A bionic swarm construction robot system, a construction printing method, a storage medium and a program product

Abstract

This application provides a biomimetic swarm construction robot system, a construction printing method, a storage medium, and a program product. The biomimetic swarm construction robot system consists of construction, scheduling, and supply components working collaboratively. The construction component uses multiple mechanical legs with adjustable suction claws to enhance adaptability to complex terrains, while a heated material storage tank combined with a high-degree-of-freedom spray gun strengthens the system's stability. The scheduling component is responsible for task allocation and path planning, and the supply component provides rapid supply through magnetic docking and flexible hoses. The three components work together to improve modularity and continuous operation capabilities, breaking through the limitations of traditional equipment, increasing construction efficiency and autonomous collaboration, and enhancing the practicality of 3D printing construction technology in disaster relief, underground construction, and other scenarios.

Description

Technical Field

[0001] This application relates to the field of intelligent building robot technology, and more specifically, to a biomimetic insect swarm building robot system, a building printing method, a storage medium, and a program product. Background Technology

[0002] Currently, research on automated construction technologies is rapidly advancing in the construction industry, especially in complex terrains, hazardous environments, or extreme spatial conditions, where traditional construction methods are struggling to meet the multiple requirements of efficiency, safety, and precision. 3D printing construction technology is gradually emerging as an important development direction. However, most construction printing equipment in this field suffers from shortcomings in environmental adaptability, modularity and stability, construction efficiency, autonomy, and anti-interference capabilities, thus limiting the development of 3D printing construction technology. Summary of the Invention

[0003] The purpose of this application is to provide a biomimetic swarm construction robot system, a construction printing method, a storage medium, and a program product, which aim to improve the environmental adaptability, modularity, construction efficiency, and autonomous collaborative capabilities of construction printing equipment.

[0004] The first aspect of this application provides a biomimetic swarm construction robot system, which includes a construction component, a scheduling component, and a supply component.

[0005] The construction components include:

[0006] A walking mechanism, comprising multiple mechanical legs, each of which has an adjustable suction claw integrated at its end;

[0007] A storage mechanism is installed on the traveling mechanism, and the storage mechanism includes a heatable material storage box;

[0008] A construction mechanism is installed at the front of the traveling mechanism. The construction mechanism includes a material spray gun, which is used to perform construction tasks according to the target path assigned by the scheduling component.

[0009] The scheduling component includes:

[0010] The fuselage is equipped with a moving mechanism;

[0011] A control module, installed on the machine body, is used to perform construction task division and construction path planning, and generate target paths to allocate to the construction components;

[0012] The supply component includes:

[0013] A magnetic connection mechanism is used to dock with the storage mechanism;

[0014] A flexible hose for conveying materials into the heated material storage tank;

[0015] An energy supply mechanism is used to supply energy to the construction components.

[0016] In the aforementioned implementation process, a collaborative system is constructed, comprising construction, scheduling, and supply components. The construction component utilizes a multi-legged walking mechanism with adjustable suction claws, significantly enhancing its adaptability to complex terrains (such as rugged ground and slopes). A heated material storage tank ensures stable material performance, and combined with the precise operation of a high-degree-of-freedom material spray gun, it strengthens system stability. The scheduling component achieves efficient allocation through task division and path planning, while the supply component utilizes magnetic docking and flexible hoses for rapid replenishment. The synergy of these three components enhances modularity and continuous operation capabilities. This collaborative system overcomes the application limitations of traditional equipment in complex environments, improving construction efficiency and autonomous collaboration through a multi-component cooperation mechanism, making 3D printing building technology more practical in disaster relief, underground construction, and other scenarios.

[0017] Furthermore, the construction component is a biomimetic ant robot. The walking mechanism adopts a six-legged biomimetic structure, and each mechanical leg includes multiple drive joints. The adjustable adsorption claw has a built-in vacuum generator and pressure sensor. The adjustable adsorption claw automatically adjusts the adsorption force according to the flatness of the contact surface. The biomimetic ant robot also includes a first control unit and a first communication unit. The first control unit is used to control the coordinated work between the walking mechanism, the material storage mechanism, and the construction mechanism. The first communication unit is used to receive the target path.

[0018] In the above implementation process, the construction component is specifically a biomimetic ant robot, which adopts a six-legged biomimetic walking mechanism, combined with an adjustable adsorption claw with a vacuum generator and pressure sensor. It can automatically adjust the adsorption force according to the flatness of the contact surface, improving the support stability and walking flexibility in complex terrain (such as slopes and rugged surfaces). At the same time, the first control unit coordinates the collaborative work of various mechanisms, and the first communication unit receives the target path, further enhancing the autonomous operation capability of the construction component and the response efficiency to scheduling commands. This enables the system to have better environmental adaptability and operational accuracy in high-difficulty scenarios such as post-disaster rescue and underground construction.

[0019] Furthermore, the construction mechanism also includes a multi-degree-of-freedom robotic arm, with the material spray gun mounted at the end of the multi-degree-of-freedom robotic arm.

[0020] In the aforementioned implementation process, by setting up a multi-degree-of-freedom robotic arm in the construction mechanism and installing the material spray gun at its end, the range of motion and positioning accuracy of the material spray gun are improved. The multi-degree-of-freedom robotic arm can drive the material spray gun to achieve complex spatial trajectory movements, enabling it to flexibly cope with printing needs at different angles and positions. It is especially suitable for printing curved surfaces, irregularly shaped components, or complex building structures with obstructions, breaking through the limitations of fixed or low-degree-of-freedom printheads in terms of operating range.

[0021] Furthermore, the construction component also includes an environmental sensing mechanism mounted on the walking mechanism, the environmental sensing mechanism including a lidar and a vision camera.

[0022] In the above implementation process, by configuring the building components with an environmental perception mechanism including LiDAR and visual cameras, they are equipped with real-time environmental modeling and accurate recognition capabilities.

[0023] Furthermore, the material spray gun has a high degree of freedom multi-nozzle structure. The material spray gun includes multiple independently controlled spray gun units, which are connected to different material channels. Each spray gun unit consists of multiple series joints, and adjacent joints are connected by flexible connections or spherical universal joints to form a continuous motion chain.

[0024] In the aforementioned implementation process, by designing the material spray gun as a highly flexible multi-nozzle structure, each spray gun unit is composed of serial joints and flexible connections, and each unit is connected to an independent material channel, thus improving the flexibility and functionality of printing. The multiple spray gun units can operate independently or collaboratively, enabling simultaneous printing of multiple angles and materials (such as coarse / fine granular materials and functionally graded materials). The flexible joint structure allows it to penetrate deep into spatial crevices, curved corners, and other dead-end areas, supporting non-traditional printing postures, breaking through the operational limitations of traditional printheads, and broadening the system's applicable scenarios.

[0025] A second aspect of this application provides a building printing method based on the above-described biomimetic insect swarm building robot system, the method comprising:

[0026] The control module of the scheduling component divides the received 3D building model into multiple printing segments, and generates target paths carrying multi-layer printing tasks based on the multiple printing segments, which are then allocated to the building component.

[0027] The construction component navigates to the target area according to the target path, adjusts the posture of the multiple mechanical legs of the walking mechanism in the target area, obtains materials from the storage mechanism, and starts the material spray gun to print layer by layer.

[0028] After the building component has printed one floor of the building according to the multi-layer printing task, the building component adjusts the posture of the multiple mechanical legs according to the multi-layer printing task to print the next floor of the building;

[0029] During the layer-by-layer printing process of the construction component, if the remaining material and / or battery level of the construction component is lower than a preset threshold, the construction component sends a replenishment request to the scheduling component. The replenishment request is used to instruct the scheduling component to schedule the replenishment component to dock with the storage mechanism through a magnetic connection mechanism, and to replenish the material to the heated material storage box of the construction component through a flexible hose and / or to replenish the energy of the construction component through an energy replenishment mechanism.

[0030] When the building component completes the multi-layer printing task and prints out the finished building, the scheduling component moves to the area where the finished building is located via a moving mechanism to perform building printing accuracy detection.

