URDF-to-IFC Schema Mediation for BIM Robot Integration
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Solution Overview
Problem
Existing URDF-based digital robot representations (DRRs) are not compatible with the Building Information Modelling (BIM) tools used in the Architecture, Engineering, Construction, and Operation (AECO) sector, leading to a language barrier that hinders the integration of robotics in construction projects.
Innovation Solution
A method and system for mediating a robot-centric data schema (URDF) to a building-centric data schema (IFC) by extracting robot information, creating a robot container, translating links and joints, and constructing a building-centric data schema using IFC entities to model the robot as a whole-part structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If URDF-based digital robot representations are used, then robot kinematics and dynamics can be accurately represented, but compatibility with BIM tools in the AECO sector is lost
Solution Approach 1:
The patent introduces an intermediary translation system that converts URDF robot descriptions into IFC-compatible formats. This mediator preserves the precise kinematic representation while enabling compatibility with BIM tools through systematic translation of robot components (links, joints, sensors) into IFC entities and properties.
Solution Approach 2:
The patent transforms the data representation parameters by mapping URDF-specific elements (links, joints, inertial properties) to equivalent IFC parameters and properties. This parameter transformation maintains the essential kinematic and dynamic characteristics while adapting to the target BIM/IFC data structure.
2Ease of operation
If robot-centric data schemas prioritize robot kinematics and dynamics, then robot design and operation are enhanced, but integration into building design and project management workflows is hindered
Solution Approach 1:
The patent creates a universal translation framework that enables robot data to serve multiple functions: maintaining robot-centric operational capabilities while simultaneously enabling integration into building design, construction planning, and facility management workflows through IFC compatibility.
Solution Approach 2:
The translation system acts as a mediator that bridges the robot-centric and building-centric data paradigms, allowing robot information to be seamlessly integrated into AECO workflows without losing essential operational characteristics.
3Productivity
If existing URDF schemas are used without translation, then robot information can be efficiently stored and processed in robotics applications, but few building design and project management software solutions can parse them
Solution Approach 1:
The patent introduces a translation intermediary that converts URDF data into IFC-compatible formats, enabling building design and project management software to parse and utilize robot information while preserving the efficiency of original URDF-based robotics applications.
Solution Approach 2:
The translation process creates a copy of the robot information in IFC format, allowing building software to access and process robot data without interfering with the original URDF-based robotics systems, thus maintaining both productivity and compatibility.
Data Source
AI summary
The invention provides computer-implemented method and system for mediating a robot-centric data schema to a building-centric data schema for representing a robot is provided. The building-centric data schema represents the robot with a plurality links representing non-deformable parts of the robot and a plurality of joints describing relationship between the links. The method comprises: extracting robot information from the robot-centric data schema; creating a robot container to model the robot as a whole-part structure; translating the plurality of links and the plurality of joints from the robot-centric data schema to the building-centric data schema based on the extracted robot information; filling the robot container with the translated links and translated joints; and constructing the building-centric data schema with the robot container filled with the translated links and translated joints.