TY - GEN
T1 - Towards 3d perception and closed-loop control for 3d construction printing
AU - Xu, Xuchu
AU - Wang, Ruoyu
AU - Cao, Qiming
AU - Feng, Chen
N1 - Funding Information:
The research is supported by NSF CPS program under CMMI-1932187.
Publisher Copyright:
© 2020 Proceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020: From Demonstration to Practical Use - To New Stage of Construction Robot. All rights reserved.
PY - 2020
Y1 - 2020
N2 - 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. Conventionally, 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.
AB - 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. Conventionally, 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.
KW - 3d construction printing
KW - Close-loop control
KW - Defect detection
KW - Point cloud comparison
UR - http://www.scopus.com/inward/record.url?scp=85109380237&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85109380237&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85109380237
T3 - Proceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020: From Demonstration to Practical Use - To New Stage of Construction Robot
SP - 1576
EP - 1583
BT - Proceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020
PB - International Association on Automation and Robotics in Construction (IAARC)
T2 - 37th International Symposium on Automation and Robotics in Construction: From Demonstration to Practical Use - To New Stage of Construction Robot, ISARC 2020
Y2 - 27 October 2020 through 28 October 2020
ER -