Dynamic balancing material transport equipment for underground utility tunnel and method of using same

Abstract

The application discloses a kind of underground comprehensive pipe gallery dynamic balance material transport equipment and its use method, equipment includes moving mechanism, it includes universal wheel (12) and second double joint sleeve (8) on the universal wheel (12);Horizontal telescopic mechanism is arranged on the moving mechanism, it includes lightweight vertical steel support (5) and telescopic steel support (7);With the horizontal telescopic mechanism active connection vertical lifting balance mechanism, it includes hydraulic elevator (3) and threaded sleeve (4);And with the moving mechanism, horizontal telescopic mechanism and vertical lifting balance mechanism communication connection sensing detection mechanism, it includes environmental sensor (13) and balance sensor (15).The equipment of the application, by utilizing its upper portion can be changed according to underground slope feedback, real-time adjustment equipment height ensures that its transport material surface realizes dynamic balance, utilizes sensor, controller and algorithm to keep balance in the process of transportation.

Description

Technical Field

[0001] This invention belongs to the field of fastening equipment technology, and more specifically, relates to a dynamic balancing material transport equipment for underground integrated pipe corridors and its usage method. Background Technology

[0002] Integrated Underground Utility Gallery (UIPG) is a modern, systematic infrastructure that provides solutions for the utilization of urban underground space. UIPG provides shared channels for various types of pipelines, such as water and drainage, heating, gas, electricity, and communications. It plays a vital role in urban planning, promoting the systematic and orderly layout of pipelines and minimizing the impact on urban traffic and the environment.

[0003] Underground utility tunnels are aesthetically pleasing projects for cities, but their limited space makes material transportation difficult, hindering efficient construction. Currently, there are two main methods for transporting materials within these tunnels: one involves using pre-embedded hooks and cables, which is costly, cumbersome, unsuitable for transporting large materials, and poses a risk of materials falling during transport, compromising worker safety. The other method uses simple transport devices, such as the multi-functional transport trolley disclosed in patent document CN212556365U. However, this device is prone to material spillage in recessed sections of underground utility tunnels, making material balance impossible. Furthermore, it cannot pass through fire doors, with an effective distance limited to the length of a fire-resistant zone, failing to provide the convenience of mechanical transport. Summary of the Invention

[0004] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a dynamic balancing material transport device for underground utility tunnels and its usage method. By utilizing feedback from changes in underground slope, the device's height can be adjusted in real time to ensure dynamic balance of the transported material surface. Sensors, controllers, and algorithms are used to maintain balance during transport, thereby improving operational safety and efficiency, solving the problem of materials falling during transport, and also serving as a platform on certain slopes. This allows for material transport on the sloping surface of underground utility tunnels.

[0005] To achieve the above objectives, according to the first aspect of the present invention, a dynamic balancing material transport device for underground integrated utility tunnels is provided, comprising:

[0006] The moving mechanism includes a caster wheel and a second double-joint sleeve disposed on the caster wheel;

[0007] The horizontal telescopic mechanism installed on the moving mechanism includes a lightweight vertical steel support and a telescopic steel bracket. The lightweight vertical steel supports are connected by the telescopic steel bracket, and the lightweight vertical steel supports and the telescopic steel bracket are connected by a horizontal telescopic hydraulic press. The width of the equipment is adjusted in real time according to the feedback of changes in the underground slope.

[0008] The vertical lifting and balancing mechanism, which is movably connected to the horizontal telescopic mechanism, includes a hydraulic lift and a threaded sleeve. The two are integrated to adjust the vertical distance between the equipment and the ground in real time according to the slope of the pipe gallery ground road to achieve dynamic balance of material transportation.

[0009] The system also includes a sensing and detection mechanism that is communicatively connected to the moving mechanism, the horizontal telescopic mechanism, and the vertical lifting and balancing mechanism. This mechanism includes an environmental sensor and a balance sensor. The environmental sensor detects changes in the pipe gallery road in real time and feeds this information back to the balance sensor to control the hydraulic lift and the horizontal telescopic hydraulic press to drive the transportation equipment to adaptively adjust and achieve dynamic balance.

[0010] Furthermore, the horizontal telescopic mechanism includes a lightweight horizontal steel support, which has grooves and positioning holes at both ends for connecting the lightweight vertical steel support and the telescopic steel bracket.

