Discharge position control system for flying-type construction 3D printer

Abstract

To provide a discharge position control system for a flying-type construction 3D printer that can control a lamination molding of a large-sized structure with high precision.SOLUTION: A discharge position control system for a flying-type construction 3D printer includes: a construction 3D printer device having a robot arm equipped with a nozzle for discharging cement-based material; a drone that holds the construction 3D printer device and flies autonomously; and a central control device that manages the operation of the construction 3D printer device and the flight of the drone. The central control device corrects the coordinate data of a target position set on a printing surface of one layer which is a horizontal slice of the structure based on a stacking results of the previous layer and transmits it to the drone, the construction 3D printer device held by the drone hovering at the corrected target position controls the robot arm to align the nozzle position with the printing surface through visual feedback control using image of the printing surface captured by an image monitoring unit.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a dispensing position control system for a flying-type construction 3D printer, and more particularly to a dispensing position control system for a flying-type construction 3D printer that controls a drone and a construction 3D printer device so that cement-based material is accurately dispensed onto a target surface for lamination from the construction 3D printer device moved through the air by a drone. [Background technology]

[0002] In recent years, the construction industry has begun to use 3D printer technology to create structures by layering cementitious materials such as concrete and mortar. 3D printers used in the construction industry perform additive manufacturing by extruding cementitious materials such as rapid-hardening concrete from a nozzle that is automatically controlled in three dimensions.

[0003] For example, Patent Document 1 proposes a gantry-type 3D printer. In a gantry-type 3D printer, a gantry runs on a pair of rails laid apart from each other, and a nozzle unit attached to the gantry is moved up and down relative to the gantry and slid across the width of the gantry, thereby being driven three-dimensionally. For this reason, structures built with a gantry-type 3D printer are limited to the area sandwiched between the pair of rails.

[0004] In contrast, Patent Document 2 proposes a 3D printer for construction in which the nozzle is attached to a robot arm. In a robot arm-type 3D printer, the nozzle is driven three-dimensionally by driving the robot arm. Therefore, the nozzle is driven within a predetermined radius, and the building is constructed near the 3D printer.

[0005] However, the technologies described in Patent Documents 1 and 2 have the problem that the range of movement of the nozzle is limited to the reach of the gantry or robot arm, which limits the size of the structure that can be constructed. If it is desired to construct a structure beyond the range of movement of the nozzle, in a robot arm-type 3D printer, it is necessary to move the installation position of the robot arm by the required distance and then repeatedly fix the robot arm, which is a time-consuming and costly process.

[0006] Therefore, in order to accommodate the construction of large-scale structures, a technology has been proposed in which a 3D printer is mounted on an unmanned aerial vehicle, a so-called drone, and 3D printing is performed (for example, Patent Document 3). However, there is a problem in that, during flight, the drone's flight position is shifted or the drone shakes due to the influence of wind and vibrations of the drone, making it difficult to control the mounted 3D printer so that the printing material is accurately dispensed onto the target surface. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Special Publication No. 2007-518586 [Patent Document 2] Special Publication No. 2020-26099 [Patent Document 3] Korean Patent Publication No. 10-2017-0127801 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention has been made in consideration of the problems with the prior art described above, and an object of the present invention is to provide a discharge position control system for a flying-type construction 3D printer that enables the discharge position of a flying-type construction 3D printer used in the construction of large structures, etc. to be stably aligned with a stacking target with high precision. [Means for solving the problem]

[0009] In order to achieve the above object, one aspect of the present invention provides a dispensing position control system for a flying-type construction 3D printer, comprising: a construction 3D printer that dispenses cementitious material to perform additive manufacturing; a drone that holds the construction 3D printer and flies to a target position set based on a 3D model of a structure to be additively manufactured; and a central control device that manages the operation of the construction 3D printer and the flight of the drone. The construction 3D printer comprises a robot arm equipped with a nozzle that dispenses the cementitious material; an image monitoring unit that photographs the print surface on the structure on which the cementitious material dispensed from the nozzle is layered; and a printer control unit that controls the robot arm based on the image of the print surface photographed by the image monitoring unit. The drone comprises a position detection unit that detects the flight position of the drone; and a flight control unit that controls the flight of the drone so that the drone flies autonomously to the set target position based on the detected flight position. and a wireless communication unit that communicates between the construction 3D printer device held by the drone and the central control device, wherein the central control device creates a print path for each layer obtained by horizontally slicing the 3D model of the structure at a predetermined thickness along the height direction, divides the created print path into predetermined length sections, sets the intermediate positions of each divided length section as the target position for the drone to fly, and transmits coordinate data of the set target position to the drone, and the flight control unit of the drone controls the drone to fly autonomously based on the coordinate data of the target position so that it hovers at the target position, and the construction 3D printer device uses an image of the print surface captured by the image monitoring unit to visually feedback control the robot arm at the target position where the drone is hovering, thereby discharging the cement-based material while moving the nozzle along the print surface of the divided length section.

[0010] The central control device receives from the construction 3D printer device an image of the layered shape of the cement-based material dispensed onto the printing surface of the nth layer (n is an integer greater than or equal to 2) on the structure, taken by the image monitoring unit, measures the amount of deviation between the layer laminated onto the printing surface of the nth layer and the 3D model from the received image, corrects coordinate data of the target position set on the printing path of the n+1th layer, which is laminated immediately after the nth layer, based on the measured amount of deviation of the nth layer and the amount of deviation from the 3D model of the n-1th layer, which is laminated immediately before the nth layer, and transmits the corrected coordinate data of the target position of the n+1th layer to the drone. The specified length section is set as a section corresponding to the movable range of the robot arm, and when the drone receives a notification from the construction 3D printer device that the discharge operation to the section corresponding to the movable range of the robot arm at the target position has been completed, the drone can sequentially move its hovering position to the next target position adjacent to the target position.

[0011] It is preferable that the drone's position detection unit estimates its own position using motion capture and / or an RTK-GPS device using markers placed along construction reference points set at the construction site of the structure, and the coordinate data of the set target position is specified in a site coordinate system using the construction reference points. The construction site where the structure is additively manufactured may be the upper surface of a floating body floating on the sea or lake, and the construction reference point and the marker may be placed on the upper surface of the floating body.

