Hydraulic power plant material self-transportation system and control method thereof

Abstract

The hydraulic power plant material self-transportation system comprises a cargo truck and a path network, and the cargo truck walks along the path network; the truck comprises a bearing plate, a driving wheel set and a crawler wheel set which are installed at the bottom of the bearing plate, and a scene control system, a scene recognition system and an obstacle system which are integrated in the truck, and after the driving wheel set shrinks, the crawler wheel set makes contact with the ground to run; the scene control system comprises a level road scene, a slope scene, a pit scene, a stair scene and a threshold scene, the driving wheel set is used for driving the truck in the level road scene, the pit scene and the threshold scene, and the crawler wheel set is used for driving the truck in the slope scene and the stair scene; the scene recognition system comprises a far scene recognition module used for judging scene types and detecting long-distance obstacles, and a near scene recognition module used for accurately verifying scene parameters and recognizing short-distance obstacles. The obstacle system comprises an obstacle identification module and an obstacle avoidance module, and the obstacle identification module is used for identifying whether an obstacle exists on the path network when the truck walks along the path network; and the obstacle avoidance module adjusts the running route of the truck after the obstacle recognition module recognizes the obstacle. According to the invention, autonomous material transportation of the truck in a complex environment of a hydraulic power plant can be realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of handling equipment, and particularly relates to a self-transport system for materials in a hydropower plant and a control method thereof. BACKGROUND

[0002] In the daily maintenance and repair work of large hydropower stations, flat cars serve as important material transfer tools, undertaking the transportation tasks of materials, equipment and spare parts. However, the internal environment of a hydropower station is complex, with diverse terrain, and there are many special road sections and obstacles, which pose a severe challenge to the transfer efficiency and safety of flat cars.

[0003] There are obstacles such as wire-crossing bridges, thresholds, staircases and slopes inside hydropower stations. Wire-crossing bridges are usually designed as structures with a certain height to protect facilities such as cables and pipelines, while thresholds, staircases and slopes often appear in the transition zones of different areas. Existing flat cars often need manual assistance to lift or adjust, resulting in low transfer efficiency and increasing the labor intensity of operators.

[0004] In addition, there are complex terrains such as potholes and uneven areas on the ground of a hydropower station. These areas are prone to cause the flat car to jolt during transfer, and even damage the equipment or goods. Existing flat cars lack the ability to adapt to complex terrain, making it difficult to ensure the stability and safety of the transfer process. SUMMARY

[0005] The present application provides a self-transport system for materials in a hydropower plant and a control method thereof to solve the problem that traditional flat cars are difficult to cope with various complex environments inside a hydropower station.

[0006] To solve the above technical problems, the technical solution adopted by the present application is as follows: On the one hand, the present application provides a self-transport system for materials in a hydropower plant, comprising a cargo vehicle and a path network, the cargo vehicle walking along the path network; The cargo vehicle comprises a carrying plate, a drive wheel set and a track wheel set installed at the bottom of the carrying plate, and a scene control system, a scene recognition system and an obstacle system integrated in the cargo vehicle, the track wheel set running on the ground when the drive wheel set is retracted; The scene control system comprises a flat road scene, a slope scene, a pothole scene, a staircase scene and a threshold scene, the drive wheel set being used to drive the cargo vehicle in the flat road scene, the pothole scene and the threshold scene, and the track wheel set being used to drive the cargo vehicle in the slope scene and the staircase scene; The scene recognition system comprises a far scene recognition module for judging the type of the scene and detecting long-distance obstacles, and a near scene recognition module for accurately verifying scene parameters and identifying near-distance obstacles; The obstacle system comprises an obstacle identification module and an obstacle avoidance module, the obstacle identification module is used to identify whether there is an obstacle on the path network when the cargo vehicle travels along the path network; the obstacle avoidance module adjusts the running route of the cargo vehicle after the obstacle identification module identifies the obstacle.

