Differential obstacle avoidance unmanned mowing vehicle and obstacle handling method thereof

Abstract

The invention discloses a differentiated obstacle avoidance unmanned mowing vehicle and an obstacle handling method thereof, the mowing vehicle is provided with a visual module, and the visual module can detect the positions of grass and obstacles and guide the mowing vehicle to advance; an object moving conveying belt is arranged at the front part of the mowing vehicle, and at least one end of the object moving conveying belt extends to the outer side of the mowing vehicle; the visual module can detect the type of an obstacle from the visual angle, and when the visual module guides the object moving conveying belt to make contact with the obstacle based on the type of the obstacle, the object moving conveying belt can move the movable obstacle to the outer side of the mowing vehicle. A cutting mechanism is arranged on the mowing vehicle and located in front of the object moving conveying belt. A smashing mechanism is arranged at the bottom of the mowing vehicle and can smash grass and obstacles rolled into the bottom of the mowing vehicle. According to the invention, the mowing vehicle can make different coping strategies when facing different types of obstacles, so that the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of weeding, and particularly to a differential obstacle avoidance unmanned lawn mower and an obstacle coping method thereof. Background Art

[0002] When using an unmanned lawn mower to mow a lawn, if an obstacle is encountered on the lawn, the unmanned lawn mower generally chooses to bypass the obstacle. However, after the unmanned lawn mower detours, it is necessary to re-plan the path, which affects the weeding efficiency, and it is also difficult to trim the weeds at the edge of the obstacle. In fact, there may be many types of obstacles on the lawn, which may be hard obstacles such as stones, bricks, and large trees, or may be soft obstacles such as branches, plastics, small shrubs, and grassy plants. To improve work efficiency, it is necessary to enable the lawn mower to adopt different coping strategies when facing different types of obstacles. Summary of the Invention

[0003] Object of the Invention: In order to overcome the deficiencies in the prior art, the present invention provides a differential obstacle avoidance unmanned lawn mower and an obstacle coping method thereof, enabling the lawn mower to make different coping strategies when facing different types of obstacles, so as to improve work efficiency.

[0004] Technical Solution: To achieve the above object, a differential obstacle avoidance unmanned lawn mower of the present invention is provided with a vision module on the lawn mower. The vision module can detect the positions of grass and obstacles and guide the lawn mower to move forward. A material moving conveyor belt is arranged at the front of the lawn mower, and at least one end of the material moving conveyor belt extends to the outside of the lawn mower. The vision module can detect the type of the obstacle from a visual angle. When the vision module guides the material moving conveyor belt to contact the obstacle based on the type of the obstacle, the material moving conveyor belt can move the movable obstacle to the outside of the lawn mower.

[0005] Further, a cutting mechanism is arranged on the lawn mower, and the cutting mechanism is located in front of the material moving conveyor belt. After the vision module guides the cutting mechanism to cut the obstacle based on the type of the obstacle, the material moving conveyor belt can move the cut obstacle to the outside of the lawn mower.

[0006] Further, a crushing mechanism is arranged at the bottom of the lawn mower, and the crushing mechanism can crush the grass and obstacles involved in the bottom of the lawn mower.

[0007] Further, a debris collection bin is arranged behind the crushing mechanism.

[0008] Furthermore, a hardness detection module is also provided on the lawn mower. The hardness detection module can detect the type of obstacle from the tactile angle; the hardness detection module is signal-connected to the object transfer conveyor belt. Based on the hardness of the obstacle, the working state of the object transfer conveyor belt is adjusted so that the obstacle is rolled under the lawn mower or moved to the outside of the lawn mower.

[0009] Furthermore, inclined baffles are respectively arranged on both sides of the front end of the lawn mower, and the distance between the two inclined baffles gradually decreases from the front end to the rear end of the lawn mower.

[0010] Furthermore, the inclined baffle is movably installed on the side of the lawn mower. When the object transfer conveyor belt moves the obstacle to the outside of the lawn mower, the inclined baffle can move to avoid the obstacle.

