Combination of the characteristics of development and the working technology of the utility tunnel in the world, this article introduces the advantage of Micro-TBM in the construction of the utility tunnel through contrasting the common construction technology.

The principle of these techniques, including controllable impact moling, horizontal drilling with controllable pneumatic hammer, soil displacement pilot hole drilling technique and soil displacement micro-tunneling, is that the soils are displaced to the hole wall rather than removed to the ground surface during construction.

In order to improve loading capacity and moving speed of in-pipe micro-robot,and to make the robot perceive displacement of itself,a kind of inpipe micro-robot based on piezoelectric cymbal actuators and optical navigation technology was developed.

An in-pipe micro-robot with spiral wheel structure was designed.

This paper introduces the wheel mechanism design of in-pipe micro-robot,proposes the dynamical model of restricted in-pipe micro-robot,and analyzes its dynamical stability.