[0031] In the aforementioned implementation process, by scheduling components to segment the 3D model and generate multi-layer task paths, the building components are guided to print layer by layer and dynamically adjust their posture. Combined with the full-process design of automatic replenishment and final accuracy detection, the overall performance of building printing is systematically improved: task segmentation and parallel operation of multiple components break through the efficiency bottleneck of single machines, significantly increasing the construction speed; mechanical foot posture adjustment adapts to complex terrain, ensuring printing stability; the automatic replenishment mechanism avoids interruption of operation due to resource depletion, enhancing continuous operation capability; and final accuracy detection ensures the quality of the finished product. This method, through standardized processes and dynamic collaborative logic, strengthens the system's autonomous decision-making and collaborative operation capabilities, effectively solving the problems of low construction efficiency and poor adaptability of related technologies in large-scale and complex environments, and promoting the development of 3D printing building technology towards higher efficiency.

[0032] Furthermore, the method also includes:

[0033] During the layer-by-layer printing process of the building component, the building component detects the accuracy of the current printing layer through the lidar and vision camera of the environmental sensing mechanism. If the printing deviation of the current printing layer exceeds the preset range, the building component automatically corrects the printing path of the next layer in the target path.

[0034] In the above implementation process, a closed-loop accuracy control mechanism is formed by using an environmental sensing mechanism to detect the accuracy of the current printing layer in real time during the printing process, and automatically correcting the path of the next layer when the deviation exceeds the limit. This mechanism can compensate for printing errors (such as trajectory drift) in a timely manner, avoid structural instability caused by error accumulation, and enable the system to maintain high-quality printing even under conditions of material property fluctuations and environmental interference.

[0035] Furthermore, the construction components include multiple components; the method further includes:

[0036] When multiple building components execute printing tasks in parallel, each building component sends its position coordinates to the scheduling component via a first communication unit;

[0037] If the control module of the scheduling component determines that there is a path conflict among multiple construction components based on the location coordinates, it updates the target path to obtain an updated path and assigns the updated path to the construction components. The updated path is used to instruct the multiple construction components to navigate to the target area according to the updated path.

[0038] In the above implementation process, the path interference problem in multi-machine collaboration is solved by using a real-time position interaction and dynamic path conflict adjustment mechanism when multiple construction components are working in parallel. Each construction component sends its position coordinates to the scheduling component, and the scheduling component avoids conflicts through path updates, ensuring that multiple components cooperate efficiently and do not interfere with each other when working synchronously.

[0039] Furthermore, each of the construction components sends location coordinates to the scheduling component via the first communication unit, including:

[0040] Each of the construction components broadcasts information through the first communication unit, sending the location coordinates to the scheduling component.

[0041] In the above implementation process, the location coordinates are sent to the scheduling component by building the component in the form of information broadcast, which ensures efficient information synchronization in multi-machine collaboration.

[0042] Furthermore, the scheduling component moves to the area where the formed building is located via a moving mechanism to perform building printing accuracy detection, including:

[0043] The scheduling component moves to the area where the formed building is located via a mobile mechanism, and uses the lidar and visual camera of the scheduling component to collect point cloud data and appearance images of the formed building.

[0044] The point cloud data and the appearance image are compared with the three-dimensional building model to obtain the building printing accuracy detection results.

[0045] In the above implementation process, the scheduling component uses LiDAR to collect point cloud data of the shaped building and a visual camera to collect appearance images, and compares them with the original 3D building model to obtain accuracy detection results, thus realizing a comprehensive and accurate evaluation of the printed results.

[0046] A third aspect of this application provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of any of the methods described in the second aspect.

[0047] A fourth aspect of this application provides a computer program product, the computer program product including a computer program, which, when executed by a processor, implements any of the methods described in the second aspect. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A schematic diagram illustrating the collaborative operation of a scheduling component and a construction component, provided in an embodiment of this application;

[0050] Figure 2 This is a schematic diagram of the overall structure of a construction robot provided in an embodiment of this application;

[0051] Figure 3 This is a schematic diagram showing the detailed structure of a construction robot provided in an embodiment of this application;

[0052] Figure 4 This is a schematic diagram of the overall structure of a scheduling robot provided in an embodiment of this application;

[0053] Figure 5 This is a schematic diagram showing the detailed structure of a scheduling robot provided in an embodiment of this application;

[0054] Figure 6 This is a schematic diagram of a high-degree-of-freedom material spray gun structure provided in an embodiment of this application;

[0055] Figure 7 A schematic diagram of an overall process provided for an embodiment of this application;

[0056] Figure 8 This is a schematic diagram of a molded building structure provided in an embodiment of this application. Detailed Implementation

[0057] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0058] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0059] Among related technologies, common 3D printing systems for construction mainly include fixed printing equipment based on track-mounted boom structures, autonomous mobile tracked printing equipment, and drone nozzle systems. These devices achieve additive manufacturing in specific areas by controlling the nozzle path of the extruded material and are widely used in emergency construction, prefabricated components, and small-scale building printing tasks.

[0060] Although current biomimetic swarm construction robot systems have improved automation to some extent, they still face the following problems:

[0061] Question 1: Most traditional 3D printing construction equipment is bulky and difficult to maneuver into complex, narrow, or rugged environments, resulting in poor adaptability in scenarios such as disaster relief, underground space construction, and on-site construction in remote areas, which limits its practical application.

[0062] Question 2: Traditional printing systems lack modular design in areas such as material delivery, nozzle control, and structural stability, resulting in high maintenance costs and poor functional expandability. Furthermore, many systems fail to consider the impact of complex terrain on foot stability and structural support during printing, limiting their continuous operation capability and print quality.

[0063] Question 3: Traditional construction robots suffer from low efficiency and struggle to meet the demands of complex structures or large-scale construction. Currently, most 3D printing systems employ a single-machine continuous stacking printing strategy, resulting in long nozzle working paths and tasks concentrated on a single machine. This lack of task splitting and multi-machine parallel processing capabilities leads to slow overall construction speed. Especially when dealing with large components or multi-area collaborative construction scenarios, the system struggles with flexible scheduling, dynamic material replenishment, and asynchronous collaboration, severely restricting printing efficiency and construction progress. This makes it unsuitable for modern construction methods requiring rapid response, such as emergency construction and prefabricated modular assembly.

[0064] Question 4: Most 3D printing systems for buildings rely on fixed base stations for control, resulting in insufficient system autonomy. While some mobile systems possess a degree of autonomous navigation capability, their sensor configurations are relatively limited, making them susceptible to interference from environmental and other limiting factors.

[0065] To address the aforementioned problem 1, this application proposes a biomimetic ant-like construction robot body structure. This structure employs a miniaturized and modular design, combined with a biomimetic six-legged walking mechanism. Each mechanical leg consists of a multi-joint drive module, enabling high-degree-of-freedom terrain-adaptive movement. The body is manufactured from lightweight, high-strength materials, with a balanced weight distribution and compact size, allowing for flexible movement in complex environments such as rubble piles, narrow passages, and slopes. It is suitable for challenging operational scenarios such as disaster relief, underground construction, and construction in remote areas.

[0066] This application addresses issue 2 mentioned above, namely the lack of a modular printhead design and terrain support structure in the printing system, by proposing a modular printhead and an adaptive stabilizing foot structure. The printhead module is mounted on the front robotic arm of the main body using a replaceable connector, featuring automatic identification and hot-swappable functionality, facilitating rapid replacement with different materials, particle sizes, or print speeds. The stabilizing foot structure is based on biomimetic design, with each foot end integrating an adjustable suction claw, enabling adaptive conformity to terrain and real-time adjustment of posture and support force, effectively improving printing stability and forming accuracy in rugged terrain or sloping areas.

[0067] In response to the aforementioned issue 3, namely the low construction efficiency of construction robots in related technologies, which makes it difficult to meet the needs of complex structures or large-scale construction, this application proposes to draw on the distributed cooperation mechanism of biomimetic swarms and divide construction robots into two core functional units: BCR (construction robot) and CCR (scheduling robot).

[0068] In the actual construction process, the CCR scheduling robot first performs structural division, path planning, and printing task allocation based on the 3D building model input from the design. Through the building task segmentation algorithm, the entire wall or component is decomposed into multiple area segments, and corresponding G-code paths are generated and rationally allocated to each BCR construction robot to ensure that task conflicts and path interference are avoided when they are working simultaneously in multiple areas.

