Development of BIM Semantic Robot Autonomous Inspection and Simulation System

Building information modeling (BIM) has been widely used in the construction industry. By coordinating the collaboration of diverse construction participants, architectural design and project management has been improved efficiency. The application of BIM has been extended with the application of mobile robots in construction intelligence and automation. The abundance of precise geometric and semantic information provided by the BIM model could assist and even directly guide the robot to complete various tasks more precisely and productively. In this paper, We proposed a method to use BIM to deploy the robot system simply and efficiently for building progress monitoring. In our method, BIM is utilized not only to provide robots with environment geometric and semantic information but also generate detailed actions for construction tasks to guide robots to perform inspection. The results have proved that by our method, the robot system has quickly performed a independent navigation in the new environment and simultaneously update the progress information without exploring the map in advance.