[0011] Furthermore, the object transfer conveyor belt is installed between two rotating shafts. When the rotating shafts rotate, the object transfer conveyor belt is driven to move; a number of paddles are arranged in a row on the object transfer conveyor belt. When the object transfer conveyor belt moves, the paddles push and move the obstacle.

[0012] Furthermore, the hardness detection module includes a bending moment sensor and a torque sensor installed on the rotating shaft; when the obstacle contacts the object transfer conveyor belt, obstacles of different weights will cause different degrees of bending to the object transfer conveyor belt, so as to change the measured value of the bending moment sensor; when the paddles push and move obstacles of different weights and different hardnesses, the movement feedback of the paddles is different, so as to change the measured value of the torque sensor; the hardness of the obstacle is detected based on the difference in the measured values of the bending moment sensor and the torque sensor.

[0013] Furthermore, the paddle is an elastic sheet body, and an avoidance groove is formed on one side of the paddle on the object transfer conveyor belt; when the paddle pushes and moves the obstacle, the paddle can be deformed under the reaction force of the obstacle and fall into the avoidance groove, and the paddle falling into the avoidance groove can cross the obstacle, so that there are continuously paddles on the object transfer conveyor belt pushing and moving the obstacle and generating movement feedback.

[0014] Furthermore, a method for dealing with obstacles of a differential obstacle avoidance unmanned lawn mower. During the process of the lawn mower moving forward, it is judged based on the vision module whether the obstacle in front can be cut by the cutting mechanism; if it is judged that the obstacle can be cut, the lawn mower keeps going straight; if the obstacle cannot be cut, the lawn mower bypasses; when the obstacle touches the object transfer conveyor belt, the hardness of the obstacle is detected based on the hardness detection module to judge whether the obstacle can be crushed by the crushing mechanism; if it is judged that the obstacle cannot be crushed, the object transfer conveyor belt rotates at an accelerated speed to move the obstacle to the outside of the lawn mower; if it is judged that the obstacle can be crushed, the object transfer conveyor belt rotates slowly to gradually roll the obstacle under the lawn mower, and the crushing mechanism crushes the obstacle.

[0015] Further, during the progress of the lawn mower, the object transfer conveyor belt rotates slowly first; when an obstacle touches the object transfer conveyor belt, the obstacle will bend the object transfer conveyor belt, causing the bending moment sensor to obtain a measurement value; the paddle will deflect the obstacle, causing the torque sensor to obtain a measurement value; based on the difference in the measurement values of the bending moment sensor and the torque sensor, the hardness of the obstacle is judged.

[0016] Beneficial effects: A differential obstacle avoidance unmanned lawn mower and its obstacle handling method of the present invention have the following beneficial effects:

[0017] 1) An object transfer conveyor belt is provided at the front of the lawn mower, enabling the lawn mower to have the ability to remove obstacles and achieve obstacle avoidance by removing obstacles; therefore, when encountering some types of obstacles, the lawn mower does not have to detour, thereby improving the working efficiency of the lawn mower.

[0018] 2) A crushing mechanism is provided at the bottom of the lawn mower, and a hardness detection module is provided on the object transfer conveyor belt. After detecting the hardness of the obstacle, the harder obstacles are moved to the outside of the lawn mower, and the softer obstacles are rolled into the bottom, and then the softer obstacles are crushed by the crushing mechanism.

[0019] 3) A torque sensor and a bending moment sensor are provided on the rotating shaft of the object transfer conveyor belt; when the obstacle bends the object transfer conveyor belt, the bending moment sensor has a measurement value, and this measurement value is related to the mass of the obstacle; when the paddle deflects the obstacle, the paddle will have a motion feedback, causing the torque sensor to have a measurement value, and this measurement value is related to the mass and surface hardness of the obstacle; based on the difference in the measurement values of the bending moment sensor and the torque sensor, the surface hardness of the obstacle can be judged.

