A major challenge toward construction robotization is a lack of a system that generates detailed behaviors of robots as part of the construction process based on information contained in building information modeling (BIM) and construction schedules. This study extends BIM to incorporate robot task planning and generate detailed motions conducting construction tasks. A prototype was built upon robot operating system (ROS), focusing on generating robot task plans for indoor wall painting. The prototype includes a converter that generates a ROS-compliant world file from industry foundation classes (IFC) file and sub-processes that conduct localization, navigation, and motion planning. A case study was conducted to demonstrate the system's capability to simulate behaviors of a painting robot and evaluate the performance within the context of the construction-related tasks. The case study demonstrates the proposed BIM-leveraged robot task planning can integrate construction and robotics domains to plan operations of autonomous robots in construction projects.

对施工机器人的主要挑战是缺少一种系统，该系统根据建筑信息模型（BIM）和施工进度表中包含的信息，在施工过程中生成详细的机器人行为。这项研究将BIM扩展到合并机器人任务计划，并生成执行施工任务的详细动作。在机器人操作系统（ROS）上构建了原型，专注于生成用于室内墙壁涂漆的机器人任务计划。该原型包括一个转换器，该转换器从行业基础类（IFC）文件和执行本地化，导航和运动计划的子流程生成符合ROS的世界文件。进行了案例研究以演示系统的 能够模拟喷涂机器人的行为并在与施工相关的任务范围内评估性能。案例研究表明，所提出的利用BIM的机器人任务计划可以整合建筑和机器人领域，以计划建筑项目中自主机器人的操作。