Self-avoiding global mowing device

Abstract

The application provides a self-obstacle-avoiding global mowing device, which comprises a vehicle body and a mowing mechanism, the mowing mechanism is located on the vehicle body, the mowing mechanism comprises a power member, a switching member and a plurality of cutter members, the switching member can switch different cutter members to cooperate with the power member; the control unit comprises a data acquisition module for acquiring a region scene image and a torque value of the cutter member, a global scene analysis module for recording the obstacle position and the hard object mark in the form of coordinate points in the global scene image, and a complex mowing path planning module for planning a complex mowing path according to the size of the global scene, the mowing width of the cutter member, the obstacle coordinate and the hard object coordinate and taking the total time consumption as a factor; the application has the advantages that the obstacles can be automatically identified and bypassed, the corresponding planning path can be planned, and the hard objects can be preliminarily screened to facilitate the subsequent route planning during the complex mowing.

Description

Technical Field

[0001] This invention relates to the technical field of weeding equipment, and more specifically to a self-obstacle-avoiding, all-area weeding device. Background Technology

[0002] As living standards improve, so does the demand for quality of life. This means that green areas are expanding rapidly. Areas such as parks or lawns that require regular weeding are currently being weeded. For smaller areas, weeding is done manually using weeding equipment, while for larger areas, large weeding trucks are used. However, these large weeding trucks also require manual driving, which makes weeding too costly, and manual weeding is relatively inefficient.

[0003] The development of smart devices has led to a shift towards automated lawnmowers as a method of weeding. These lawnmowers use intelligent monitoring and obstacle avoidance to weed the ground on their own. However, existing automated lawnmowers tend to weed the same spot repeatedly, which reduces weeding efficiency. Furthermore, the cutting blades are prone to colliding with hard objects during the weeding process, which can damage the blades and further reduce weeding efficiency. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a self-obstacle-avoiding all-area mowing device. This self-obstacle-avoiding all-area mowing device can automatically identify and avoid obstacles, plan a corresponding path, and can initially screen out hard objects to facilitate route planning during subsequent mowing.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A self-propelled obstacle-avoiding all-area mowing device includes a vehicle body and a mowing mechanism. The mowing mechanism is located on the vehicle body and includes a power component, a switching component, and several cutting blades. The switching component can switch different cutting blades to work with the power component.

[0007] It also includes a control unit, which includes a scene data acquisition module, a global scene analysis module, and a resection path planning module;

[0008] The scene data acquisition module acquires the foreground image captured in real time as the area scene image during the initial cutting of the entire vehicle body, and also acquires the torque value of the cutting tool in real time.

[0009] The global scene analysis module stitches together the regional scene images to obtain a global scene image. It extracts obstacle features from the regional scene images from the same viewpoint, analyzes the obstacle positions in the regional scene images where the obstacle features appear from multiple viewpoints, and records the obstacle positions in the global scene image as coordinate points. It filters the regional scene images corresponding to abnormal torque values ​​and records the cutting tool positions in the regional scene images as hard object markers in the global scene image as coordinate points.

[0010] The re-cutting path planning module plans a re-cutting path based on the size of the entire scene, the cutting width of the cutter, the coordinates of obstacles and hard objects, and the total time consumption. The total time consumption includes the time for changing the cutter, the time for obstacle avoidance, and the time for travel.

[0011] Furthermore, it also includes an initial cutting path planning module, which arbitrarily finds a boundary point of the area to be cut, uses the boundary line where the boundary point is located as the initial route of the vehicle, and uses the cutting width of the cutting blade as the route width. Based on the initial route of the vehicle and the route width, the next route is planned, and the vehicle travels in opposite directions for two adjacent routes.

[0012] Furthermore, the global scene analysis module includes a hard object analysis submodule. The hard object analysis submodule plots the torque values ​​at different times into a torque line graph. The torque values ​​of parallel line segments in the torque line graph are taken as normal torque values, and the torque values ​​of steep peak points in the torque line graph are taken as abnormal torque values. The abnormal torque values ​​reflect the impact of the cutting tool on the hard object.

[0013] Furthermore, the hard object analysis submodule divides the steep peak segment in the torque line graph into two segments with the midpoint of the steep peak to obtain a torque surge segment and a torque slump segment. It calculates the slope of the torque surge segment and the torque slump segment respectively. Based on the slope comparison, if the slope of the torque surge segment is greater than or equal to the slope of the torque slump segment, a hard object fixing command is output; otherwise, a hard object displacement command is output.