[0020] 4) The paddle is an elastic sheet body, and a relief groove is provided on the object transfer conveyor belt. When the paddle deflects the obstacle, it will deform and fall into the relief groove, so that the paddle can cross the obstacle. Thus, new paddles will continuously deflect the obstacle and generate motion feedback, strengthening the correlation between the measurement value of the torque sensor and the surface hardness of the obstacle. Description of the Drawings

[0021] Att Figure 1 is a schematic diagram of the overall structure of the lawn mower;

[0022] Att Figure 2 is a schematic diagram of the bottom of the lawn mower;

[0023] Att Figure 3 is a schematic diagram of the structure of the object transfer conveyor belt. Detailed Embodiments

[0024] The present invention will be further described below with reference to the drawings.

[0025] As shown in the attaFigures 1 to 3 A differential obstacle avoidance unmanned lawn mower, on which a vision module is installed. The vision module can detect the positions of grass and obstacles and guide the lawn mower 1 to move forward. The vision module includes an industrial camera 9 arranged at the front end of the lawn mower 1, through which the front can be observed for obstacles and the traveling route of the lawn mower 1 can be planned. Industrial cameras 9 can also be installed around the body of the lawn mower 1 to observe the situation around the vehicle body. A radar 12 is also arranged on the lawn mower 1. Through the cooperation of the radar 12 and the industrial camera 9, the obstacle avoidance of the lawn mower 1 can be better realized. A lighting lamp 10 is also arranged in front of the lawn mower 1, which can ensure that the industrial camera 9 can play a certain role even in a dim environment.

[0026] A moving object conveyor belt 2 is arranged at the front part of the lawn mower 1. The moving object conveyor belt 2 extends along the width direction of the lawn mower 1, and at least one end of the moving object conveyor belt 2 extends to the outside of the lawn mower 1, so that the moving object conveyor belt 2 can move objects to the outside of the lawn mower 1.

[0027] The vision module also includes image recognition software, which enables the vision module to analyze the captured images, detect and judge the types of obstacles from a visual perspective, so as to judge whether the lawn mower 1 needs to avoid obstacles and detour. For example, if the detected obstacles are large trees, stones, bricks, etc., then the lawn mower 1 needs to detour. But if the detected obstacles are branches, small shrubs, etc., then the lawn mower 1 does not need to detour. The vision module guides the lawn mower 1 to move forward based on the type of obstacles. When the moving object conveyor belt 2 contacts an obstacle as the lawn mower 1 moves forward, if the obstacle is a movable obstacle, then the moving object conveyor belt 2 can move the movable obstacle to the outside of the lawn mower 1, thus realizing obstacle avoidance by removing the obstacle.

[0028] A cutting mechanism 3 is arranged on the lawn mower 1, and the cutting mechanism 3 is located in front of the moving object conveyor belt 2. Specifically, the cutting mechanism 3 is a double-layer blade, and the double-layer blade can vibrate back and forth to cut the objects encountered back and forth. The cutting mechanism 3 is mainly used for mowing grass, but when encountering some cuttable obstacles, such as small shrubs, the cutting mechanism 3 can also cut the small shrubs. When mowing the lawn, the double-layer blade is as close to the ground as possible to achieve a better mowing effect. Since the double-layer blade is close to the ground, when encountering scattered obstacles such as branches and plastic blocks, the scattered obstacles can cross the blade and come to the moving object conveyor belt 2. The height of the moving object conveyor belt 2 is higher than that of the double-layer blade, and the cut weeds will directly pass under the moving object conveyor belt 2, while obstacles with a certain height will be blocked by the moving object conveyor belt 2, thus preventing larger obstacles from getting stuck under the lawn mower 1.

