Software Technology for “Autonomous working system and an autonomous vehicle, with a turning method”

Autonomous Vehicles – Gianni Borinato, Positec Power Tools Suzhou Co Ltd

Abstract for “Autonomous working system and an autonomous vehicle, with a turning method”

The present invention discloses an autonomous vehicle (1). It includes a housing (21), a driving module mounted to the housing (21), a borderline-detecting module mounted to the housing (3) for measuring the distance between the autonomous car (1) and the borderline (3), as well as an energy module mounted to the housing that provides energy for the vehicle. A control module is electrically connected with both the driving module (21) and the borderline detection module (33) of the present invention. Based on the signal from the borderline detector module transmitting the angle relationship between autonomous vehicle (1), and borderline (3), the control module controls the driving mode to perform steering. The axis of the autonomous car (1) forms an acute angle, or a right angle, with one side, while the steering is complete, but the other side of borderline (3) forms an angle, or a right angle, with the core of the autonomous automobile (1) when turning begins. Directivity allows the autonomous vehicle to move more efficiently in narrow areas.

Background for “Autonomous working system and an autonomous vehicle, with a turning method”

The present invention aims to provide an autonomous vehicle that selects the turning path rationally, efficiently, and uses a highly efficient and rational turning method for autonomous vehicles. The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing with a longitudinal central axle; a driving unit mounted on said housing. This module drives the autonomous vehicle to make turns and moves. A signal from the limit detecting modules transmits information about the angle between the autonomous vehicle’s central axis and the limit. However, the control module controls the driving module to turn based on said signal.

“Preferably said driving module drives the autonomous vehicle in a way where the acute angle of or right angle between central axis and limit is reduced.”

“Preferably, the angle at which said turn takes place is less than 180 degrees.”

“Preferably the angle of said turn exceeds or equals 90 degrees.”

“Preferably said limit detecting module includes border sensing elements respectively located at the two sides said central axis.

“Preferably said border sensing elements will be arranged in a symmetrical manner with respect to said central-axis.”

“Preferably said border sensing elements are located on the front part of said housing.”

“Preferably said border sensing elements will be inductors.”

“Preferably said predetermined relationship is that one said border sensing element reaches a predetermined range from said limit.”

“Preferably said predetermined relationship is that one said border sensing element is not within said limit.”

“Preferably the angle relationship is that between said central axis, any side of the limit beginning at the intersection point of said central axis. The limit is either a right angle, an acute angle or obtuse angle.

“Preferably said limit detecting module includes border sensing elements on each side of said central axis. When a border sensor element on one end sends a signal to said module indicating that it has reached a predetermined distance from said limit, said module determines that the limit on the other side of said central axis forms a acute angle with said central.

“Preferably said limit detecting module includes border sensing elements located on each side of said central-axis of said housing. When a border sensor element at one end sends a signal to said module indicating that it is not within said limit first, said module determines that the limit at said other side of said center axis forms an acute angle.

“Preferably said angle relationship is that said angle value between said central-axis and any of the two sides start at the intersection of said limit and said central-axis.”

“Preferably said limit detecting module includes border sensing element respectively located on said two sides of said central-axis of said housing. Said control module records the distance traveled by said autonomous vehicle in time intervals between said border sensing element respectively sending a signal indicating that it has reached a predetermined limit and calculates the angle between said centralaxis and said boundary.”

“Preferably said limit detecting module includes border sensing element respectively located on said two sides of said central-axis of said housing. Said control module records the distance of said autonomous car in the time interval between said borders sensing elements, respectively sending a signal indicating that it is out the limit. It then calculates the angle between said centralaxis and border.

“Preferably the autonomous vehicle is a robot-mover, and also includes a cutting assembly located under the housing, and a cutting motor driving that cutting assembly.

“Preferably the autonomous vehicle continues moving towards the limit and reaches the predetermined location relationship to complete the turn.

“Preferably the autonomous vehicle moves along the limit after the turn starts and before it is completed.”

“The present invention also discloses an autonomy working system that includes a limit to limit the scope of the autonomous work system and the mentioned autonomous vehicle.”

“Preferably, the limit includes a border signal generating elements and a connection to the border line signal generator element. The border line signal-generating element sends periodic current signals to the boundary line.

“The invention also discloses a turning mechanism for an autonomous vehicle. The autonomous vehicle can be used to move and work within a limited working area. The following steps are required to turn an autonomous vehicle.

