An autonomous working system, an autonomous vehicle and a turning method thereof

Abstract

Disclosed in the present invention is an autonomous vehicle (1), which comprises an housing (21), an driving module mounted on the housing (21), an borderline detecting module mounted on the housing for detecting the distance between the autonomous vehicle (1) and the borderline (3), an energy module mounted on the housing for providing energy for the autonomous vehicle, and an control module electrically connected with the driving module and the borderline detecting module. The control module controls the driving module to perform steering based on the signal representing the angle relationship between the autonomous vehicle (1) and the borderline (3) transmitted from the borderline detecting module, so that the axis (33) of the autonomous vehicle (1) always forms an acute angle or an right angle with one side of the borderline (3) while steering is completed, but another side of the borderline (3) forms an acute angle or an right angle with the core axis (33) of the autonomous vehicle (1) when the turning begins. The turning has directivity, so that the autonomous vehicle more easily goes out from the narrow area and the efficiency of area covering is higher; moving is kept during the turning, so that the energy is saved, and the working efficiency is improved.

1 . An autonomous vehicle, for moving and working in a working scope determined by a limit, comprising
 a housing having a longitudinal central axis;   a driving module for driving said autonomous vehicle to move and to make a turn being mounted in said housing, said driving module comprises a wheel set and a driving motor for driving the wheel set to move;   a limit detecting module for detecting a location relationship between said autonomous vehicle and said limit being mounted in said housing;   an energy module for providing energy for said autonomous vehicle being mounted in the housing; and   a control module electrically connected with said driving module and said limit detecting module; said autonomous vehicle makes a turn to leave away the limit after driving to the limit and reaching a predetermined location relationship, where the limit is divided into one side and another side by the central axis, wherein   said control module controls said driving module to perform a turning operation according to a signal representing said angle relationship between said autonomous vehicle and said limit, said signal being transmitted from said limit detecting module, so that said central axis of said autonomous vehicle always forms an acute angle or a right angle with said one side of said limit when said turning operation is completed, said another side of said limit forms an acute angle or a right angle with said central axis of said autonomous vehicle when said turning operation starts.   
     
     
         2 - 32 . (canceled)