[0029] Therefore, after the visual module detects the type of obstacle, if it determines that the obstacle can be cut by the cutting mechanism 3 based on the type of obstacle, then it will guide the lawn mower 1 to keep going straight so that the cutting mechanism 3 cuts the obstacle. Then, if the cut obstacle contacts the object moving conveyor belt 2, the object moving conveyor belt 2 can move the cut obstacle to the outside of the lawn mower 1 to prevent the obstacle from being stuck under the lawn mower 1.

[0030] A crushing mechanism 4 is provided at the bottom of the mower 1, and the crushing mechanism 4 can crush the grass and obstacles that are rolled into the bottom of the mower 1. The crushing mechanism 4 can crush the cut weeds for a second time, and can also crush relatively soft obstacles. A debris collection bin 5 is also provided behind the crushing mechanism 4, and can collect the debris generated by the crushing mechanism 4. Figure 2 In one embodiment shown in FIG. , the crushing mechanism 4 is a roller cutter.

[0031] The crushing mechanism 4 can crush softer obstacles, but if it crushes harder obstacles, the blade may be damaged. Therefore, it is necessary to detect the obstacles to determine whether the obstacles can be crushed. The visual module can detect the type of obstacles from a visual perspective and preliminarily determine whether the obstacles can be crushed by the crushing mechanism 4, but there are great limitations in judging the hardness of obstacles from a visual perspective. For example, for plastic blocks of the same appearance, it is impossible to judge their hardness by their appearance. Therefore, a hardness detection module is also provided on the mower 1, and the hardness detection module can detect the type of obstacles from a tactile perspective. The hardness detection module is connected to the signal of the object moving conveyor belt 2, and the hardness detection module adjusts the working state of the object moving conveyor belt 2 based on the hardness of the obstacle, so that the obstacle is rolled into the bottom of the mower 1 or moved to the outside of the mower 1. When the obstacle is hard, the object-moving conveyor belt 2 rotates faster to move the obstacle to the outside of the mower 1; when the obstacle is soft, the object-moving conveyor belt 2 rotates slowly to gradually roll the obstacle under the mower 1, and then the crushing mechanism 4 crushes the softer obstacle.

[0032] The object conveyor belt 2 is installed between two rotating shafts 6, and the rotating shafts 6 are driven to rotate by a motor, and the rotating shafts 6 drive the object conveyor belt 2 to move. A plurality of paddles 7 are arranged on the object conveyor belt 2, and obstacles are moved by the paddles 7 when the object conveyor belt 2 moves, so that the object conveyor belt 2 has a better effect of moving obstacles.

[0033] The hardness detection module includes a bending moment sensor and a torque sensor installed on the rotating shaft 6. When the mower 1 moves forward and an obstacle contacts the object-moving conveyor belt 2, the obstacle bends the object-moving conveyor belt 2 under the action of inertia, and obstacles of different weights will cause different degrees of bending on the object-moving conveyor belt 2 to change the measured value of the bending moment sensor, that is, the measured value of the bending moment sensor is positively correlated with the mass of the obstacle.

[0034] In addition, when the paddle 7 displaces an obstacle, a torque is applied to the rotating shaft 6, causing the torque sensor to obtain a measurement value. Moreover, when the paddle 7 displaces obstacles with different weights and different hardnesses, the movement feedback of the paddle 7 is different, so as to change the measurement value of the torque sensor. When the mass of the obstacles is the same, if the material of the obstacle is softer, then when the paddle 7 pushes the obstacle, the soft obstacle will undergo significant deformation. This deformation requires additional energy consumption to overcome, resulting in the paddle 7 needing to apply a greater force. Therefore, when the paddle 7 displaces a softer obstacle, the measurement value of the torque sensor will be greater.

[0035] In summary, the measurement value of the bending moment sensor is related to the mass of the obstacle, while the measurement value of the torque sensor is related not only to the mass of the obstacle but also to the hardness of the obstacle. Therefore, the hardness of the obstacle can be detected based on the difference in the measurement values of the bending moment sensor and the torque sensor.

