural 3D printing system; 1. Mobile platform; 2. Robotic arm; 3. Print nozzle; 4. Reflective positioning element; 5. Optical detection element; 6. Preset printing position; 7. Positioning target; 8. Visual detection element; 9. Mobile material transport device; 10. Pumping pipe; 11. Vertical mixer.

[0033] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0037] The present invention provides a building 3D printing system 100 .

[0038] See also Figures 1 to 4 In one embodiment of the present invention, the architectural 3D printing system 100 includes a mobile 3D printing device, a first detection device, and a detection module; the mobile 3D printing device includes a mobile platform 1, a robotic arm 2, and a print head 3, the robotic arm 2 is disposed on the mobile platform 1, and the print head 3 is disposed on the robotic arm 2; the first detection device is used to detect the real-time position of the print head 3; the mobile platform 1, the robotic arm 2, the print head 3, and the first detection device are all communicatively connected to the control module.

[0039] In the technical solution of the present invention, by setting up a first detection device, during the printing process, the real-time position of the print head 3 can be detected while the mobile platform 1 moves, and then the control module can control the movement of the mobile platform 1 and the robotic arm 2 according to this real-time position to ensure that the print head 3 is in the correct position. In this way, printing while moving is achieved, which ensures the continuity of the printing process and also ensures the integrity and structural strength of the final printed component.

[0040] Specifically, in one embodiment of the present invention, please refer to Figure 3 The first detection device includes a reflective positioning element 4 and an optical detection element 5. The reflective positioning element 4 is positioned on the print head 3. The optical detection element 5 is positioned corresponding to a preset printing position 6. The optical detection element 5 is used to detect the position of the reflective positioning element 4 relative to the optical detection element 5. The optical detection element 5 is communicatively connected to the control module. During the printing process, the robotic arm 2 drives the print head 3 to print. At the same time, the optical detection element 5 can track the reflective positioning element 4 in real time, determine the position of the reflective positioning element 4, and transmit this position information to the control module. If there is an error between this position information and the preset target position information, the control module can perform mathematical calculations to obtain a corresponding compensation value. Based on this compensation value, the robotic arm 2 is then controlled to move in the opposite direction of the error, thereby achieving error correction during the printing process. Specifically, the optical detection element 5 detects the position of the print head 3 in real time and transmits this data to the control module in a timely manner, allowing the control module to quickly adjust the movement of the robotic arm 2 to ensure the continuity and stability of the printing process. Through precise position detection and real-time adjustment, printing discontinuities and structural weaknesses caused by position deviations of the print head 3 are avoided, improving the overall quality and strength of the printed component.

[0041] In this embodiment, the reflective positioning element 4 is a highly reflective positioning ball, and the optical detection element 5 is a laser tracking device or an optical motion capture device. The highly reflective positioning ball has a high reflectivity, enabling the laser tracking device or optical motion capture device to more accurately capture its position information, thereby achieving high-precision positioning of the print head 3. This detection method is a non-contact measurement method that avoids interference with the movement of the print head 3 and the robotic arm 2, while also reducing mechanical wear and improving the service life and reliability of the device.

[0042] Furthermore, in one embodiment of the present invention, the first detection device includes a plurality of reflective positioning members 4 and a plurality of optical detection members 5. The plurality of reflective positioning members 4 are spaced apart along the circumference of the print head 3, and the plurality of optical detection members 5 are arranged around a preset printing position 6. The plurality of reflective positioning members 4 are arranged around the circumference of the print head 3, and are capable of reflecting signals from different angles, enabling the optical detection member 5 to obtain more comprehensive position information, thereby improving the accuracy of detecting the spatial position of the print head 3. The plurality of optical detection members 5 are arranged around the preset printing position 6, and can simultaneously monitor the position of the print head 3. Even if some detection members are interfered with or damaged, accurate position information can still be obtained through other detection members, thereby enhancing system reliability.

[0043] In order to accurately locate the mobile platform 1, in one embodiment of the present invention, please refer to Figure 2 , the architectural 3D printing system 100 also includes a second detection device, which is used to detect the real-time position of the mobile platform 1. The second detection device is communicatively connected to the control module. The second detection device can accurately detect the real-time position of the mobile platform 1, and combined with the position detection of the print head 3 by the first detection device, it can achieve precise control of the position of the entire printing system, further improving the accuracy and quality of printing. The control module receives position information from the first detection device and the second detection device at the same time, and can more comprehensively understand the relative position relationship between the print head 3 and the mobile platform 1, achieve more accurate collaborative control, and ensure the smooth progress of the printing process. By monitoring the position of the mobile platform 1 in real time, the second detection device can promptly detect and correct the deviation of the mobile platform 1, avoid printing discontinuities or errors caused by the unstable position of the mobile platform 1, and improve the stability and reliability of the printing process.