“Preferably the autonomous vehicle turns in the direction wherein either the acute angle of the limit or the right angle between it and the axis is reduced.”

“Preferably the autonomous vehicle moves along the limit after the turn starts and before it is completed.”

“Preferably the autonomous vehicle moves at a predetermined speed or distance along the limit after the turn begins, and before it is complete.”

“Preferably the predetermined distance between 20 cm to 100 cm.”

“Preferably the autonomous car has border sensing components on each side of axis. The predetermined relationship is that one border sensing component reaches a predetermined limit. This method of sensing the angle between the autonomous and limit involves the following steps. The border sensing device on one side sends a collision message to the control modules of the autonomous vehicles after sensing that it has reached the predetermined limit. The border sensing unit on the other side sends a collision signals to the control modules of the autonomous vehicles.

“Preferably said autonomous car has border sensing components on each side of said central axis. If one of said border sensors elements senses that it’s outside of the limit, then said border sensor element on said other side sends a collision message to said control module. When it senses that it’s outside of the limit, said control module determines that the control module is forming an acute angle with the limit.

“Preferably said autonomous car has border sensing components on each side of said central axle, and said predetermined relationship is that said border sensor element sends a collision message to a control module when it detects that said autonomous vehicles has reached said predetermined range. The autonomous vehicle continues to move, and the border sensing element at the other end of the vehicle sends a collision warning to said control module when it senses that said autonomous vehicule has reached said predetermined radius. Calculating the included angle between the central axis

“Preferably said autonomous car has border sensing components on each side of said central axle, and said predetermined relationship is that one of those border sensing entities is outside said limit. Step two: When said autonomous vehicles detects that it is out of limit, the border sensing element on said one side sends a collision message to a control module; the autonomous vehicle continues to move, and then the border sensing element at the other side sends a collision warning to said control module when it senses that it is beyond said vehicle.

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving and energy module, as well as a limit detecting and energy modules. The control module is connected to the control module and the limit-detecting module. After moving towards the limit, the autonomous vehicle turns to move away from it. The predetermined location relationship divides the limit into two sides by the point at which it intersects with the central axis. Based on the signal from the limit detecting unit, the control module controls the driving module. The driving module then drives the autonomous car to turn in the direction of the central axis.

“Preferably the central axis or right angle of the autonomous car always forms an acute angle, or a right angle, with one side when the turn is complete, and the opposite side forms an acute angle, or right angle, with the central-axis of autonomous vehicle when it begins.”

“The invention also offers a turning mechanism for an autonomous vehicle. The autonomous vehicle can be used to move and work within a limited working area. The following steps are required to perform the turning procedure: the autonomous driving vehicle must drive to the limit. Once it has reached a predetermined relationship, the autonomous vehicle will detect the angle relationship between it (and the limit) and then the autonomous working device must turn in the direction that the acute angle or right angle is between the central axis of the limit and the limit.

“Preferably the limit is divided by the point of intersection of the central-axis when the autonomous car and limit reach a predetermined relationship. The central axis is always an acute angle, or a right angle, with one side when the turn is complete, while the opposite side of limit forms an acute angle, or right angle, with the central axle of the autonomous vehicles when the turn starts.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving and energy module, a limit-detecting module, a control module, and a limit detecting and energy module. The control module is connected to the driving and limit detecting modules. After moving towards the limit, the autonomous vehicle turns to move away from it. The control module controls the driving module and turns the autonomous car when it reaches the predetermined relationship. This is done based on the signal from the limit-detecting module. It represents the autonomous vehicle’s closer side to the limit.

“Preferably the autonomous vehicle turns clockwise if it is the left side that is closest to the limit in reaching the predetermined relationship; the autonomous vehicle turns anticlockwise if it is the right side.”

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

“Preferably said limit detecting module includes border sensing elements respectively located at the two sides the central axis.

“Preferably said border sensing elements will be arranged in a symmetrical manner with respect to said central axle, which is located at the front of said housing.”

“Preferably said predetermined relationship is that one border sensing element reaches a predetermined separation from the limit.”

“Preferably said predetermined relationship is that one said border sensing element is not within said limit.”

“Preferably, a border sensing device at one end sends a signal to said controller module indicating that it has reached a predetermined distance from the limit first. The control module then determines that said one is closer to the limit.”

“Preferably, a border sensing device at one end sends a signal to said controller module indicating that it is out the limit first. The control module then determines that the other side is closer to the limit.”