[0012] The ejection position control system for a flying-type construction 3D printer includes the drone and a plurality of construction 3D printer devices held by the drone, and the central control device can assign to each of the plurality of drones a non-overlapping target position from among the target positions set along the created print path, and transmit coordinate data of the assigned non-overlapping target position to each of the plurality of drones. Each of the multiple drones can fly autonomously based on the coordinate data of the assigned target location received from the central control device, and can control flight to autonomously avoid collisions by directly exchanging position data with each other. [Effects of the Invention]

[0013] According to the present invention, in the additive manufacturing of large structures, the nozzle that dispenses the cementitious material can be stably aligned with high precision relative to the print surface, regardless of the shaking of the drone or the structure. Furthermore, even if deviations from the design data occur during stacking, the system has a function for correcting the deviations by distributing them across multiple layers within a range that does not cause the cementitious material to collapse, enabling the construction of high-quality, highly reliable structures. Furthermore, according to the present invention, it is possible to efficiently construct large structures even when the construction site is offshore or in mountainous areas, thereby significantly reducing construction time and costs. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a schematic diagram showing the overall configuration of a discharge position control system for a flying-type construction 3D printer according to an embodiment of the present invention. FIG. [Figure 2] FIG. 1 is a diagram illustrating an example of the configuration of a construction 3D printer device included in a dispensing position control system for a flying-type construction 3D printer according to one embodiment of the present invention. [Figure 3] FIG. 1 is a diagram showing an example of the configuration of a drone included in a dispensing position control system for a flying-type construction 3D printer according to one embodiment of the present invention. [Figure 4] FIG. 1 is a block diagram illustrating the functional configurations of a drone, a construction 3D printer device, and a central control device of a dispensing position control system for a flying-type construction 3D printer according to one embodiment of the present invention. [Figure 5] FIG. 1 is a diagram showing an example of additive manufacturing of a cylindrical tower. [Figure 6] 6A to 6C are diagrams illustrating an example of an additive manufacturing process for the cylindrical tower shown in FIG. 5. [Figure 7] 1 is a configuration diagram for explaining the data and control system used in the discharge position control system of a flying-type construction 3D printer according to an embodiment of the present invention. [Figure 8] 1 is a flowchart showing an example of an additive manufacturing operation using a discharge position control system of a flying-type construction 3D printer according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, specific examples of embodiments of the present invention will be described in detail with reference to the drawings.

[0016] FIG. 1 is a schematic diagram showing the overall configuration of a dispensing position control system for a flying-type construction 3D printer according to one embodiment of the present invention.

[0017] As shown in Figure 1, the dispensing position control system 1 for a flying-type construction 3D printer according to one embodiment of the present invention comprises construction 3D printer devices (10a, 10b) that dispense cement-based materials to perform additive manufacturing, drones (20a, 20b) that hold and fly the construction 3D printer devices, and a central control device 30 that creates information necessary for the operation and flight of these devices and manages the modeling results so that the construction 3D printer devices (10a, 10b) and drones (20a, 20b) work together to perform additive manufacturing.These devices are connected to each other via wireless communication means so that they can communicate with each other.

[0018] While Figure 1 shows an example in which two drones each hold a construction 3D printer device and fly, the present invention is not limited to this example and can be applied to any form in which one or more drones each hold a construction 3D printer device and fly autonomously to perform additive manufacturing of a structure.

[0019] In this specification, construction 3D printer devices (10a, 10b) that fly while being held by drones (20a, 20b) and print by discharging cement-based materials are referred to as "flying-type construction 3D printers."

[0020] In the flying-type construction 3D printer discharge position control system 1 according to one embodiment of the present invention, drones (20a, 20b) holding construction 3D printer devices (10a, 10b) fly autonomously to a target position set by a central control unit 30 based on design data for a structure 100 to be constructed, specifically 3D data corresponding to a 3D model of the structure, and while hovering at the target position, the construction 3D printer devices (10a, 10b) align the position (discharge direction) of the nozzle at the tip of the robot arm with the print surface (lamination target) on the structure 100, while discharging cement-based material prepared for modeling to perform additive manufacturing and construct the desired structure.

[0021] In the present invention, the cementitious material prepared for modeling is a cementitious material prepared by adding a predetermined admixture, etc., so that when the layered material is discharged from a nozzle or the like to form a shape in layered modeling (also known as additive manufacturing), the shape does not collapse immediately after modeling, and the cementitious material has excellent rapid hardening properties, so that even when the cementitious material is layered, a model with excellent dimensional stability can be obtained.

[0022] To enable the prepared cementitious material to be continuously layered within a period of time in which its adhesion performance does not deteriorate, a prepared cementitious material supply station (not shown) may be located adjacent to the construction site of the structure 100, specifically within the flight range of the drones (20a, 20b). The supply station is configured to automatically or manually supply the prepared cementitious material to the construction 3D printer devices (10a, 10b) held by the drones (20a, 20b).

[0023] In one embodiment, markers 40 serving as construction reference points and a total station 45 for surveying, which are also used to estimate the position of a drone, may be placed around the construction site where additive manufacturing is performed. In additive manufacturing of the structure 100 to be constructed, the position corresponding to the design data is specified using a coordinate system based on the construction reference points (referred to as the site coordinate system). Furthermore, the construction site is not limited to the ground (earth surface), but also includes a pedestal or foundation installed on the ocean or land, or a floating body floating on the sea or lake. In this case, the markers 40 and the total station 45 may be placed around the pedestal or foundation, or at the edge or corner of the floating body.

[0024] Processing such as setting the target position for flying the drones (20a, 20b) and converting the set target position into three-dimensional coordinate data (hereinafter referred to as coordinate data) in the site coordinate system is performed by the central control device 30.When the drones (20a, 20b) receive the coordinate data of the set target position from the central control device 30, they fly autonomously according to the coordinate data, and while hovering at the target position, they perform additive manufacturing by ejecting cement-based material from the construction 3D printer devices (10a, 10b) onto the printing surface on the structure 100.

[0025] Hereinafter, each device included in the dispensing position control system 1 for a flying-type construction 3D printer according to one embodiment of the present invention will be described in detail.

[0026] FIG. 2 is a diagram showing an example of the configuration of a construction 3D printer device included in a dispensing position control system for a flying-type construction 3D printer according to one embodiment of the present invention.

[0027] 2, the construction 3D printer 10 according to this embodiment includes a conical hopper 11 that contains (stores) prepared cementitious material, a pump unit 12 that is provided at the bottom of the hopper 11 and to which one end of a flexible conveying pipe 13 is connected, a discharge head 14 to which a nozzle 17 that is connected to the other end of the conveying pipe 13 is attached, a connecting member 15 configured to be grasped by a drone 20 (described below), and a robot arm 16 that freely moves the discharge head 14. In this embodiment, the connecting member 15 is configured to also serve as the base frame (foundation structure) of the construction 3D printer 10, and the hopper 11 and robot arm 16 are attached to the base frame of the connecting member 15.