[0011] Furthermore, the horizontal telescopic mechanism includes telescopic steel scaffolding boards, and the lightweight horizontal steel supports are connected by telescopic steel scaffolding boards.

[0012] Furthermore, the bottom of the hydraulic lift is equipped with an external thread that matches the threaded sleeve, enabling connection with the top of the horizontal telescopic mechanism.

[0013] Furthermore, the vertical lifting and balancing mechanism includes a first double-joint sleeve disposed at the top of the hydraulic lift.

[0014] Furthermore, the environmental sensors are evenly distributed on the four omnidirectional wheels to detect changes in the road conditions in real time and accurately.

[0015] Furthermore, the balance sensor is located in the middle of the lightweight horizontal steel support, and controls the hydraulic lift by receiving feedback information from the environmental sensor, thereby achieving dynamic balance of the vertical lifting balance mechanism.

[0016] Furthermore, the sensing and detection mechanism includes a camera located at two-thirds of the lightweight vertical steel support and a battery located on the bottom layer of steel scaffolding.

[0017] Furthermore, the top of the omnidirectional wheel is connected to the bottom of the second double-joint sleeve by welding.

[0018] According to a second aspect of the present invention, a method for using the aforementioned dynamic balancing material transport equipment for underground integrated utility tunnels is provided, comprising:

[0019] (1) Determine the number of horizontal expansion joints based on the net width of the underground utility tunnel;

[0020] (2) Move each component to the underground utility tunnel and assemble the moving mechanism, horizontal telescopic mechanism and vertical lifting and balancing mechanism.

[0021] (3) Install and activate the sensors and cameras as required;

[0022] (4) Check the key moving parts of the device and test whether the device is moving normally and whether the sensor is working properly;

[0023] (5) After inspection and debugging, move the material onto the device, turn on the sensor and battery switches, and keep the device stable and the material balanced.

[0024] (6) Propel the equipment forward and adjust its operating status and speed in a timely manner according to the equipment's operation and the state of the materials;

[0025] (7) When the equipment moves forward in the recessed section of the underground utility tunnel, the equipment controls the horizontal telescopic mechanism and the vertical lifting balance mechanism according to the ground characteristics of the tunnel, and adjusts the overall balance and the balance of materials in a timely manner.

[0026] (8) Unload the material after it has been delivered to the designated location;

[0027] (9) Move the device to the next material to be transported and repeat the above steps until all materials have been successfully transported to the designated location.

[0028] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0029] 1. The dynamic balancing material transport equipment of the present invention utilizes the feedback of changes in underground slope to adjust the height of the equipment in real time to ensure dynamic balance of the transported material surface. It uses sensors, controllers and algorithms to maintain balance during the transport process, thereby improving the safety and efficiency of operation, solving the problem of materials falling during transport, and can also be used as a platform on a certain slope. It can be used for material transport in underground integrated pipe corridors with a certain slope.

[0030] 2. The dynamic balancing material transport equipment of the present invention solves the problem of material transport in confined spaces by adjusting the telescopic device to change the overall width of the device, enabling unobstructed material transport within pipe racks. For example, it allows transport via fire-resistant material doors.

[0031] 3. The dynamic balancing material transport equipment of the present invention can meet the horizontal and vertical transport needs of all materials in the current integrated utility tunnel, including passing through a recessed section with a certain slope and keeping the materials from tipping over or tilting, avoiding safety accidents, improving work efficiency, reducing manual input, and further ensuring the safety of the operation.

[0032] 4. The dynamic balancing material transport equipment of the present invention addresses the problem of limited space in underground utility tunnels by designing the device as components, each of which can be sourced from on-site construction materials, facilitating placement within the tunnel. It features simple installation and dismantling and a very high turnover rate. Depending on the construction task, it can also be used to raise and lower the support operating platform, achieving multiple uses for one device and maximizing resource reuse. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of a dynamic balancing material transport equipment for an underground integrated utility tunnel according to an embodiment of the present invention;

[0034] Figure 2 This is an isometric drawing of a dynamic balancing material transport equipment for an underground integrated utility tunnel, according to an embodiment of the present invention.