[0044] Specifically, in one embodiment of the present invention, please refer to Figure 2 The second detection device includes a positioning target 7 and a visual detection component 8. The positioning target 7 is set near the preset printing position 6. The visual detection component 8 is set on the mobile platform 1. The visual detection component 8 is used to detect the position of the visual detection component 8 relative to the positioning target 7. The visual detection component 8 is communicatively connected to the control module. The positioning target 7 is fixed in position, and the visual detection component 8 will move with the mobile platform 1. The visual detection component 8 can collect the distance information between the mobile platform 1 and the positioning target 7 by scanning the positioning target 7, and transmit this position information to the control module. The control module can obtain the relative position of the mobile platform 1 and the positioning target 7 through calculation, thereby realizing the motion correction of the mobile platform 1 during the printing process. The visual detection component 8 can accurately detect the position of the mobile platform 1 relative to the positioning target 7, provide accurate position information to the control module, and ensure the precise movement of the mobile platform 1 during the printing process. The visual detection component 8 monitors the position of the mobile platform 1 in real time, and promptly feeds back the data to the control module, so that the control module can quickly adjust the movement of the mobile platform 1 to ensure the continuity and stability of the printing process.

[0045] In this embodiment, the visual detection component 8 is a visual camera that can accurately capture the image of the positioning target 7 and calculate the precise position of the mobile platform 1 relative to the positioning target 7 through an image processing algorithm, thereby providing high-precision position information to the control module.

[0046] Furthermore, in one embodiment of the present invention, the second detection device includes multiple positioning targets 7 and multiple visual detection components 8. The multiple positioning targets 7 are arranged around the preset printing position 6, and the multiple visual detection components 8 are spaced apart on the mobile platform 1. The multiple positioning targets 7 provide references for the visual detection components 8 from different directions, allowing the position of the mobile platform 1 to be accurately detected from multiple angles, thereby improving the comprehensiveness and accuracy of position detection. The multiple visual detection components 8 operate simultaneously, and even if some detection components are interfered with or malfunction, the other detection components can still provide accurate position information, thereby enhancing the reliability and fault tolerance of the system.

[0047] Specifically, in one embodiment of the present invention, please refer to Figure 1 and Figure 4 The architectural 3D printing system 100 further includes a mobile material transport device 9 and a pumping pipe 10. The mobile material transport device 9 is used to store printing materials. The pumping pipe 10 connects the mobile material transport device 9 and the print head 3. The pumping pipe 10 is used to transport the printing materials stored in the material transport device to the print head 3. The mobile material transport device 9 receives and stores printing materials from the vertical mixer 11, and transports the materials to the print head 3 in a timely and stable manner through the pumping pipe 10, thereby ensuring the continuity and efficiency of the printing process. The mobile material transport device 9 can move as the printing process progresses to adapt to the printing needs of different locations. In particular, when printing large components, it can flexibly provide materials to the print head 3, thereby improving the overall flexibility of the system. The stable material supply ensures the uniformity and continuity of the printing process, avoids printing defects caused by insufficient or unstable material supply, and improves the quality of printed components. In addition, the mobile material transport device 9 and the pumping tube 10 are connected by a quick-release joint. The quick-release joint design enables the mobile material transport device 9 and the pumping tube 10 to be quickly connected and separated, which is convenient for operation when switching printing tasks, equipment maintenance or material replacement, thereby improving work efficiency.

[0048] Further, in one embodiment of the present invention, please refer to Figure 4Multiple mobile 3D printing devices are provided, and multiple mobile material transport devices 9 are provided. Each mobile 3D printing device's print head 3 is connected to a mobile material transport device 9 via a pumping tube 10. When printing large components, multiple mobile 3D printing devices can perform printing tasks simultaneously, significantly improving printing efficiency and shortening the printing time of large components. Each mobile 3D printing device is equipped with an independent mobile material transport device 9 and pumping tube 10, enabling flexible printing at different locations to adapt to complex printing scenarios and the printing needs of large components. Independent material supply and printing systems ensure a stable material supply for each print head 3, avoiding printing defects caused by insufficient or unstable material supply, and improving the quality of printed components. The number of mobile material transport devices 9 can also be increased, so that multiple mobile material transport devices 9 can work alternately for a mobile 3D printing device. When one mobile material transport device 9 runs out of material, another mobile material transport device 9 can take over and deliver printing material to the mobile 3D printing device's print head 3, ensuring the continuity of the printing process.

