Development of a Fully Automatic Robotic System for Small Diameter Tunnel Construction: "Development of the ACE MOLE 1200-M2 Construction Method"

The ACE MOLE 1200-M2 is a robot system for constructing small diameter-long distance tunnels with one man control. This is achieved by automating all the construction works from tunnel excavation to lining finish. All aspects of mechatronics utilised in this. This robot system can select free alignment, over a curvature radius of 80m., according to the road alignment and underground installations, and realises long distance construction of 1 km, with superior capabilities than previous systems. The maximum driving length of the previous system was 500 meters. The robot system features the following: (1)    The system is provided with a compound oil-pressure mechanism which can control the up and down, and right and left directions of the long and narrow shield machine with a high accuracy using six jacks. A shield machine consisting of four-sections is effectively driven with a compound driving mechanism. (2)    Instead of assembling pre-fabricated segments, the system adopts a cast-in-place automatic lining system using resin mortar lining material. This provides high early-strength in its lining material and allows lining work underwater. (3)    The system transports excavated earth and lining material using an unmanned control system, which incorporates a trackless transport vehicle. We have established the full automatic tunnel robot technology through this system, utilising an information-oriented construction method. The method represents unprecedented, epoch making tunnel robot technology. The paper outlines the development of fully automatic unmanned tunnel robot technology which has been realised in the ACE mole 1200-M2 method.