[0014] The full-domain scene analysis module also includes a hard object marking submodule. If a hard object fixing instruction is received, the position of the cutting tool corresponding to the steep peak section is directly used as the hard object mark. If a hard object displacement instruction is received, the position of the cutting tool corresponding to the steep peak section and a certain range of the vehicle body are used as the hard object mark.

[0015] Furthermore, the recutting path planning module includes a time consumption calculation submodule.

[0016] The time consumption calculation submodule obtains the number of hard object markers, calculates the first distance value between two adjacent hard objects based on the coordinates of the hard object markers, calculates the second distance value between the recutting endpoint and each hard object marker, calculates the driving time for each first distance value and each second distance value, and selects the route corresponding to the minimum driving time after the vehicle reaches each hard object marker in sequence as the optimal route.

[0017] Furthermore, the time consumption calculation submodule obtains the sub-route between the recutting endpoint and each hard object marker, determines whether there are obstacles on each sub-route, counts the number of obstacles, recalculates the travel time of the sub-route based on the number of obstacles, and re-selects the optimal route.

[0018] Furthermore, the recutting path planning module also includes a time consumption comparison submodule.

[0019] The time comparison submodule accumulates the travel time and tool change time under the optimal route to obtain the first total time, calculates the second total time based on the number of hard object markers and the tool change time, compares the first total time with the second total time, and outputs a single route instruction if the former is higher, and outputs a dual route instruction if the latter is higher.

[0020] Furthermore, the recutting path planning module, when receiving a single-route instruction, uses the recutting route as the entire route; when receiving a dual-route instruction, it uses the combination of the recutting route and the optimal route as the overall route.

[0021] Furthermore, the recutting path planning module also includes a real-time change submodule.

[0022] The real-time change submodule analyzes the obstacle type. If it is a moving obstacle, it monitors the real-time position of the obstacle and changes the recutting route in real time to ensure that the vehicle avoids the obstacle during its movement. If it is a fixed obstacle, it ignores the monitoring of the obstacle.

[0023] Furthermore, the switching component includes a rotating frame, on which a plurality of cutting blades are provided. Each cutting blade is a cutting roller shaft, and rotating shafts that cooperate with the power component are provided on both sides of the cutting blades. The rotating frame rotates to allow different cutting blades to cooperate with the power component.

[0024] The beneficial effects of this invention are as follows: The vehicle body is controlled to perform initial mowing of the entire scene using the initial cutting path planning. By using the vehicle body to track points and collect visual data during the driving process, the coordinates of the entire scene are constructed to obtain the distribution coordinates of obstacles. The cutting blade used in the initial cutting is an easily replaceable coarse blade shaft, which is used for initial cutting. The torque of the blade shaft during the initial cutting can be used to preliminarily determine the coordinates of the hard objects hidden in the scene. The recutting path planning module combines the cutting width of the cutting blade, the position of obstacles, and the position of hard objects to reasonably plan a recutting route with the shortest time, and can avoid severe wear of the fine blade shaft due to collision with hard objects. Attached Figure Description

[0025] Figure 1 This is an overall structural diagram of the present invention;

[0026] Figure 2 This is a module connection diagram in this invention;

[0027] Figure 3 This is a schematic diagram of a single route in this invention;

[0028] Figure 4 This is a schematic diagram of the dual-path system in this invention;

[0029] Figure 5 This is a line graph of the torque in the first case of this invention;

[0030] Figure 6 This is a line graph of the torque in the second case of this invention;

[0031] Figure 7 This is a route map when obstacles are distributed in a dispersed manner in this invention.

[0032] Reference numerals: 1. Vehicle body; 21. Power component; 22. Switching component; 23. Cutting blade component; 101. Scene data acquisition module; 102. Global scene analysis module; 1021. Hard object analysis submodule; 1022. Hard object marking submodule; 103. Recutting path planning module; 1031. Time consumption calculation submodule; 1032. Time consumption comparison submodule; 1033. Real-time change submodule; 104. Initial cutting path planning module. Detailed Implementation