[0069] After receiving an assigned task, the BCR (Building Robot) navigates to the designated printing area according to G-code instructions and independently completes the layer-by-layer construction work within that area. During printing, the BCR can monitor its remaining material and battery level in real time. If resources are about to run out, it will automatically pause the task and report the status to the CCR (Cyber-Controlled Component Responsibility System). At this time, the CCR will dispatch other idle BCR robots to seamlessly take over the unfinished part, while the original robot returns to the refueling station to complete automatic refueling and charging. After refueling, the BCR will rejoin the task scheduling queue, awaiting new task assignments.

[0070] Through this two-pronged collaborative mechanism based on task segmentation, intelligent scheduling, and relay replacement, the system can maintain efficient and continuous printing capabilities even in complex site environments, with overlapping paths, or under conditions of dense tasks. It achieves a building construction mode of "adaptive + high coverage + uninterrupted" and has good adaptability to emergency situations and regular-scale construction.

[0071] This application addresses the issue of problem 4 mentioned above, namely that most 3D printing systems for buildings rely on fixed base stations for control and lack system autonomy, while some mobile systems, although possessing certain autonomous navigation capabilities, have relatively simple sensor configurations, are easily affected by environmental interference, and cannot form a stable and reliable real-time mapping and task planning mechanism. To address this issue, a "nest-like" resupply strategy and system structure is proposed.

[0072] This strategy achieves unified allocation and management of printing materials and energy by setting up fixed or semi-mobile refueling stations, internally equipped with rotating material bins and modular battery compartments. During operation, all construction robots (BCRs) monitor their remaining material and battery status in real time, and automatically navigate back to the refueling station or have an RFR refueling robot perform docking-style refueling or battery swapping when approaching a threshold.

[0073] The replenishment robot RFR is equipped with a magnetic connection structure and flexible hose, enabling material filling and energy replacement without interrupting BCR operations. Combined with the path avoidance and resource scheduling functions of the CCR scheduling robot, the system achieves seamless integration and continuous high-efficiency operation of the replenishment process, breaking the inefficient cycle of "print-stop-replenish-restart" in traditional printing systems and improving the system's autonomy and overall task continuity.

[0074] This mechanism provides a powerful support platform for multi-machine collaborative operations in large-scale and complex environments, effectively improving the overall stability of the system and its scheduling adaptability in emergency environments.

[0075] In summary, this application innovates upon traditional construction robots, proposing a biomimetic ant robot with autonomous construction capabilities. It integrates biomimetic structural design, 3D printing technology, multi-source perception, and a distributed intelligent control system. Through a modular hexapod gait, an integrated multi-sensor perception structure, an autonomous navigation and task planning framework, and a collaborative design of replaceable nozzles and terrain-adaptive support mechanisms, it overcomes the limitations of traditional construction printing equipment in terms of flexibility, autonomy, and environmental adaptability. It can efficiently and stably perform construction tasks in complex, unstructured, or extreme environments, possessing broad engineering application potential and widespread value.

[0076] Based on this, please refer to Figure 1This application provides a biomimetic swarm construction robot system, which includes a construction component, a scheduling component, and a supply component.

[0077] The construction components include:

[0078] Walking mechanism 1, the walking mechanism 1 includes multiple mechanical legs, and each mechanical leg has an adjustable suction claw 12 integrated at its end;

[0079] A storage mechanism is installed on the walking mechanism 1, and the storage mechanism includes a heatable material storage box 4.

[0080] A construction mechanism is installed at the front of the walking mechanism 1. The construction mechanism includes a material spray gun 5, which is used to perform construction tasks according to the target path assigned by the scheduling component.

[0081] The scheduling component includes:

[0082] The fuselage is equipped with a moving mechanism 1;

[0083] Control module 3, installed on the machine body, is used to perform construction task division and construction path planning, and generate target paths to allocate to the construction components;

[0084] The supply component includes:

[0085] A magnetic connection mechanism is used to dock with the storage mechanism;

[0086] A flexible hose is used to convey materials into the heated material storage box 4.

[0087] An energy supply mechanism is used to supply energy to the construction components.

[0088] It should be noted that, regarding the construction component: the construction component is the unit that performs specific printing tasks. In some embodiments, it is a biomimetic ant robot with a high degree of autonomy and environmental adaptability. The construction component adopts a six-legged biomimetic structure (i.e., multiple mechanical legs), each containing multiple drive joints, which gives the mechanical legs a high degree of freedom, enabling complex movement trajectories to adapt to different terrains. Each mechanical leg has an adjustable suction claw 12 integrated at its end, which incorporates a vacuum generator and a pressure sensor. The pressure sensor detects the flatness and pressure of the contact surface, and the vacuum generator adjusts the suction force based on this information, ensuring that the construction component receives stable support on various complex surfaces (such as slopes and curved surfaces), preventing slippage or tipping. The material storage mechanism of the construction component is installed at an appropriate position (such as the middle or back) of the walking mechanism 1, and its main component is a heatable material storage box 4. The heating function ensures that the stored printing material (such as certain building materials that require specific temperatures to maintain fluidity) is in a suitable state, preventing solidification or performance changes due to excessively low temperatures, and ensuring smooth extrusion of the material. The construction mechanism of the construction component is installed at the front of the traveling mechanism 1. This does not mean the construction mechanism is directly and rigidly fixed to the front physical position of the traveling mechanism 1, but rather that the construction mechanism is connected to the traveling mechanism 1 via a multi-degree-of-freedom robotic arm. The fixed end of the robotic arm is deployed in the front area of ​​the traveling mechanism 1, so that the entire construction mechanism is located within the front working range of the traveling mechanism 1. That is, the construction mechanism includes a multi-degree-of-freedom robotic arm and a material spray gun 5 installed at the end of the robotic arm. The multi-degree-of-freedom robotic arm provides the material spray gun 5 with a wide range of motion and precise positioning capabilities. Optionally, the material spray gun 5 is a high-degree-of-freedom multi-nozzle structure, containing multiple independently controlled spray gun units. Each spray gun unit consists of multiple series joints, with adjacent joints connected by flexible connections or spherical universal joints to form a continuous kinematic chain. This allows each spray gun unit to achieve flexible movement in three-dimensional space, such as bending, extending, twisting, and yaw. Multiple spray gun units are connected to different material channels, allowing for the simultaneous or separate spraying of different types and particle sizes of building materials. This enables the composite printing of heterogeneous materials; for example, a lightweight filler material can be used for the inner layer, while a high-strength structural material can be used for the outer layer, thereby constructing functionally graded building components. Specifically, the construction mechanism receives the G-code target path assigned by the scheduling component, executes the extrusion printing action, and adapts to the construction needs of planar, curved, and irregularly shaped structures.

[0089] Regarding the scheduling component: The scheduling component is responsible for global task planning and coordination management. The scheduling component's body serves as a platform, on which various functional modules are installed. The moving mechanism 1 (the shape of the moving mechanism 1 is the same as that of the walking mechanism 1, in...) Figure 1In this diagram, both the moving mechanism and the walking mechanism are labeled as 1), enabling the scheduling component to move autonomously within the work area. For example, the control module 3 of the scheduling component incorporates a building task segmentation algorithm and a path planning algorithm. The control module 3 receives a 3D building model from an external source (such as an operator or design system), first invoking the building task segmentation algorithm to divide the overall model into multiple printing segments based on factors such as structural logic, printability, and structural docking positions. Then, based on the geometry and process requirements of each printing segment, a corresponding G-code printing path (i.e., the target path) is generated, containing detailed information such as extrusion speed, movement trajectory, and floor height control. The control module 3 rationally allocates these target paths to each building component based on their real-time status (e.g., idle, working, insufficient materials / power), location layout, and task priority, ensuring that task conflicts and path interference are avoided during multi-machine parallel operation. Simultaneously, the control module 3 also receives information sent by each building component in real time for global monitoring and dynamically adjusts and schedules as needed (e.g., when path conflicts occur or building components require resupply).