[0028] The discharge head 14 is attached to the tip of a robot arm 16, and the robot arm 16 is a vertical articulated robot configured to allow the discharge head 14 to move freely and precisely under the control of a printer control unit (described later). The discharge head 14 also has a built-in camera 18 for capturing images of the cementitious material being discharged from the nozzle 17 being layered on the print surface of the structure. However, the present invention is not limited to this, and the camera 18 may be installed independently using a jig separate from the discharge head 14, or the nozzle 17 may be built into the discharge head 14. The camera 18 may also be configured as a stereo camera, and may also be configured as a composite sensor including millimeter-wave radar or LiDAR.

[0029] The construction 3D printer 10 further includes an image monitoring unit (not shown). In order to align the nozzle 17 with the print surface on the structure, the image monitoring unit uses a camera 18 to capture in real time the print surface (the print surface immediately before layering) that is the target for discharging the cementitious material, and transmits the captured image (assumed to be an image of the (n-1)th layer) to the printer control unit (described later). In addition, a separate camera (not shown) positioned to capture the print surface with the layered cementitious material captures an image of the print surface after layering (an image of the nth layer), and transmits this image to the central control device 30 via a wireless communication unit provided on the drone 20. Here, n is an integer greater than or equal to 2.

[0030] The image monitoring unit creates an image for adjusting the discharge position of the nozzle 17 from the image (image of the (n-1)th layer) captured by the camera 18 and sends it to the printer control unit. The printer control unit controls the robot arm 16 by visual feedback control using the image for adjusting the discharge position on the structure received from the image monitoring unit. The functional configuration of the construction 3D printer device 10 will be described later.

[0031] FIG. 3 is a diagram showing an example of the configuration of a drone included in the discharge position control system of a flying-type construction 3D printer according to one embodiment of the present invention.

[0032] As shown in FIG. 3 , the drone 20 according to this embodiment includes a main body 21, four support arms 22, four propulsion units 23, four propellers 24, and a coupling device 25 for detachably holding the construction 3D printer device 10. The support arms 22, the propulsion units 23, and the propellers 24 form a propulsion device (flight mechanism) for flight. The propulsion device's power source (power source) is provided in the main body 21, and in this embodiment, it is preferably an engine, but may also be an electric motor. Note that, while the drone 20 is a multicopter with multiple propellers in this embodiment, it may also be a helicopter with a single propeller (main rotor), or may be selected from other types of unmanned aerial vehicles (UAVs).

[0033] Control box 26 connected to main body 21 is equipped with a drone control device including a position detection unit that detects the flight position of drone 20, a flight control unit that controls the propulsion device so that drone 20 autonomously flies toward a predetermined flight target (a target position set by central control device 30) using position data detected by the position detection unit, and a wireless communication unit. Also, a camera (camera 27 in FIG. 3) is located below control box 26, positioned so as to be able to photograph the print surface after the cementitious material has been layered (immediately after layering). Camera 27, like camera 18, is configured as a stereo camera, and may also be configured as a composite sensor including millimeter-wave radar or LiDAR.

[0034] The position detection unit may be configured to include an infrared camera (motion capture camera) for observing markers 40 (reflective markers) placed at the construction site and estimate (calculate) the three-dimensional position of the drone 20 using optical motion capture technology. However, the present invention is not limited to this, and the position detection unit may further include RTK-GNSS to perform position detection using RTK-GNSS positioning. These technologies enable self-position estimation to the millimeter.

[0035] The flight control unit includes an IMU (Inertial Measurement Unit) for detecting the attitude etc. of the drone 20, a small computer equipped with a CPU (Central Processing Unit) and / or GPU (Graphics Processing Unit), and memory, and controls the propulsion device using a flight control program implemented in the memory, and controls the drone 20 so that it autonomously flies to a target position set by the central control device 30 using the position data of the drone 20 acquired by the position detection unit. In this embodiment, the drone 20 is programmed to fly autonomously to a target position provided by the central control device 30 after takeoff, but may be configured to be manually operated in an emergency.

[0036] The wireless communication unit includes a communication module for transmitting and receiving commands and information between the central control device 30 and the drone manager's communication terminal 50. The communication module is configured to support multiple frequency bands depending on the content to be transmitted and received. For example, depending on the application, it may be configured to simultaneously handle Wi-Fi (registered trademark) communication, mobile communication, and radio waves for specified low-power radio stations. The wireless communication unit may also be equipped with a broadcast communication function. Broadcast communication is a communication format in which a drone simultaneously transmits the same data (such as its own position, altitude, and aircraft identification number) to multiple other drones in one direction.

[0037] The drone 20 is communicatively connected to the construction 3D printer 10 via a predetermined communication wiring, and transmits and receives information and commands (control signals) to and from the construction 3D printer 10. The drone 20 is also configured to photograph the print surface after the cementitious material has been layered (immediately after layering) using a camera 27 located at the bottom of the control box 26. The drone 20 is configured to sequentially transmit to the central control device 30 the position of the drone detected by the position detection unit, the flight status detected by the IMU of the flight control unit, and image data of the cementitious material layered on the print surface of the structure being additively manufactured, photographed by the camera 27.

[0038] When multiple drones fly simultaneously at a construction site where additive manufacturing is being performed, the drones can share their respective position information directly with each other via broadcast communication, and can be equipped with the function and configuration to autonomously avoid collisions.

[0039] Furthermore, in addition to the drone that holds the construction 3D printer device 10 and performs additive manufacturing, a drone (called a surveillance drone) that observes the additive manufacturing process from the sky may be flown, and the modeling status of the structure 100 under construction may be transmitted in real time to the central control device 30. The surveillance drone may be equipped with, for example, a LiDAR device or a stereo camera, and may 3D scan the structure 100 under construction to obtain point cloud data of the entire structure, which may then be transmitted to the central control device 30, which may then convert the data into position coordinates in three-dimensional space, thereby making it possible to obtain data such as the layered shape of high-altitude areas and the construction progress of the entire structure, which cannot be handled by a total station 45 placed on the ground.

[0040] The central control device 30 is configured by a general computer, and although not shown, includes a control unit (hereinafter referred to as a system control unit) configured including a CPU, a main memory device, an auxiliary memory device, etc., a memory unit for saving various programs and data, a display unit including a display, etc., an input unit for accepting input from a user via input devices such as a keyboard or a mouse, an output unit serving as an output interface to external devices, and a communication unit. The central control device 30 also includes multiple functional units that function by causing the CPU to execute predetermined programs, and details of these functional units will be described later.

