Multi-sensor fusion based anti-collision and posture stabilization control method and system for steel reinforcement trolley

Abstract

This invention discloses a collision avoidance and attitude stabilization control method and system for a rebar trolley based on multi-sensor fusion, specifically relating to the field of tunnel construction equipment technology. The control system includes a mobile frame with a support arm rotatably connected to its top. Multiple lifting rods and multiple working platforms are evenly arranged circumferentially on the outer side of the mobile frame. A placement mechanism is installed on the top of the support arm. Multiple detection units are fixedly connected to the outer wall of the mobile frame. The placement mechanism includes a support frame. The control method includes the following steps: Step S1: Start the rebar trolley, calibrate the overall horizontal attitude of the rebar trolley, and avoid potential tunnel collision hazards during construction. This invention relies on a support plate to support the waterproof cloth, significantly shortening the time for loading and aligning the waterproof cloth, reducing manual labor intensity. Simultaneously, the support plate, due to its own gravity, will not rotate synchronously with the rotating cylinder and waterproof cloth, solving the problem of the tray bumping and scratching the waterproof cloth as it rotates.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction equipment technology, and more specifically, to a method and system for collision avoidance and attitude stability control of steel bar trolleys based on multi-sensor fusion. Background Technology

[0002] Rebar trolleys are specialized mobile platform equipment used in tunnel and other engineering projects for rebar installation, tying, and other operations. They typically integrate a walking mechanism, hydraulic system, and rebar positioning and clamping device. They can replace traditional manual labor in rebar construction in scenarios such as tunnel secondary lining, significantly improving work efficiency, reducing manual labor intensity and the risk of falls from heights. The anti-collision and attitude stability control system based on multi-sensor fusion can ensure that the trolley remains horizontally stable in complex terrain and during operations, preventing overturning and improving the safety, stability, and intelligence level of rebar trolley construction.

[0003] For example, patent application CN121138947A, published on December 16, 2025, discloses an integrated trolley for lifting and feeding reinforcing bars and installing waterproof membranes. It includes a steel structure support frame, on which are mounted circumferential supports, a reinforcing bar lifting and feeding system, and a waterproof membrane installation system. The reinforcing bar lifting and feeding system includes a lifting mechanism and a conveying mechanism. The lifting mechanism is used to lift the circumferential reinforcing bars to the upper part of the trolley. The lifting mechanism includes guide rails and a lifting frame that moves up and down along the guide rails. A transfer mechanism is located on the frame between the upper parts of the two guide rails to transfer the circumferential reinforcing bars from the lifting frame to the conveying mechanism. The conveying mechanism is used to convey the circumferential reinforcing bars to the other end of the trolley. The waterproof membrane installation system includes a support rod, a crossbar, an arc-shaped guide plate, and a traveling mechanism.

[0004] As disclosed in the prior art, the laying of the waterproof tarpaulin relies on a steel reinforcement trolley. During construction, one end of the waterproof tarpaulin is first fixed to the tunnel foundation. Then, the support arm on the steel reinforcement trolley pulls the tarpaulin along the tunnel's arched track, moving it synchronously. As the support arm moves forward, the tarpaulin is smoothly laid onto the tunnel foundation, thus completing the overall laying of the tunnel waterproof tarpaulin. Before the formal laying of the waterproof tarpaulin, it needs to be fitted onto the support shaft of the support arm. Throughout the installation process, workers must operate the robotic arm to lift and raise the waterproof tarpaulin, repeatedly moving and adjusting its central axis to align it with the central axis of the support shaft before pushing it forward. The support shaft is inserted into the inner cavity of the waterproof fabric to fix it in place. In this installation method, the coaxiality between the waterproof fabric and the support shaft requires multiple adjustments by the operators. This not only increases the time for axis alignment but also increases the labor intensity of the operators. To address this, a tray needs to be added to the bottom of the waterproof fabric. When the waterproof fabric is placed on the tray, the central axis of the waterproof fabric is aligned with the central axis of the support shaft. This tray structure can significantly shorten the alignment time between the central axis of the waterproof fabric and the support shaft. However, as the waterproof fabric rotates, the tray rotates with it, and the tray may collide with the waterproof fabric being laid, which affects the subsequent laying of the waterproof fabric and reduces the quality of the waterproof fabric laying. Summary of the Invention

[0005] The present invention provides a method and system for collision avoidance and attitude stabilization control of a rebar trolley based on multi-sensor fusion. The problem to be solved is that before the installation of the waterproof cloth, the operator needs to operate the robotic arm multiple times to align the waterproof cloth with the axis of the support shaft, which increases the alignment time and the labor intensity of the operator. At the same time, if a pallet is added, it will cause the pallet to collide with the waterproof cloth being laid when the pallet and the waterproof cloth rotate together, thereby reducing the laying quality of the waterproof cloth.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a collision avoidance and attitude stability control system for a steel bar trolley based on multi-sensor fusion, including a mobile frame, a support arm rotatably connected to the top of the mobile frame, multiple lifting rods and multiple working platforms evenly arranged circumferentially on the outer side of the mobile frame, a placement mechanism installed on the top of the support arm, and multiple detection units fixedly connected to the outer wall of the mobile frame. The placement mechanism includes a support frame, one end of which is fixedly connected to the outer wall of the support arm, and the other end of which is rotatably connected to a rotating cylinder. One end of the rotating cylinder is fixedly connected to a retaining ring, and a support shaft is installed inside the retaining ring. The other end of the rotating cylinder is fitted with a pin, and a support plate is rotatably connected to the bottom of the retaining ring.

[0007] In a preferred embodiment, the placement mechanism further includes a lifting assembly, which is installed at the bottom of the retaining ring. The lifting assembly includes a first right-angle plate, which is rotatably connected to the retaining ring. An electric push rod is fixedly connected to the outer wall of the first right-angle plate, and a connecting column is fixedly connected to the drive end of the electric push rod.

[0008] In a preferred embodiment, the lifting assembly further includes a second right-angle plate. The bottom of the second right-angle plate is fixedly connected to the outer wall of the connecting column. A protrusion is fixedly connected to the side of the second right-angle plate near the first right-angle plate. A guide groove is formed on the outer wall of the first right-angle plate along its own height direction. The protrusion is located inside the guide groove, and the protrusion and the guide groove are mutually sliding and guiding.

[0009] In a preferred embodiment, the lifting assembly further includes a first ejector block, the top of which is fixedly connected to the bottom of a first right-angled plate. A second ejector block is fixedly connected to the outer wall of the drive shaft of the electric push rod. A fixed frame is fixedly connected to the bottom of the first right-angled plate. Two sliding blocks are slidably connected to the outer wall of the fixed frame. A movable block is installed between the two sliding blocks. A connecting plate is fixedly connected to the outer wall of the movable block. A first spring is installed between the connecting plate and the sliding block. One end of the first spring is fixedly connected to the outer wall of the connecting plate, and the other end of the first spring is fixedly connected to the inner wall of the sliding block. A roller is rotatably connected to the side of the movable block away from the second ejector block. The connecting plate is slidably connected to the inner wall of the sliding block. Both the first ejector block and the second ejector block can be wedge-shapedly engaged with the movable block. An insertion hole is provided on the side of the movable block near the second ejector block, and the second ejector block and the insertion hole are interlocked.

