An autonomous 3D printing system that fuses lidar scanning and remote control capabilities

Abstract

This invention discloses an autonomous 3D printing system integrating LiDAR scanning and remote control capabilities, belonging to the field of 3D printing technology. It includes: a control host, a WiFi module, a tracked 3D printing robot, and a tracked concrete mixing pump feeder. The control host inputs the printing model, generates printing information, and sends it to the tracked 3D printing robot. Based on the tracked 3D printing robot's own operational data and collected information, it makes intelligent decisions and monitors and adjusts the printing progress in real time. The tracked 3D printing robot is equipped with a LiDAR scanning module, a video acquisition module, and a printing jetting component. The printing jetting component performs the 3D printing operation. The control host reconstructs a 3D model of the construction environment based on the information collected by the LiDAR scanning module and the video acquisition module, guiding the 3D printing robot to navigate and actively avoid obstacles. The 3D printing system of this invention possesses environmental adaptability, achieving precise navigation and obstacle avoidance.

Description

Technical Field

[0001] This invention belongs to the field of 3D printing technology, and in particular relates to an autonomous 3D printing system that integrates lidar scanning and remote control capabilities. Background Technology

[0002] After years of development, 3D printing technology has been widely applied in many fields and industries, and corresponding 3D printing equipment has emerged in large numbers. 3D printing, also known as additive manufacturing technology, is a method of creating a printed model by stacking and solidifying raw materials layer by layer. 3D printing has advantages such as no additional raw material loss and the ability to produce a variety of shapes. In the construction industry, these advantages can effectively reduce labor demand and lower the cost of using skilled workers.

[0003] Among the existing 3D printing equipment developed both domestically and internationally, the focus is generally on innovative applications of printing functions, while insufficient attention is paid to the integration of environmental perception capabilities, autonomous navigation capabilities, and remote printing control capabilities. To date, there have been no public reports of using LiDAR fused with WiFi devices to achieve long-distance control. Summary of the Invention

[0004] The purpose of this invention is to provide an autonomous 3D printing system that integrates lidar scanning and remote control capabilities. It innovatively applies a WiFi module as the data transmission control method for the printed model and lidar as an active obstacle avoidance device for 3D printing robot navigation.

[0005] To achieve the above objectives, the present invention employs the following technical solution: This invention provides an autonomous 3D printing system that integrates lidar scanning and remote control capabilities, comprising: The control host is used to input the printing model, generate printing information and send it to the tracked 3D printing robot, reconstruct a three-dimensional model of the construction environment based on the information collected by the tracked 3D printing robot, and monitor and adjust the printing progress in real time; the printing information includes Gcode files and printing speed. The WiFi module is used for information exchange between the control host and the tracked 3D printing robot. The tracked 3D printing robot is used to perform 3D printing operations based on printing information issued by the control host, and to send its own operating data and collected information to the control host; the tracked 3D printing robot includes a body control cabinet, a tracked mobile base, a six-degree-of-freedom robotic arm, a printing jet assembly, a lidar scanning module, and a video acquisition module; The machine control cabinet is used to control the motion trajectory of the six-degree-of-freedom robotic arm and the discharge speed of the printing jet assembly based on the printing information, as well as to perform obstacle avoidance navigation based on the three-dimensional model of the construction environment; the lidar scanning module is used to acquire three-dimensional scanning point cloud data of the construction environment; the video acquisition module is used to acquire video image information around the tracked mobile base and the status information of the printing jet assembly; the printing jet assembly is used for 3D printing and to control the feeding speed and start / stop of the tracked concrete mixing pump feeder; A tracked concrete mixing pump feeder is connected to the printing jet assembly and is used to feed materials to the tracked 3D printing robot.

