Research On 3D Concrete Printing-oriented Double Helix Path Planning Algorithm And Construction Operation System Construction

3D concrete printing technology does not need building templates,can break the limitations of traditional architectural design,and has the advantages of automatic,efficient,energy saving and environmental protection.Therefore,this technology has gradually become the core technology of high-quality development in the civil engineering field and is the forefront and hotspot of the research in the construction industry.Now,the key problem of 3D concrete printing that is difficult to control the forming quality of components needs to be solved urgently,which limits the development and application of this technology.At present,domestic and foreign researchers are mainly focusing on two aspects to solve the above problems,namely,the research and development of printing hardware equipment and the improvement of construction process.From the perspective of improving the printing process,this article designs a double helix path planning algorithm,which can improve the forming quality of 3D concrete printed components.Furthermore,this article builds a construction operation system to control concrete printing process and improve printing success rates.BIM Technology runs through the whole life cycle of building construction,but BIM model lacks printing information,so it is difficult to extend to 3D concrete printing field.In this article,a manipulator class is created and printing path construction information is added with reference to IFC class framework of BIM model to enrich BIM model.In order to verify the usability of the extension,a component printing information extraction plug-in is developed based on the Revit platform.The effect of the plug-in is demonstrated with the model of an architectural flowerbed table,and the obtained printing information is used in the subsequent experiments of this article.Nowadays,concrete printing mainly uses the path planning algorithm of traditional resin printing which does not consider the large-scale forming and material rheological properties of concrete,which will lead to the problems of false filling and under filling.Based on this,the ideal concrete printing path should be accurate,sufficient,continuous and smooth is pointed out in this article,and a quantitative mathematical model for evaluating the path planning algorithm is established.A double helix path planning algorithm for concrete printing is further designed,and it is proved that the algorithm can effectively improve the forming quality of components through printing comparison experiments.The printing process is then simulated in the simulation software,and analysis of the acceleration curves in Cartesian space and joint space shows that the algorithm can effectively reduce the vibration of the manipulator.The printing of building components usually requires a lot of concrete materials,and the printing process needs the assistance of structural supports.In order to avoid printing failure caused by material waste and support failure,a printing process simulation platform is developed in this article.The printing process is simulated before construction to check the rationality of the planning path,ensure the printing quality and improve the printing success rates.In addition,in order to deal with all kinds of emergencies in the construction process and ensure the success of printing,a construction feedback control platform is developed in this article,which can provide real-time video feedback of on-site printing,and has remote manual control functions,so as to adapt to the special task scenarios such as plastering in which path planning is difficult.