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0034] Due to the development of smart devices, weeding methods are increasingly shifting towards automated lawnmowers. These lawnmowers utilize intelligent monitoring and obstacle avoidance functions to autonomously mow the lawn on a given area. However, existing automated lawnmowers tend to repeatedly cut weeds in the same spot, leading to reduced efficiency. Furthermore, the cutters are prone to damage from collisions with hard objects, further reducing efficiency. Therefore, this invention designs a self-obstacle-avoiding, all-area lawnmower device. Figure 1 As shown, the device includes a vehicle body 1 and a mowing mechanism. The mowing mechanism is located on the vehicle body 1, typically at the front end. The mowing mechanism includes a power unit 21, a switching unit 22, and several cutting blades 23. The switching unit 22 can switch between different cutting blades 23 and the power unit 21. Specifically, the switching unit 22 includes a rotating frame with several cutting blades 23, typically two blades 23. Each cutting blade 23 is a cutting roller, and the two sets of cutting rollers have different cutting precisions: one set for coarse cutting and the other for fine cutting. The rotating frame is a tripod. One corner of the tripod is rotatably connected to the vehicle body 1. Two sets of cutter roller shafts are rotatably connected to the two corners of the tripod. Rotating bolts are provided at both ends of the cutter roller shafts. The power component 21 includes a fixed bushing and a power bushing. The power bushing moves inside the fixed bushing. The fixed bushing has a notch. When the rotating frame rotates, one set of cutter roller shafts is rotated so that its rotating bolt enters the fixed bushing through the notch. At this time, the power bushing moves and locks onto the rotating bolt of the cutter roller shaft. When switching is required, the power bushing disengages from the rotating bolt of the cutter roller shaft, and the rotating frame rotates in the opposite direction.

[0035] like Figure 2 As shown, it also includes a control unit, which includes a scene data acquisition module 101, a global scene analysis module 102, and a resection path planning module 103.

[0036] The scene data acquisition module 101 acquires the foreground image acquired in real time as the area scene image when the vehicle body 1 is initially cut across the entire area, and acquires the torque value of the cutting blade 23 acquired in real time. First, the vehicle body 1 uses a coarse cutter to initially cut the area to be cut in order to perform a preliminary scene acquisition of the area to be cut. The specific initial cut needs to plan a single route, which is completed by the subsequent initial cut path planning module 104.

[0037] The global scene analysis module 102 stitches together regional scene images to obtain a global scene image (including a 3D model scene and a 3D coordinate map). Since obstacle positions are inaccurate from a single viewpoint, obstacle features are extracted from regional scene images at the same viewpoint. The module analyzes the obstacle positions in regional scene images where these features appear from multiple viewpoints (obstacle positions from multiple viewpoints can be calibrated to ensure accuracy), and records these obstacle positions as coordinate points in the global scene image. It also filters regional scene images corresponding to abnormal torque values ​​and records the position of the cutter 23 in these regional scene images as a hard object marker in the global scene image. The main purpose of the global scene analysis module 102 is to mark and distinguish obstacles, hard objects, and the actual mowing area within the area to be cut, ensuring the efficiency and accuracy of re-cutting.

[0038] The re-cutting path planning module 103 plans a re-cutting path based on the size of the entire scene, the cutting width of the cutter 23, the coordinates of obstacles and hard objects, and the total time. The total time includes the time for switching the cutter, the time for obstacle avoidance, and the time for travel.

[0039] The purpose of this invention is to control the vehicle body 1 to perform initial mowing of the entire scene using the initial mowing path planning. By using the vehicle body 1 to track points and collect visual data during the driving process, the coordinates of the entire scene are constructed to obtain the distribution coordinates of obstacles. The cutter 23 used in the initial mowing is an easily replaceable coarse cutter shaft, which is used for initial mowing. The torque of the cutter shaft during the initial mowing can be used to preliminarily determine the coordinates of hard objects hidden in the scene. The re-mowing path planning module 103 combines the mowing width of the cutter 23, the position of obstacles, and the position of hard objects to reasonably plan a re-mowing route with the shortest time, and can avoid severe wear of the fine cutter shaft due to collision with hard objects.

[0040] It also includes an initial cutting path planning module 104, which arbitrarily finds a boundary point of the area to be cut, uses the boundary line where the boundary point is located as the initial route of the vehicle body 1, and uses the cutting width of the cutting blade 23 as the route width. Based on the initial route of the vehicle body 1 and the route width, it plans the next route. The driving directions of the vehicle body 1 of two adjacent routes are opposite, such as... Figure 3 As shown, assuming the area to be cut is a square area, starting from the lower left corner of the area to be cut, and using the length of the cutting roller shaft of the cutting blade 23 as the route width, the initial plan is for the vehicle body 1 to travel along the length of the area to be cut. When it reaches the edge of the area to be cut, it travels back and forth again using the length of the cutting roller shaft as the route width, and finally travels the entire width of the area to be cut.