[0010] In a preferred embodiment, the placement mechanism further includes a locking component mounted on the bottom of the support shaft. The locking component includes a first wedge, the top of which is fixedly connected to the bottom of the support shaft. A fixing block is fixedly connected to the outer wall of the first right-angle plate, and a sliding plate is slidably connected to the inner wall of the fixing block. A second spring is installed between the sliding plate and the fixing block, one end of which is fixedly connected to the top of the sliding plate, and the other end of which is fixedly connected to the inner wall of the fixing block. A sliding post is fixedly connected to the outer wall of the sliding plate, and the first wedge and the sliding post are wedge-shaped to each other.

[0011] In a preferred embodiment, the locking assembly further includes a second wedge, which is installed on the inner wall of the first right-angle plate. A connecting block is fixedly connected to the outer wall of the second wedge. A third spring is installed between the connecting block and the first right-angle plate. One end of the third spring is fixedly connected to the outer wall of the connecting block, and the other end of the third spring is fixedly connected to the inner wall of the first right-angle plate. A limit frame is fixedly connected to the top of the second right-angle plate, and the second wedge and the limit frame are engaged with each other.

[0012] In a preferred embodiment, the sliding post passes through the fixed block, and the sliding post and the fixed block are in a sliding guide fit with each other; the second wedge passes through the first right-angle plate, and the second wedge and the first right-angle plate are in a sliding guide fit with each other; the sliding post and the second wedge are in a wedge fit with each other.

[0013] In a preferred embodiment, a limiting groove is provided at the bottom of both the rotating cylinder and the bottom of the retaining ring, and the first wedge is located inside the limiting groove, with the first wedge and the limiting groove providing a sliding guide engagement.

[0014] In a preferred embodiment, both sides of the support plate are fixedly connected to the outer wall of the connecting column and the outer wall of the second right-angle plate. The outer wall of the rotating cylinder has a first through hole, and the outer wall of the support shaft has a second through hole. The pin passes through the first through hole and the second through hole in sequence.

[0015] The collision avoidance and attitude stabilization control method for steel bar trolley based on multi-sensor fusion includes the following steps: Step S1: Start the rebar trolley, calibrate the overall horizontal posture of the rebar trolley, and avoid potential tunnel collision hazards during construction; Step S2: Install the entire roll of waterproof fabric onto the support shaft; Step S3: One end of the waterproof cloth is pulled out and fixed inside the tunnel. The waterproof cloth is continuously pulled out as the support arm revolves. The pulled-out waterproof cloth is then attached to and installed on the inner wall of the tunnel. Step S4: Carry out the tunnel lining reinforcement construction work; Step S5: Reset the steel bar trolley to prepare for the subsequent pouring of secondary tunnel lining concrete.

[0016] The beneficial effects of this invention are as follows: This invention utilizes a placement mechanism that relies on a support plate to support the waterproof fabric, eliminating the need for operators to repeatedly operate the robotic arm to adjust the axis. This significantly shortens the material loading and alignment time, reduces manual labor intensity, and ensures that the support plate, under its own weight, does not rotate synchronously with the rotating cylinder or the waterproof fabric. This solves the problem of the pallet bumping and scratching the waterproof fabric as it rotates, effectively protecting the integrity of the waterproof fabric and improving the quality of the finished tunnel waterproofing installation.

[0017] This invention, by setting up a lifting component, drives the support plate downwards via an electric push rod before laying the fabric, widening the gap between the waterproof fabric and the support plate. This prevents the waterproof fabric from being damaged due to continuous friction between the waterproof fabric and the support plate during its rotation and unwinding. It also avoids the potential danger of the support plate colliding and scraping against the reinforcing steel bars, thus improving the safety of laying the waterproof fabric.

[0018] This invention, by setting a locking component and relying on the insertion and removal action of the support shaft and the wedge-shaped cooperation structure, realizes the automatic locking and unlocking switching of the lifting component, which is compatible with the installation and laying of waterproof cloth and effectively makes up for the safety hazard of accidental start of the lifting component. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0020] Figure 2 This is a schematic diagram of the support shaft structure of the anti-collision and attitude stabilization control system for steel bar trolley based on multi-sensor fusion proposed in this invention.

[0021] Figure 3 This is a schematic diagram of the rotating cylinder structure of the anti-collision and attitude stabilization control system for steel bar trolley based on multi-sensor fusion proposed in this invention.

[0022] Figure 4 This is a schematic diagram of the first right-angle plate structure of the anti-collision and attitude stabilization control system for steel bar trolley based on multi-sensor fusion proposed in this invention.

[0023] Figure 5 For the present invention Figure 4 Enlarged structural diagram at point A in the middle.

[0024] Figure 6 This is a schematic diagram of the second right-angle plate structure of the anti-collision and attitude stabilization control system for steel bar trolley based on multi-sensor fusion proposed in this invention.

[0025] Figure 7 For the present invention Figure 6 Enlarged structural diagram at point B.

[0026] Figure 8 This is a schematic diagram of the second wedge structure of the anti-collision and attitude stabilization control system for steel bar trolley based on multi-sensor fusion proposed in this invention.

[0027] Figure 9 This is a schematic diagram of the first ejector block structure of the anti-collision and attitude stabilization control system for steel bar trolley based on multi-sensor fusion proposed in this invention.

[0028] Figure 10 This is a schematic diagram of the moving block structure of the anti-collision and attitude stabilization control system for steel bar trolley based on multi-sensor fusion proposed in this invention.

[0029] The attached figures are labeled as follows: 1. Movable frame; 2. Support arm; 3. Lifting rod; 4. Working platform; 5. Placement mechanism; 51. Support frame; 52. Rotating cylinder; 53. Retaining ring; 54. Support shaft; 55. Pin; 56. Support plate; 6. Lifting assembly; 61. First right-angle plate; 62. Electric push rod; 63. Connecting column; 64. Second right-angle plate; 65. Guide groove; 66. First ejector block; 67. Second ejector block; 68. Fixed frame; 69. Sliding block; 610. Movable block; 611. Connecting plate; 612. First spring; 613. Roller; 7. Locking assembly; 71. First wedge; 72. Fixed block; 73. Sliding plate; 74. Second spring; 75. Sliding column; 76. Second wedge; 77. Connecting block; 78. Third spring; 79. Limiting frame; 8. Detection unit. Detailed Implementation

[0030] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0031] like Figure 1 , Figure 2 and Figure 3 As shown, the aim is to solve the technical problems of existing waterproof fabric installations, which require operators to operate the robotic arm multiple times to align the waterproof fabric with the support shaft before installation. This increases the alignment time and the labor intensity of the operators. In addition, if a pallet is added, it will cause the pallet to collide with the waterproof fabric being laid when the pallet and the waterproof fabric rotate together, thus reducing the laying quality of the waterproof fabric.

