Towards 3D Perception and Closed-Loop Control for 3D Construction Printing
Towards 3D Perception and Closed-Loop Control for 3D Construction Printing
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DOI：
10.22260/isarc2020/0219
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发表时间：
2020-10
期刊：
影响因子：
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通讯作者：
Xuchu Xu;Ruoyu Wang;Qiming Cao;Chen Feng
中科院分区：
文献类型：
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作者：
Xuchu Xu;Ruoyu Wang;Qiming Cao;Chen Feng
随着增材制造产品尺寸的不断扩大，研究先驱们开始在建筑领域探索3D打印技术。对于3D建筑打印而言，质量意味着安全、成本和效率。然而，在建筑打印过程中通过缺陷检测和偏差校正来确保质量是具有挑战性的。传统上，缺陷和偏差仍然依赖于打印完成后的质量检查或现场人工监测，这可能会导致材料和时间的浪费（因终止打印），或者在明显缺陷出现后对打印设置的调整滞后。为了克服这些挑战，我们提出了一种基于点云的方法，利用3D相机和云到平面的距离来实时检测3D建筑打印缺陷，以评估打印层的完整性，并将打印结果与CAD模型进行比较。我们还定义了可能导致打印失败的不同类型的缺陷和偏差。此外，我们将检测输出反馈到闭环控制器中，以更新打印头的运动。我们的实验表明，这种联合打印和检测过程能够处理各种缺陷和偏差。
- With the expanding size of additive manufacturing products, research pioneers start to explore 3D printing in the construction field. For 3D construction printing, quality means safety, cost, and efficiency. However, it is challenging to ensure quality via defect detection and deviation correction during the construction printing process. Convention-ally, defect and deviation still rely on the quality check after printing is completed or on-site manual monitoring, which could cause either a waste of material and time to abort printing or lagging adjustment for printing settings after obvious defect appeared. To overcome these challenges, we propose a point-cloud-based approach for real-time 3D construction printing defect detection using a 3D camera and cloud-to-plane distance to evaluate printing layer integrity and compare printing results with CAD models. We also define different types of defects and deviations that can cause printing failure. Additionally, we feedback detection output into a closed-loop controller for updating the printhead motion. Our experiments show this joint printing and detection process handling various defects and deviations.