[0041] The full-domain scene analysis module 102 includes a hard object analysis submodule 1021. The hard object analysis submodule 1021 plots the torque values ​​at different times into a torque line graph. The torque values ​​of parallel line segments in the torque line graph are taken as normal torque values, and the torque values ​​at steep peaks in the torque line graph are taken as abnormal torque values. Abnormal torque values ​​reflect the impact of the cutting tool 23 on the hard object, such as... Figure 5 As shown, when the cutter roller is cutting grass normally, the torque value of the cutter roller is within an initial range, that is, the torque lines are parallel lines, and the torque value is N2. When the cutter roller touches a hard object (stone, rotten tree stump, etc.) during rotation, the torque of the cutter roller will increase instantaneously. That is, the steep peak point in the torque graph is the abnormal maximum torque value, and the torque value is N3.

[0042] The hard object analysis submodule 1021 divides the steep peak segment in the torque polygon graph into two segments with a sudden increase in torque and a sudden decrease in torque, at the midpoint of the peak. Figure 5 As shown, the part to the left of the midpoint of the steep peak is the segment with a sudden increase in torque, and the part to the right of the midpoint of the steep peak is the segment with a sudden decrease in torque. The slopes of the segments with a sudden increase in torque and the segments with a sudden decrease in torque are calculated respectively. Based on the slope comparison, if the slope of the segment with a sudden increase in torque is greater than or equal to the slope of the segment with a sudden decrease in torque, a hard object fixing command is output; otherwise, a hard object displacement command is output.

[0043] The full-domain scene analysis module 102 also includes a hard object marking submodule 1022. If a hard object fixing instruction is received, the position of the cutting blade 23 corresponding to the steep peak section is directly used as the hard object mark. If a hard object displacement instruction is received, the position of the cutting blade 23 corresponding to the steep peak section and a certain range of the vehicle body 1 are used as the hard object mark.

[0044] When the cutter roller rotates, its torque will suddenly increase upon initial contact with a hard object. Since the cutter roller rotates at a relatively high speed, if the hard object is fixed in the grass, the torque of the cutter roller during the movement of the vehicle body 1 should be such that the time of the sudden increase in torque is the same as the time of the sudden decrease in torque; that is, the slope of the sudden increase in torque is greater than or equal to the slope of the sudden decrease in torque. Figure 5 As shown, the position of the cutter roller shaft at the maximum torque is taken as the hard object marker point, and as... Figure 6 As shown, when the slope of the sudden increase in torque is less than the slope of the sudden decrease in torque, or when the slope of the latter part of the sudden decrease in torque is greater than the slope of the sudden increase in torque, it indicates that the cutter roller shaft picks up the hard objects in the grass and throws them to one side of the rotation direction of the cutter roller shaft. At this time, it is necessary to mark the displacement area of ​​the hard objects within a certain range of the vehicle body 1.

[0045] The recutting path planning module 103 includes a time consumption calculation submodule 1031.

[0046] The time calculation submodule 1031 obtains the number of hard object markers, calculates the first distance value between two adjacent hard objects according to the coordinates of the hard object markers, calculates the second distance value between the recutting endpoint and each hard object marker, calculates the travel time for each first distance value and each second distance value respectively, and selects the route corresponding to the minimum travel time after the vehicle body 1 reaches each hard object marker in sequence as the optimal route.

[0047] For example, such as Figure 3 and Figure 4 As shown, A is the endpoint of the recutting, marked by three hard objects: A1, A2, and A3. The distances between A and A1, A2, and A3 are considered as second distance values, while the distances between A1, A2, and A3 are considered as first distance values. The vehicle 1 travels at a constant speed. The calculation of the time taken for each first and second distance value is crucial, and the optimal route is primarily selected from among the second distance values. Figure 3 and Figure 4 In this case, the second distance between point A and point A3 is the smallest. Therefore, the optimal route is A-A3. Subsequently, the route will be selected from the first distance values. Figure 3 In the given information, the first distance value between A3 and A1 is less than the first distance value between A3 and A2. Therefore, the optimal route is: A-A3-A1-A2.

[0048] The time calculation submodule 1031 obtains the sub-routes between the end point of the recutting and each hard object marker, determines whether there are obstacles on each sub-routes, counts the number of obstacles, recalculates the travel time of the sub-routes based on the number of obstacles, and reselects the optimal route. For example, if there are obstacles in the travel sub-routes A-A3, the travel time between A-A3 needs to be added to the time spent going around the obstacles. At this time, the travel time of A-A3 is compared with the travel time of A-A1 and A-A2 to reselect the optimal route.