[0032] This invention provides a collision avoidance and attitude stability control system for a rebar trolley based on multi-sensor fusion, including a mobile frame 1, a support arm 2 rotatably connected to the top of the mobile frame 1, multiple lifting rods 3 and multiple working platforms 4 evenly arranged circumferentially on the outer side of the mobile frame 1, a placement mechanism 5 installed on the top of the support arm 2, and multiple detection units 8 fixedly connected to the outer wall of the mobile frame 1. The placement mechanism 5 includes a support frame 51. One end of the support frame 51 is fixedly connected to the outer wall of the support arm 2. The other end of the support frame 51 is rotatably connected to a rotating cylinder 52. One end of the rotating cylinder 52 is fixedly connected to a retaining ring 53. A support shaft 54 ​​is installed inside the retaining ring 53. A pin 55 is installed at the other end of the rotating cylinder 52. A first through hole is opened on the outer wall of the rotating cylinder 52. A second through hole is opened on the outer wall of the support shaft 54. The pin 55 passes through the first through hole and the second through hole in sequence. A support plate 56 is rotatably connected to the bottom of the retaining ring 53.

[0033] It should be added that, such as Figure 1 As shown, multiple sets of receiving frames are fixedly installed on the support arm 2. The receiving frames have a rectangular structure and are located on one side of the support shaft 54. The multiple sets of receiving frames are equidistantly distributed along the axial direction of the support shaft 54. The interior of the receiving frames can hold multiple bundles of steel bars. The movable frame 1 is equipped with guide rails at both ends along the axial direction of the support shaft 54. The support arm 2 is also provided with two sets, and the two sets of support arms 2 are respectively installed on the two sets of guide rails. The support arm 2 is slidably installed on the guide rails. The support arm 2 is provided with a drive mechanism and a rotating wheel inside. The rotating wheel is clamped on the upper and lower sides of the guide rail. The drive mechanism is connected to the rotating wheel. The drive mechanism is used to drive the rotating wheel to rotate on the guide rail. The drive mechanism can be a motor, a rotary cylinder, or other rotary drive mechanism, which is existing technology and will not be described in detail. The rotation of the rotating wheel causes the support arm 2 to slide on the guide rail. The sliding connection structure between the support arm 2 and the guide rail is existing technology and will not be described in detail.

[0034] Secondly, a traction rod is also arranged on the support arm 2. The two ends of the traction rod are rotatably connected to the two support arms 2 respectively. The length direction of the traction rod is consistent with the length direction of the tunnel, and multiple traction positions are arranged on the traction rod along its own length direction. The traction position can be a hole opened on the traction rod or a hook installed on the traction rod. When the steel bar is pulled into an arc shape, the rope tied to the end of the steel bar can be suspended on the hole or hook. Then, the traction rod moves synchronously by the movement of the support arm 2. The movement of the traction rod is used to pull the steel bar into an arc structure and move it to the position of the moving frame 1.

[0035] The lifting rod 3 includes a cylinder and a lifting rod. The fixed end of the cylinder is fixedly connected to the movable frame 1, and the output end is fixedly connected to the lifting rod. The length direction of the lifting rod is consistent with the length direction of the tunnel. When laying steel bars along the length direction of the tunnel, the cylinder can drive the lifting rod to rise. The rising of the lifting rod pushes the steel bars laid along the length direction of the tunnel to rise synchronously, so that the steel bars are pressed against the inner wall of the tunnel. This lifting rod 3 structure is existing technology and will not be described in detail.

[0036] The work platform 4 allows workers to stand and climb, facilitating nearby operations such as rebar alignment and tying. This is existing technology and will not be elaborated further. In this embodiment, the detection unit 8 can be a millimeter-wave radar, a laser rangefinder, and a controller. Both the millimeter-wave radar and the laser rangefinder are used for collision avoidance. The millimeter-wave radar can resist interference from tunnel dust and water mist, and scan surrounding obstacles in all weather conditions. The laser rangefinder can measure the distance between the trolley and the tunnel wall. The controller can compare the distance to a safe distance threshold, issue a warning when the distance is insufficient, and control the trolley to brake and avoid obstacles. The detection unit 8 can also be a three-axis tilt sensor and a linear displacement sensor. The three-axis tilt sensor and the linear displacement sensor can dynamically adjust the attitude of the rebar trolley. The three-axis tilt sensor can collect the longitudinal and transverse tilt angles of the vehicle body in real time to determine the degree of tilt. The linear displacement sensor can monitor the wheel height in real time. The controller can adjust the wheel height according to the attitude deviation, correct the vehicle body tilt, and maintain the stability of the trolley's working attitude. The detection unit 8 is existing technology and will not be elaborated further.

[0037] In actual use, before the formal tunnel waterproofing cloth laying operation is carried out, the steel bar trolley is moved to the designated position of the tunnel construction. The support arm 2 is located at one end of the guide rail. The operator pulls the support shaft 54 ​​forward from the internal cavity of the rotating cylinder 52 on both sides along the length of the support shaft 54 ​​itself, freeing up sufficient installation space to facilitate the subsequent loading of waterproofing cloth.

[0038] The entire roll of waterproof fabric to be laid is then placed smoothly on the support plate 56. After the waterproof fabric is placed, the central axis of the waterproof fabric coincides with the central axis of the support shaft 54. The operator inserts the support shaft 54 ​​back along the cavity of the rotating cylinder 52 and the reserved cavity in the center of the waterproof fabric, so that the support shaft 54 ​​passes through both sides of the rotating cylinder 52 and the center of the waterproof fabric, until the first through hole on the outer wall of the rotating cylinder 52 is aligned with the second through hole on the outer wall of the support shaft 54. Then, the operator inserts the pin 55 through the first through hole and the second through hole in sequence, and the circumferential limit locking of the rotating cylinder 52 and the support shaft 54 ​​is achieved by the pin 55, so that the two form an integrated rotating structure, and the support shaft 54 ​​is installed. At this time, the installation of the waterproof fabric is completed.

[0039] After the installation of the waterproof cloth is completed, one end of the waterproof cloth is first pulled out and fixed in the tunnel with screws or rivets. Then, the drive mechanism drives the support arm 2 to slide on the guide rail. The support arm 2 drives the placement mechanism 5 to move smoothly along the inner wall of the tunnel arch. The waterproof cloth is continuously pulled out as the support arm 2 moves. The rolled waterproof cloth rotates around its own axis and, relying on the friction between the waterproof cloth and the support shaft 54, drives the support shaft 54 ​​to rotate coaxially with the waterproof cloth. At the same time, the rotating cylinder 52 will rotate with the support shaft 54 ​​due to the limiting effect of the pin 55. The retaining ring 53 rotates with the rotating cylinder 52. Finally, the rolled waterproof cloth drives the support shaft 54, the rotating cylinder 52 and the retaining ring 53 to rotate on the support frame 51. The waterproof cloth pulled out from the rolled waterproof cloth continues to be tightly attached to the inner wall of the tunnel.

[0040] Throughout the entire process of the retaining ring 53 rotating with the rotating cylinder 52, the first right-angle plate 61 will continuously and adaptively slide along the groove of the retaining ring 53 due to the downward vertical gravity of the support plate 56. This will always counteract the circumferential rotational displacement caused by the rotation of the retaining ring 53. Ultimately, the support plate 56 will be difficult to rotate with the retaining ring 53. The top of the support plate 56 will always be vertically upward and stably facing the bottom of the waterproof cloth, thus avoiding the problems of movement interference, collision and scratching between the support plate 56 and the waterproof cloth being laid.