[0007] Further, the driving wheel set comprises a front wheel set, an auxiliary wheel set and a rear wheel set arranged at intervals along the length direction of the cargo vehicle, the auxiliary wheel set can move horizontally between the front wheel set and the rear wheel set; The front wheel set, the auxiliary wheel set and the rear wheel set each comprise a hydraulic lifting mechanism for adjusting the height, and a steering mechanism for horizontal steering avoidance.

[0008] Further, the path network comprises buried magnetic stripe reference lines, the magnetic stripe reference lines are laid along the areas close to the two sides of the internal road surface of the factory area, and three magnetic stripe reference lines are laid, the three magnetic stripe reference lines are respectively located at the two sides and the middle of the cargo vehicle; The bottom of the bearing plate is provided with a magnetoresistance sensor for cooperating with the magnetic stripe reference line to detect the magnetic field signal and correct the running deviation.

[0009] Further, the scene recognition system further comprises a weak magnetic signal identification module, when the magnetic field signal strength received by the magnetoresistance sensor is lower than a preset threshold value, the cargo vehicle enters the obstacle system; The obstacle identification module comprises a radar component for detecting the front obstacle and the magnetic stripe cover profile, the radar component is installed on the bearing plate and is used to detect the front obstacle and the lateral space of the horizontal moving path of the cargo vehicle; The obstacle avoidance module comprises a collision sensor for sensing the collision risk, the collision sensor is respectively installed at the front end and the two sides of the bearing plate.

[0010] Further, the far scene recognition module comprises a front sensor group for detecting the front height change and the long-distance obstacle, and a wide-angle image acquisition component for recognizing the front profile and the obstacle shape; the front sensor group is installed at a preset height of the bearing plate and is arranged towards the front and lower.

[0011] Further, the near scene recognition module comprises a rear sensor group for accurately measuring the scene parameters and the near-distance obstacle, and a micro-distance image acquisition component for confirming the scene details and the obstacle boundary; the rear sensor group is installed at a preset height of the bearing plate and is arranged towards the ground.

[0012] On the other hand, the application also provides a water and electricity plant material self-transportation system control method, comprising the following control steps: The starting point and the ending point of the cargo vehicle are set, a route is designed according to a path, the cargo vehicle moves along the path network, in the moving process, a far scene recognition module determines whether a scene change exists at a distance of 3-5 meters in front of the cargo vehicle in real time, and a weak magnetic signal recognition module recognizes the strength of the received magnetic field in real time; If the far scene recognition module recognizes a far-to-be-changed scene type, the cargo vehicle slows down and prepares to switch the scene mode, waits for the cargo vehicle to move to a distance of 1-2 meters from the scene change point, and then enables the near scene recognition module to recognize the specific parameters of the next scene as a reference for adjusting the parameters of the cargo vehicle. If the magnetic field received by the weak magnetic signal recognition module weakens, the cargo vehicle slows down and calls the obstacle system to identify and avoid the obstacle in front.

[0013] Further, when the scene driven by the driving wheel group is switched to the scene driven by the track wheel group, the cargo vehicle stops running 1 meter before entering the next scene and completes the switching of the track wheel group. When the scene driven by the track wheel group is switched to the scene driven by the driving wheel group, the cargo vehicle stops running 1 meter after entering the next scene and completes the switching of the track wheel group.

[0014] Further, when moving in the scene driven by the driving wheel group and facing the threshold scene, first, the auxiliary wheel group is driven to move close to the front wheel group, and the auxiliary wheel group moves at most to a distance of twice the width of the threshold between the front wheel group and the auxiliary wheel group. The front wheel group is lifted above the height of the threshold, and the cargo vehicle is driven forward by the auxiliary wheel group and the rear wheel group until the front wheel group crosses the threshold. The front wheel group is lowered and the auxiliary wheel group is lifted, and the cargo vehicle is moved by the front wheel group and the rear wheel group until the rear wheel group approaches the threshold. The auxiliary wheel group is driven to move close to the rear wheel group until the auxiliary wheel group approaches the threshold, the rear wheel group is lifted, and the cargo vehicle is moved forward by the auxiliary wheel group and the front wheel group until the rear wheel group crosses the threshold.