[0049] In order to improve flexibility, in one embodiment of the present invention, the mobile platform 1 is provided with four first omnidirectional wheels, which are distributed in a rectangular array; the mobile material transport device 9 is provided with four second omnidirectional wheels, which are distributed in a rectangular array. The design of the omnidirectional wheels enables the mobile platform 1 and the mobile material transport device 9 to move flexibly in all directions without adjusting the orientation of the equipment, thereby improving the maneuverability and adaptability of the equipment in complex environments. The precise control capability of the omnidirectional wheels enables the mobile platform 1 and the material transport device to reach the preset position more accurately, and cooperates with the first detection device and the second detection device to achieve more precise position adjustment of the print head 3 and the material transport device, thereby improving the printing quality and the accuracy of material supply. Among them, the first omnidirectional wheel and the second omnidirectional wheel can be Mecanum wheels or omnidirectional steering wheels.

[0050] The present invention also provides a method for compensating deviations in architectural 3D printing, which is applied to the above-mentioned architectural 3D printing system 100. In one embodiment of the present invention, see Figure 5 ,Architectural 3D printing deviation compensation methods include:

[0051] S10: Control the first detection device to obtain the current position information of the print head 3;

[0052] S20: comparing and determining whether there is a deviation between the acquired current position information of the print head 3 and the preset target position information;

[0053] S30: If yes, the movement of the mobile platform 1 and the robot arm 2 is controlled based on the compensation information of the deviation between the current position information of the print head 3 and the preset target position information.

[0054] It should be noted that the execution subject of the method of this embodiment is the control module of the above-mentioned building 3D printing system 100, and the control module can be one or a combination of devices with control functions such as a computer, a programmable logic controller, and an embedded control system.

[0055] In the technical solution of the present invention, by setting up a first detection device, during the printing process, the real-time position of the print head 3 can be detected while the mobile platform 1 moves, and then the control module can judge whether the position of the print head 3 deviates from the preset target position based on this real-time position. When there is a deviation, the mobile platform 1 and the robotic arm 2 can be controlled to move to ensure that the print head 3 is in the correct position, thereby realizing printing while moving, ensuring the continuity of the printing process, and also ensuring the integrity and structural strength of the final printed component.

[0056] Specifically, in one embodiment of the present invention, step S30 includes the following steps:

[0057] S31: Decomposing the deviation compensation information into first compensation information and second compensation information;

[0058] S32: Control the movement of the robot arm 2 according to the first compensation information;

[0059] S33: Control the movement of the mobile platform 1 according to the second compensation information.

[0060] It should be noted that the decomposition of the deviation information compensation into the first compensation information and the second compensation information is calculated by the control module. Taking the computer as an example, at the hardware level, the coordinate system must be aligned before printing is started so that the coordinate system of the first detection device and the user coordinate system are consistent; at the algorithm level, the printing path of the robot 2 is sampled at a certain sampling frequency on the computer to obtain the position matrix of the path of the printing end at time i in the user coordinate system. , and use the following formula (1) to calculate the expected value of the print head's posture at the moment in the first detection device coordinate system: .

[0061]

[0062] in, It is the pose matrix of the printing head in the user coordinate system at the moment of sampling by the computer; It is the posture transformation matrix of the print head relative to the center of mass of the print nozzle. It is a fixed value and can be obtained through pre-measurement.

[0063] During the printing process, the first detection device can track the print head 3 at a certain monitoring frequency (the value of the monitoring frequency is the same as the sampling frequency), and feed back the corresponding three-dimensional coordinates to the computer in real time for processing. The least squares method is used to fit the position matrix of the center of mass of the print head 3 in the coordinate system of the first detection device at that moment ( ), which is the actual value of the print head posture at time i.

[0064] After obtaining the expected value of the print head 3 pose ( ) and the actual value ( ), the matrix compensation value of position and posture transformation is calculated using the following formula (2): .