[0041] The following describes the functional configuration of a dispensing position control system for a flying-type construction 3D printer according to one embodiment of the present invention.

[0042] Figure 4 is a block diagram for explaining the functional configurations of the drone, construction 3D printer device, and central control device included in the dispensing position control system for a flying-type construction 3D printer according to one embodiment of the present invention.

[0043] 4, in the dispensing position control system for a flying-type construction 3D printer according to this embodiment, a central control device 30 is connected to the construction 3D printer 10 and the drone 20 so that they can communicate with each other via wireless communication such as Wi-Fi (registered trademark) or a mobile communication system. The construction 3D printer 10, drone 20, and central control device 30 send and receive information and control signals to each other and operate in cooperation with each other.

[0044] The system may also include a communication terminal (or operation terminal) 50 of the drone manager that is communicatively connected to the construction 3D printer device 10, the drone 20, and the central control device 30 and configured to be able to send and receive information and commands to and from these devices. The form of the communication terminal 50 is not particularly limited. The communication terminal 50 is also equipped with a predetermined antenna 500a to support wireless communication. The drone manager is the person who operates, commands, and manages the dispensing position control system of the flying-type construction 3D printer of the present invention, and may also be the construction manager of the structure.

[0045] The construction 3D printer device 10 according to this embodiment includes a printer control unit 110 configured to include a processor and memory (not shown) housed within a unit box (housing) (not shown), an image monitoring unit 130 that acquires images captured by a camera 18 and monitors the condition of the print surface, a printer storage unit 140 configured with an SSD (solid state drive) or the like that stores various programs and data, and a printer communication unit 150 that transmits and receives data and control signals (commands) to and from a central control device 30 via a drone 20. The printer control unit 110 includes a robot arm control unit 120 that controls the operation of the robot arm 16.

[0046] The printer control unit 110 causes the processor to execute a predetermined program, thereby causing the robot arm control unit 120 to function and controlling the operation of the robot arm 16. It also controls the operation of the pump unit 12 that extrudes (discharges) the cementitious material from the nozzle 17 attached to the robot arm 16.

[0047] The image monitoring unit 130 analyzes the image (image of the (n-1)th layer) captured by the camera 18 to identify the print surface, adjusts the image so that the center line between both edges of the identified print surface is positioned at the center of the screen, and transmits the image to the robot arm control unit 120 as an image for controlling the discharge position of the nozzle 17. At this time, the image monitoring unit 130 may detect a stacking start point (the position where the previous stacking ended) from the identified print surface, and transmits an image for controlling the discharge position including the detected stacking start point to the robot arm control unit 120. The image monitoring unit 130 may have a function to adjust the angle of view of the camera 18 so that the print surface corresponding to the operating range of the tip of the robot arm 16 is captured while the drone 20 is hovering at the target position.

[0048] In addition, the image monitoring unit 130 transmits an image (image of the nth layer) of the state after the cement-based material has been layered on the printed surface of the structure, taken by the camera 27 installed on the drone 20, to the central control device 30 via the wireless communication unit 230.

[0049] The robot arm control unit 120 controls the robot arm 16 in real time visual feedback based on the image for controlling the discharge position including the stacking start point sent from the image monitoring unit 130 and the coordinate data of the print path (nth layer) corrected to correct the misalignment with the layer (n-1th layer) stacked immediately before, received from the central control device 30, thereby moving the nozzle 17 along the corrected print path and controlling the discharge of the cement-based material onto the identified print surface.

[0050] The drone 20 according to this embodiment includes a drone control device in a control box 26 connected to the main body 21, and the drone control device includes a position detection unit 210, a flight control unit 220, and a wireless communication unit 230. The flight control unit 220 includes a storage device such as an SSD (not shown), in which flight programs, control data, etc. are stored. A predetermined antenna 230a may be connected to the wireless communication unit 230.

[0051] The position detection unit 210 uses multiple markers 40 (reflective markers) placed on the construction site to estimate (calculate) the three-dimensional position of the drone 20 at a millimeter level using optical motion capture technology, and transmits the position data of the estimated three-dimensional position of the drone 20 to the flight control unit. At the same time, the position detection unit 210 may transmit the position data of the drone 20 to the central control device 30. Furthermore, when multiple drones are flying on the construction site, the position detection unit 210 transmits the position data of its own drone 20 to the other drones in real time, and transmits the position data of the other drones received from the other drones to the flight control unit 220.

[0052] The flight control unit 220 executes a predetermined flight control program on a small computer mounted on the flight control unit 220, receives coordinate data of the target position to fly the drone 20 from the central control device 30, and controls the propulsion device so that the drone 20 flies autonomously to the received target position based on the drone's position data acquired from the position detection unit 210 and data such as the aircraft's attitude detected by the IMU of the flight control unit 220. Furthermore, when the drone 20 reaches the target position, the flight control unit 220 controls the propulsion device so that the robot arm 16 of the construction 3D printer device 10 hovers at the target position while performing a layering operation (nozzle movement) at the target position.

[0053] When multiple drones are flying simultaneously and the flight control unit 220 receives position data from another drone, it compares this data with the position data of its own drone in real time to calculate the distance between the drones and controls the propulsion devices to avoid abnormal close contact.

[0054] The wireless communication unit 230 transmits and receives commands and information between the central control device 30 and the drone manager's communication terminal 50. The transmitted and received commands and information include identification data for identifying the sender and the recipient, and the wireless communication unit 230 distributes and transmits the received commands and information to the flight control unit 220 of the drone 20 or the printer control unit 110 of the construction 3D printer device 10 based on the identification data of the recipient.

[0055] The central control device 30 in this embodiment is equipped with a system control unit 310, a communication unit 320, a display unit 330, an input unit 340, a memory unit 350, and an external input receiving unit 360, which are all hardware devices. Based on a 3D model of the structure to be additively manufactured, the central control device 30 sets the target position for flying the drone 20, corrects the coordinate data for the target position for the next flight of the drone 20 and the print path for moving the nozzle 17 of the construction 3D printer 10 based on an image of the print surface sent from the construction 3D printer device 10 via the drone 20, and sends the corrected coordinate data to the drone 20 and the construction 3D printer 10 via the communication unit 320, thereby managing the stacking work so that the correction amount for each layer is adjusted within a range that does not cause the entire layer stacked during modeling to collapse.

