为探索快速、高效的填筑工程建造方法，该文介绍了一项填筑工程3D打印技术及其多种机器人装备系统。该技术系统由填筑工程3D打印技术调度系统和3D打印流水线机器人作业系统两部分组成。基于填筑工程3D数字设计模型，3D打印技术调度系统根据施工组织设计进度对填筑工程3D数字设计模型进行分层“切片”，获得单层施工填筑料信息，规划配料路径，存入填筑工程调度数据库以便共享。填筑料开采、配送、智能摊铺与碾压环节的工程机器人根据任务进行高效的流水线作业，在线检测填筑质量，实时反馈施工状态信息。填筑工程3D打印系统完全在调度控制下逐层填筑，层层循环，直至完成整个填筑工程的3D打印建造。
Abstract
This paper presents a 3D printing system using intelligence robots for rapid, efficient filling of large construction projects. The 3D printing system includes a construction scheduling system and a 3D assembly line that uses intelligence robots. The 3D scheduling system cuts the 3D digital design model into slices to calculate the filling material information and then plans the transport roads on the site map model for each step in the construction process. The construction robots collect the fill materials when needed and transport the fill materials with intelligent paving and rolling of the fill materials. Once each construction layer is finished, the robots send construction state information to the scheduling system. The complete filling process is then printed step by step under the control of the 3D printing scheduling system.
关键词
填筑工程 /
工程机器人 /
无人驾驶技术 /
人工智能
Key words
filling construction engineering /
engineering robots /
driverless technology /
artificial intelligence (AI)
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基金
国家自然科学基金重点资助项目（41961134032）
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