[0015] Further, the execution steps of the weak magnetic signal recognition module after receiving the magnetic field weakening signal include: The obstacle system is triggered, and the radar component is used to detect the obstacle profile in front, if the height and width of the profile are both less than the height and width of the driving wheel group, the driving wheel group is lifted, and the cargo vehicle drives over the obstacle from above; If the cargo vehicle cannot cross the obstacle, the driving wheel group is instructed to move horizontally to the middle of the road through the steering mechanism, and after the movement is completed, the obstacle recognition module is instructed to detect the obstacle again; If the obstacle is still recognized, the process of horizontal movement and obstacle detection is repeated until the obstacle recognition module recognizes no obstacle. When the truck needs to resume the path network walking, the obstacle identification module detects whether there is an obstacle in the preset distance area in front of the magnetic strip reference line, if there is no obstacle in the area, the drive wheel group is controlled to move to the magnetic strip reference line, if there is an obstacle in the area, the drive wheel group is controlled to drive along the line parallel to the magnetic strip reference line.

[0016] The present application can achieve the following beneficial effects: 1、The present application sets up a path network, which provides a fixed walking track for the truck, so that the truck can walk autonomously and reduce the influence on the normal use of the road in the factory area; the truck includes a drive wheel group and a track wheel group, and the drive wheel group and the track wheel group are selected according to different scenes, so that the truck can pass quickly on a flat road and pass smoothly on a special terrain; the truck is provided with a scene control system, a scene recognition system and an obstacle system, the scene recognition system recognizes scene information to provide accurate basis for switching of the drive wheel group and the track wheel group, and manual measurement of scene parameters is not needed; the obstacle system automatically processes path obstacles through an obstacle identification module and an obstacle avoidance module, replacing manual intervention; compared with a traditional flat car, the truck of the present application can independently transport, has high transfer efficiency, can face multiple scenes of transportation, has low frequency of manual intervention, and ensures the safety and efficiency of material transfer in a complex environment of a hydropower plant.

[0017] 2、The present application sets up a three-section drive wheel group structure of a front wheel group, an auxiliary wheel group and a rear wheel group, the auxiliary wheel group can move horizontally between the front wheel group and the rear wheel group, and each wheel group is provided with an independent hydraulic lifting mechanism, so that the truck can stably transport materials in a threshold scene.

[0018] 3、The present application sets up a path network of three buried magnetic strip reference lines, which can ensure that the truck walks along the path network and reduces the influence of a single magnetic strip being covered; when the weak magnetic signal recognition module detects that the magnetic field is weakened, the obstacle identification module can detect the obstacle contour and realize horizontal avoidance; if there is still an obstacle on the path network, the truck drives along a line parallel to the magnetic strip, and resumes navigation after there is no obstacle on the path network, so that the truck can continue to transfer when the magnetic strip is covered due to temporary maintenance equipment parking and material stacking in the hydropower plant without manual intervention. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present application will be further described below in combination with the drawings and embodiments: Figure 1 FIG. 1 is a structural schematic view of a truck in a self-transportation system for materials in a hydropower plant according to the present application; Figure 2 FIG. 2 is a design framework diagram of an internal system of the truck in the self-transportation system for materials in the hydropower plant according to the present application; Figure 3 FIG. 3 is a layout schematic view of a path network in the self-transportation system for materials in the hydropower plant according to the present application; Figure 4 Figure 1 is a control logic diagram of a control method of a self-transportation system of a hydropower plant.

