Automated Maintenance Robot for Expressway-Tunnel

This paper presents the mechanization and automation of inside tunnel ma intenance works at Japan Highway PubIic Corporation (JH), FirstIy Maintenance-VehicIes using in Kan-etu tunnel are introduced, Then automated vehicles for tunnel maintenance are proposed, There are two types of the automated vehicles. One is an all-in-one type automated equipment (fig.!) and the other is a separate type automated equipment. The all-in-one type automated equipment is used in the inspect i on gallerv in a tunneI. The separate type automated equipment is used on the side of passing lane. narrow space by the wall. in a tunnel. And this paper dsicusses on the field experiment of the separate type automated equipment which is currently being tested in a tunnel.