[0090] For the supply component: The supply component is responsible for providing material and energy support to the construction component, ensuring its continuous operation. The magnetic connection mechanism is designed to match the material storage mechanism of the construction component (or the heated material storage box 4), enabling quick and stable docking. The magnetic design makes the docking process simple and efficient, facilitating automated operation. One end of the flexible hose connects to the material supply source, and the other end connects to the heated material storage box 4 after docking, for supplying printing material to it. The flexible design allows the hose to adapt to certain positional deviations and movements. The energy supply mechanism can be a wireless charging device or a battery replacement device, used to charge or replace the battery of the construction component, ensuring sufficient power supply to the construction component. The magnetic connection mechanism connects the supply component to the storage mechanism, and the flexible hose connects the material source of the supply component to the heated material storage box after the magnetic connection mechanism completes docking, supplying material to the heated material storage box.

[0091] In addition, refer to Figure 1 , Figure 1In the diagram, 2 represents the sensing system, 6 the compound-eye vision camera, 7 the 2-position 5-way solenoid valve, 8 the lidar, 9 the ultra-wideband (UWB) system, 10 the programmable computer controller, 11 the intelligent battery pack, 13 the printed brick, 14 the double-acting cylinder, 15 the micro air pump, and 16 the charging plug. These components can be optionally added to the biomimetic swarm construction robot system. The sensing system, used for system environmental perception and status monitoring, integrates multiple sensing devices such as lidar, vision cameras, and pressure sensors. It collects real-time information about the surrounding environment (such as terrain and obstacles), the equipment's own status (such as mechanical leg posture and material balance), and printing process data (such as layer thickness and trajectory deviation). This provides data support for autonomous navigation, posture adjustment, and precision control, improving the system's adaptability to complex environments and operational reliability. The compound-eye vision camera uses a multi-lens combination design to expand the visual acquisition range, capturing texture details, component outlines, and obstacle features in the printing area. During the printing process, it is used to identify surface defects in the printed layer (such as depressions and accumulations), assist in locating the printing start point and seam position, and work with LiDAR to achieve 3D environmental modeling, enhancing the comprehensiveness and accuracy of environmental perception. The 2-position 5-way solenoid valve is mainly used to control the air path switching of pneumatic components (such as mechanical foot suction claws and spray gun valves). By receiving electrical signals from control module 3, it precisely switches the on / off state or flow direction of the air source, realizing actions such as vacuum suction / release of the suction claws and material extrusion / stop of the spray gun, ensuring rapid response and reliable operation of the pneumatic system. It is a crucial pneumatic component connecting the control system and the actuator. LiDAR scans the surrounding environment by emitting laser beams, generating high-precision 3D point cloud maps to achieve simultaneous positioning and map building. It provides real-time environmental modeling for building components, assists in planning navigation paths, identifying obstacles, and calculating distances, ensuring precise movement in complex terrain without preset tracks; simultaneously, it can scan the 3D shape of the printed structure to detect printing accuracy and structural dimensional deviations. Ultra-wideband (UWB) is a high-precision wireless positioning technology that achieves centimeter-level positioning by measuring signal propagation time. In multi-machine collaborative scenarios, providing real-time position coordinates for each construction component, supporting the scheduling component to monitor the spatial distribution of each device, predict path conflicts, and dynamically adjust, is a crucial positioning method for achieving multi-machine collaborative obstacle avoidance and efficient scheduling. The programmable computer controller (PCC), as the system's central processor, integrates control algorithms and logic programs, receives input data from the sensor system, parses instructions from the scheduling component, and outputs control signals to each actuator (such as robotic arms, drive joints, and solenoid valves). It coordinates the timing and accuracy of actions such as walking, printing, and resupply, achieving fully automated control and serving as the unit ensuring the collaborative operation of all parts of the system. The intelligent battery pack provides a stable power supply to the system and has functions such as power monitoring, overcharge protection, and equalization charging and discharging.The system can provide real-time feedback on remaining power to control module 3, triggering a replenishment request when the power falls below a threshold. It also supports quick replacement or wireless charging, working in conjunction with the energy replenishment mechanism to ensure continuous system operation, enhancing endurance and operational flexibility. The printed bricks are the forming units for building printing, formed layer by layer by building materials (such as concrete and mortar) extruded from the material spray gun 5. Their size and shape are controlled by the design parameters of the formed building included in the target path. The double-acting cylinder is a pneumatic actuator that drives a piston in both directions using compressed air, providing linear reciprocating power. In the system, it can be used to drive the flexion and extension of the mechanical foot joints, the raising and lowering of the spray gun, or the opening and closing of the gate of the material storage mechanism. It features high output force and fast response speed, providing power support for actuators requiring significant driving force. The micro-pump provides compressed air to the pneumatic system, connecting to components such as solenoid valves, cylinders, and suction claws via pipelines. It can provide vacuum negative pressure for the mechanical foot suction claws to achieve suction function, or provide power to the double-acting cylinder, ensuring the normal operation of pneumatic components and serving as the power source for the pneumatic system. The charging plug is the interface component for energy replenishment. It matches the charging interface of the replenishment assembly, enabling rapid docking between the construction assembly and the energy replenishment mechanism. During automatic replenishment, insertion and removal are completed through mechanical alignment or magnetic positioning, achieving rapid charging or replacement of the intelligent battery pack and ensuring the convenience and efficiency of the system's energy replenishment.

[0092] In this embodiment, a collaborative system is constructed, comprising a construction component, a scheduling component, and a supply component. The construction component employs a multi-legged walking mechanism with adjustable suction claws, significantly enhancing its adaptability to complex terrains (such as rugged ground and slopes). A heated material storage tank ensures stable material performance, and combined with the precise operation of a high-degree-of-freedom material spray gun, it strengthens system stability. The scheduling component achieves efficient allocation through task division and path planning, while the supply component utilizes magnetic docking and flexible hoses for rapid replenishment. The synergy of these three components enhances modularity and continuous operation capabilities. This collaborative system overcomes the limitations of traditional equipment in complex environments, improving construction efficiency and autonomous collaboration through a multi-component cooperation mechanism, making 3D printing building technology more practical in disaster relief, underground construction, and other scenarios.

[0093] Based on any of the above embodiments, the construction component is a biomimetic ant robot. The walking mechanism 1 adopts a six-legged biomimetic structure, and each mechanical leg includes multiple drive joints. The adjustable adsorption claw 12 has a built-in vacuum generator and pressure sensor. The adjustable adsorption claw 12 automatically adjusts the adsorption force according to the flatness of the contact surface. The biomimetic ant robot also includes a first control unit and a first communication unit. The first control unit is used to control the coordinated work between the walking mechanism 1, the material storage mechanism, and the construction mechanism. The first communication unit is used to receive the target path.

[0094] As an example, the walking mechanism 1 adopts a six-legged bionic structure (simulating the gait of an ant). Each mechanical leg contains four drive joints (hip, knee, ankle, and claw joints). The adjustable suction claw 12 at the end has a built-in vacuum generator and pressure sensor. The pressure sensor detects the flatness of the contact surface in real time (such as the slope angle and protrusion of stones). The vacuum generator dynamically adjusts the suction force according to the detection results to ensure that it does not slip on slopes or rugged ground.

[0095] The first control unit is a programmable computer controller, which is connected to the walking mechanism 1 (including the drive joint motor), the material storage mechanism (including the heating jacket and the stirring device), and the construction mechanism (including the spray gun valve and the robotic arm joint) via the CAN bus to coordinate the timing of each mechanism (such as pausing printing when walking and triggering a replenishment request when the material storage is insufficient).

[0096] The first communication unit integrates a UWB (Ultra-Wideband) module, which can receive target paths (including print fragment identifiers and G-code instructions) sent by the scheduling component in real time. It has low communication latency and ensures a fast response to scheduling instructions.

[0097] In the specific implementation, the construction component, the scheduling component, and the supply component are all biomimetic ant robots. (Refer to...) Figure 2-5 , Figure 2 This is a schematic diagram of the overall structure of a construction robot provided in an embodiment of this application. Figure 3 This is a schematic diagram showing the detailed structure of a construction robot provided in an embodiment of this application. Figure 4 This is a schematic diagram of the overall structure of a scheduling robot provided in an embodiment of this application. Figure 5 This is a detailed structural diagram of a scheduling robot provided in an embodiment of this application. In the diagram, A is the walking mechanism, B is the flexible vacuum suction cup, C is the high-degree-of-freedom material spray gun, D is the lidar, E is the PU conveying hose, F is the double-acting cylinder, G is the two-position five-way solenoid valve, H is the micro air pump, I is the programmable controller, J is the compound-eye vision camera, K is the magnetically attached heated material storage box, L is the material suction cup, M is the smart battery pack, and N is the charging plug; a is the flexible suction cup, b is the vision camera, c is the lidar, d is the UWB ultra-wideband, e is the walking mechanism, f is the programmable controller, g is the joint motor, and h is the smart battery pack.

