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The invention discloses a rock slag simulation experiment platform and method based on multi-sensor fusion, the platform comprises a belt conveyor U-shaped support frame and multiple sensors, and the multiple sensors comprise an industrial camera, a laser radar, an illumination sensor and a temperature and humidity sensor; the method comprises the following steps: 1, simulating the actual slag conveying working condition of the TBM; 2, acquiring simulated rock slag; 3, synchronously acquiring simulated rock slag images and point cloud data; 4, based on the simulated rock slag image and the point cloud data, obtaining a simulated rock slag volume and a simulated rock slag area contour; and 5, establishing a correlation database of double thresholds of lithology, water content, rock slag state, reflection intensity and saturation. The method is reasonable in design, simulates the actual slag conveying working condition of the TBM, obtains the volume and the contour shape of the simulated rock slag, establishes a correlation database of the lithology, the water content, the rock slag state, the reflection intensity and the saturation, is conveniently applied to the TBM tunneling process subsequently, and provides a basis for TBM tunneling parameter optimization.