[0041] After the waterproof cloth in the designated area of ​​the tunnel is completely laid, the support arm 2 moves to the other end of the guide rail. The operator first pulls out the pin 55 to release the locking relationship between the rotating cylinder 52 and the support shaft 54. Then, the support shaft 54 ​​is pulled out from the rotating cylinder 52 and the remaining waterproof cloth to separate the support shaft 54 ​​from the waterproof cloth. Finally, the waterproof cloth is removed, and the single complete laying operation can be completed.

[0042] Subsequently, the construction of the tunnel lining steel reinforcement frame was officially launched. Workers climbed onto the work platform 4, untied the tied steel bars, removed the steel bars, and hung the ropes binding the ends of the steel bars on the traction rod. Then, the support arm 2 was rotated to pull the steel bars to the deployment point. Then, the corresponding lifting rod 3 extended to push and bend the steel bars so that the steel bars fit the tunnel wall as a whole. Afterwards, the workers completed the steel bar binding operation and gradually assembled the tunnel lining steel reinforcement frame.

[0043] Secondly, when the waterproof cloth is placed on the support plate 56, the central axis of the waterproof cloth can be automatically aligned with the central axis of the support shaft 54, eliminating the need for manual repeated operation of the robotic arm to adjust the axis. This significantly shortens the alignment time between the central axis of the waterproof cloth and the central axis of the support shaft 54, effectively reducing the labor intensity of on-site workers. At the same time, during the laying operation, the support plate 56 will not rotate synchronously with the waterproof cloth, keeping the support plate 56 always facing upwards. This prevents the support plate 56 from bumping or scratching the unfolded waterproof cloth, effectively protecting the waterproof cloth and improving the quality of tunnel waterproofing.

[0044] like Figure 4 As shown, it should be noted that the placement mechanism 5 also includes a lifting component 6. The lifting component 6 is installed at the bottom of the retaining ring 53. The lifting component 6 includes a first right-angle plate 61, which is rotatably connected to the retaining ring 53. During the rotation of the retaining ring 53, the first right-angle plate 61 slides along the outer wall of the retaining ring 53 under the action of the weight of the support plate 56. The support plate 56 keeps its position vertically downward, so that the top of the support plate 56 is always below the waterproof cloth. The support plate 56 will not rotate with the retaining ring 53. That is, the support plate 56 can avoid the problem of movement interference with the laying of the waterproof cloth when the waterproof cloth rotates. In addition, it can also realize the operation of lifting the waterproof cloth.

[0045] like Figure 4 and Figure 6 In one embodiment of the present invention, during the laying of the waterproof cloth, there are two situations: the top of the support plate 56 is in contact with the bottom of the waterproof cloth, and the support plate 56 is in contact with the steel bars on the support arm 2. This results in frictional wear between the waterproof cloth and the support plate 56, and collision between the support plate 56 and the steel bars on the support arm 2, affecting the laying of the waterproof cloth. The lifting assembly 6 also includes a second right-angle plate 64 and a first ejector block 66. An electric push rod 62 is fixedly connected to the outer wall of the first right-angle plate 61, and a connecting column 63 is fixedly connected to the drive end of the electric push rod 62. The bottom of the second right-angle plate 64 is fixedly connected to the outer wall of the connecting column 63. A protrusion is fixedly connected to the side of the second right-angle plate 64 near the first right-angle plate 61. A guide groove 65 is formed on the outer wall of the first right-angle plate 61 along its height direction, and the protrusion is located in the guide groove 65. Inside 5, the protrusion and the guide groove 65 slide and guide each other. The top of the first ejector block 66 is fixedly connected to the bottom of the first right angle plate 61. The outer wall of the drive shaft of the electric push rod 62 is fixedly connected to the second ejector block 67. The bottom of the first right angle plate 61 is fixedly connected to the fixed frame 68. The outer wall of the fixed frame 68 is slidably connected to two sliding blocks 69. A moving block 610 is installed between the two sliding blocks 69. The outer wall of the moving block 610 is fixedly connected to the connecting plate 611. A first spring 612 is installed between the connecting plate 611 and the sliding block 69. One end of the first spring 612 is fixedly connected to the outer wall of the connecting plate 611, and the other end of the first spring 612 is fixedly connected to the inner wall of the sliding block 69. A roller 613 is rotatably connected to the side of the moving block 610 away from the second ejector block 67. The connecting plate 611 is slidably connected to the inner wall of the sliding block 69.

[0046] It should be added that, such as Figure 9 and Figure 10The sliding block 69 can slide up and down along the height direction of the fixed frame 68. The first ejector block 66 and the second ejector block 67 can both form a wedge-shaped fit with the moving block 610. The moving block 610 has an insertion hole on the side near the second ejector block 67, and the second ejector block 67 forms a snap-fit ​​fit with the insertion hole.

[0047] It should be added that, such as Figure 10 As described above, along the length of the movable block 610, the depth of the insertion hole on the movable block 610 is less than the length of the third inclined surface on the movable block 610. During the process of the second ejector block 67 engaging with the insertion hole, the first spring 612 will release part of its elastic force to push the movable block 610 towards the drive shaft of the electric push rod 62, thereby achieving the engagement of the second ejector block 67 with the insertion hole. At this time, the distance that the movable block 610 drives the roller 613 to move towards the drive shaft of the electric push rod 62 needs to be greater than the depth of the insertion hole. That is, after the second ejector block 67 engages with the insertion hole, the roller 613 is still located between the waterproof cloth and the support plate 56. The first ejector block 66 has a first inclined surface, and the second ejector block 67 has... A second inclined surface is provided. The first, second, and third inclined surfaces are all smooth inclined surfaces. The roller 613 is made of cast iron and has a smooth surface. Regarding the first contact surface formed by the first ejector block 66 and the moving block 610, and the second contact surface formed by the second ejector block 67 and the moving block 610, the first contact surface is located behind the second contact surface. When the moving block 610 and the first ejector block 66 come into contact and press against each other, the first ejector block 66 pushes the moving block 610 to move away from the drive shaft of the electric push rod 62. The first spring 612 is compressed. At this time, the elastic force released by the first spring 612 is insufficient to support the moving block 610 and the first ejector block 66 to abut against each other.

[0048] It should be noted that the moving block 610 has two sets of working states: The first state is as follows: the first spring 612 is in a naturally extended state, and the moving block 610 is located on the side close to the drive shaft of the electric push rod 62; The second state is as follows: the first spring 612 is in a compressed state, and the moving block 610 is located on the side close to the support plate 56; It should be further explained that, in order to avoid the bottom of the waterproof cloth rubbing against the top of the support plate 56 during the rotation process of laying the waterproof cloth, which could lead to wear and damage to the surface of the waterproof cloth, the operator needs to activate the electric push rod 62 before the support shaft 54 ​​is fully inserted into the central cavity of the waterproof cloth and locked by the pin 55, and before the support arm 2 has started to move. The drive shaft of the electric push rod 62 extends downward, driving the connecting column 63 to move downward along the length of the drive shaft. The second right-angle plate 64 moves downward along the T-shaped guide groove 65 on the first right-angle plate 61, relying on the T-shaped protrusion. The support plate 56 connected to the connecting column 63 descends synchronously, and the gap between the bottom of the waterproof cloth and the top of the support plate 56 increases synchronously. At this time, the waterproof cloth and the support plate 56 gradually separate, avoiding wear and damage to the surface of the waterproof cloth.