[0020] In the drawings, the components represented by the respective reference numerals are listed as follows: 1, truck; 11, bearing plate; 12, drive wheel set; 121, front wheel set; 122, auxiliary wheel set; 123, rear wheel set; 13, track wheel set; 2, scene control system; 21, flat road scene; 22, slope scene; 23, pothole scene; 24, stair scene; 25, threshold scene; 3, scene recognition system; 31, far scene recognition module; 32, near scene recognition module; 33, weak magnetic signal recognition module; 4, obstacle system; 41, obstacle recognition module; 42, obstacle avoidance module; 5, path network; 51, magnetic strip reference line. DETAILED DESCRIPTION

[0021] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0022] As shown in Figures 1 to 3 A self-transportation system of a hydropower plant includes a truck 1 and a path network 5, the truck 1 moves along the path network 5 to prevent the truck 1 from randomly driving on the road surface area and affecting the passage of staff within the plant. Specifically, the path network 5 is laid near both sides of the road surface inside the plant to reduce the impact of the truck 1 running on the normal passage of the road surface; the path network 5 includes three buried magnetic strip reference lines 51, which are arranged in parallel, and the three magnetic strip reference lines 51 correspond to the two driving tracks and the middle driving track of the truck 1, respectively.

[0023] The truck 1 includes a bearing plate 11, a drive wheel set 12 and a track wheel set 13 installed at the bottom of the bearing plate 11, and a scene control system 2, a scene recognition system 3 and an obstacle system 4 integrated in the truck 1. The materials are fixed to the surface of the bearing plate 11 by a strap, and the bottom of the truck 1 is provided with a magnetic resistance sensor for cooperating with the magnetic strip reference line 51, which can detect the magnetic field signal of the magnetic strip reference line 51 in real time to correct the driving deviation of the truck 1 and ensure the stable driving of the truck 1 along the magnetic strip reference line 51.

[0024] The drive wheel group 12 includes a front wheel group 121, an auxiliary wheel group 122 and a rear wheel group 123 arranged at intervals along the length direction of the truck 1, the auxiliary wheel group 122 is installed on the bottom of the bearing plate 11 through a slide rail structure and can move horizontally between the front wheel group 121 and the rear wheel group 123 through hydraulic drive. The front wheel group 121, the auxiliary wheel group 122 and the rear wheel group 123 each include a hydraulic lifting mechanism for adjusting the height, and a steering mechanism for horizontal steering avoidance, the hydraulic lifting mechanism can adjust the height of the wheel group according to the scene requirement, and the steering mechanism can realize the steering of the truck 1 and further realize the horizontal movement avoidance of the truck 1.

[0025] The track wheel group 13 is installed on the bottom of the bearing plate 11 and located in the middle of the drive wheel group 12, the height of the track wheel group 13 is higher than the height of the first level, when the drive wheel group 12 is retracted through the hydraulic lifting mechanism, the track wheel group 13 runs on the ground.

[0026] Among them, the scene control system 2 includes a flat road scene 21, an inclined slope scene 22, a pothole scene 23, a stair scene 24 and a threshold scene 25, wherein the threshold scene 25 refers to a convex structure protruding from the road surface and occupying a long span of the road surface, and the pothole scene 23 refers to a local depressed area occupying a short span of the road surface. Among them, the flat road scene 21 is the default mode of the truck 1, and the inclined slope scene 22, the pothole scene 23, the stair scene 24 and the threshold scene 25 are special scenes. The drive wheel group 12 is used to drive the truck 1 in the flat road scene 21, the pothole scene 23 and the threshold scene 25, and the track wheel group 13 is used to drive the truck 1 in the inclined slope scene 22 and the stair scene 24.

[0027] The scene recognition system 3 includes a far scene recognition module 31, a near scene recognition module 32 and a weak magnetic signal recognition module 33. The far scene recognition module 31 is used to judge whether there is a scene switching and a long-distance obstacle detection in front, if there is a scene switching, further determine the scene switching type, the near scene recognition module 32 is used to accurately verify the specific parameters of the to-be-converted scene and the near-distance obstacle recognition. Specifically, the far scene recognition module 31 includes a front row sensor group for detecting the height change in front and the long-distance obstacle, and a wide-angle image acquisition component for identifying the front profile and the obstacle shape, the front row sensor group is installed at a predetermined height in front of the bearing plate 11 and is arranged towards the front and downward, and the wide-angle image acquisition component is equipped with an adjustable light auxiliary light source, which can adapt to the dim environment of the power plant.