[0006] Preferably, the control host includes a computer host, a monitor, a mouse, and a keyboard. The computer host is configured with a construction process management and scheduling system, which includes: The data acquisition layer is used to collect the raw data sent by the tracked 3D printing robot. The raw data includes the tracked 3D printing robot's own operation data, the motion parameters of the six-degree-of-freedom robotic arm, the data collected by the lidar scanning module, the information collected by the video acquisition module, and the mixing and conveying status of the tracked concrete mixing pump feeder. The data processing layer is used to process the raw data, reconstruct a three-dimensional model of the construction environment, predict faults, evaluate printing quality, and diagnose potential defects. The decision-making layer is used to optimize the construction plan and generate printing information based on the processing results of the data processing layer and the construction task requirements. The user interaction layer provides a user interface for construction progress, the operating status of the tracked 3D printing robot, and material consumption.

[0007] Preferably, the data processing layer processes the raw data, including: The raw data is cleaned to remove invalid and redundant data; Based on the data collected by the lidar scanning module and the information collected by the video acquisition module, a three-dimensional model of the construction environment is reconstructed. Based on the self-operation data of the tracked 3D printing robot and the motion parameters of the six-degree-of-freedom robotic arm, the tracked 3D printing robot is monitored in real time and fault prediction is performed. Based on the mixing and conveying conditions of the tracked concrete mixing pump feeder, machine learning algorithms are used to evaluate printing quality and diagnose potential defects.

[0008] Preferably, the WiFi module includes a WiFi transmitting terminal module and a WiFi receiving terminal module. The WiFi transmitting terminal module is connected to the control host and is used to send the printing information generated by the control host to the WiFi receiving terminal module. The WiFi receiving terminal module is configured on the tracked 3D printing robot to receive printing information sent by the WiFi transmitting terminal module and transmit it to the machine control cabinet of the tracked 3D printing robot.

[0009] Preferably, the WiFi transmitting terminal module is connected to the control host via a switch; The body control cabinet, lidar scanning module, and video acquisition module of the tracked 3D printing robot are all connected to the WiFi receiving terminal module via a switch.

[0010] Preferably, the machine control cabinet is specifically used for, Printing information is obtained from the control host, and after calculation, the motion trajectory of the six-degree-of-freedom robotic arm and the output speed of the printing jet assembly are generated and transmitted to the six-degree-of-freedom robotic arm and the printing jet assembly via the CAT bus.

[0011] Preferably, the lidar scanning module is installed on the tracked mobile base to monitor the construction environment in all directions at 360°, generate three-dimensional scanning point cloud data using multi-line lidar, and send it to the control host via the WiFi module.

[0012] Preferably, the printing jet assembly is mounted at the end of the six-degree-of-freedom robotic arm and integrates two sets of printhead assemblies: an extrusion printhead and a jet printhead.

[0013] Preferably, the tracked 3D printing robot is equipped with five video acquisition modules, which are respectively installed in four directions of the tracked mobile base and above the hopper of the printing jet assembly. The video acquisition modules on the tracked mobile base provide 360° circumferential monitoring of the tracked mobile base, and the video acquisition modules above the hopper of the printing jet assembly monitor the material extrusion status inside the printing jet assembly to prevent material blockage inside the printing jet assembly.

[0014] Preferably, the printing system adopts a communication method that integrates industrial bus and wireless self-organizing network dual channels.

[0015] The beneficial effects of the technical solution of this invention are as follows: (1) All hardware in the 3D printing system of the present invention is developed based on domestic equipment, and has the characteristics of complete independence. It innovatively applies WiFi equipment as the data transmission control method for printing models and LiDAR as the active obstacle avoidance device for 3D printing robot navigation.

[0016] (2) The 3D printing system of the present invention has autonomous mobility and can deliver printing services directly to the required scene, realizing a paradigm shift from "fixed printing" to "mobile printing". Through the "mobile-segmentation-printing" strategy, it breaks through the limitations of traditional printing molding size and can complete the on-site printing of large components.