[0049] At the same time, the second ejector block 67 moves down synchronously with the drive shaft of the electric push rod 62, and the moving block 610 is in the first state. The second ejector block 67 and the moving block 610 gradually come into contact. Due to the wedge-shaped engagement between the second ejector block 67 and the moving block 610, the second ejector block 67 will synchronously push the moving block 610 to move away from the drive shaft of the electric push rod 62. The first spring 612 is compressed. As the second ejector block 67 continues to move down until the insertion hole on the moving block 610 is aligned with the second ejector block 67, the first spring 612 releases part of its elastic force, pushing the moving block 610 to move closer to the drive shaft of the electric push rod 62. At this time, the second ejector block 67 and the insertion hole are engaged with each other, and the moving block 610 is in the second state. The roller 613 extends between the waterproof cloth and the support plate 56.

[0050] When the support arm 2 is laying the waterproof fabric along the tunnel arch track, there is a safety hazard that the support plate 56 and the steel bars mounted on the support arm 2 may rub against each other and collide because they are too close together. If the support plate 56 is moved too high to avoid this, it will cause secondary contact and friction with the waterproof fabric. In addition, the outer diameter of the waterproof fabric will continuously shrink as it is continuously laid. Therefore, two sets of variables are defined: Set the reduction in diameter of the waterproof fabric as the first group of variables.

[0051] Set the height to which the support plate rises as the second set of variables.

[0052] To solve the two problems of steel bar collision and secondary friction between the waterproof cloth: The first step is to solve the problem of collision between the support plate 56 and the reinforcing steel: Since the roller 613 extends between the waterproof cloth and the support plate 56, when the electric push rod 62 is started in reverse, the electric push rod 62 drives the connecting column 63 to move upward. The electric push rod 62 drives the second ejector block 67 to move upward, and the support plate 56 moves upward. Through the linkage of the sliding block 69, the moving block 610 and the roller 613 move upward synchronously. The roller 613 and the waterproof cloth are in contact with each other. At the same time, the second right-angle plate 64 drives the support plate 56 to move upward together. After moving upward, the support plate 56 is away from the reinforcing steel on the support arm 2, effectively avoiding the collision between the support plate 56 and the reinforcing steel.

[0053] The second step is to solve the problem of secondary friction between the support plate 56 and the waterproof cloth: When the telescopic shaft of the electric push rod 62 retracts, the connecting column 63 and the second ejector block 67 are both fixed on the telescopic shaft. The rising speed of the connecting column 63 and the second ejector block 67 is synchronized. The second ejector block 67 and the moving block 610 are interlocked. The roller 613 and the moving block 610 are an integral structure. The rising speed of the support plate 56 and the roller 613 is consistent. When the first set of variable values ​​decreases, the roller 613 is located between the waterproof cloth and the support plate 56. The operator only needs to control the retraction speed of the telescopic shaft of the electric push rod 62 to ensure that the roller 613 always adheres to the surface of the waterproof cloth. This completes the determination of the second set of variables, and ultimately achieves the goal of maintaining a gap between the bottom surface of the waterproof cloth and the top surface of the support plate 56 as the diameter of the waterproof cloth continues to decrease.

[0054] As the sliding block 69 and the moving block 610 continue to move upward together, since the moving block 610 and the first ejector block 66 are wedge-shaped, when the moving block 610 and the first ejector block 66 come into contact with each other, the first ejector block 66 will push the moving block 610 to move away from the drive shaft of the electric push rod 62. The first spring 612 is further compressed. As the moving block 610 moves upward, until the second ejector block 67 disengages from the insertion hole on the moving block 610, the moving block 610 begins to move downward under its own weight. At the same time, the first spring 612 begins to release its elastic force, pushing the moving block 610 to move closer to the drive shaft of the electric push rod 62. The moving block 610 returns to the first set of states, the roller 613 is pulled out from the gap between the waterproof cloth and the support plate 56, and the moving block 610 completes its reset.

[0055] Secondly, the lifting component 6 prevents the waterproof fabric from rubbing against the support plate 56 and causing damage during its rotation and unwinding. Furthermore, it can raise the support plate 56 during installation to keep it away from the reinforcing steel, effectively preventing the risk of the support plate 56 rubbing against or colliding with the steel. Simultaneously, it can control the second set of variables based on the first set of variables, maintaining a safe gap between the waterproof fabric and the support plate 56 throughout the process. This prevents secondary contact and friction damage between the support plate 56 and the waterproof fabric during the lifting process, improving the safety of the waterproof fabric during installation and the quality of the finished product.

[0056] like Figure 5 , Figure 7 and Figure 8 As shown, in one embodiment of the present invention, to avoid accidental activation of the lifting assembly 6 during the installation of the waterproof cloth, which could cause the lifting action to move the waterproof cloth and lead to a safety accident involving personnel being pinched and injured, the placement mechanism 5 further includes a locking assembly 7. The locking assembly 7 is installed at the bottom of the support shaft 54. The locking assembly 7 includes a first wedge 71 and a second wedge 76. The top of the first wedge 71 is fixedly connected to the bottom of the support shaft 54. A fixing block 72 is fixedly connected to the outer wall of the first right-angle plate 61. A sliding plate 73 is slidably connected to the inner wall of the fixing block 72. A second spring 74 is installed between the sliding plate 73 and the fixing block 72. One end of the second spring 74 is fixedly connected to the top of the sliding plate 73, and the other end of the second spring 74 is fixedly connected to the inner wall of the fixing block 72. A sliding column 75 is fixedly connected to the outer wall of the sliding plate 73. The first wedge 71 and the sliding column 75 are wedge-shaped to each other. The second wedge 76 is installed at the bottom of the support shaft 54. A connecting block 77 is fixedly connected to the inner wall of the first right-angle plate 61 and the outer wall of the second wedge 76. A third spring 78 is installed between the connecting block 77 and the first right-angle plate 61. One end of the third spring 78 is fixedly connected to the outer wall of the connecting block 77, and the other end of the third spring 78 is fixedly connected to the inner wall of the first right-angle plate 61. A limit frame 79 is fixedly connected to the top of the second right-angle plate 64. The second wedge 76 and the limit frame 79 are engaged with each other. A sliding post 75 passes through the fixed block 72, and the sliding post 75 and the fixed block 72 are engaged with each other in a sliding guide manner. The second wedge 76 passes through the first right-angle plate 61, and the second wedge 76 and the first right-angle plate 61 are engaged with each other in a wedge shape. Limit grooves are opened at the bottom of the rotating cylinder 52 and the bottom of the retaining ring 53. The first wedge 71 is located inside the limit groove, and the first wedge 71 and the limit groove are engaged with each other in a sliding guide manner.