[0036] Specifically, the magnitude of the force exerted by the obstacle can be deduced from the measurement values of the torque sensor and the bending moment sensor, and then the mass of the obstacle can be deduced. Due to the difference in the hardness of the obstacle, there will be a certain difference in the mass of the obstacle deduced by the two methods. The larger this difference is, the softer the obstacle is, and the smaller this difference is, the harder the obstacle is. Thus, the hardness of the obstacle can be judged.

[0037] In order to make the detection of the hardness of the obstacle by the torque sensor and the bending moment sensor more accurate, it is necessary to make the influence of the hardness of the obstacle on the measurement value of the torque sensor greater. For this purpose, in the present invention, the paddle 7 is an elastic sheet body, and as shown in the appendix Figure 3 a relief groove 8 is also provided on one side of the paddle 7 on the object-transferring conveyor belt 2. When the paddle 7 displaces an obstacle, the paddle 7 can deform under the reaction force of the obstacle and fall into the relief groove 8. The paddle 7 that has fallen into the relief groove 8 can cross over the obstacle. After crossing over the obstacle, the paddle 7 will rebound, generating movement feedback, and the subsequent paddle 7 will displace the obstacle again, so that there are constantly paddles 7 on the object-transferring conveyor belt 2 displacing obstacles and generating movement feedback. Correspondingly, the soft obstacle will also constantly deform, consuming a large amount of energy. Therefore, the influence of the hardness of the obstacle on the measurement value of the torque sensor will be greater. If the paddle 7 is a rigid paddle 7, then the movement feedback of the paddle 7 is smaller; if the paddle 7 is an elastic paddle 7 but there is no relief groove 8 on the object-transferring conveyor belt 2, then it is also difficult for the paddle 7 to cross over the obstacle. Therefore, the soft obstacle will only undergo a single deformation under the displacement of a single paddle 7, consuming less energy, having a smaller influence on the measurement value of the torque sensor, and resulting in a relatively large error in judging the hardness of the obstacle.

[0038] Therefore, the paddle 7 is an elastic paddle 7. Coupled with the arrangement of the avoidance groove 8, the paddle 7 can cross the obstacle, so that new paddles 7 continuously push the obstacle, thereby reducing the influence of the hardness of the obstacle on the measured value of the torque sensor and making the detection of the hardness of the obstacle more accurate.

[0039] On both sides of the front end of the lawn mowing vehicle 1, inclined baffles 11 are respectively arranged, and the distance between the two inclined baffles 11 gradually decreases from the front end to the rear end of the lawn mowing vehicle 1. The inclined baffles 11 are also located on both sides of the cutting mechanism 3, so that the weeds cut by the cutting mechanism 3 can be gathered into the crushing mechanism 4 for crushing. The inclined baffles 11 are movably installed on the side of the lawn mowing vehicle 1. When it is judged that the obstacle is hard, the object moving conveyor belt 2 rotates at an accelerated speed. When the obstacle is moved to the outside of the lawn mowing vehicle 1, at the same time, the inclined baffles 11 move to avoid the obstacle, so that the obstacle will not be blocked by the inclined baffles 11.

[0040] The present invention also provides a method for dealing with obstacles of an unmanned lawn mowing vehicle with differential obstacle avoidance, enabling the unmanned lawn mowing vehicle 1 to more reasonably deal with obstacles, thereby improving the working efficiency of the unmanned lawn mowing vehicle 1. Specifically, during the traveling process of the lawn mowing vehicle 1, it is judged based on the vision module whether the obstacle in front can be cut by the cutting mechanism 3. If the obstacle cannot be cut, for example, the obstacle is a building, a tree, a rock, etc., the lawn mower is made to bypass the obstacle for avoidance. If it is judged that the obstacle can be cut, for example, the obstacle is a small shrub, a branch, a plastic foam, etc., the lawn mowing vehicle 1 is made to keep going straight, so that the lawn mowing vehicle 1 does not need to bypass, and the working efficiency of mowing the lawn will be higher.