[0017] (3) This invention enables 3D printers to be environmentally adaptive. Through sensors such as LiDAR, the device can understand the environment, achieve precise navigation and obstacle avoidance, and even perform adaptive printing on irregular surfaces. Attached Figure Description

[0018] Figure 1 A schematic diagram illustrating the information interaction between the modules of the autonomous 3D printing system that integrates lidar scanning and remote control capabilities provided by this invention. Figure 2 A schematic diagram of the autonomous 3D printing system that integrates lidar scanning and remote control capabilities provided by the present invention. Detailed Implementation

[0019] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention, and should not be construed as limiting the present invention.

[0020] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "end", "bottom", "side", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation. Therefore, they should not be construed as limiting this invention.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "installation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a direct connection, or a connection through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances.

[0022] Secondly, the term "an embodiment" or "embodiment" as used in this invention refers to a specific feature, structure, or characteristic that can be included in at least one implementation of this invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0023] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0024] This invention provides an autonomous 3D printing system that integrates lidar scanning and remote control capabilities. See [link to relevant documentation]. Figure 2 The autonomous 3D printing system includes: a control host 1, a WiFi module, a switch 4, a tracked 3D printing robot, and a tracked concrete mixing pump feeder 10. In this invention, the tracked 3D printing robot includes a body control cabinet 5, a tracked mobile base 6, a six-degree-of-freedom robotic arm 7, a printing jet assembly 9, a lidar scanning module 8, and a video acquisition module 11.

[0025] The machine control cabinet 5 obtains the Gcode file (Gcode file is the CNC programming language used to control the printer during the 3D printing process, an intermediate format file generated by the 3D model after being processed by the slicer) and printing information such as printing speed from the control host, generates the motion trajectory of the six-degree-of-freedom robotic arm and the material output speed information of the printing jet component, and transmits each piece of information to the corresponding terminal through CAT bus technology. The terminal includes the six-degree-of-freedom robotic arm and the printing jet component.

[0026] The LiDAR scanning module 8, mounted on the tracked mobile base 6, can monitor the construction environment in all directions at 360°. It uses multi-line LiDAR to generate high-density three-dimensional scanning point cloud data, providing the robot with accurate obstacle avoidance information and navigation data, which is then sent to the control host via the WiFi module.

[0027] The printing jet assembly 9, installed at the end of the robotic arm, integrates two replaceable printhead assemblies: an extrusion printhead and an jet printhead. The machine control cabinet calculates the output speed of the printing jet assembly from the printing information obtained from the control host, and controls the motor speed of the extrusion printhead and jet printhead based on this output speed.

[0028] The video acquisition module 11 is used to acquire video image information around the tracked mobile base 6 and send it to the control host via the WiFi module.

[0029] It should be noted that both the LiDAR scanning module and the video acquisition module are connected to the WiFi module via a switch. This switch is used to send the 3D scanning point cloud data from the LiDAR scanning module and the video image information from the video acquisition module to the control host. Based on the 3D scanning point cloud data and video image information, the control host reconstructs a 3D model of the construction environment, which can guide the 3D printing robot to navigate and actively avoid obstacles.

[0030] It should be noted that this invention employs five video acquisition modules, installed in four directions of the tracked mobile base and above the hopper of the printing jet assembly. The four video acquisition modules provide 360° circular monitoring of the tracked mobile base, while the video acquisition module above the hopper monitors the material extrusion status within the printing jet assembly 9, preventing material blockage. The video images from the acquisition modules are transmitted to the control host via a WiFi module, allowing real-time monitoring of the printing equipment's status.

[0031] In this invention, the tracked concrete mixing pump feeder 10 consists of a tracked mobile base, an electrical control box, a material feeding shaft, an automatic mixer, a motor, and a conveying screw.

[0032] The tracked concrete mixer pump feeder 10 is connected to the printing and spraying assembly 9. The tracked concrete mixer pump feeder 10 supplies materials to the printing and spraying assembly 9. The feeding speed, start and stop of the tracked concrete mixer pump feeder 10 are controlled only by the printing and spraying assembly 9.