[0098] In this embodiment, the biomimetic ant robot, through the combination of biomimetic structure and intelligent control, can operate autonomously in extreme environments such as post-disaster ruins and narrow underground passages.

[0099] Based on any of the above embodiments, the construction mechanism further includes a multi-degree-of-freedom robotic arm, and the material spray gun 5 is installed at the end of the multi-degree-of-freedom robotic arm.

[0100] Optionally, the construction mechanism includes six robotic arms (each with shoulder, elbow, and wrist joints), whose ends are fitted with material spray guns 5 via quick-change interfaces (with mechanical locking and automatic electrical connection functions). The robotic arms have a working radius of up to 1.5m and can drive the spray guns to achieve ±180° rotation, ±90° pitch, and 360° twist in three-dimensional space, adapting to the following scenarios:

[0101] When printing curved walls, the robotic arm with the spray gun moves along the curved trajectory to ensure uniform material deposition.

[0102] When printing pre-reserved openings for doors and windows, the robotic arm adjusts the spray gun posture to avoid obstructed areas and achieve precise spraying.

[0103] When facing terrain with a height difference of ≥50cm, the robotic arm extends and retracts to compensate for the height, maintaining the relative distance between the spray gun and the printing surface.

[0104] Understandably, with the support of a multi-degree-of-freedom robotic arm, the working range of the material spray gun 5 is several times larger than that of a fixed installation method, which can meet the printing needs of complex building shapes.

[0105] In this embodiment, by setting a multi-degree-of-freedom robotic arm in the construction mechanism and installing the material spray gun at its end, the range of motion and positioning accuracy of the material spray gun are improved. The multi-degree-of-freedom robotic arm can drive the material spray gun to achieve complex spatial trajectory movements, enabling it to flexibly cope with printing needs at different angles and positions. It is especially suitable for printing curved surfaces, irregularly shaped components, or complex building structures with obstructions, breaking through the limitations of fixed or low-degree-of-freedom printheads in terms of operating range.

[0106] Based on any of the above embodiments, the construction component further includes an environmental sensing mechanism installed on the walking mechanism 1, the environmental sensing mechanism including a lidar and a vision camera.

[0107] Specifically, the environmental perception mechanism is installed on the walking mechanism 1, including LiDAR and vision cameras. The LiDAR can perform 3D scanning and modeling of the surrounding environment to help build components locate and plan their paths; the vision camera is used to identify obstacles, capture terrain texture details, and assist in detecting print quality.

[0108] As an example, in actual operations, the environmental sensing mechanism collects surrounding environmental data in real time and generates an accurate environmental model through data fusion algorithms. When an obstacle is detected 3 meters ahead, a detour path can be planned in advance. When approaching the printing target area, the positioning accuracy of the building components is controlled within ±3 cm by recognizing preset positioning markers, ensuring the accuracy of the printing position. Simultaneously, during the printing process, a vision camera can capture images of the printed surface in real time, providing image data for subsequent print quality inspection.

[0109] In this embodiment, by equipping the construction component with an environmental perception mechanism including a LiDAR and a vision camera, it gains real-time environmental modeling and accurate identification capabilities. The LiDAR enables 3D modeling of the surrounding environment, providing a foundation for autonomous navigation and path planning; the vision camera captures terrain details, identifies obstacles, and assists in detecting printing quality. The two work together to enable the construction component to accurately locate and avoid obstacles in complex environments, and provide data support for printing accuracy control, effectively improving the system's autonomous operation capability and anti-interference ability.

[0110] Based on any of the above embodiments, the material spray gun 5 is a high degree of freedom multi-nozzle structure. The material spray gun 5 includes multiple independently controlled spray gun units. The multiple spray gun units are respectively connected to different material channels. Each spray gun unit is composed of multiple series joints. Adjacent joints are connected by flexible connections or spherical universal joints to form a continuous motion chain.

[0111] For example, the system includes two independently controlled spray gun units, symmetrically arranged left and right, each connected to different material channels. The left channel conveys coarse-grained mortar (5-10mm in diameter), while the right channel conveys fine-grained grout (0.1-1mm in diameter), enabling composite printing of the outer structure and inner filling. Each spray gun unit consists of six tandem joints (each joint containing 1-2 micro servo motors), with adjacent joints connected by spherical universal joints to form a continuous motion chain. This allows for combined actions such as bending (±90°), extension (0-30cm), twisting (360°), and yaw (±45°). This structure allows the spray gun to penetrate narrow spaces of 50cm×50cm (such as pipe interlayers), supporting non-traditional printing postures such as bottom-up (wall facades), sideways (beam sides), and angled (roof slopes), breaking through the limitations of traditional top-down printhead operations.

[0112] In the specific implementation, refer to Figure 6 , Figure 6 This application provides a schematic diagram of a high-degree-of-freedom material spray gun structure. The biomimetic insect swarm construction robot system includes a high-degree-of-freedom material spray gun design:

[0113] (1) Dual-nozzle independent control system:

[0114] 1) The system is equipped with two high-degree-of-freedom spray guns that can work independently, which are respectively installed on the movable arm ends that are symmetrically arranged on the left and right sides of the front of the robot;

[0115] 2) Each spray gun has independent path planning capabilities, a material control module 3, and a multi-degree-of-freedom mechanical control chain, enabling parallel printing tasks without interference.

[0116] 3) When performing large-scale building printing, the two spray guns can work together (such as simultaneous spraying of bilateral walls); while when printing high-precision complex components, they can also handle different areas independently, improving efficiency and resolution.

[0117] (2) Octopus-tentacle-like flexible multi-joint structure:

[0118] 1) Each spray gun mechanism consists of multiple series joints (each joint contains 1-2 micro joint motors), enabling at least 6 degrees of freedom of movement in three-dimensional space;

[0119] 2) Adjacent joints are connected by flexible joints or spherical universal joints to form a continuous kinematic chain, which can produce flexible movement postures similar to biological tentacles.

[0120] 3) It can perform complex combinations of movements such as "bending + extending + twisting + yaw", and is suitable for building paths in multiple angles and irregular locations.

[0121] (3) Omnidirectional coverage printing capability:

[0122] 1) The high degree of freedom design allows the nozzle to flexibly extend into dead-end areas such as spatial gaps, curved corners, and obstructed areas;

[0123] 2) Supports various non-traditional printing postures such as bottom-up, side, angle, and reverse, breaking through the limitation that traditional printheads can only work from top to bottom;

[0124] 3) It has high adaptability to complex assembly structures (such as door and window edges, and nested pipelines).

[0125] (4) Intelligent path adaptation and attitude coordination:

[0126] 1) The nozzle and printing path are automatically matched in posture, and the printing trajectory is analyzed in three dimensions by the control system;

[0127] 2) The controller calculates the end pose of the spray gun and the angle of each joint in real time through inverse kinematics, thereby accurately completing path fitting;

[0128] 3) If space is limited, the system can dynamically adjust the spray gun's posture to achieve avoidance and insertion.

[0129] (5) Material adaptation and dual-channel feeding system:

[0130] 1) The two nozzles are connected to independent material channels, which can support different materials (such as coarse / fine particle mortar, high viscosity thermoplastics).

[0131] 2) It can realize the interlacing printing of heterogeneous materials (such as lightweight inner filling + high-strength outer wrapping) to achieve integrated molding of functional gradient building components.

[0132] In summary, the biomimetic insect swarm construction robot system achieves at least the following beneficial effects:

[0133] 1. Strong environmental adaptability: The construction components adopt a multi-mechanical-legged walking mechanism 1 with adjustable suction claws 12 at the end, which can adapt to complex, narrow or rugged environments. It can flexibly move through rubble piles, narrow passages, slopes and other scenarios, and is suitable for disaster relief, underground construction, construction in remote areas, etc.