[0056] Furthermore, the central control device 30 may receive information from the drone 20 and the construction 3D printer device 10 regarding the drone's position, aircraft status, and the layering status of the cement-based material, and store the information necessary for managing the progress of the construction work of the structure in the memory unit 350 and transmit it to the drone manager's communication terminal (or operation terminal) 50.

[0057] The central control device 30 includes functional units that function by having the CPU 311 of the system control unit 310 execute a predetermined flying-type construction 3D printer control program, including a construction information acquisition unit 312, a construction management unit 313, a drone control unit 314, and a construction 3D printer management unit 315.

[0058] The construction information acquisition unit 312 receives a 3D model (3D data) of the structure to be additively manufactured as design data from an external computer terminal, server, etc. (not shown) via a predetermined communication line or communication network, and stores the 3D model in the storage unit 350. The construction information acquisition unit 312 may also receive printing capability information of the construction 3D printer 10 (such as the total length that can be printed per fill, the printing speed, etc.) and various information required for flying the drone 20 (such as geodetic coordinate data of the location where the structure will be constructed and topographical information of the flight area) from an external computer terminal, server, etc. (not shown) via a predetermined communication line or communication network, and store the information in the storage unit 350. The above-mentioned information may be provided in a form stored in a computer-readable storage medium. In this case, the design information acquisition unit 312 may read the information stored in the computer-readable storage medium using a reading device (not shown) connected to the input unit 340 and store the information in the storage unit 350.

[0059] The construction management unit 313 reads out a 3D model (3D data) of the structure to be additively manufactured from the memory unit 350, creates coordinate data (model coordinate system) specifying a path along the printing surface of one layer obtained by planarly slicing the structure from the read 3D model of the structure (hereinafter referred to as the print path), divides the created print path into sections of a predetermined length, sets the intermediate positions of the divided sections as target positions for the drone 20 to fly, converts the set target positions into coordinate data in the site coordinate system, and transmits them to the drone control unit 314. The construction management unit 313 may also create construction drawings (3D design data) corresponding to the site coordinate system from the 3D model of the structure, and specify coordinates based on the created 3D design data.

[0060] Figure 5 shows an example of additive manufacturing of a cylindrical tower, where (a) of Figure 5 is a diagram illustrating the position at which the 3D model of the tower to be additively manufactured is sliced ​​in a plane, and (b) of Figure 5 is a horizontal cross-sectional view illustrating the print surface 100R at the sliced ​​position.

[0061] As shown in (b) of FIG. 5, in the printing path along the printing surface 100R, the length L of one divided section corresponds to the movable range (operating range) of the robot arm 16, and the target position P transmitted to the drone 20a is not limited to one location per flight, but is set to each of a plurality of length sections (each section is adjacent) corresponding to the number obtained by dividing the total printable length when the construction 3D printer 10 is fully filled with cement-based material by the length of the movable range of the robot arm. m ) may be set, and each of the set target positions P may be converted into coordinate data in the on-site coordinate system and transmitted to the drone control unit 314. As an example, if the movable range (also referred to as work size) of the robot arm 16 has a radius of 20 cm to 1 m, the length L of one divided section may be set to be within this movable range.

[0062] When multiple drones (20a, 20b) and construction 3D printers (10a, 10b) are available, the construction management unit 313 sets non-overlapping target positions (P, P') for each drone (20a, 20b) from among the multiple set target positions, converts each set target position into coordinate data in the site coordinate system, and transmits it to the drone control unit 314.

[0063] In the cylindrical tower shown in FIG. 5, the length sections are set by dividing the tower along its circumference based on the center line of the tower. However, the present invention is not limited to this. The horizontal cross section may be divided into a mesh-like pattern, and length sections and target positions may be set for the print path within each divided block.

[0064] The construction management unit 313 also receives an image of the currently layered cementitious material taken by the camera 27 via the drone 20, measures (calculates) the amount of deviation between the shape of the plane (print surface) formed by the currently layered cementitious material from the received image and the corresponding slice surface of the 3D model (three-dimensional design data), and, based on the measured amount of deviation, corrects the placement position of the print surface for the next layer to be layered on top of the currently layered print surface, specifically, corrects the center line when moving the nozzle. The construction management unit 313 saves the shape of the plane (print surface) formed by the currently layered cementitious material and the placement position of the same plane (print surface) defined in the local coordinate system in the memory unit 350 as construction performance data.

[0065] Figure 6 shows an example of an additive manufacturing process for the cylindrical tower shown in Figure 5, where (a) of Figure 6 shows a state in which one layer (the nth layer) of cementitious material has been layered on the print surface 100R shown in Figure 5, and (b) of Figure 6 is an enlarged view of area A shown in (a) of Figure 6. Here, n is an integer of 2 or more.

[0066] Fig. 6(b) shows a plan view of the state in which the currently laminated printed surface 100R(n) overlaps the previously laminated printed surface 100R(n-1). In Fig. 6(b), CL(n-1) is the center line of the previously laminated printed surface 100R(n-1), and CL(n) is the center line of the currently laminated printed surface 100R(n).

[0067] The construction management unit 313 compares the previous center line CL(n-1) and the current center line CL(n) with the center lines (center lines of the design data) of the horizontal cross sections (called slice planes) at the corresponding slice positions of the 3D model, and sets the position of the center line CL(n+1) of the print surface 100R(n+1) to be laminated next. At this time, the next center line CL(n+1) is set to a position corrected as follows depending on whether the direction of the shift of the previous laminated portion and the direction of the shift of the current laminated portion are the same or opposite.

[0068] Specifically, if the direction of the misalignment of the previous layer (the n-1th layer) and the current layer (the nth layer) is the same, attempting to set the center line CL(n+1) of the next layer (the n+1th layer) as the center line of the design data results in the next layer (the n+1th layer) being stacked at a position significantly shifted from the currently stacked nth layer (corresponding to the sum of the misalignment amounts of the previous and current layers). In this case, the construction management department 313 sets the position of the center line CL(n+1) of the next layer within a range (called the tolerance range) that does not cause stack collapse, taking into account the characteristics of the cement-based material. In other words, the position of the center line CL(n+1) of the next layer (the n+1th layer) is adjusted so that the misalignment of the previously stacked layer is not eliminated all at once during the next stacking, but is eliminated by making corrections across multiple layers within a range that does not cause stack collapse.