[0033] In this invention, the control host 1 includes a computer host, a monitor, a mouse and a keyboard. The control host 1 is equipped with a construction process management and scheduling system, which can realize functions such as inputting printing models, automatically calculating the amount of printing materials, previewing printing effects, wirelessly sending model data, real-time monitoring of printing progress, and real-time adjustment of printing progress.

[0034] In this invention, the construction process control and scheduling system is the core control unit of the mobile concrete 3D printing robot. It adopts a layered architecture design to ensure intelligent management of the construction process. The construction process control and scheduling system architecture includes a data acquisition layer, a data processing layer, a decision-making layer, and a user interaction layer. The data acquisition layer is responsible for collecting raw data from the tracked 3D printing robot and the tracked concrete mixing pump feeder in real time. This raw data includes the tracked 3D printing robot's own operational data, the motion parameters of the six-degree-of-freedom robotic arm, the 3D scanning point cloud data collected by the LiDAR scanning module, the video image information collected by the video acquisition module, and the mixing and conveying status of the tracked concrete mixing pump feeder. By comprehensively collecting this data, the data acquisition layer provides a solid foundation for subsequent processing and decision-making, enabling the system to comprehensively grasp various dynamic information during the construction process.

[0035] The data processing layer performs in-depth processing on the collected raw data. First, the raw data is cleaned to remove invalid and redundant parts, ensuring data purity. Next, data from different modules is merged, breaking down information silos and forming a unified, coherent data flow. Based on this, various advanced data analysis and artificial intelligence algorithms are used to process multimodal data, mainly including: Based on 3D scan point cloud data and video image information, a 3D model of the construction environment is reconstructed and key features are identified. Based on the self-operation data of the tracked 3D printing robot and the motion parameters of the six-degree-of-freedom robotic arm, the tracked 3D printing robot is monitored in real time and fault prediction is performed. Based on the mixing and conveying conditions of the tracked concrete mixing pump feeder, machine learning algorithms are used to evaluate printing quality and diagnose potential defects.

[0036] These processes provide decision-makers with accurate and reliable data.

[0037] The decision-making layer is the core of the entire system architecture. Based on construction task requirements and environmental information, it uses intelligent algorithms to make decisions on key aspects such as construction path planning, material management, and equipment scheduling. Through continuous optimization of the construction plan, the decision-making layer can significantly improve construction efficiency and quality, ensuring that the construction process proceeds strictly according to the expected goals.

[0038] The user interface layer provides construction workers with an intuitive and easy-to-use interface. Through this interface, workers can view key information such as construction progress, equipment status, and material consumption in real time, and make adjustments as needed. The interface design is simple and clear, and the operation process is convenient, greatly enhancing the interaction experience between construction workers and the system. This enables construction workers to manage and control the construction process more efficiently, ensuring the smooth progress of all construction tasks.

[0039] In this invention, the WiFi module includes a WiFi transmitting terminal module 2 and a WiFi receiving terminal module 3. The WiFi transmitting terminal module 2 is connected to the control host 1 and is used to send printing information such as the Gcode file and printing speed generated by the control host 1 to the WiFi receiving terminal module 3. The WiFi receiving terminal module 3 is configured on the tracked 3D printing robot and is used to receive the printing information sent by the WiFi transmitting terminal module 2 and transmit it to the body control cabinet of the tracked 3D printing robot. After the body control cabinet calculates the printing information, it transmits the motion trajectory of the six-degree-of-freedom robotic arm and the material output speed of the printing jet component to the corresponding terminal through CAT bus technology.

[0040] It should be noted that the WiFi transmitting terminal module 2 is connected to the control host 1 through a switch, and the WiFi receiving terminal module 3 is connected to the body control cabinet of the tracked 3D printing robot through a switch 4.