[0057] It should be further explained that the initial state of the support plate 56 is as follows: the support shaft 54 ​​does not penetrate the rotating cylinder 52, the retaining ring 53, and the waterproof cloth; the second spring 74 is in a naturally extended state; along the height direction of the first right-angle plate 61, the sliding column 75 is located at the top of the second wedge 76, and the sliding column 75 and the second wedge 76 are not in contact with each other; the third spring 78 is in a naturally extended state; and the second wedge 76 is engaged with the limiting frame 79. Along the height direction of the fixed frame 68, the second ejector block 67 is located at the top of the moving block 610, and the second ejector block 67 and the moving block 610 are not in contact with each other. Due to the action of its own weight, and because it is a cylinder formed by layers of winding and stacking, even if the waterproof cloth is fixed by the support shaft 54, the waterproof cloth itself will still slightly shift downwards. Therefore, the initial position of the support plate 56 needs to be slightly lowered to accommodate the slight downward shift of the waterproof cloth.

[0058] like Figure 8 As shown, it should be noted that the sliding column 75 can move up and down along the height direction of the fixed block 72. The outer wall of the second wedge block 76 has a third through hole, through which the sliding column 75 can pass. Since the sliding column 75 and the second wedge block 76 are wedge-shaped to each other, the sliding column 75 will push the second wedge block 76 to move away from the first right angle plate 61 during the downward movement of the sliding column 75. It should be further explained that before the waterproof cloth is placed on the support plate 56, the third spring 78 remains in a naturally extended state, one end of the second wedge 76 protrudes outward from the first right-angle plate 61 and is engaged in the locking hole on the limiting frame 79. The second right-angle plate 64 is locked by the locking cooperation between the second wedge 76 and the limiting frame 79, making it difficult for it to slide up and down along the height direction of the first right-angle plate 61. At this time, the sliding column 75 and the second wedge 76 are separated from each other and do not contact each other. The second spring 74 remains in a naturally extended state, and the top of the sliding column 75 protrudes outward from the fixing block 72. The locking cooperation between the second wedge 76 and the limiting frame 79 prevents the lifting component 6 from being accidentally activated, thereby ensuring the safety of the waterproof cloth during installation.

[0059] The operator pushes the support shaft 54 ​​inward. The first wedge 71 at the bottom of the support shaft 54 ​​slides forward synchronously along the retaining ring 53 and the limiting groove at the bottom of the rotating cylinder 52. When the wedge surface of the first wedge 71 is in contact with the sliding column 75, relying on the wedge-shaped cooperation between the first wedge 71 and the sliding column 75, as the support shaft 54 ​​continues to push inward, the first wedge 71 will continue to press the sliding column 75 downward. The sliding column 75 drives the sliding plate 73 to slide down along the height direction of the fixed block 72. The sliding plate 73 simultaneously stretches the second spring 74, causing the second spring 74 to undergo tensile deformation. At this time, the support shaft 54 ​​completely penetrates the waterproof cloth, and the other end of the support shaft 54 ​​comes into contact with the rotating cylinder 52 on the other side of the waterproof cloth.

[0060] During the downward movement of the sliding column 75, the sliding column 75 passes through the third through hole opened on the outer wall of the second wedge 76, and the sliding column 75 and the second wedge 76 form a wedge-shaped compression fit. The continuous downward pressure of the sliding column 75 will push the second wedge 76 to move away from the first right angle plate 61. The connecting block 77 moves synchronously with the second wedge 76, compressing the third spring 78. The third spring 78 is compressed and stores energy. As the second wedge 76 moves horizontally, the end of the second wedge 76 completely disengages from the locking hole of the limiting frame 79, the locking fit between the second wedge 76 and the limiting frame 79 is released, and the locking state of the locking component 7 on the second right angle plate 64 is released.

[0061] After the locking constraint is released, the electric push rod 62 can output driving force normally, driving the connecting column 63 and the second right-angle plate 64 to slide vertically downward along the guide groove 65 on the outer wall of the first right-angle plate 61. The support plate 56 moves down synchronously, thereby increasing the gap between the bottom of the waterproof cloth and the support plate 56, and avoiding the waterproof cloth from being damaged due to continuous friction between the waterproof cloth and the support plate 56 during the self-rotation laying process.

[0062] After the waterproof tarpaulin in the tunnel area is laid, the support arm 2 is located at one end of the guide rail. The electric push rod 62 drives the support plate 56 to move upward, and the position of the support plate 56 is reset. The locking hole on the limiting frame 79 is re-aligned with the second wedge 76. The operator first pulls out the pin 55 to release the circumferential limit between the support shaft 54 ​​and the rotating cylinder 52, and then pulls the support shaft 54 ​​outward. The first wedge 71 at the bottom of the support shaft 54 ​​slides outward along the limiting groove and disengages from the top of the sliding column 75, no longer applying downward pressure to the sliding column 75. The stretched second spring 74 pulls the sliding plate 73 upward to reset by its own rebound force, and simultaneously drives the sliding column 76 to reset. 5. Reset upwards until the second spring 74 completes its reset. The wedge-shaped pressure between the sliding column 75 and the second wedge block 76 disappears, and the compressed and stored energy of the third spring 78 releases its elastic force. Through the connecting block 77, it pushes the second wedge block 76 to slide and reset towards the side closer to the first right-angle plate 61. The end of the second wedge block 76 re-engages into the locking hole of the limiting frame 79, locking the second right-angle plate 64 again. The third spring 78 completes its reset. At this time, the support shaft 54 ​​is completely removed, and the old waterproof cloth is placed back on the support plate 56. After removing the old waterproof cloth, the support plate 56 awaits the placement of the new waterproof cloth for the next axis alignment and laying operation.

[0063] Secondly, by simply inserting and removing the support shaft 54, the locking component 7 can automatically unlock and reset, eliminating the need for manual operation of the locking components, simplifying the construction process and effectively improving the safety of tunnel waterproofing fabric laying operations.

[0064] In another embodiment of the present invention, a collision avoidance and attitude stabilization control method for a steel bar trolley based on multi-sensor fusion is disclosed, comprising the following steps: Step S1: Start the rebar trolley, calibrate the overall horizontal posture of the rebar trolley, and avoid potential tunnel collision hazards during construction; Step S2: Install the entire roll of waterproof fabric onto the support shaft 54; Step S3: One end of the waterproof cloth is pulled out and fixed inside the tunnel. The waterproof cloth is continuously pulled out as the support arm 2 revolves. The pulled-out waterproof cloth is then attached to and installed on the inner wall of the tunnel. Step S4: Carry out the tunnel lining reinforcement construction work; Step S5: Reset the steel bar trolley to prepare for the subsequent pouring of secondary tunnel lining concrete.