[0134] 2. High degree of modularity and good stability: Each component is modularly designed. For example, the material spray gun 5 of the construction mechanism can be independently controlled and replaced; the adjustable suction claw 12 can automatically adjust the suction force according to the contact surface, which improves the printing stability and forming accuracy in rugged terrain or sloping areas.

[0135] 3. High construction efficiency: By dividing tasks and planning paths through scheduling components, multiple construction components can be assigned to work in parallel, enabling simultaneous construction in multiple areas, which greatly improves the overall construction speed and can meet the needs of complex structures and large-scale construction.

[0136] 4. High autonomy and coordination: The system has autonomous navigation, task planning, status monitoring and automatic replenishment capabilities; under the coordination of the scheduling component, multiple construction components can achieve path obstacle avoidance and task relay, ensuring a continuous and efficient printing process;

[0137] 5. Guaranteed printing accuracy: The building components are equipped with an environmental sensing mechanism that can detect the accuracy of the printing layers in real time and correct the path; the scheduling components perform accuracy testing after printing to ensure the quality of the finished building.

[0138] 6. Flexible and versatile operation: The material spray gun 5 with a high degree of freedom and multi-nozzle structure can achieve multi-angle and multi-material printing, adapting to the construction needs of complex components.

[0139] In this embodiment, by designing the material spray gun as a high-degree-of-freedom multi-nozzle structure, each spray gun unit is composed of serial joints and flexible connections, and each unit is connected to an independent material channel, improving the flexibility and functionality of printing. The multiple spray gun units can operate independently or collaboratively, enabling simultaneous printing of multiple angles and materials (such as coarse / fine granular materials and functionally graded materials). The flexible joint structure allows it to penetrate deep into spatial gaps, curved corners, and other dead-end areas, supporting non-traditional printing postures, breaking through the operational limitations of traditional printheads, and broadening the system's applicable scenarios.

[0140] Furthermore, this application also provides a building printing method based on the above-mentioned biomimetic insect swarm building robot system, the method comprising:

[0141] The control module 3 of the scheduling component divides the received 3D building model into multiple printing segments, and generates a target path carrying multi-layer printing tasks based on the multiple printing segments, which is then allocated to the construction component.

[0142] The construction component navigates to the target area according to the target path, adjusts the posture of the multiple mechanical legs of the walking mechanism 1 in the target area, obtains materials from the storage mechanism, and starts the material spray gun 5 to print layer by layer.

[0143] After the building component has printed one floor of the building according to the multi-layer printing task, the building component adjusts the posture of the multiple mechanical legs according to the multi-layer printing task to print the next floor of the building;

[0144] During the layer-by-layer printing process of the construction component, if the remaining material and / or battery of the construction component is lower than a preset threshold, the construction component sends a replenishment request to the scheduling component. The replenishment request is used to instruct the scheduling component to schedule the replenishment component to dock with the storage mechanism through a magnetic connection mechanism, and to replenish the material to the heated material storage box 4 of the construction component through a flexible hose and / or to replenish the energy of the construction component through an energy replenishment mechanism.

[0145] When the building component completes the multi-layer printing task and prints out the finished building, the scheduling component moves to the area where the finished building is located via the moving mechanism 1 to perform building printing accuracy detection.

[0146] For example, the architectural printing method includes the following stages:

[0147] (1) Task planning phase: The control module 3 of the scheduling component receives the 3D building model input by the operator (taking a two-story small emergency shelter as an example, the model size is 6m×4m×3m). The control module 3 uses a region-based algorithm to divide the 3D model into 10 printing segments (5 segments per layer) along the height direction, with each segment corresponding to a printing layer with a height of 0.3m. Then, based on the geometry and process requirements of each printing segment, a target path containing parameters such as printing path, material usage, and printing speed is generated and distributed to the two construction components via wireless communication.

[0148] (2) Printing Execution Phase: After receiving the target path for the five segments at the bottom, the first construction component navigates to the left side of the building's bottom using the mechanical legs of the walking mechanism 1. Upon reaching the target area, the construction component adjusts the posture of its six mechanical legs, with three legs in front forming a triangular support and three legs behind assisting in balance, keeping the machine body horizontal. Subsequently, the construction component extracts special concrete from the heated material storage box 4 of the material storage mechanism and starts the material spray gun 5 to begin printing the first layer (0.3m high) according to the target path.

[0149] (3) Layer-by-layer printing stage: After the first building component completes the printing of the left side of the first layer, the first control unit controls the hip and knee joints of the mechanical foot to lift synchronously according to the printing task of the next layer, raising the entire body by 0.3m. After adjusting the posture of the mechanical foot to maintain the stability of the body, the printing of the left side of the second layer begins. This process is repeated to gradually complete the printing of the assigned printing segments layer by layer.

[0150] (4) Automatic Replenishment Stage: During the printing process, the material level sensor built into the material storage mechanism of the building component monitors the remaining material level in real time, and the battery management system monitors the battery power in real time. When the remaining material level is lower than 20% (assuming there are two preset thresholds, one for material and the other for power, where the preset threshold for material is assumed to be 20%, and this embodiment does not limit the preset thresholds) or the battery power is lower than 15% (assuming the preset threshold for power is 15%), the building component sends a replenishment request to the scheduling component through the first communication unit. The request includes the current location coordinates and the required replenishment type (material and / or energy). After receiving the request, the scheduling component immediately dispatches the replenishment component to the location and connects with the material storage mechanism of the building component through a magnetic connection mechanism to complete the material replenishment in a short time (assuming replenishment to 80% capacity). At the same time, the energy replenishment mechanism charges the building component (assuming charging to 70% power).

[0151] (5) Accuracy Inspection Stage: After the two construction components work together to complete all the printed segments and form a complete building (i.e., a completed emergency shelter), they report the task completion information to the scheduling component. The scheduling component moves to the area where the completed building is located via the tracked mobile mechanism 1 and uses its own onboard inspection equipment to conduct a comprehensive inspection of the building's dimensional accuracy, surface flatness, etc., to ensure that the printing quality meets the design requirements.

[0152] In this embodiment, by scheduling components to segment the 3D model and generate multi-layer task paths, the construction components are guided to print layer by layer and dynamically adjust their posture. Combined with the full-process design of automatic replenishment and final accuracy detection, the overall performance of building printing is systematically improved: task segmentation and parallel operation of multiple components break through the efficiency bottleneck of single machines, significantly increasing the construction speed; mechanical foot posture adjustment adapts to complex terrain, ensuring printing stability; the automatic replenishment mechanism avoids interruption of operation due to resource depletion, enhancing continuous operation capability; and final accuracy detection ensures the quality of the finished product. This method, through standardized processes and dynamic collaborative logic, strengthens the system's autonomous decision-making and collaborative operation capabilities, effectively solving the problems of low construction efficiency and poor adaptability of related technologies in large-scale and complex environments, and promoting the development of 3D printed building technology towards high efficiency.

[0153] Based on any of the above embodiments, the method further includes:

[0154] During the layer-by-layer printing process of the building component, the building component detects the accuracy of the current printing layer through the lidar and vision camera of the environmental sensing mechanism. If the printing deviation of the current printing layer exceeds the preset range, the building component automatically corrects the printing path of the next layer in the target path.

[0155] It should be noted that during the layer-by-layer printing process of the construction component, the LiDAR and vision camera of the environmental sensing mechanism will detect the accuracy parameters such as the contour, thickness, and flatness of the current printing layer and obtain the detection results. In addition to controlling the collaborative work between the walking mechanism 1, the material storage mechanism, and the construction mechanism, the first control unit of the construction component can also be used to compare the detection results with the design parameters in the target path. If it is determined that the printing deviation of the current printing layer exceeds the preset range (e.g., greater than 5mm), the printing path of the corresponding next layer in the target path will be automatically corrected (e.g., at the position with a height deviation of +8mm, the printing height of the corresponding position of the next layer will be reduced by 3mm, retaining some deviation margin, and the cumulative error will be gradually eliminated through layer-by-layer correction). The walking mechanism 1 and the construction mechanism will be controlled to navigate and operate according to the corrected printing path to compensate for the deviation and avoid the accumulation of errors affecting the overall structural quality.

