An obstacle toward construction robotization is the lack of methods to plan robot operations within the entire construction planning process. Despite the strength in modeling construction site conditions, 4D BIM technologies cannot perform construction robot task planning considering the contexts of given work environments. To address this limitation, this study presents a framework that integrates 4D BIM and robot task planning, presents an information flow for the integration, and performs high-level robot task planning and detailed simulation. The framework uniquely incorporates a construction robot knowledge base that derives robot-related modeling requirements to augment a 4D BIM model. Then, the 4D BIM model is converted into a robot simulation world where a robot performs a sequence of actions retrieving construction-related information. A case study focusing on the interior wall frame installation demonstrates the potential of systematic integration in achieving context-aware robot task planning and simulation in construction environments.

翻译：施工机器人化的一个障碍在于缺乏在整体施工规划流程中规划机器人操作的方法。尽管4D BIM技术在建模施工现场条件方面具有优势，但其无法在给定工作环境的背景下执行施工机器人任务规划。为解决这一局限性，本研究提出了一种集成4D BIM与机器人任务规划的框架，阐述了该集成所需的信息流，并实现了高层级机器人任务规划与详细模拟。该框架创新性地引入了一个施工机器人知识库，用于推导机器人相关的建模需求，以增强4D BIM模型。随后，4D BIM模型被转换为机器人模拟世界，机器人可在其中执行一系列动作并检索施工相关信息。以室内墙体框架安装为案例的研究表明，在施工环境中实现情境感知的机器人任务规划与模拟具备系统性集成的潜力。