[0035] Figure 3 This is a schematic diagram of the moving mechanism and the horizontal telescopic mechanism in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the horizontal telescopic mechanism in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the vertical lifting and balancing mechanism in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of a dynamic balancing material transport equipment for an underground integrated utility tunnel in operation, as described in an embodiment of the present invention.

[0039] Figure 7 This is a schematic diagram of the dynamic balancing material transportation method for underground integrated utility tunnels in an embodiment of the present invention.

[0040] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1—positioning pin; 2—first double-joint sleeve; 3—hydraulic lift; 4—threaded sleeve; 5—lightweight vertical steel support; 6—horizontal telescopic hydraulic press; 7—telescopic steel bracket; 8—second double-joint sleeve; 9—telescopic steel scaffold board; 10—lightweight horizontal steel support; 11—battery; 12—caster wheel; 13—environmental sensor; 14—camera; 15—balance sensor; 16—bearing; 17—sloping road surface. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0042] like Figure 1-6As shown, this embodiment of the invention provides a dynamic balancing material transport device for underground utility tunnels, comprising four parts: a moving mechanism, a horizontal telescopic mechanism, a vertical lifting balancing mechanism, and a sensing and detection mechanism. The moving mechanism utilizes casters and a second double-joint sleeve of appropriate height to ensure the stability and mobility of the equipment. The casters have a locking function, providing stability during operation and ensuring that the position does not shift when the equipment stops. This design allows the equipment to operate flexibly amidst changes in slope within the underground utility tunnel without affecting stability. The horizontal telescopic mechanism is located at the top of the moving mechanism, and the vertical lifting balancing mechanism is movably connected to it. The design and use of the horizontal telescopic mechanism and the vertical lifting balancing mechanism are intended to further improve the stability and operating efficiency of the equipment, especially under changing environmental conditions within the utility tunnel. These two parts are electrically or hydraulically driven, enabling precise control to maintain dynamic balance and thus improve the safety and efficiency of material transport. All three parts are communicatively connected to the sensing and detection mechanism, which monitors the equipment status and operating environment in real time, ensuring the autonomous operation and safety of the equipment. By utilizing advanced sensor technologies, such as infrared sensors, pressure sensors, and displacement sensors, the equipment can be selected and configured according to actual needs. The moving mechanism is the foundation of the equipment's movement, allowing it to move according to actual logistics requirements and possessing excellent flexibility. Its design considers the stability and mobility of the equipment in underground utility tunnels, taking into account the terrain characteristics and actual logistics environment. The horizontal telescopic mechanism, located at the top of the moving mechanism, adjusts the equipment width in real time based on feedback from changes in the underground slope. This design improves the equipment's adaptability and flexibility, effectively adapting to environmental changes within different utility tunnels. This part can be based on electric or hydraulic drive, achieving precise control and ensuring the stability of equipment operation. The vertical lifting and balancing mechanism is movably connected to the horizontal telescopic mechanism; this is a key part for maintaining equipment stability, ensuring the vertical distance between the equipment and the ground, and achieving dynamic balance in material transportation. This design can be automatically adjusted through the control system, further improving the safety and efficiency of material transportation. The sensing and detection mechanism communicates with the aforementioned three components, enabling real-time monitoring of equipment status, operating environment, and other information, providing assurance for the autonomous operation and safety of the equipment. This part can employ advanced sensor technologies, such as infrared sensors, pressure sensors, and displacement sensors, selected and configured according to actual needs. The dynamic balancing material transport equipment of the present invention utilizes the feedback of changes in underground slope to adjust the height of the equipment in real time to ensure dynamic balance of the transported material surface. It uses sensors, controllers and algorithms to maintain balance during the transport process, thereby improving the safety and efficiency of operation, solving the problem of materials falling during transport, and can also be used as a platform on a certain slope. It can be used for material transport in underground integrated pipe corridors with a certain slope.