[0041] Information interaction between modules of the autonomous 3D printing system of this invention, such as Figure 1 As shown, Figure 1 In the diagram, solid lines represent wired connections, dashed lines represent wireless connections, and arrows indicate the direction of information flow. The control host sends printing information, which is transmitted to the tracked 3D printing robot via a switch and a WiFi transmitting terminal module. The WiFi receiving terminal module receives the printing information sent by the WiFi transmitting terminal module and transmits it to the tracked 3D printing robot's control cabinet via a switch. After processing the printing information, the control cabinet transmits the robotic arm's motion trajectory to the six-degree-of-freedom robotic arm via CAT bus technology, and transmits the material output speed of the printing jet component to the printing jet component. The printing jet component controls the feeding speed, start, and pause of the tracked concrete mixing pump feeder.

[0042] The tracked 3D printing robot's own operational data, the motion parameters of its six-DOF robotic arm, and the mixing and conveying status of its tracked concrete mixing pump feeder are transmitted via the machine control cabinet and switch to the WiFi receiving terminal module. The LiDAR scanning module sends 3D scan point cloud data, and the video acquisition module sends video image information to the WiFi receiving terminal module via the switch. The WiFi receiving terminal module then sends the collected data to the WiFi transmitting terminal module. The WiFi transmitting terminal module transmits the received information to the control host via the switch. Upon receiving the relevant information, the control host reconstructs a 3D model of the construction environment, predicts faults in the tracked 3D printing robot's operating status, assesses printing quality, and diagnoses potential defects. All this information is displayed on the monitor, providing decision support for the control personnel. Simultaneously, the reconstructed 3D model of the construction environment is fed back to the tracked 3D printing robot to provide obstacle avoidance and navigation decisions for the tracked mobile base.

[0043] The autonomous 3D printing system communication architecture of this invention adopts a dual-channel integrated design of industrial bus and wireless self-organizing network. Through hierarchical distributed management, it ensures highly reliable and stable delivery of control commands under highly dynamic real-time operating conditions, fully supporting remote scheduling, on-site closed-loop control, and real-time visualization management of the construction process. At the field industrial bus layer, EtherCAT (Control Automation Technology) carries all high-speed real-time servo motion data, combined with CANOpen (industrial communication protocol) to complete process and environmental status monitoring. For the complex terrain and large printing area of ​​the construction site, the system deploys industrial wireless self-organizing network technology, supporting multi-hop forwarding, self-healing logic, dynamic frequency optimization, and long-distance node interconnection. The effective communication distance of a single node can reach 150 meters, ensuring stable interconnection of all modules on the construction site and possessing strong anti-interference capabilities.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An autonomous 3D printing system integrating lidar scanning and remote control capabilities, characterized in that, include: The control host is used to input the printing model, generate printing information and send it to the tracked 3D printing robot, reconstruct the three-dimensional model of the construction environment based on the information collected by the tracked 3D printing robot, and monitor and adjust the printing progress in real time. The printing information includes the Gcode file and printing speed; The WiFi module is used for information exchange between the control host and the tracked 3D printing robot. The tracked 3D printing robot is used to perform 3D printing operations based on printing information issued by the control host, and to send its own operating data and collected information to the control host; the tracked 3D printing robot includes a body control cabinet, a tracked mobile base, a six-degree-of-freedom robotic arm, a printing jet assembly, a lidar scanning module, and a video acquisition module; The machine control cabinet is used to control the motion trajectory of the six-degree-of-freedom robotic arm and the discharge speed of the printing jet assembly based on the printing information, as well as to perform obstacle avoidance navigation based on the three-dimensional model of the construction environment; the lidar scanning module is used to acquire three-dimensional scanning point cloud data of the construction environment; the video acquisition module is used to acquire video image information around the tracked mobile base and the status information of the printing jet assembly; the printing jet assembly is used for 3D printing and to control the feeding speed and start / stop of the tracked concrete mixing pump feeder; A tracked concrete mixing pump feeder is connected to the printing jet assembly and is used to feed materials to the tracked 3D printing robot.