[0069] On the other hand, if the direction of the deviation of the previous layer (the n-1th layer) is opposite to that of the current layer (the nth layer), the deviations of the previous and current layers cancel each other out, so if the center line of the design data is located within the tolerance range from the currently layered nth layer, the construction management unit 313 can set the center line CL(n+1) of the next layer (the n+1th layer) as the center line of the design data. A numerical value (called a tolerance value) that specifies the tolerance range of deviation (error) between upper and lower layers that does not cause stacking collapse is stored in advance in the memory unit 350.

[0070] The construction management unit 313 analyzes the images received via the drone 20 and calculates the position coordinates of the center line of each layer (layer already stacked), and stores the calculated coordinates as construction performance data in the storage unit 350. Note that the construction 3D printer device 10 may use the camera 18 as a depth camera to evaluate the shape of the stacked cementitious material in the height (depth) direction.

[0071] The drone control unit 314 transmits coordinate data of one or more target positions set by the construction management unit 413 to the drone 20 via the communication unit 320. It also acquires flight status data including the position and attitude of the drone transmitted from the drone 20 via the communication unit 320, monitors whether the drone 20 is flying and hovering normally at the predetermined target position, and if there is an abnormality in the flight, sends an abnormality notification to the communication terminal 50 of the drone manager. Note that the abnormality determination may be performed by the flight control unit 220 of the drone 20.

[0072] Furthermore, when the drone control unit 314 receives a notification from the drone 20 informing it that the stacking work of the construction 3D printer device 10 at the target position has been completed, it may determine the timing for returning the drone 20 to the supply station, and send a return command to the drone 20, while also notifying (transmitting) the return timing (scheduled time of arrival at the supply station) to the communication terminal 50 of the supply station or the drone manager. When the drone 20 returns to the supply station, it may send a return completion notification to the drone control unit 314.

[0073] The construction 3D printer management unit 315 receives monitoring data such as the operation of the robot arm 16 and the flow rate of the cement-based material discharged from the nozzle 17 from the construction 3D printer device 10 via the wireless communication unit 230 of the drone 20, and if there is an abnormality in the received monitoring data, it may send an abnormality notification to the communication terminal 50 of the drone manager. Note that the abnormality determination may be performed by the printer control unit 110 of the construction 3D printer device 10.

[0074] In addition, when the construction 3D printer management unit 315 receives notification that a return command has been sent to the drone 20 via the drone control unit 314, it stops monitoring the construction 3D printer device 10 held by the drone 20 and waits for a notification to be sent from the supply station or the drone manager's communication terminal 50 that the supply of cement-based materials to the construction 3D printer device 10 has been completed.

[0075] Upon receiving notification that the supply of cement-based material has been completed, the construction 3D printer management unit 315 notifies the construction management unit 313 that the construction 3D printer device 10 is now able to start printing, and in response, the construction management unit 313 is configured to send data specifying the center line of the corrected nozzle movement to be used in the next layering operation to the construction 3D printer device 10 via the wireless communication unit 230 of the drone 20.

[0076] The communication unit 320 includes a communication module for wireless communication with the drone 20 and the construction 3D printer device 10, and a communication module for connecting to an external terminal device or the like via a wired or wireless network. A predetermined antenna 320a may be connected to the communication unit 320. The display unit 330 and input unit 340 are composed of a general display device and input device, and are used by users of the system to input data and programs and to refer to flight records and construction performance data.

[0077] The memory unit 350 stores various data and programs used in this system. The external input receiving unit 360 transmits and receives data and control signals between the system control unit 310 and various external measurement devices, such as a laser scanner or a total station. 3D survey data of the structure under construction measured by the laser scanner or total station can be reflected in the flight control of the drone 20.

[0078] Next, the data and control system used in the dispensing position control system of a flying-type construction 3D printer according to one embodiment of the present invention, which includes the above-mentioned drone, construction 3D printer device, and central control device, will be described with reference to Figure 7.

[0079] FIG. 7 is a configuration diagram for explaining the data and control system used in the discharge position control system of a flying-type construction 3D printer according to one embodiment of the present invention.

[0080] As shown in Figure 7, in the ejection position control system for a flying-type construction 3D printer according to this embodiment, when a 3D model 701 is provided to a central control unit 30 as design data for a structure 100 to be constructed, the central control unit 30 sets multiple print surfaces by horizontally slicing the structure from the 3D model 701 at predetermined thicknesses (heights) relative to a reference plane, and generates coordinate data (referred to as a layer data group 702 generated from the design data) specifying the position coordinates of each set print surface in the site coordinate system.

[0081] When additive manufacturing begins, the central control unit 30 selects coordinate data 703 of the next layer to be manufactured (the nth layer) from the generated layer data group 702 in accordance with the order of manufacturing. At the same time, it analyzes an image of the layer (the n-1th layer) that was stacked immediately before the selected layer, and compares the results 704 of measuring its position and shape with the design data (the corresponding layer in the generated layer data group 702). Based on the comparison results, it creates nth layer data 705 for manufacturing by correcting the coordinate data 703 of the nth layer to be manufactured next (data of the layer to be manufactured).

[0082] The central control device 30 creates partial path data (layer division data) 706 by dividing the print path along the layer (print surface) specified in the nth layer data 705 for modeling into sections of a predetermined length. The central control device 30 then sets the midpoint of each partial path, i.e., the midpoint of the divided length section, as the target position for the drone 20 to fly, and transmits a drone flight command 707 including coordinate data of the set target position to the drone 20. The partial path data is also transmitted to the construction 3D printer 10 for use in controlling the nozzle tip position of the robot arm 16 and controlling the discharge pump 708.

[0083] The drone 20 flies autonomously based on a drone flight command 707 including a set target position, hovers at the target position, and controls the propulsion device 709 so that the drone maintains a stable attitude at the target position. Therefore, the drone 20 controls its own spatial position and attitude using coordinate data detected by the position detection unit (coordinate system control).

[0084] Meanwhile, the construction 3D printer 10 moves the nozzle tip of the robot arm based on the partial path data 710, and at this time, the final alignment of the nozzle tip is performed using the results of real-time analysis of the image of the printing surface taken by the camera 18, thereby controlling the position of the nozzle tip to dynamically respond to the shaking of the drone 20 or the printing surface of the structure 100 (visual feedback control) 711.

[0085] In this way, the discharge position control of the flying-type construction 3D printer of the present invention is configured by combining coordinate system control (drone flight position) and visual feedback control (nozzle discharge position), which is non-coordinate system control, thereby enabling highly accurate and stable discharge of cement-based material onto the layer (print surface) specified by the nth layer data 705. Furthermore, the correction amount of the nth layer data 705 for modeling is set within the allowable range (i.e., non-coordinate system control is restricted by the allowable value of the coordinate system), so problems such as unintended collapse do not occur during stacking.