[0043] Among them, such as Figure 3 As shown, the moving mechanism of the underground integrated utility tunnel dynamic balancing material transport equipment of the present invention consists of four 50mm diameter casters 12 and a second double-joint sleeve 8 with a height of 80mm. All four casters 12 are equipped with a locking function, providing stability for equipment operation and ensuring that the position does not shift when the equipment stops. The upper part of the casters 12 is welded to the bottom of the second double-joint sleeve 8, centered and aligned. This design aims to ensure the stability and balance of the equipment. Furthermore, the 50mm diameter of the casters 12 ensures both smooth operation and meets the practical needs of the underground utility tunnel environment. The 80mm height of the second double-joint sleeve 8 is a reasonable design that ensures the stability of the equipment during operation. A 5mm thick, 80mm long flat steel piece is welded to its top along the short axis, with a DN25 hole at the front end. This hole is used to connect with other steel supports to improve the overall stability of the equipment. A 5mm thick, 80mm long flat steel bar is also welded along the long axis of the second double-joint sleeve 8. The top of this flat steel bar is rounded, allowing the equipment to swing up and down more smoothly during movement. A 25mm diameter hole is also cut at the front end of the flat steel bar, and a 25mm diameter bearing is installed inside the hole. This design allows the equipment to flexibly cope with different road sections and adapt to various road surface changes. In summary, the underground integrated utility tunnel dynamic balancing material transport equipment of this invention, through the ingenious design of the moving mechanism structure, enables it to operate stably and adapt to different road conditions. Simultaneously, the equipment's up-and-down swing design allows it to adapt to slope changes within the underground utility tunnel, improving the equipment's adaptability and efficiency.

[0044] like Figure 3 and Figure 4As shown, the horizontal telescopic mechanism includes a lightweight vertical steel support 5, a horizontal telescopic hydraulic press 6, a telescopic steel bracket 7, a telescopic steel scaffold board 9, and a lightweight horizontal steel support 10. The lightweight vertical steel support 5 is DN32 in diameter and 600mm high. Its bottom has a 60mm high threaded section for mechanical connection to the second double-joint sleeve 8 of the moving mechanism. A 5mm thick, 80mm long steel bracket is welded to its top along its short axis, with a DN25 hole at its front end for easy connection to other steel supports. A 5mm thick, 80mm long steel bracket is welded along its long axis, with a rounded top and a 25mm diameter hole at its front end, housing a 25mm diameter bearing to facilitate the overall up-and-down swing of the device for different road sections. The lightweight vertical steel supports 5 are connected by telescopic steel brackets 7, which are made of 3mm thick, 500mm long flat steel, and all connections are made with bolts. A horizontal telescopic hydraulic press 6 connects the lightweight vertical steel support 5 and the telescopic steel bracket 7, altering the overall width of the device to accommodate material transport in confined spaces within the utility tunnel. Lightweight horizontal steel supports 10 connect the various steel supports, each equipped with grooves and positioning holes at both ends for easy connection. Telescopic steel scaffolding boards 9 connect the lightweight horizontal steel supports 10, serving as a platform for material transport. These boards can be installed and removed according to the type and size of the materials. This invention's dynamic balancing material transport equipment, by adjusting the telescopic device to change the overall width of the device, solves the problem of material transport in confined spaces, enabling unobstructed material transport within the utility tunnel. For example, it allows for transport via fire doors.

[0045] like Figure 5 and Figure 6As shown, the vertical lifting and balancing mechanism of this invention includes a hydraulic lift 3, a threaded sleeve 4, and a first double-joint sleeve 2. The hydraulic lift 3 features a sophisticated design with external threads at its bottom, allowing it to be securely connected to the top of the horizontal telescopic mechanism via the threaded sleeve 4. This maintains equipment stability while allowing for flexible adjustments based on the working environment. The hydraulic lift 3 has a height of 60mm, a moderate size that prevents the equipment from being too bulky or affecting its functionality. Furthermore, the top of the hydraulic lift 3 is equipped with a first double-joint sleeve 2 for easy connection to other hydraulic lifts. This design allows for the completion of various construction tasks depending on the specific construction work, and also enables operation as a mobile platform in environments with a certain slope, significantly improving operational safety and construction efficiency. Furthermore, the dynamic balancing material transport equipment for underground integrated utility tunnels provided by this invention can meet the horizontal and vertical transport needs of all materials within the integrated utility tunnel. This is mainly due to the presence of the vertical lifting and balancing mechanism, which ensures that the equipment maintains the material's integrity and prevents it from tipping over or tilting when passing through a sloped concave section. This design greatly avoids potential safety accidents, improves operational efficiency, reduces manual labor input, and thus further ensures operational safety.

