Control method for 3D printer for construction

A method of controlling a three-dimensional (3D) printer for construction through a configuration in which the 3D printer for construction linearly extrudes and prints a fluid printing matter, including concrete or mortar, from a nozzle that moves, a controller controls the 3D printer for construction, a scanner detects surface information of a subject comprising spatial coordinates, and a computer is connected to the controller to transmit command information to the controller and is connected to the scanner to receive the surface information transmitted from the scanner and process the received surface information,

• the method comprising:
• an actual measurement operation S10 of detecting, by the scanner, actually measured surface information of the printing matter in real time as the printing matter is being printed from the nozzle and transmitting the detected actually measured surface information to the computer, wherein the actually measured surface information comprises the spatial coordinates;
• a comparison operation S20 of comparing, by the computer, the transmitted actually measured surface information of the printing matter with planned surface information of a planned structure to calculate a printing error;
• a correction operation S31 of, when the printing error exceeds a tolerance, immediately correcting, by the computer, and without stopping the operation of the 3D printer, the command information such that the printing error is compensated for by the following operations:
• (1) deflecting a movement path of the nozzle in the command information, (2) increasing or decreasing a movement speed of the nozzle in the command information, and (3) adjusting the mixing ratio of the fluid material supplied to the nozzle in the command information;
• and
• a command operation S32 of transmitting, by the computer, the corrected command information to the controller, wherein the actual measurement operation S10 and the correction operation S31 are repeatedly and continuously performed while the 3D printer is in operation, so that the movement path of the nozzle or the state of the printing matter converges to a planned position or state.