[0086] In the above-described embodiment, when the printing path along the layer (printing surface) specified in the nth layer data 705 is divided into sections of a predetermined length, the length of each divided section is set within the movable range of the robot arm 16. However, the length of each divided section does not need to be set in units of the movable range of the robot arm 16, and may be set in the smallest unit according to the flight position control capability of the drone, for example, a length of 1 mm to 10 mm. Furthermore, it is also included in embodiments of the present invention that the nozzle tip is aligned by visual feedback control of the robot arm while the drone 20 is essentially moving.

[0087] The following describes the operational flow of the discharge position control system for a flying-type construction 3D printer according to one embodiment of the present invention.

[0088] FIG. 8 is a flowchart showing an example of an additive manufacturing operation performed by the discharge position control system of a flying-type construction 3D printer according to an embodiment of the present invention.

[0089] In this embodiment, a case in which the central control device 30 flies two drones (20a, 20b) as shown in Fig. 1 to perform additive manufacturing of a structure 100 will be described with reference to Fig. 4 and Fig. 8. The two drones (20a, 20b) used in this embodiment each hold a construction 3D printer device (10a, 10b) and are controlled to fly autonomously over the construction site of the structure to be constructed while receiving replenishment of cementitious material prepared at a replenishment station, thereby continuously performing additive manufacturing.

[0090] When a command to start additive manufacturing of a structure is input from the input unit 340 of the central control unit 30 or the drone manager's communication terminal 50, the system control unit 310 of the central control unit 30 activates the construction management unit 313, and creates a print path along the print surface, which is the horizontal cross section of each layer (original sliced ​​layer) obtained by slicing the structure planarly (horizontally) in the height direction at a predetermined thickness (e.g., 5 mm to 30 mm), from the 3D model (design data) of the structure to be constructed that was previously stored in the memory unit 350 via the construction information acquisition unit 312, as described above, and divides the created print path into predetermined length sections and sets target positions for each of the divided length sections (step S100).

[0091] The target position is set to the middle position of the divided multiple length sections in consideration of the movable range of the robot arm, however, the present invention is not limited to this and the target position can be set to an appropriate position in accordance with the operating characteristics of the robot arm.

[0092] The construction management unit 313 converts each target position for the set multiple length sections into coordinate data in a site coordinate system based on the construction reference point and transmits it to the drone control unit 314.

[0093] The drone control unit 314 assigns the coordinate data of the set multiple target positions to the two drones (20a, 20b) without overlapping (step S110). Then, it transmits the coordinate data of each assigned target position to the corresponding drone (20a, 20b). The drone control unit 314 determines the number of target positions to be assigned to each drone based on the printable length of the construction 3D printer 10 held by the drone per flight. Therefore, if the length of the print path for one layer is longer than the printable length in a single flight, the drone control unit 314 adjusts the assignment so that all target positions on the print path are divided into multiple flights.

[0094] The target position for each layer relative to the print path set in step S100 is corrected by the construction management unit 313 to correct any misalignment of the lower layer (positional misalignment based on the design data) that occurs as the stacking process progresses, and coordinate data for the corrected target position is provided. Note that when assigning target positions for each layer, it is not necessary to assign a specific drone to a specific target position. In other words, the lower and upper layers in the vertical direction that overlap at the same position on a plane do not need to be assigned to the same drone, and may be assigned to different drones.

[0095] The construction 3D printer management unit 315 of the central control device 30 transmits data specifying the nozzle movement path (flow line) at the target position corrected by the construction management unit 313 to the construction 3D printer of the drone flying to the target position assigned by the drone control unit 314 (step S120). The nozzle movement path (flow line) is set to the center line of the print surface at the corrected target position.

[0096] When the drones (20a, 20b) and construction 3D printer devices (10a, 10b) have completed receiving the data on the target position and nozzle movement line (movement path) sent in steps S110 and S120 from the drone control unit 314 and construction 3D printer management unit 315, respectively, they send a notification that they are ready to take off to the system control unit 310 of the central control device 30 and the drone manager's communication terminal 50. The notification that they are ready to take off may be sent by the flight control unit 220 of each drone.

[0097] When the system control unit 310 receives the notification that the preparations for takeoff are complete, it transmits a command to the drones (20a, 20b) to permit them to take off (step S130).

[0098] When a command permitting departure (takeoff) is received, the drones (20a, 20b) fly autonomously, and when they reach their respective set target positions, they hover at the target positions, and the construction 3D printer devices (10a, 10b) perform stacking operations using a predetermined program for print control that has been stored in advance in the printer memory unit 140.

[0099] When the layering operation of the construction 3D printer devices (10a, 10b) begins, the system control unit 310 of the central control unit 30 causes the construction management unit 313 to receive images of the cementitious material layered this time via the drones (20a, 20b), measure (calculate) the amount of deviation between the shape of the plane (print surface) formed by the nth layer of cementitious material layered this time from the received image and the slice surface of the 3D model (design data) corresponding to that print surface, and executes a process to correct the target position of the n+1th layer of print surface to be layered next on top of the nth layer of print surface layered this time, specifically, the position of the movement line for moving the nozzle on the print surface, based on the measured amount of deviation of the nth layer layered this time and the amount of deviation of the n-1th layer layered last time, and transmits the corrected target position of the n+1th layer of print surface to the drone (step S140).

[0100] In addition, after the drones (20a, 20b) take off, the system control unit 310 activates the drone control unit 314, and the drone control unit 314 monitors the flight status of each drone transmitted from the drones (20a, 20b) and the operating status of the construction 3D printer devices (10a, 10b).

[0101] When the drone control unit 314 receives a notification from each drone (20a, 20b) that the stacking work of the construction 3D printer device 10 at the target position has been completed, it determines the time to return each drone (20a, 20b) to the supply station (the time to depart from the flight path), and once the return time has been determined, the drone control unit 314 sends a return command to each drone (20a, 20b).

[0102] At the same time, the drone control unit 314 also transmits a return notification to the refueling station and the drone manager's communication terminal 50. Upon receiving the return notification, the refueling station can begin preparations for refueling.

[0103] When each drone (20a, 20b) returns to the supply station, it transmits a return completion notification to the drone control unit 314.

[0104] When the system control unit 310 of the central control device 30 receives a return completion notification from the drone control unit 314, it controls each drone (20a, 20b) to repeatedly execute the steps from step S100 onwards (step S150) according to a pre-programmed procedure or in response to a command to continue work sent from the drone manager.