[0065] Secondly, before construction begins, the operators start the steel bar trolley. The millimeter-wave radar, laser rangefinder, three-axis tilt sensor and linear displacement sensor mounted on the mobile frame 1 work simultaneously to scan the tunnel outline in all directions, detect the safe distance between the trolley and the tunnel wall, collect the trolley tilt angle data in real time, and automatically adjust the wheel height through the controller based on the sensor data to correct the overall horizontal attitude of the trolley, identify the risk of collision in advance, plan the arched movement route of the support arm 2, and complete the safety pre-treatment work before construction.

[0066] After pretreatment, the operator removes the support shaft 54 ​​from the inside of the rotating cylinders 52 at both ends, making enough space to place the waterproof cloth. The entire roll of waterproof cloth is then placed stably on top of the support plate 56. Relying on the support and positioning effect of the support plate 56, the central axis of the waterproof cloth will automatically coincide with the central axis of the support shaft 54. There is no need for manual repeated operation of the robotic arm to adjust the alignment. At this time, the locking component 7 is in the locked state, and the second wedge 76 is inserted into the limiting frame 79 to fix and limit the second right angle plate 64. Relying on the mutual interlocking between the second wedge 76 and the limiting frame 79, the lifting component 6 is prevented from being accidentally activated, thereby ensuring the safety of the waterproof cloth during installation.

[0067] After the waterproof cloth is placed and aligned, the workers push the support shaft 54 ​​into the center of the waterproof cloth and into the rotating cylinders 52 on both sides. The first wedge 71 at the bottom of the support shaft 54 ​​slides inward synchronously along the retaining ring 53 and the limiting groove at the bottom of the rotating cylinder 52. The inclined surface of the first wedge 71 continuously squeezes the sliding column 75, causing the sliding column 75 and the sliding plate 73 to slide downward along the fixed block 72, stretching the second spring 74 to generate deformation and store energy. The sliding column 75 descends and passes through the through hole on the second wedge 76. Relying on the wedge-shaped cooperation, it pushes the second wedge 76 to move away from the first right-angle plate 61, squeezing the third spring 78. The end of the second wedge 76 disengages from the limiting frame 79, the locking constraint of the lifting assembly 6 is released, and the electric push rod 62 can drive the lifting action normally. The support shaft 54 ​​is continuously pushed until the first through hole on the outer wall of the rotating cylinder 52 and the second through hole of the support shaft 54 ​​are aligned. The pin 55 passes through the two through holes, locking the support shaft 54 ​​and the rotating cylinder 52 into one unit, so that the two can rotate synchronously.

[0068] After the pin 55 is locked, the device starts the electric push rod 62, and the drive shaft extends vertically downward, driving the connecting column 63 and the second right-angle plate 64 to move down synchronously. Relying on the sliding cooperation between the protrusion and the guide groove 65, the support plate 56 is driven to descend smoothly, effectively increasing the distance between the bottom of the waterproof cloth and the top surface of the support plate 56, thus preventing the waterproof cloth from rubbing against the support plate 56 and causing damage during the self-rotation and unwinding process. At the same time, the drive shaft drives the second ejector block 67 to descend synchronously, forming a wedge-shaped compression cooperation with the moving block 610, pushing the moving block 610 to compress the first spring 612 and move laterally until the second ejector block 67 is inserted into the insertion hole of the moving block 610 to complete the limit fixation, so that the roller 613 is stably inserted into the gap between the waterproof cloth and the support plate 56.

[0069] After the installation of the waterproof cloth is completed, one end of the waterproof cloth is pulled out and fixed inside the tunnel with screws or rivets. Then, the drive mechanism drives the support arm 2 to slide on the guide rail. The support arm 2 simultaneously drives the placement mechanism 5 to move smoothly along the inner wall of the tunnel arch. As the support arm 2 moves, the waterproof cloth is continuously pulled out, and the rolled waterproof cloth begins to rotate around its own axis. At the same time, the support shaft 54, the rotating cylinder 52, and the retaining ring 53 rotate on the support frame 51. When the retaining ring 53 rotates with the rotating cylinder 52 throughout the entire process, the support plate 56 will drive the first right-angle plate 61 to rotate along the outer wall of the retaining ring 53 due to its own weight. To counteract the circumferential displacement caused by the rotation of the retaining ring 53, the support plate 56 remains stationary with its top surface facing upwards, and will not rotate synchronously with the waterproof cloth, thus avoiding collisions and scratches with the unfolded waterproof cloth. Subsequently, as the waterproof cloth continues to unroll, its diameter continuously decreases. By matching the first set of variables that reduce the diameter of the waterproof cloth in real time, the retraction speed of the electric push rod 62 is adjusted. Relying on the roller 613 to always be in contact with the bottom surface of the waterproof cloth for follow-up support, the second set of variables that adjust the rising height of the support plate 56 are adjusted synchronously to continuously maintain a safe gap between the waterproof cloth and the support plate 56, avoiding secondary friction damage to the waterproof cloth.

[0070] After the waterproof cloth in the designated area of ​​the tunnel is fully laid, the support arm 2 stops at one end of the guide rail, the electric push rod 62 rotates in the reverse direction to retract, driving the support plate 56 to reset upward, so that the locking hole of the limit frame 79 is re-aligned with the second wedge 76. The operator pulls out the pin 55 to release the circumferential lock between the support shaft 54 ​​and the rotating cylinder 52, and pulls the support shaft 54 ​​outward. The first wedge 71 at the bottom of the support shaft 54 ​​moves outward accordingly and no longer squeezes the sliding column 75.

[0071] After the downward pressure of the first wedge 71 is lost, the stretched second spring 74 rebounds, pulling the sliding plate 73 and the sliding column 75 upward to reset. The squeezing force of the sliding column 75 on the second wedge 76 disappears, and the compressed third spring 78 releases its elasticity, pushing the second wedge 76 to reset outward and re-lock into the limit frame 79. The lifting component 6 is locked again. After the support shaft 54 ​​is completely pulled out, the unused waterproof cloth falls on the support plate 56. The staff removes the waterproof cloth, and the placement mechanism 5, lifting component 6, and locking component 7 are all reset.

[0072] After the waterproof tarpaulin is laid, the construction of the tunnel lining steel reinforcement frame officially begins. Workers stand on the working platform 4 on the outer perimeter of the mobile frame 1, unpack the pre-prefabricated and tied bundles of steel bars, and fix the ends of the steel bars one by one to the pre-set hanging points on the support arm 2. Then, the drive mechanism drives the support arm 2 to slowly rotate along the arched track, pulling the steel bars to the pre-set placement points of the tunnel lining. Once in place, multiple lifting rods 3 are extended as needed to apply a uniform jacking force to the steel bars. Combining the tunnel contour data and trolley posture data collected in real time by the detection unit 8, the extension length of the lifting rods 3 is finely adjusted to bend and shape the steel bars, correct the curvature of the steel bars, and make the steel bars completely conform to the curved contour of the inner wall of the tunnel, ensuring the accuracy of the steel bar placement.

[0073] After the multiple steel bars are shaped and positioned, the workers carry out steel bar splicing, alignment and binding operations on the work platform 4. In strict accordance with the tunnel construction specifications, the longitudinal main bars and transverse distribution bars are laid out in sequence, and the steel bars are spliced ​​one by one and section by section. After multiple sets of steel bars are bound and fixed layer by layer and section by section, they are gradually spliced ​​to form a complete tunnel lining steel bar skeleton that fits the tunnel outline.