[0041] After cutting the obstacle, the hardness of the obstacle is judged again. If it is a soft branch, foam plastic, or a relatively tall grassy plant, such as giant reed, Chinese pennisetum, etc., which is different from relatively short weeds, it can be crushed. If it is a hard branch or plastic block, it may damage the crushing mechanism 4 or get stuck under the lawn mowing vehicle 1. Therefore, it needs to be lifted to the outside of the lawn mowing vehicle 1 by the object moving conveyor belt 2.

[0042] Therefore, when the obstacle touches the object moving conveyor belt 2, the hardness detection module is used to detect the hardness of the obstacle to judge whether the obstacle can be crushed by the crushing mechanism 4. If it is judged that the obstacle cannot be crushed, the object moving conveyor belt 2 rotates at an accelerated speed to move the obstacle to the outside of the lawn mower. If it is judged that the obstacle can be crushed, the object moving conveyor belt 2 rotates at a slow speed, so that the obstacle is gradually rolled under the lawn mowing vehicle 1, and the crushing mechanism 4 crushes the obstacle.

[0043] Specifically, during the movement of the lawn mower 1, the object transfer conveyor belt 2 rotates slowly first. When an obstacle touches the object transfer conveyor belt 2, the obstacle will bend the object transfer conveyor belt 2, causing the bending moment sensor to obtain a measurement value. The paddle 7 will push the obstacle, causing the torque sensor to obtain a measurement value. Based on the difference in the measurement values of the bending moment sensor and the torque sensor, the hardness of the obstacle is judged. If the obstacle is hard, the object transfer conveyor belt 2 accelerates to remove the obstacle, and the inclined baffle 11 moves away to avoid the obstacle. If the obstacle is soft, the object transfer conveyor belt 2 continues to rotate slowly, causing the obstacle to be gradually drawn under the bottom of the lawn mower 1.

[0044] As described above, the magnitude of the force exerted by the obstacle can be deduced from the measurement values of the torque sensor and the bending moment sensor, and thus the mass of the obstacle can be deduced. Due to the difference in the hardness of the obstacle, there will be a certain difference in the mass of the obstacle deduced by the two methods. The larger this difference is, the softer the obstacle is, and the smaller this difference is, the harder the obstacle is. Thus, the hardness of the obstacle can be judged.

[0045] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An unmanned lawn mower with differentiated obstacle avoidance, characterized in that: The lawn mower (1) is equipped with a vision module, which can detect the positions of grass and obstacles and guide the lawn mower (1) to move forward; a moving conveyor belt (2) is arranged at the front of the lawn mower (1), and at least one end of the moving conveyor belt (2) extends to the outside of the lawn mower (1); the vision module can detect the type of obstacle from a visual perspective, and when the vision module guides the moving conveyor belt (2) to contact the obstacle based on the type of the obstacle, the moving conveyor belt (2) can move the movable obstacle to the outside of the lawn mower (1).

2. The differentiated obstacle avoidance unmanned lawn mower according to claim 1, characterized in that: The lawn mower (1) is provided with a cutting mechanism (3), which is located in front of the object-moving conveyor belt (2); after the visual module guides the cutting mechanism (3) to cut the obstacle based on the type of the obstacle, the object-moving conveyor belt (2) can move the cut obstacle to the outside of the lawn mower (1).

3. The differentiated obstacle avoidance unmanned lawn mower according to claim 2, characterized in that: The bottom of the lawn mower (1) is provided with a crushing mechanism (4), which can crush grass and obstacles caught under the lawn mower (1).

4. The differentiated obstacle avoidance unmanned lawn mower according to claim 3, characterized in that: A debris collection bin (5) is provided behind the pulverizing mechanism (4).

5. The differentiated obstacle avoidance unmanned lawn mower according to claim 3, characterized in that: The lawn mower (1) is also provided with a hardness detection module, which can detect the type of obstacles from a tactile angle; the hardness detection module is connected to the object moving conveyor belt (2) signal, and the hardness detection module adjusts the working state of the object moving conveyor belt (2) based on the hardness of the obstacle, so that the obstacle is rolled into the bottom of the lawn mower (1) or moved to the outside of the lawn mower (1).