[0028] The near scene recognition module 32 includes a rear row sensor group for accurately measuring scene parameters and near-distance obstacles, and a micro-distance image acquisition component for confirming scene details and obstacle boundaries, the rear row sensor group is installed at a predetermined height below the front end of the bearing plate 11 and is arranged towards the ground.

[0029] The weak magnetic signal identification module 33 is used to identify the strength of the magnetic field signal received by the magnetic resistance sensor at the bottom of the truck 1. When the strength of the magnetic field signal received by the magnetic resistance sensor is lower than the preset threshold, the truck 1 enters the obstacle system 4.

[0030] The obstacle system 4 includes an obstacle identification module 41 and an obstacle avoidance module 42. The obstacle identification module 41 specifically includes a radar component for detecting the front obstacle and the profile of the magnetic strip cover. The radar component is installed at a preset height at the front end of the bearing plate 11 and has the function of filtering metal interference signals, which can accurately identify the obstacle profile. The obstacle avoidance module 42 specifically includes a collision sensor for sensing collision risk. The collision sensor is installed at the front end and both sides of the bearing plate 11, respectively, which can monitor the distance to the obstacle in real time.

[0031] In practical application, the self-transport system of the present application can adapt to various transfer scenarios in a hydropower plant, such as the transfer of spare parts from a material warehouse to an underground equipment area. The staff fixes the spare parts such as cables and connectors for maintenance on the bearing plate 11, and the truck 1 drives along the middle magnetic strip reference line 51. When passing through a ground pit, the near-range obstacle identification module discriminates whether the pit is located in the area between the drive wheel groups 12. If yes, it directly crosses over; if not, it drives the truck 1 around the pit using the steering mechanism to pass through, thereby keeping the bearing plate 11 stable. When encountering a staircase scene 24, the drive wheel groups 12 are retracted until the track wheel groups 13 touch the ground, and the track wheel groups 13 are used to smoothly climb the stairs. It should be noted that anti-skid pads are fixed at the edge corners of each step of the staircase in the hydropower plant. The anti-skid pads are used to increase the friction between the track wheel groups 13 and the surface of the staircase, so that the track wheel groups 13 can stably and reliably climb, and the anti-skid pads can also prevent pedestrians from slipping in rainy days.

[0032] On the other hand, the present application provides a control method for a self-transport system of materials in a hydropower plant, which is used to control the above-mentioned self-transport system, as shown in the figure, comprising the following steps: Figure 4 The starting point and the ending point of the truck 1 are set in the scene control system 2. The system automatically plans the driving route according to the path network 5, and then the truck 1 starts to move along the path network 5. In the driving process, the far scene identification module 31 determines whether there is a scene change at a distance of 3-5 meters in front of the truck 1 in real time, the weak magnetic signal identification module 33 synchronously identifies the strength of the magnetic field received by the magnetic resistance sensor in real time, and the magnetic resistance sensor continuously detects the magnetic field signal of the magnetic strip reference line to correct the deviation of the truck 1 during driving.

[0033] ​If the far scene recognition module 31 detects the height change in front through the front sensor group, recognizes the front profile in combination with the wide-angle image acquisition component, confirms whether there is a scene change in front, and if there is a scene change, further determines the type of scene to be changed, at which time the truck 1 slows down and prepares to switch the scene mode. When the truck 1 moves to a distance of 1-2 meters from the scene change point, the scene control system 2 enables the near scene recognition module 32, and the rear sensor group accurately measures the specific parameters of the next scene, such as the slope gradient, the stair step height, the threshold height, etc., and the macro image acquisition component confirms the scene details and obstacle boundaries. These parameters will serve as the basis for the truck 1 to adjust its action parameters.