[0049] The recutting path planning module 103 also includes a time consumption comparison submodule 1032.

[0050] The time comparison submodule 1032 accumulates the travel time under the optimal route and the time of one tool change to obtain the first total time. It calculates the second total time based on the number of hard object markers and the time of one tool change. It compares the first total time with the second total time. If the former time is higher, it outputs a single route instruction. If the latter time is higher, it outputs a double route instruction. The recutting path planning module 103 uses the recutting route as the whole route when it receives a single route instruction. When it receives a double route instruction, it uses the combination of the recutting route and the optimal route as the whole route.

[0051] For example, such as Figure 3 and Figure 4The optimal route, A-A3-A1-A2, takes t1 to travel. From point A, the cutting tool is initially a fine cutter. When recutting hard-marked areas, it needs to be switched to a fine cutter, with a single cutter change time of t2. The first total time is t1 + t2. However, if the recutting route proceeds normally, cutting is performed every time a hard-marked area is encountered. With 3 hard-marked areas, this requires 6 cutter changes, resulting in a second total time of 6t1. Comparing t1 + t2 with 6t1, if the former is larger... If the output is a single route command, the vehicle body 1 will stop and change the tool every time it reaches the coordinate of the hard object mark on the recutting route. Otherwise, a double route command will be output, so that the vehicle body 1 will stop the rotation of the cutter roller shaft every time it reaches the coordinate of the hard object mark on the recutting route and directly skip the hard object mark. When the vehicle body 1 completes the recutting to the end point, the coarse cutter will be switched to select the optimal route to recut the hard object mark, so as to complete the recutting while avoiding wear on the fine cutter.

[0052] The recutting path planning module 103 also includes a real-time change submodule 1033.

[0053] The real-time change submodule 1033 analyzes obstacle types (current obstacle type analysis mainly includes two methods: one is the deep learning method of neural networks, and the other is model matching. Both of these methods are mature technologies). When the obstacle is a moving obstacle, if the vehicle 1 detects an intersection with the moving obstacle while traveling on the recutting route, it needs to monitor the real-time position of the obstacle visually and change the recutting route in real time to ensure that the vehicle 1 avoids the obstacle during travel. If the obstacle is a fixed obstacle, the monitoring of the obstacle is ignored.

[0054] In addition, such as Figure 7 As shown, the recutting path planning module 103 can prioritize the analysis of obstacles when formulating the recutting path. After the initial cut, the coordinates of the obstacles are known. The distribution of obstacles can be either clustered or dispersed. When the obstacles are clustered, the recutting is planned according to the route of the initial cut. When the obstacles are dispersed, the initial position of the vehicle body 1 can be prioritized to bypass the first obstacle, and then drive to the next obstacle to bypass it again, so that all obstacles are recut around a circle or a square area. Then, a straight recutting route is specified. Its function is to prioritize bypassing all obstacles, which can avoid the need for the vehicle body 1 to calculate and bypass obstacles separately when encountering obstacles in a straight recutting, thus reducing the computational burden.

[0055] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A self-avoiding global lawnmower device, characterized by: The mower comprises a vehicle body (1) and a mowing mechanism arranged on the vehicle body (1), wherein the mowing mechanism comprises a power member (21), a switching member (22) and a plurality of cutter members (23), and the switching member (22) is capable of switching different cutter members (23) to cooperate with the power member (21); The mower further comprises a control unit, wherein the control unit comprises a scene data acquisition module (101), a global scene analysis module (102) and a re-mowing path planning module (103); The scene data acquisition module (101) acquires a foreground image acquired in real time by vision as a regional scene image when the vehicle body (1) performs global initial mowing, and acquires a torque value of the cutter member (23) acquired in real time; The global scene analysis module (102) performs splicing on the regional scene image to obtain a global scene image, extracts an obstacle feature in the regional scene image at the same visual angle, analyzes an obstacle position of the regional scene image in which the obstacle feature appears in multiple visual angles, records the obstacle position in the global scene image in the form of a coordinate point, screens a regional scene image corresponding to an abnormal torque value, and records a position of the cutter member (23) in the regional scene image as a hard object mark in the form of a coordinate point in the global scene image; The re-mowing path planning module (103) plans a re-mowing path with the shortest total time according to a size of the global scene, a mowing width of the cutter member (23), obstacle coordinates and hard object coordinates, wherein the total time includes a cutter switching time, an obstacle avoidance time and a driving time.