[0046] like Figure 6 As shown, the sensing and detection mechanism in this embodiment of the invention consists of four environmental sensors 13, two cameras 14, two batteries, and one balance sensor 15. The batteries are located on the bottom layer of steel scaffolding, providing stable power support for the entire device. The four environmental sensors 13 are evenly distributed on the four casters 12. This design allows for real-time and accurate detection of road changes, which are then fed back to the balance sensor 15. The balance sensor 15 is located in the middle of the lightweight horizontal steel support 10. By receiving feedback information from the environmental sensors 13, it can control the hydraulic lift 3, achieving dynamic balance of the vertical lifting and balancing mechanism, thereby ensuring that materials do not fall during transportation. To further improve the working efficiency and safety of the equipment, this embodiment of the invention also includes two cameras 14 located at two-thirds of the length of the lightweight vertical steel support 5. This design allows the camera 14 to monitor the equipment's working status and surrounding environment from all angles, thereby effectively preventing potential safety risks and enabling timely adjustments to the equipment's working mode and strategy to adapt to the ever-changing working environment. The underground integrated pipe gallery dynamic balancing material transport equipment of this invention ensures efficient and safe material transport while also fully considering the equipment's adaptability and flexibility, enabling the equipment to achieve good working results in various complex working environments.

[0047] like Figure 7As shown, in another embodiment of the present invention, a method for dynamically balancing material transportation in an underground integrated utility tunnel is provided, comprising the following steps:

[0048] (1) Determine the number of horizontal expansion joints based on the net width of the underground utility tunnel;

[0049] (2) Move each component into the underground utility tunnel, and then assemble it according to the equipment composition of Embodiment 1. In this step, special attention should be paid to correctly installing each component according to the requirements of the equipment in Embodiment 1, such as the moving mechanism, the horizontal telescopic mechanism, and the vertical lifting and balancing mechanism;

[0050] (3) After the equipment is assembled, install the sensors and cameras as required and activate them;

[0051] (4) Check the key moving parts of the device and test whether the device is moving normally and whether the sensor is working properly;

[0052] (5) After inspection and debugging, we can move the material onto the device, then turn on the sensor and battery switches, and keep the device stable and the material balanced.

[0053] (6) Propel the device forward. In this step, pay close attention to the operation of the equipment and the status of the materials, and adjust the operating status and speed of the equipment in a timely manner.

[0054] (7) When the device moves forward in the recessed section of the underground utility tunnel, the equipment controls the horizontal telescopic mechanism and the vertical lifting and balancing mechanism according to the ground characteristics of the tunnel, and adjusts the overall balance and the balance of materials in a timely manner.

[0055] (8) After the material reaches the designated location, unload the material. During this step, it is important to maintain the stability of the equipment to prevent material spillage or equipment imbalance during unloading.

[0056] (9) Move the device to the next material to be transported and repeat the above steps until all materials have been successfully transported to the designated location.

[0057] This device can be used for different purposes depending on the work being performed. For example, it can be used as a lifting and support operating platform to complete high-altitude operations within underground utility tunnels, achieving multiple uses from a single device. The dynamic balancing material transport equipment of this invention addresses the issue of limited space in underground utility tunnels by designing the device as a series of components, each of which can be sourced from on-site construction materials, facilitating placement within the tunnel. It features simple installation and dismantling and a very high turnover rate. It can also be used as a lifting and support operating platform depending on the construction task, achieving multiple uses from a single device and, to a certain extent, maximizing resource reuse.