[0105] On the other hand, when a command to suspend or end work is issued in step S150, the system control unit 310 checks whether there are any drones in flight (step S160), and if there are any drones in flight, sends a return command (step S170). Then, when all the drones have returned, the system notifies the communication terminal (or operation terminal) 50 of the drone manager that the work has ended, and ends the operation of the system.

[0106] By having the central control device 30 execute the above-mentioned flow, the dispensing position control system for a flying-type construction 3D printer according to the present invention uses multiple drones and controls these drones to work together to stack adjusted cementitious material according to a 3D model, thereby enabling the efficient additive manufacturing of structures.

[0107] As described above, the ejection position control system for flying-type construction 3D printers according to the present invention makes it possible to construct large structures of a size that would have been difficult to build with conventional robotic arms or gantry-type 3D printers in mountainous areas or on the sea where human access is difficult, without using platforms or special pressure-feeding equipment, thereby significantly reducing construction time and costs.

[0108] In addition, the ejection position control system for a flying-type construction 3D printer according to the present invention accurately maintains the flight position of the drone through coordinate system control based on a reference point installed at the construction site, and by using non-coordinate system visual feedback control of the nozzle of the construction 3D printer, it is possible to align the ejection position with high precision regardless of the shaking of the drone or structure.

[0109] Furthermore, the ejection position control system of the flying-type construction 3D printer of the present invention continuously monitors the layering status and can sequentially correct errors when layering cement-based materials by distributing them across multiple layers to the extent that layer collapse does not occur, making it possible to build high-quality, highly reliable structures.

[0110] Although the embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the above-described embodiments and can be modified in various ways without departing from the technical scope of the present invention. [Explanation of symbols]

[0111] 1. Discharge position control system for flying-type construction 3D printer 10, 10a, 10b Construction 3D printer equipment 11 Hopper 12 Pump section 13 Conveying pipe 14 Discharge head 15 Connecting members 16 Robot Arm 17 nozzles 18, 27 Camera 20, 20a, 20b drones 21 Main body 22 Support arm 23 Propulsion Unit 24 propellers 25 Coupling device 26 Control Box 30 Central control device 40 markers 45 Total Station 50 Communication terminal 100 structures 110 Printer control unit 120 Robot arm control unit 130 Image Monitoring Unit 140 Printer memory unit 150 Printer communication unit 210 Position detection unit 220 Flight Control Unit 230 Wireless Communication Unit 230a, 330a, 500a antennas 310 System Control Unit 320 Communications Department 330 Display section 340 Input section 350 Storage section 360 External input receiver 311 CPU 312 Construction Information Acquisition Department 313 Construction Management Department 314 Drone Control Department 315 Construction 3D Printer Management Department

Claims

1. A construction 3D printer device that ejects cement-based materials and performs additive manufacturing; A drone that holds the construction 3D printer device and autonomously flies to a target position set based on a 3D model of a structure to be additively manufactured; a central control device that manages the operation of the construction 3D printer device and the flight of the drone; The construction 3D printer device, a robot arm equipped with a nozzle for discharging the cement-based material; an image monitoring unit that photographs a print surface on the structure on which the cement-based material discharged from the nozzle is layered; a printer control unit that controls the robot arm based on the image of the print surface captured by the image monitoring unit, The drone is a position detection unit that detects the flight position of the drone; a flight control unit that controls the flight of the drone so that the drone autonomously flies to the set target position based on the detected flight position; a wireless communication unit for communicating between the drone, the construction 3D printer device held by the drone, and the central control device; The central control device creating a print path for each layer obtained by horizontally slicing the 3D model of the structure at a predetermined thickness along the height direction; Dividing the created print path into sections of a predetermined length, setting the intermediate positions of each of the divided sections of length as the target positions for the drone to fly, and transmitting coordinate data of the set target positions to the drone; a flight control unit of the drone controls the drone to fly autonomously and hover at the target position based on the coordinate data of the target position; The construction 3D printer device is characterized in that, at the target position where the drone is hovering, the image of the printing surface captured by the image monitoring unit is used to perform visual feedback control of the robot arm, thereby discharging the cement-based material while moving the nozzle along the printing surface in the divided length section.

2. The central control device 2. The dispensing position control system for a flying construction 3D printer according to claim 1, further comprising: receiving from the construction 3D printer device an image of the layered shape of the cement-based material dispensed onto the printed surface of the nth layer (n is an integer of 2 or more) on the structure, taken by the image monitoring unit; measuring from the received image the amount of deviation between the layer laminated on the printed surface of the nth layer and the 3D model; correcting coordinate data of the target position set on the print path of the n+1th layer to be laminated immediately after the nth layer based on the measured amount of deviation of the nth layer and the amount of deviation from the 3D model of the n-1th layer laminated immediately before the nth layer; and transmitting the corrected coordinate data of the target position of the n+1th layer to the drone.

3. the predetermined length section is set as a section corresponding to a movable range of the robot arm, The flying-type construction 3D printer discharge position control system described in claim 1, characterized in that when the drone receives a notification from the construction 3D printer device that the discharge operation to the section corresponding to the movable range of the robot arm at the target position has been completed, the drone sequentially moves its hovering position to the next target position adjacent to the target position.

4. The position detection unit of the drone estimates its own position using a motion capture and / or RTK-GPS device using markers placed along construction reference points set at the construction site of the structure; The ejection position control system for a flying-type construction 3D printer according to claim 1, characterized in that the coordinate data of the set target position is specified in a site coordinate system using the construction reference point.

5. The ejection position control system for a flying-type construction 3D printer according to claim 4, characterized in that the construction site where the structure is additively manufactured is the upper surface of a floating body floating on the sea or lake, and the construction reference point and the marker are placed on the upper surface of the floating body.

6. The flying-type construction 3D printer discharge position control system includes the drone and a plurality of the construction 3D printer devices held by the drone, The ejection position control system for a flying-type construction 3D printer according to claim 1, characterized in that the central control device assigns to each of the plurality of drones a non-overlapping target position from among the target positions set along the created print path, and transmits coordinate data of the assigned non-overlapping target position to each of the plurality of drones.

7. The dispensing position control system for a flying-type construction 3D printer described in claim 6, characterized in that each of the multiple drones performs autonomous flight based on the coordinate data of the assigned target position received from the central control device, and the drones control their flight to autonomously avoid collisions by directly exchanging position data with each other.

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