2. The autonomous 3D printing system integrating lidar scanning and remote control capabilities according to claim 1, characterized in that, The control host includes a computer host, a monitor, a mouse, and a keyboard. The computer host is configured with a construction process management and scheduling system, which includes: The data acquisition layer is used to collect the raw data sent by the tracked 3D printing robot. The raw data includes the tracked 3D printing robot's own operation data, the motion parameters of the six-degree-of-freedom robotic arm, the data collected by the lidar scanning module, the information collected by the video acquisition module, and the mixing and conveying status of the tracked concrete mixing pump feeder. The data processing layer is used to process the raw data, reconstruct a three-dimensional model of the construction environment, predict faults, evaluate printing quality, and diagnose potential defects. The decision-making layer is used to optimize the construction plan and generate printing information based on the processing results of the data processing layer and the construction task requirements. The user interaction layer provides a user interface for construction progress, the operating status of the tracked 3D printing robot, and material consumption.

3. The autonomous 3D printing system integrating lidar scanning and remote control capabilities according to claim 2, characterized in that, The data processing layer processes the raw data, including: The raw data is cleaned to remove invalid and redundant data; Based on the data collected by the lidar scanning module and the information collected by the video acquisition module, a three-dimensional model of the construction environment is reconstructed. Based on the self-operation data of the tracked 3D printing robot and the motion parameters of the six-degree-of-freedom robotic arm, the tracked 3D printing robot is monitored in real time and fault prediction is performed. Based on the mixing and conveying conditions of the tracked concrete mixing pump feeder, machine learning algorithms are used to evaluate printing quality and diagnose potential defects.

4. The autonomous 3D printing system integrating lidar scanning and remote control capabilities according to claim 1, characterized in that, The WiFi module includes a WiFi transmitting terminal module and a WiFi receiving terminal module. The WiFi transmitting terminal module is connected to the control host and is used to send the printing information generated by the control host to the WiFi receiving terminal module. The WiFi receiving terminal module is configured on the tracked 3D printing robot to receive printing information sent by the WiFi transmitting terminal module and transmit it to the machine control cabinet of the tracked 3D printing robot.

5. The autonomous 3D printing system integrating lidar scanning and remote control capabilities according to claim 4, characterized in that, The WiFi transmitting terminal module is connected to the control host via a switch; The body control cabinet, lidar scanning module, and video acquisition module of the tracked 3D printing robot are all connected to the WiFi receiving terminal module via a switch.

6. The autonomous 3D printing system integrating lidar scanning and remote control capabilities according to claim 1, characterized in that, The machine control cabinet is specifically used for Printing information is obtained from the control host, and after calculation, the motion trajectory of the six-degree-of-freedom robotic arm and the output speed of the printing jet assembly are generated and transmitted to the six-degree-of-freedom robotic arm and the printing jet assembly via the CAT bus.

7. The autonomous 3D printing system integrating lidar scanning and remote control capabilities according to claim 1, characterized in that, The lidar scanning module is installed on the tracked mobile base, which monitors the construction environment in all directions at 360°. It uses multi-line lidar to generate three-dimensional scanning point cloud data and sends it to the control host via the WiFi module.

8. The autonomous 3D printing system integrating lidar scanning and remote control capabilities according to claim 1, characterized in that, The printing jet assembly is mounted at the end of the six-degree-of-freedom robotic arm and integrates two sets of printhead assemblies: an extrusion printhead and a jet printhead.

9. The autonomous 3D printing system integrating lidar scanning and remote control capabilities according to claim 1, characterized in that, The tracked 3D printing robot is equipped with five video acquisition modules, which are respectively installed in four directions of the tracked mobile base and above the hopper of the printing jet assembly. The video acquisition modules on the tracked mobile base provide 360° circumferential monitoring of the tracked mobile base, and the video acquisition modules above the hopper of the printing jet assembly monitor the material extrusion status inside the printing jet assembly to prevent material blockage inside the printing jet assembly.

10. The autonomous 3D printing system integrating lidar scanning and remote control capabilities according to claim 1, characterized in that, The printing system adopts a communication method that integrates industrial bus and wireless self-organizing network.

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