2. The self-avoiding obstacle cutting device according to claim 1, wherein: The mower further comprises an initial mowing path planning module (104), which randomly selects a boundary point of a region to be mowed, takes a boundary line where the boundary point is located as an initial route of the vehicle body (1), takes a mowing width of the cutter member (23) as a route width, and plans a next path according to the initial route of the vehicle body (1) and the route width, wherein the driving directions of the vehicle body (1) in adjacent two paths are opposite.

3. The self-avoiding obstacle cutting device according to claim 2, wherein: The hard object analysis submodule (1021) in the global scene analysis module (102) draws a torque broken line graph by taking torque values at different time points in the form of a graph, takes torque values of parallel line segments in the torque broken line graph as normal torque values, and takes torque values of sharp peak points in the torque broken line graph as abnormal torque values, wherein the abnormal torque values reflect that the cutter member (23) collides with a hard object.

4. The self-avoiding obstacle cutting device according to claim 3, wherein: The hard object analysis submodule (1021) divides a sharp peak segment in the torque broken line graph into two parts by a midpoint of the sharp peak segment to obtain a torque sharply increasing segment and a torque sharply decreasing segment, respectively calculates slopes of the torque sharply increasing segment and the torque sharply decreasing segment, and compares the slopes, wherein if the slope of the torque sharply increasing segment is greater than or equal to the slope of the torque sharply decreasing segment, a hard object fixing instruction is output, and otherwise, a hard object shifting instruction is output. The global scene analysis module (102) further comprises a hard object marking submodule (1022), if a hard object fixing instruction is received, the position of the cutter (23) corresponding to the steep peak segment is directly marked as a hard object, and if a hard object displacement instruction is received, the position of the cutter (23) corresponding to the steep peak segment and a certain body range of the vehicle body (1) are marked as hard objects.

5. The self-avoiding obstacle cutting device according to claim 4, wherein: The complex cutting path planning module (103) comprises a time consumption calculation submodule (1031), The time consumption calculation submodule (1031) obtains the number of hard object marks, calculates the first distance value between adjacent two hard objects according to the coordinates of the hard object marks, calculates the second distance value between the complex cutting end point and each hard object mark, respectively calculates the driving time consumption corresponding to each first distance value and each second distance value, and selects the route corresponding to the minimum driving time consumption of the vehicle body (1) after sequentially reaching each hard object mark as the optimal route.

6. The self-avoiding obstacle avoiding global lawnmower device according to claim 5, characterized in that: The time consumption calculation submodule (1031) obtains the sub-routes between the complex cutting end point and each hard object mark, respectively judges whether there is an obstacle on each sub-route, if there is, counts the number of obstacles, and recalculates the driving time consumption of the driving sub-route according to the number of obstacles, and reselects the optimal route.

7. The self-avoiding obstacle avoiding global lawnmower device according to claim 6, characterized in that The complex cutting path planning module (103) further comprises a time consumption comparison submodule (1032), The time consumption comparison submodule (1032) accumulates the driving time consumption of the optimal route and the single tool changing time consumption to obtain a first total time consumption, calculates a second total time consumption according to the number of hard object marks and the single tool changing time consumption, compares the first total time consumption with the second total time consumption, if the former consumes more time, outputs a single route instruction, and if the latter consumes more time, outputs a double route instruction.

8. The self-avoiding obstacle cutting device according to claim 7, wherein: The complex cutting path planning module (103) receives a single route instruction, uses the complex cutting route as the whole route, and receives a double route instruction, uses the combination of the complex cutting route and the optimal route as the whole route. 9.The self-avoiding obstacle global mowing device according to any one of claims 1-8, characterized in that: The complex cutting path planning module (103) further comprises a real-time changing submodule (1033), The real-time changing submodule (1033) analyzes the type of the obstacle, if it is a mobile obstacle, monitors the real-time position of the obstacle, and changes the complex cutting route in real time to ensure that the vehicle body (1) avoids the obstacle during driving, and if it is a fixed obstacle, the monitoring of the obstacle is ignored.

10. The self-avoiding obstacle cutting device according to claim 1, wherein: The switching piece (22) comprises a rotating frame, a plurality of cutter pieces (23) are arranged on the rotating frame, the cutter piece (23) is a cutter roller shaft, rotating shafts matched with the power piece (21) are arranged on both sides of the cutter piece (23), and the rotating frame rotates to make different cutter pieces (23) matched with the power piece (21).

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