[0156] In this embodiment, a closed-loop accuracy control mechanism is formed by using an environmental sensing mechanism to detect the accuracy of the current printing layer in real time during the printing process and automatically correcting the path of the next layer when the deviation exceeds the limit. This mechanism can compensate for printing errors (such as trajectory drift) in a timely manner, avoid structural instability caused by error accumulation, and enable the system to maintain high-quality printing even under conditions of material property fluctuations and environmental interference.

[0157] Based on any of the above embodiments, the construction components include multiple components; the method further includes:

[0158] When multiple building components execute printing tasks in parallel, each building component sends its position coordinates to the scheduling component via a first communication unit;

[0159] When the control module 3 of the scheduling component determines that there is a path conflict among multiple construction components based on the location coordinates, it updates the target path to obtain an updated path and assigns the updated path to the construction components. The updated path is used to instruct the multiple construction components to navigate to the target area according to the updated path.

[0160] Optionally, each construction component sends its position coordinates, attitude data, and task progress to the scheduling component via the first communication unit. Sending attitude data is necessary because attitude data such as fuselage tilt angle reflects the current spatial attitude of the construction component, such as whether it is tilted or the orientation of the robotic arm. This helps predict potential deviations in its future trajectory; for example, a tilted component may shift to one side, avoiding misjudgments of path conflicts based solely on position coordinates. Sending task progress is necessary because if the scheduling component has real-time knowledge of the task completion status of each construction component (such as printed area, remaining segments, etc.), it can dynamically optimize subsequent task allocation. For example, when a component is about to complete its current task, the scheduling component can plan its next work area in advance, reducing waiting time; if one of the conflicting components is nearing the task's end, the scheduling component can prioritize adjusting the path of the other component, avoiding frequent rerouting that could affect the overall progress, thereby maximizing overall construction efficiency.

[0161] As an example, when five construction units are deployed to print a large wall (10m × 3m) in parallel, each construction unit broadcasts its position coordinates, current attitude (such as fuselage tilt angle), and task completion progress to the scheduling unit every 2 seconds via its first communication unit (i.e., UWB module). The control module 3 of the scheduling unit plots the movement trajectory of each unit in real time. When it is predicted that two units will intersect in a certain area in 10 seconds, a path conflict is identified. At this time, the control module 3 immediately updates the target paths of the conflicting units: for example, shifting the path of unit A to the left by 50cm and the path of unit B to the right by 50cm, generating updated paths and sending them to units A and B wirelessly so that the two units can move according to the updated paths.

[0162] In this embodiment, the path interference problem in multi-machine collaboration is solved by using a real-time position interaction and path conflict dynamic adjustment mechanism when multiple construction components are working in parallel. Each construction component sends its position coordinates to the scheduling component, and the scheduling component avoids conflicts through path updates, ensuring that multiple components cooperate efficiently and do not interfere with each other when working synchronously.

[0163] Based on any of the above embodiments, each of the construction components sends location coordinates to the scheduling component through a first communication unit, including:

[0164] Each of the construction components broadcasts information through the first communication unit, sending the location coordinates to the scheduling component.

[0165] Optionally, the first communication unit of each construction component is a combination device integrating UWB ultra-wideband and a dedicated wireless module. In addition to position coordinates, the broadcast content of the first communication unit includes fuselage attitude (pitch angle, roll angle, and other fuselage tilt information), the current printed segment number, material remaining quantity, and battery level. During normal operation, the broadcast frequency is once every 2 seconds, and it is increased to once every 0.5 seconds when approaching obstacles or other components.

[0166] By receiving this broadcast information, the scheduling component can monitor the global job status and provide data support for task scheduling and conflict avoidance.

[0167] In this embodiment, the location coordinates are sent to the scheduling component by the construction component in the form of information broadcast, which ensures efficient information synchronization in multi-machine collaboration.

[0168] Based on any of the above embodiments, the scheduling component moves to the area where the formed building is located via the moving mechanism 1 to perform building printing accuracy detection, including:

[0169] The scheduling component moves to the area where the formed building is located via the mobile mechanism 1, and uses the lidar and visual camera of the scheduling component to collect point cloud data and appearance images of the formed building.

[0170] The point cloud data and the appearance image are compared with the three-dimensional building model to obtain the building printing accuracy detection results.

[0171] Specifically, after the scheduling component moves to the area of ​​the formed building (such as the aforementioned single-sided wall), it uses LiDAR to perform a 360° scan of the wall, generating point cloud data. A vision camera captures images of the wall's appearance on all six sides (including seams and surface smoothness details). The point cloud data is compared with the design dimensions of the 3D model to calculate the overall dimensional deviation. The appearance images are also compared with pre-stored model renderings to evaluate surface smoothness, the fit between printed segments, and the uniformity of material deposition (requiring no obvious accumulation / depression). Finally, an inspection report is generated (containing the point cloud data of the formed building to guide the next building printing task) and uploaded to the building cloud platform for archiving.

[0172] In the specific implementation, refer to Figure 7 , Figure 7 This is a schematic diagram of an overall process provided for an embodiment of this application. Taking a single-sided wall as an example, the building printing method includes the following process:

[0173] 1. Task analysis and model slicing (completed by a CCR-managed robot):

[0174] (1) The operator first imports the completed three-dimensional structural model of the wall (e.g., the size is 300cm×240cm×8cm, the format is .obj / .stl / .step) into the system modeling platform;

[0175] (2) The CCR scheduling robot calls the built-in building task segmentation algorithm to divide the overall model into 20 to 30 printing segments according to structural logic and printing reachability. Each segment represents a printing area that can be completed independently. The segmentation strategy takes into account factors such as printing path continuity, regional interference risk, and structural docking position.

[0176] (3) The system generates the corresponding G-code printing path based on the geometric shape of each segment, including information such as extrusion speed, movement trajectory, and layer height control, and automatically matches the area number and unique identifier of each segment.

[0177] (4) Build a list of printing tasks and upload it to the shared task pool, waiting for idle BCR robots to request and schedule execution.

[0178] 2. The BCR construction robot performs the printing task:

[0179] (1) The CCR system performs optimal scheduling and allocation based on the priority of the print segment task, the location layout, the path overlap and the current BCR idle status, and assigns one or more print segment tasks to the target BCR.

[0180] (2) After receiving the task, BCR automatically calls the path navigation subsystem and moves to the target printing area according to the assigned G-code path and area identifier;

[0181] (3) During the movement, BCR uses LiDAR (for SLAM mapping) and visual cameras (for obstacle recognition and terrain texture capture) to achieve precise positioning and environmental modeling, and performs final alignment correction on the target area;

[0182] (4) After positioning is completed, BCR enters the printing preparation state, stabilizes the six-legged posture, starts the 3D printing nozzle and extrudes material layer by layer according to the set path. The default height of each layer is 2.5cm, which can be finely adjusted according to the printing object.

[0183] 3. Layer-by-layer printing and attitude fine-tuning control:

[0184] (1) After each layer of printing is completed, BCR calls the leg gait coordination algorithm to adjust the lifting angle of the six legs and the layout of the support points to achieve an overall height increase of the machine to match the height of the next layer.

[0185] (2) During the printing process, BCR continuously executes the attitude closed-loop adjustment mechanism to ensure the stability of the machine body center of gravity and the uniform distribution of the foot support surface, so as to avoid tilting or vibration interfering with the material deposition quality.

[0186] (3) The current printing layer is subjected to deposition trajectory and thickness detection by a vision camera and laser rangefinder, and key parameters such as extrusion offset and interlayer stacking accuracy are recorded.

[0187] (4) If the deviation exceeds the limit (e.g., the extrusion trajectory drift > 1 mm), the system calls the local path correction module to automatically adjust the next extrusion path according to the actual printing trajectory, so as to avoid the accumulation of errors leading to structural instability.

[0188] 4. Material and power monitoring mechanism (BCR autonomously returns to base for resupply):

[0189] (1) During the printing task execution, the BCR built-in sensing system monitors the remaining amount of printing material (such as the remaining volume of the material tank) and the battery power (such as SOC≥Voltage-Current Integration Method) in real time.

