2.1.1 Wall construction robot
The world’s first prototype robot for wall construction is the TKY·HI rockpile robot developed by Japan (Zhijie,Sun.,2011). With the improvement of wall construction quality, the size of bricks becomes wider, which leads to the difficulty coefficient of construction personnel. In order to effectively solve these problems, the European Union put forward the research project of ”computer integrated manufacturing and assembly robot system” in 1994(Andres,j.,1994). On this basis, researchers in Germany, Belgium and Spain have collaborated to develop the ROCCO robot for building walls, which has automatic sonar navigation control system and uses hydraulic control to complete brick laying. Compared with the current pure manual masonry, it can greatly reduce the construction burden of related construction workers, but it is greatly affected by the height of the building, seasonal weather and other factors, so it is not favored by construction companies.
In recent years, due to soaring prices, high construction accident rate, large increase in enterprise labor costs and other reasons, wall construction robots regain the attention of construction companies. Typical examples include: motor driven wire rope automatic wall construction robot (Bruckmann,T.,2018) developed by Essen University in Duisburg, Germany, and Hadrian X wall construction robot (Wieckowski,A.,2017).