[0034] When it is necessary to switch from the scene driven by the drive wheel group 12 to the scene driven by the track wheel group 13, at 1 meter before entering the next scene, the scene control system 2 instructs the truck 1 to stop running, and the hydraulic lifting mechanism of the drive wheel group 12 retracts the wheel group upward until the track wheel group 13 touches the ground, and after the switching of the track wheel group 13 is completed, the truck 1 enters the next scene driven by the track wheel group 13; when it is necessary to switch from the scene driven by the track wheel group 13 to the scene driven by the drive wheel group 12, at 1 meter after entering the next scene, the truck 1 stops running, and the drive wheel group 12 is lowered to the ground until the track wheel group 13 is suspended, i.e. the switching of the drive wheel group 12 is completed.

[0035] If the truck 1 faces the threshold scene 25 during driving and moves with the drive wheel group 12, the scene control system 2 will first drive the auxiliary wheel group 122 to move close to the front wheel group 121, and the auxiliary wheel group 122 will move at most to a distance between the front wheel group 121 and the auxiliary wheel group 122 of twice the threshold width; then the front wheel group 121 is lifted above the threshold height, and the truck 1 is driven forward by the auxiliary wheel group 122 and the rear wheel group 123 until the front wheel group 121 crosses the threshold; after the front wheel group 121 is lowered to the ground, the auxiliary wheel group 122 is lifted, and the truck 1 is moved by the front wheel group 121 and the rear wheel group 123 until the rear wheel group 123 approaches the threshold; finally, the auxiliary wheel group 122 is driven to move close to the rear wheel group 123 until the auxiliary wheel group 122 approaches the threshold, the rear wheel group 123 is lifted, and the truck 1 is moved forward by the auxiliary wheel group 122 and the front wheel group 121 until the rear wheel group 123 crosses the threshold, and the truck 1 returns to the normal driving posture.

[0036] If the truck 1 encounters a pothole scene 23 during driving, the rear sensor group accurately measures the depth, width and edge position of the pothole, and the macro image acquisition component confirms whether the pothole boundary is clear and whether there are debris such as stones, and after the data fusion, the scene control system 2 judges whether the pothole is located in the area between the drive wheel group 12. If it is determined that the pothole is between the drive wheel group 12, the truck 1 directly crosses the pothole; if it is determined that the pothole is not between the drive wheel group 12, or the depth and width of the pothole exceed the adaptation range of direct crossing, the scene control system 2 instructs the steering mechanism to act, so that the truck 1 moves horizontally away from the pothole, and the collision sensor monitors the lateral distance in real time to avoid collision during the movement. After the truck 1 drives completely away from the pothole, it continues to drive along the magnetic stripe reference line 51.

[0037] If the weak magnetic signal recognition module 33 detects that the magnetic field received by the magnetic resistance sensor is weakened, the truck 1 will immediately slow down and call the obstacle system 4: first trigger the obstacle system 4, the radar component of the obstacle recognition module 41 detects the profile of the front obstacle, if the profile height and width are less than the height and width of the drive wheel group 12, the scene control system 2 instructs the hydraulic lifting mechanism of the drive wheel group 12 to start, lifting the overall height of the drive wheel group 12, and the truck 1 drives over the obstacle. If the truck 1 cannot cross the obstacle, the obstacle avoidance module 42 is called, which instructs the drive wheel group 12 to move horizontally to the middle of the road through the steering mechanism, and then instructs the obstacle recognition module 41 to detect the obstacle again after the movement is completed; if the obstacle is still detected, repeat the process of horizontal movement and obstacle detection until the obstacle recognition module 41 detects no obstacle, and the truck 1 walks forward; When the truck 1 needs to restore walking along the path network 5 after passing the obstacle, the obstacle recognition module 41 detects whether there is an obstacle in the pre-set long-distance area in front of the magnetic stripe reference line 51, if there is no obstacle in the area, the drive wheel group 12 is controlled to move to the magnetic stripe reference line 51, if there is an obstacle in the area, the drive wheel group 12 is controlled to drive along the line parallel to the magnetic stripe reference line 51, until the magnetic stripe reference line 51 in the pre-set long-distance area in front of it has no obstacle, then the truck 1 restores the path network 5 to walk, until it reaches the pre-set terminal point.