6. The differentiated obstacle avoidance unmanned lawn mower according to claim 5, characterized in that: Slanted baffles (11) are respectively arranged on both sides of the front end of the mowing vehicle (1), and the distance between the two slanted baffles (11) gradually decreases from the front end to the rear end of the mowing vehicle (1).

7. The differentiated obstacle avoidance unmanned lawn mower according to claim 6, characterized in that: The inclined baffle (11) is movably mounted on the side of the mowing vehicle (1); when the object-moving conveyor belt (2) moves an obstacle to the outside of the mowing vehicle (1), the inclined baffle (11) can move to avoid the obstacle.

8. The differentiated obstacle avoidance unmanned lawn mower according to claim 5, characterized in that: The object-moving conveyor belt (2) is installed between two rotating shafts (6), and when the rotating shafts (6) rotate, the object-moving conveyor belt (2) is driven to move; a plurality of paddles (7) are arranged on the object-moving conveyor belt (2), and when the object-moving conveyor belt (2) moves, obstacles are moved by means of the paddles (7).

9. The differentiated obstacle avoidance unmanned lawn mower according to claim 8, characterized in that: The hardness detection module comprises a bending moment sensor and a torque sensor mounted on the rotating shaft (6); when an obstacle contacts the object moving conveyor belt (2), obstacles of different weights will cause different degrees of bending of the object moving conveyor belt (2), thereby changing the measurement value of the bending moment sensor; when the paddle (7) moves obstacles of different weights and different hardnesses, the movement feedback of the paddle (7) is different, thereby changing the measurement value of the torque sensor; the hardness of the obstacle is detected based on the difference in the measurement values ​​of the bending moment sensor and the torque sensor.

10. The differentiated obstacle avoidance unmanned lawn mower according to claim 9, characterized in that: The paddle (7) is an elastic sheet, and an avoidance groove (8) is provided on one side of the paddle (7) on the object moving conveyor belt (2); when the paddle (7) moves an obstacle, the paddle (7) can be deformed under the reaction force of the obstacle and fall into the avoidance groove (8), and the paddle (7) falling into the avoidance groove (8) can pass over the obstacle, so that the paddle (7) on the object moving conveyor belt (2) continuously moves the obstacle and generates motion feedback.

11. The obstacle coping method of an unmanned lawn mower with differentiated obstacle avoidance according to claim 10, characterized in that: When the lawn mower (1) is moving, it is determined based on the visual module whether an obstacle in front can be cut by the cutting mechanism (3); if it is determined that the obstacle can be cut, the lawn mower (1) keeps moving straight; if the obstacle cannot be cut, the lawn mower detours; When an obstacle touches the object-moving conveyor belt (2), the hardness of the obstacle is detected based on the hardness detection module to determine whether the obstacle can be crushed by the crushing mechanism (4); if it is determined that the obstacle cannot be crushed, the object-moving conveyor belt (2) is accelerated to rotate and the obstacle is moved to the outside of the lawn mower; if it is determined that the obstacle can be crushed, the object-moving conveyor belt (2) is rotated slowly so that the obstacle is gradually drawn into the bottom of the lawn mower (1), and the crushing mechanism (4) crushes the obstacle.

12. The obstacle coping method of an unmanned lawn mower with differentiated obstacle avoidance according to claim 11, characterized in that: When the mower (1) is moving, the object-moving conveyor belt (2) first rotates slowly; when an obstacle touches the object-moving conveyor belt (2), the obstacle will bend the object-moving conveyor belt (2), so that the bending moment sensor obtains a measurement value; the paddle (7) will move the obstacle, so that the torque sensor obtains a measurement value; based on the difference in the measurement values ​​of the bending moment sensor and the torque sensor, the hardness of the obstacle is judged.

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