[0074] After the steel reinforcement cage is assembled, the entire tunnel waterproofing and steel reinforcement cage construction is completed, providing a foundation structure for the subsequent tunnel concrete lining pouring.

[0075] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A collision avoidance and attitude stability control system for steel bar trolley based on multi-sensor fusion, including a mobile frame (1), a support arm (2) is rotatably connected to the top of the mobile frame (1), a plurality of lifting rods (3) and a plurality of working platforms (4) are evenly arranged on the outer side of the mobile frame (1) along the circumference, a placement mechanism (5) is installed on the top of the support arm (2), and a plurality of detection units (8) are fixedly connected to the outer wall of the mobile frame (1). characterized in that The placement mechanism (5) includes a support frame (51), one end of which is fixedly connected to the outer wall of the support arm (2), and the other end of which is rotatably connected to a rotating cylinder (52). One end of the rotating cylinder (52) is fixedly connected to a retaining ring (53), and a support shaft (54) is installed inside the retaining ring (53). The other end of the rotating cylinder (52) is equipped with a pin (55), and the bottom of the retaining ring (53) is rotatably connected to a support plate (56).

2. The multi-sensor fusion based anti-collision and posture stabilization control system for reinforcement trolley according to claim 1, wherein, The placement mechanism (5) further includes a lifting assembly (6), which is installed at the bottom of the retaining ring (53). The lifting assembly (6) includes a first right-angle plate (61), which is rotatably connected to the retaining ring (53). An electric push rod (62) is fixedly connected to the outer wall of the first right-angle plate (61), and a connecting column (63) is fixedly connected to the driving end of the electric push rod (62).

3. The multi-sensor fusion based anti-collision and posture stabilization control system for reinforcement trolley according to claim 2, characterized in that, The lifting assembly (6) also includes a second right-angle plate (64). The bottom of the second right-angle plate (64) is fixedly connected to the outer wall of the connecting column (63). A protrusion is fixedly connected to the side of the second right-angle plate (64) near the first right-angle plate (61). A guide groove (65) is provided on the outer wall of the first right-angle plate (61) along its own height direction. The protrusion is located inside the guide groove (65). The protrusion and the guide groove (65) are in sliding guide cooperation with each other.

4. The multi-sensor fusion based anti-collision and posture stabilization control system for reinforcement bar trolley according to claim 3, characterized in that, The lifting assembly (6) further includes a first ejector block (66), the top of which is fixedly connected to the bottom of the first right-angle plate (61). A second ejector block (67) is fixedly connected to the outer wall of the drive shaft of the electric push rod (62). A fixed frame (68) is fixedly connected to the bottom of the first right-angle plate (61). Two sliding blocks (69) are slidably connected to the outer wall of the fixed frame (68). A moving block (610) is installed between the two sliding blocks (69). A connecting plate (611) is fixedly connected to the outer wall of the moving block (610). A first spring (612) is installed between the connecting plate (611) and the sliding block (69). One end of the first spring (612) is fixedly connected to the outer wall of the connecting plate (611), and the other end of the first spring (612) is fixedly connected to the inner wall of the sliding block (69). The moving block (610) is rotatably connected to a roller (613) on the side away from the second ejector block (67). The connecting plate (611) is slidably connected to the inner wall of the sliding block (69). The first ejector block (66) and the second ejector block (67) can both be wedge-shaped with the moving block (610). The moving block (610) has an insertion hole on the side near the second ejector block (67). The second ejector block (67) and the insertion hole are engaged with each other.

5. The multi-sensor fusion based anti-collision and posture stabilization control system for reinforcement bar trolley according to claim 4, wherein, The placement mechanism (5) further includes a locking component (7), which is installed at the bottom of the support shaft (54). The locking component (7) includes a first wedge (71), the top of which is fixedly connected to the bottom of the support shaft (54). A fixing block (72) is fixedly connected to the outer wall of the first right-angle plate (61). A sliding plate (73) is slidably connected to the inner wall of the fixing block (72). A second spring (74) is installed between the sliding plate (73) and the fixing block (72). One end of the second spring (74) is fixedly connected to the top of the sliding plate (73), and the other end of the second spring (74) is fixedly connected to the inner wall of the fixing block (72). A sliding column (75) is fixedly connected to the outer wall of the sliding plate (73). The first wedge (71) and the sliding column (75) are wedge-shaped to each other.

6. The multi-sensor fusion based anti-collision and posture stabilization control system for reinforcement bar trolley according to claim 5, wherein, The locking assembly (7) further includes a second wedge (76), which is installed on the inner wall of the first right-angle plate (61). A connecting block (77) is fixedly connected to the outer wall of the second wedge (76). A third spring (78) is installed between the connecting block (77) and the first right-angle plate (61). One end of the third spring (78) is fixedly connected to the outer wall of the connecting block (77), and the other end of the third spring (78) is fixedly connected to the inner wall of the first right-angle plate (61). A limit frame (79) is fixedly connected to the top of the second right-angle plate (64), and the second wedge (76) and the limit frame (79) are engaged with each other.

7. The anti-collision and attitude stabilization control system for steel bar trolley based on multi-sensor fusion according to claim 6, characterized in that, The sliding post (75) passes through the fixed block (72), and the sliding post (75) and the fixed block (72) are in sliding guide engagement with each other. The second wedge (76) passes through the first right-angle plate (61), and the second wedge (76) and the first right-angle plate (61) are in sliding guide engagement with each other. The sliding post (75) and the second wedge (76) are in wedge-shaped engagement with each other.

8. The multi-sensor fusion based anti-collision and posture stabilization control system for reinforcement trolley according to claim 7, wherein, The bottom of the rotating cylinder (52) and the bottom of the retaining ring (53) are both provided with limiting grooves. The first wedge (71) is located inside the limiting groove, and the first wedge (71) and the limiting groove are mutually sliding guides.

9. The multi-sensor fusion based anti-collision and posture stabilization control system for reinforcement bar trolley according to claim 8, wherein, Both sides of the support plate (56) are fixedly connected to the outer wall of the connecting column (63) and the outer wall of the second right angle plate (64). The outer wall of the rotating cylinder (52) is provided with a first through hole, and the outer wall of the support shaft (54) is provided with a second through hole. The pin (55) passes through the first through hole and the second through hole in sequence.

10. A method for collision avoidance and posture stabilization control of a steel reinforcement trolley based on multi-sensor fusion, characterized in that, Includes the following steps: Step S1: Start the rebar trolley, calibrate the overall horizontal posture of the rebar trolley, and avoid potential tunnel collision hazards during construction; Step S2: Install the entire roll of waterproof fabric onto the support shaft (54); Step S3: One end of the waterproof cloth is pulled out and fixed inside the tunnel. The waterproof cloth is continuously pulled out as the support arm (2) revolves. The pulled-out waterproof cloth is attached to and installed on the inner wall of the tunnel. Step S4: Carry out the tunnel lining reinforcement construction work; Step S5: Reset the steel bar trolley to prepare for the subsequent pouring of secondary tunnel lining concrete.

Images