[0058] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A dynamic balancing material transport equipment for underground integrated utility tunnels, characterized in that, include: The moving mechanism includes four casters (12) and a second double-joint sleeve (8) disposed on the casters (12). The horizontal telescopic mechanism provided on the moving mechanism includes a lightweight vertical steel support (5) and a telescopic steel bracket (7). The lightweight vertical steel supports (5) are connected by the telescopic steel bracket (7). The lightweight vertical steel supports (5) and the telescopic steel bracket (7) are connected by a horizontal telescopic hydraulic press (6). The width of the equipment is adjusted in real time according to the feedback of the change in the underground slope. The vertical lifting and balancing mechanism connected to the horizontal telescopic mechanism includes a hydraulic lift (3) and a threaded sleeve (4), which are integrated to adjust the vertical distance between the equipment and the ground in real time according to the slope of the pipe gallery to achieve dynamic balance of material transportation. The sensing and detection mechanism is connected in communication with the moving mechanism, the horizontal telescopic mechanism and the vertical lifting and balancing mechanism. It includes an environmental sensor (13) and a balance sensor (15). The environmental sensor (13) senses the changes in the slope of the pipe gallery road and the width of the fire door in real time, and then feeds this information back to the balance sensor (15) to control the hydraulic lift (3) and the horizontal telescopic hydraulic press (6) to drive the transportation equipment to adaptively adjust and achieve dynamic balance. The horizontal telescopic mechanism also includes telescopic steel scaffolding boards (9) and lightweight horizontal steel supports (10). The lightweight vertical steel supports (5) are connected to each other by the lightweight horizontal steel supports (10). The lightweight horizontal steel supports (10) are equipped with grooves and holes for positioning at both ends, and the lightweight horizontal steel supports (10) are connected to each other by telescopic steel scaffolding boards (9). The sensing and detection mechanism also includes a battery (11) and a camera (14). The battery (11) is located on the telescopic steel scaffold board (9) on the bottom layer. The camera (14) is located at two-thirds of the lightweight vertical steel support (5). The environmental sensors (13) are evenly distributed on the four casters (12); the balance sensor (15) is located in the middle of the lightweight horizontal steel support (10); The top of the second double-joint sleeve (8) is welded with a first flat steel in the short axis direction, and the front end of the first flat steel is provided with a hole; the second double-joint sleeve (8) is welded with a second flat steel in the long axis direction, the top of the second flat steel is rounded, the front end of the second flat steel is provided with a hole, and the hole is equipped with a bearing (16). The lightweight vertical steel support (5) has threads on its bottom outer side and is connected to the second double-joint sleeve (8); the top of the lightweight vertical steel support (5) is welded with a first steel bracket in the short axis direction, and the front end of the first steel bracket has a hole; the lightweight vertical steel support (5) is welded with a second steel bracket in the long axis direction, the top of the second steel bracket is rounded, the front end of the second steel bracket has a hole, and the hole is equipped with a bearing so that the whole device can swing up and down.

2. The dynamic balancing material transport equipment for underground integrated utility tunnels according to claim 1, characterized in that, The bottom of the hydraulic lift (3) is equipped with an external thread that matches the threaded sleeve (4) to achieve connection with the top of the horizontal telescopic mechanism.

3. The underground integrated utility tunnel dynamic balancing material transport equipment according to claim 2, characterized in that, The vertical lifting and balancing mechanism includes a first double-joint sleeve (2) located at the top of the hydraulic lift (3).

4. The underground integrated utility tunnel dynamic balancing material transport equipment according to claim 1, characterized in that, The top of the caster wheel (12) is connected to the bottom of the second double-joint sleeve (8) by welding.

5. A method of using a dynamic balancing material transport equipment for underground integrated utility tunnels as described in any one of claims 1-4, characterized in that, include: (1) Determine the number of horizontal expansion joints based on the net width of the underground utility tunnel; (2) Move each component to the underground utility tunnel and assemble the moving mechanism, horizontal telescopic mechanism and vertical lifting and balancing mechanism. (3) Install and activate the sensors and cameras as required; (4) Check the key moving parts of the device and test whether the device is moving normally and whether the sensor is working properly; (5) After inspection and debugging, move the material onto the device, turn on the sensor and battery switches, and keep the device stable and the material balanced. (6) Propel the equipment forward and adjust its operating status and speed in a timely manner according to the equipment's operation and the state of the materials; (7) When the equipment moves forward in the recessed section of the underground integrated pipe gallery, the equipment controls the horizontal telescopic mechanism and the vertical lifting balance mechanism according to the ground characteristics of the pipe gallery, and adjusts the overall balance and the balance of materials in a timely manner. (8) Unload the material after it has been delivered to the designated location; (9) Move the device to the next material to be transported and repeat the above steps until all materials have been successfully transported to the designated location.

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