[0190] (2) When the material is below the set threshold (e.g., remaining <15%) or the battery power is below the lower limit (e.g., <10%), the system will automatically trigger the task pause process. BCR will package and save the current printing status and send it to the CCR scheduling system.

[0191] (3) The CCR immediately identifies the location of the task interruption and dispatches other idle BCRs to the area to take over the printing of the segment, minimizing the window period and the impact of the interruption;

[0192] (4) The original BCR autonomously navigates back to the supply base according to the set route, and completes material refilling and battery charging / replacement at the base. The supply interface adopts a hot-swappable and magnetic structure to achieve automatic and fast docking.

[0193] (5) After the supply is completed, the BCR status is restored to "schedulable" and it re-enters the task scheduling queue to wait for the next round of printing tasks.

[0194] 5. Multi-machine cooperative obstacle avoidance and path scheduling:

[0195] (1) All BCRs broadcast information through the UWB high-precision positioning system and dedicated communication module, and periodically upload their own position coordinates, attitude information and mission status to the CCR platform to achieve global perception;

[0196] (2) Based on the current full-map path planning results, CCR monitors the movement trends between robots in real time, and provides early warnings and avoids situations that may cause conflicts (such as path intersections in the same area);

[0197] (3) If an impending path conflict or regional congestion is detected, the CCR will dynamically reconstruct the local path, adjust the task order, or change the BCR entry path to achieve seamless coordination of construction, supply, and evacuation actions and maximize scheduling efficiency.

[0198] 6. Task fragment and printing relay mechanism:

[0199] (1) When a BCR completes the current print segment task, it immediately uploads the completion mark and execution log to the CCR and requests the next print segment;

[0200] (2) If the printing task is interrupted due to the exhaustion of BCR resources, the system will automatically select a backup BCR robot from the queue and assign the unfinished part to be executed. The relay BCR will resume the printing path from the interruption point.

[0201] (3) All printing task segments can be completed by multiple BCRs working together. The system has the functions of task status tracking, G-code segment splicing and printing continuity maintenance to ensure uninterrupted printing and structural integrity.

[0202] 7. Printing Completion and Quality Assessment:

[0203] (1) Once all task segments have been executed and the structure printing is complete, the wall is automatically formed as a whole structure assembled from the BCR printed segments; refer to Figure 8 , Figure 8 A schematic diagram of a molded building structure provided in an embodiment of this application;

[0204] (2) The CCR scheduling robot starts the quality inspection module and performs accuracy verification of the molded body by combining Lidar Point Cloud reconstruction and structural visual comparison (Photogrammetry);

[0205] (3) Compare the target design model with the printing results, evaluate the error range, deposition consistency and joint quality, and output an inspection report;

[0206] (4) Once the review is approved, CCR will upload the printed data package and construction log to the construction cloud platform for archiving, marking the official end of the entire construction task.

[0207] In this embodiment, a scheduling component uses a lidar to collect point cloud data of the shaped building and a visual camera to capture exterior images. These images are then compared with the original 3D building model to obtain accuracy detection results, enabling a comprehensive and accurate evaluation of the printed product. Point cloud data reflects the dimensional deviations of the building's 3D structure, while exterior images show surface quality and segment connectivity. The combination of these two elements ensures the objectivity and comprehensiveness of the detection results, allowing for the timely detection of printing errors (such as dimensional deviations and uneven connections).

[0208] Based on the methods described in any of the above embodiments, this application also provides a computer storage medium storing a computer program, which, when executed by a processor, can be used to perform the methods described in any of the above embodiments.

[0209] Based on the methods described in any of the above embodiments, this application also provides a computer program product, which includes one or more computer programs or instructions. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. When executed by a processor, the computer program implements the methods described in any of the above embodiments.

[0210] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0211] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0212] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0213] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0214] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0215] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A building printing method based on a biomimetic insect swarm building robot system, characterized in that, The biomimetic swarm construction robot system includes a construction component, a scheduling component, and a supply component. The construction component includes: a walking mechanism with multiple mechanical legs, each with an adjustable suction claw at its end; a storage mechanism mounted on the walking mechanism, comprising a heatable material storage tank; and a construction mechanism mounted at the front of the walking mechanism, including a material spray gun for executing construction tasks according to a target path assigned by the scheduling component. The scheduling component includes: a body with a moving mechanism; and a control module mounted on the body, used for dividing construction tasks and planning construction paths, generating target paths for the construction component. The supply component includes: a magnetic connection mechanism for docking with the storage mechanism; a flexible hose for conveying materials to the heatable material storage tank; and an energy supply mechanism for supplying energy to the construction component. The construction component is a biomimetic ant robot, and the walking mechanism adopts a six-legged biomimetic structure. Each of the mechanical legs includes multiple drive joints. The adjustable suction claw has a built-in vacuum generator and pressure sensor. The adjustable suction claw automatically adjusts the suction force according to the flatness of the contact surface. The biomimetic ant robot also includes a first control unit and a first communication unit. The first control unit is used to control the coordinated work between the walking mechanism, the material storage mechanism, and the construction mechanism. The first communication unit is used to receive the target path. The construction mechanism also includes a multi-degree-of-freedom robotic arm, and the material spray gun is installed at the end of the multi-degree-of-freedom robotic arm. The construction component also includes an environmental sensing mechanism installed on the walking mechanism. The environmental sensing mechanism includes a lidar and a vision camera. The material spray gun is a high-degree-of-freedom multi-nozzle structure. The material spray gun includes multiple independently controlled spray gun units. The multiple spray gun units are respectively connected to different material channels. Each spray gun unit consists of multiple series joints. Adjacent joints are connected by flexible connections or spherical universal joints to form a continuous kinematic chain. The method includes: The control module of the scheduling component divides the received 3D building model into multiple printing segments, and generates target paths carrying multi-layer printing tasks based on the multiple printing segments, which are then allocated to the building component. The construction component navigates to the target area according to the target path, adjusts the posture of the multiple mechanical legs of the walking mechanism in the target area, obtains materials from the storage mechanism, and starts the material spray gun to print layer by layer. After the building component has printed one floor of the building according to the multi-layer printing task, the building component adjusts the posture of the multiple mechanical legs according to the multi-layer printing task to print the next floor of the building; During the layer-by-layer printing process of the construction component, if the remaining material and / or battery level of the construction component is lower than a preset threshold, the construction component sends a replenishment request to the scheduling component. The replenishment request is used to instruct the scheduling component to schedule the replenishment component to dock with the storage mechanism through a magnetic connection mechanism, and to replenish the material to the heated material storage box of the construction component through a flexible hose and / or to replenish the energy of the construction component through an energy replenishment mechanism. When the building component completes the multi-layer printing task and prints out the finished building, the scheduling component moves to the area where the finished building is located via a moving mechanism to perform building printing accuracy detection.

2. The method according to claim 1, characterized in that, The method further includes: During the layer-by-layer printing process of the building component, the building component detects the accuracy of the current printing layer through the lidar and vision camera of the environmental sensing mechanism. If the printing deviation of the current printing layer exceeds the preset range, the building component automatically corrects the printing path of the next layer in the target path.

3. The method according to claim 1, characterized in that, The construction components include multiple components; the method further includes: When multiple building components execute printing tasks in parallel, each building component sends its position coordinates to the scheduling component via a first communication unit; If the control module of the scheduling component determines that there is a path conflict among multiple construction components based on the location coordinates, it updates the target path to obtain an updated path and assigns the updated path to the construction components. The updated path is used to instruct the multiple construction components to navigate to the target area according to the updated path.

4. The method according to claim 3, characterized in that, Each of the construction components sends its location coordinates to the scheduling component via a first communication unit, including: Each of the construction components broadcasts information through the first communication unit, sending the location coordinates to the scheduling component.

5. The method according to claim 1, characterized in that, The scheduling component is moved to the area where the formed building is located via a moving mechanism to perform building printing accuracy detection, including: The scheduling component moves to the area where the formed building is located via a mobile mechanism, and uses the lidar and visual camera of the scheduling component to collect point cloud data and appearance images of the formed building. The point cloud data and the appearance image are compared with the three-dimensional building model to obtain the building printing accuracy detection results.

6. A computer-readable storage medium, characterized in that, It stores computer instructions that, when executed by a processor, implement the steps of any of the methods described in claims 1-5.

7. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-5.

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