[0065]

[0066] Then, the pose compensation value at time i ( ) is decomposed into the robot arm compensation value ( ) and mobile platform compensation value ( ) two compensation values, and use the following formulas (3) and (4) to calculate the correction values ​​of the robot arm 2 and the mobile platform 1 ( )and( ), the correction value of the robot arm 2 is the first compensation information, and the correction value of the mobile platform 1 is the second compensation information. The activities of the robot arm 2 and the mobile platform 1 are controlled accordingly according to the first compensation information and the second compensation information to achieve deviation correction.

[0067]

[0068]

[0069] in, It represents the pose change matrix of the end of the robot arm 2 from the current position to the next position at time i under ideal conditions without correction, which is pre-calculated by the computer.

[0070] above The position and posture matrix of the b coordinate system in the a coordinate system can be generally expressed as , where R represents the rotation transformation, which is Matrix, t represents position transformation The matrix of . Its transformation coordinate transformation rule is .

[0071] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by utilizing the contents of the present invention's description and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A building 3D printing system, characterized in that: include: A mobile 3D printing device, comprising a mobile platform, a robotic arm, and a printing nozzle, wherein the robotic arm is disposed on the mobile platform, and the printing nozzle is disposed on the robotic arm; a first detection device, the first detection device being used to detect the real-time position of the print head; as well as A control module, wherein the mobile platform, the robotic arm, the print head, and the first detection device are all communicatively connected to the control module; The first detection device includes a reflective positioning member and an optical detection member, the reflective positioning member is provided on the print head, the optical detection member is provided corresponding to a preset printing position, the optical detection member is used to detect the position of the reflective positioning member relative to the optical detection member, and the optical detection member is communicatively connected to the control module; The first detection device includes a plurality of the reflective positioning members and a plurality of the optical detection members, wherein the plurality of the reflective positioning members are arranged at intervals along the circumference of the print head, and the plurality of the optical detection members are arranged around the preset printing position; The architectural 3D printing system further includes a second detection device, the second detection device being configured to detect a real-time position of the mobile platform, the second detection device being communicatively connected to the control module; The second detection device includes a positioning target and a visual detection component, the positioning target is set near the preset printing position, the visual detection component is set on the mobile platform, the visual detection component is used to detect the position of the visual detection component relative to the positioning target, and the visual detection component is communicatively connected to the control module; The second detection device includes a plurality of positioning targets and a plurality of visual detection components, wherein the plurality of positioning targets are arranged around the preset printing position, and the plurality of visual detection components are arranged at intervals on the mobile platform; Wherein, the control module is configured to control the first detection device to obtain the current position information of the print head; Compare and determine whether there is a deviation between the current position information of the print head obtained and the preset target position information; when there is a deviation, decompose the deviation information compensation into first compensation information and second compensation information; control the movement of the robotic arm according to the first compensation information; and control the movement of the mobile platform according to the second compensation information.

2. The architectural 3D printing system according to claim 1, wherein: The architectural 3D printing system further includes a mobile material transport device and a pumping pipe. The mobile material transport device is used to store printing materials. The pumping pipe connects the mobile material transport device and the printing nozzle. The pumping pipe is used to transport the printing materials stored in the material transport device to the printing nozzle.

3. The architectural 3D printing system according to claim 2, wherein: The mobile platform is provided with four first omnidirectional wheels, and the four first omnidirectional wheels are distributed in a rectangular array; and / or The mobile material transport device is provided with four second omnidirectional wheels, and the four second omnidirectional wheels are distributed in a rectangular array.

4. A method for compensating deviation in architectural 3D printing, applied to the architectural 3D printing system according to any one of claims 1 to 3, characterized in that: The method for compensating for deviations in architectural 3D printing comprises the following steps: controlling the first detection device to obtain current position information of the print head; Comparing and determining whether there is a deviation between the obtained current position information of the print head and the preset target position information; If so, the movement of the mobile platform and the robotic arm is controlled by compensating according to the deviation information between the current position information of the print head and the preset target position information.

5. The method for compensating for deviation in 3D printing of a building according to claim 4, wherein: The controlling of the movement of the mobile platform and the robotic arm according to the compensation information between the current position information of the print head and the preset target position information comprises the following steps: Decomposing the deviation information compensation into first compensation information and second compensation information; controlling the movement of the robotic arm according to the first compensation information; The mobile platform activity is controlled according to the second compensation information.

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