[0038] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A hydroelectric plant material self-transportation system characterized by: The application relates to a truck (1) and a path network (5), wherein the truck (1) travels along the path network (5); the truck (1) comprises a bearing plate (11), a driving wheel set (12) and a track wheel set (13) installed at the bottom of the bearing plate (11), and a scene control system (2), a scene recognition system (3) and an obstacle system (4) integrated in the truck (1), wherein the track wheel set (13) runs on the ground when the driving wheel set (12) is retracted; the scene control system (2) comprises a flat road scene (21), an inclined road scene (22), a pit scene (23), a stair scene (24) and a threshold scene (25), the driving wheel set (12) is used for driving the truck (1) in the flat road scene (21), the pit scene (23) and the threshold scene (25), and the track wheel set (13) is used for driving the truck (1) in the inclined road scene (22) and the stair scene (24); the scene recognition system (3) comprises a far scene recognition module (31) for judging the scene type and long-distance obstacle detection, and a near scene recognition module (32) for accurately verifying the scene parameters and near-distance obstacle recognition; the obstacle system (4) comprises an obstacle recognition module (41) and an obstacle avoidance module (42), the obstacle recognition module (41) is used for recognizing whether there is an obstacle on the path network (5) when the truck (1) travels along the path network (5), and the obstacle avoidance module (42) adjusts the running route of the truck (1) after the obstacle recognition module (41) recognizes the obstacle; the driving wheel set (12) comprises a front wheel set (121), an auxiliary wheel set (122) and a rear wheel set (123) which are arranged at intervals along the length direction of the truck (1), and the auxiliary wheel set (122) can move horizontally between the front wheel set (121) and the rear wheel set (123); the front wheel set (121), the auxiliary wheel set (122) and the rear wheel set (123) each comprise a hydraulic lifting mechanism for adjusting the height and a steering mechanism for horizontal steering avoidance; the path network (5) comprises buried magnetic stripe reference lines (51), the magnetic stripe reference lines (51) are laid along the areas close to the two sides of the internal road surface of a factory area, and three magnetic stripe reference lines (51) are laid, and the three magnetic stripe reference lines (51) are respectively located at the two sides and the middle of the truck (1); the bottom of the bearing plate (11) is provided with a magnetoresistance sensor for cooperating with the magnetic stripe reference lines (51) to detect the magnetic field signal and correct the running deviation; the scene recognition system (3) further comprises a weak magnetic signal recognition module (33), when the magnetic field signal strength received by the magnetoresistance sensor is lower than a preset threshold value, the truck (1) enters the obstacle system (4); the obstacle recognition module (41) comprises a radar component for detecting the front obstacle and the magnetic stripe cover contour, the radar component is installed on the bearing plate (11) and is used for detecting the front obstacle and the lateral space of the horizontal moving path of the truck (1). ​ ​ ​ ​ 2. A water power plant material self-transport system according to claim 1, characterized in that: ​ ​ 3. A water power plant material self-transport system according to claim 1, characterized in that: ​ ​ 4. A hydroelectric plant material self-transport system according to claim 1, characterized in that: ​ ​ The obstacle avoidance module (42) comprises a collision sensor for sensing collision risk, which is respectively installed at the front end and both sides of the bearing plate (11).

5. A hydroelectric plant material self-transport system according to claim 1, characterized in that: The far scene recognition module (31) comprises a front sensor group for detecting height change and long-distance obstacles in front, and a wide-angle image acquisition component for recognizing the profile and shape of the obstacles in front; the front sensor group is installed at a preset height of the bearing plate (11) and is arranged towards the front and lower part.

6. A hydroelectric plant material self-transport system according to claim 1, characterized in that: The near scene recognition module (32) comprises a rear sensor group for accurately measuring scene parameters and near-distance obstacles, and a micro-distance image acquisition component for confirming scene details and obstacle boundaries; the rear sensor group is installed at a preset height of the bearing plate (11) and is arranged towards the ground.

7. A method for controlling a self-transportation system of materials in a hydropower plant, using a self-transportation system of materials in a hydropower plant according to any one of claims 2-6, characterized in that, The control steps include: The starting point and the ending point of the cargo truck (1) are set, a route is designed according to the path, the cargo truck (1) moves along the path network (5), in the moving process, the far scene recognition module (31) determines whether there is a scene change at a distance of 3-5 meters in front of the cargo truck (1) in real time, and the weak magnetic signal recognition module (33) recognizes the strength of the received magnetic field in real time; If the far scene recognition module (31) recognizes the type of the far scene to be changed, the cargo truck (1) slows down and prepares to switch the scene mode, when the cargo truck (1) moves to a distance of 1-2 meters from the scene change point, the near scene recognition module (32) is enabled to identify the specific parameters of the next scene as the reference for adjusting the parameters of the cargo truck (1); If the magnetic field received by the weak magnetic signal recognition module (33) weakens, the cargo truck (1) slows down and calls the obstacle system (4) to identify and avoid the obstacles in front.

8. The method of claim 7, wherein: When the scene driven by the driving wheel group (12) is switched to the scene driven by the track wheel group (13), the cargo truck (1) stops running 1 meter before entering the next scene and completes the switching of the track wheel group (13); When the scene driven by the track wheel group (13) is switched to the scene driven by the driving wheel group (12), the cargo truck (1) stops running 1 meter after entering the next scene and completes the switching of the track wheel group (13).

9. The method of claim 7, wherein: When the cargo truck (1) moves by using the driving wheel group (12) and faces the threshold scene (25), first, the auxiliary wheel group (122) is driven to move close to the front wheel group (121), and the auxiliary wheel group (122) moves at most to a distance of twice the width of the threshold from the front wheel group (121); The front wheel group (121) is lifted above the threshold height, and the cargo truck (1) is driven forward by the auxiliary wheel group (122) and the rear wheel group (123) until the front wheel group (121) crosses the threshold; The front wheel group (121) is lowered, and the auxiliary wheel group (122) is lifted, and the cargo truck (1) is moved by using the front wheel group (121) and the rear wheel group (123) until the rear wheel group (123) is close to the threshold; The auxiliary wheel group (122) is driven to move close to the rear wheel group (123) until the auxiliary wheel group (122) is close to the threshold, the rear wheel group (123) is lifted, and the cargo truck (1) is moved forward by using the auxiliary wheel group (122) and the front wheel group (121) until the rear wheel group (123) crosses the threshold.

10. The method of claim 1, wherein: The execution steps of the weak magnetic signal recognition module (33) after receiving the magnetic field weakening signal include: The triggering obstacle system (4) and detecting the front obstacle profile by radar components, if the profile height and width are less than the height and width of the driving wheel group (12), lifting the driving wheel group (12) height, the truck (1) drives over the obstacle from above; If the truck (1) cannot cross the obstacle, instructing the driving wheel group (12) to move horizontally to the middle of the road through the steering mechanism, and after moving, instructing the obstacle identification module (41) to detect the obstacle again; If the obstacle is still identified, repeat the process of horizontal movement and obstacle detection until the obstacle identification module (41) identifies no obstacle; When the truck (1) needs to restore the path network (5) to walk, the obstacle identification module (41) detects whether there is an obstacle in the preset long-distance area in front of the magnetic stripe reference line (51), if there is no obstacle in the area, control the driving wheel group (12) to move to the magnetic stripe reference line (51), if there is an obstacle in the area, control the driving wheel group (12) to drive along the line parallel to the magnetic stripe reference line (51).

Images