“Preferably the autonomous vehicle is a robot-moving robot, and also includes a cutting unit below the housing, and a motor that drives the cutting unit to cut.”

“Preferably the autonomous vehicle continues moving towards the limit and reaches the predetermined location relationship to complete the turn.

“Preferably the autonomous vehicle moves along the limit after the turn starts and before it is completed.”

“The present invention also includes an autonomous working method, which comprises a limit for limiting working scope of the autonomous work system and also the mentioned autonomous vehicle.”

“Preferably, the limit includes a border signal generating elements and a connection to the border line signal generator element. The border line signal-generating element sends periodic current signals to the boundary line.

“The invention also provides a turning mechanism for an autonomous vehicle. The central axis of the autonomous vehicle divides it into two parts, namely left and right sides. The following steps are required for the turning process: The autonomous vehicle moves towards the limit. After determining the location relationship, the autonomous car determines which side is closest to the limit. Finally, the autonomous vehicles turns and moves away from it. This ensures that one side is always closer to the limit than the other.

“Preferably, the autonomous vehicle turns clockwise when it reaches the predetermined relationship. If the left side is closer, it will turn anticlockwise.

“Preferably the autonomous vehicle moves along the limit after the turn starts and before it is completed.”

“Preferably the autonomous vehicle moves at a predetermined speed or distance along the limit after the turn begins, and before it is complete.”

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

“Preferably the autonomous vehicle has border sensors elements on each side of the axis. The predetermined relationship is that one border sensing element reaches a predetermined limit.

“Preferably the step where the autonomous vehicle determines which side is closest to the limit is: When a border sensing device at one end sends a signal to said module indicating that it has reached a predetermined distance from the limit first, then the control module determines that said one is closer to said limit.”

“Preferably said autonomous vehicle has border sensor elements respectively on the two ends of said central axis. The predetermined relationship between said border sensing element and said limit is that one of them is not within said limit.”

“Preferably the step where the autonomous vehicle determines which side is closest to the limit is: When a border sensing device at one end sends a signal to said module indicating that it is outside of the limit first, then the control module determines that said one is closer than said limit.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving and energy module, a limit-detecting module, and an energy module. The control module is connected to the control module and the limit-detecting module. After moving towards the limit, the autonomous vehicle turns to move away from it. The control module sends a signal to the limit detecting module. If the left side of the autonomous car is closer than the limit when it reaches the predetermined relationship, the controlling module directs the driving module to turn the vehicle clockwise. If the right side is closer, the autonomous vehicles turns anticlockwise.

“Preferably, the turn is complete when the distance between one side of an autonomous vehicle and the limit is always less than the distance between the other side and the limit.”

“The invention also provides a turning mechanism for an autonomous vehicle. The central axis of the autonomous vehicle divides it into two parts, namely the left and right sides. The following steps are required for the turning process: the autonomous car moves towards the limit; it monitors the location relationship with that limit; it makes a turn to move away from the limit. If the left side is closer, the autonomous vehicles makes a clockwise turn; if the right side of the limit is closer, the autonomous vehicles makes an anticlockwise turn.

“Preferably, the distance between one side of an autonomous vehicle and the limit after the turn is complete is always smaller than that between the other side to limit. However, one side is closer when the turn starts.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving and energy module, and a limit-detecting module. The limit detecting and limit detecting modules detect the relationship between autonomous vehicles and limits. A control module is connected to the driving and energy modules. The signal from the limit detecting module indicating the location relationship between the autonomous vehicle and the limit is received by the vehicle. The control module controls the autonomous vehicle to turn in order to leave the limit.

“Preferably the driving motor drives the steering wheel continuously from that the autonomous car and the limit reach the predetermined place to complete the turn.”

“Preferably the control module controls turning using the signal from the limit-detecting module that represents the angle relationship between the autonomous car and the limit. This ensures that the central direction of the autonomous vehicles always forms an acute angle, or right angle, with the limit at the end of the turn, while the opposite side of it forms an acute angle, or right angle, with the central vehicle’s axis when it begins.

“Preferably the control module controls driving module to turn based on signal representing angle relationship between autonomous vehicle and limit transmitted by limit detecting module. The driving module turns in the direction of the limit or acute angle.

“Preferably the angle relationship is that which is the angle between central axis, central axis, and any side limit starting at the intersection point of central axis. The limit can be a right angle, an acute angle, or an obtuse angles.

“Preferably the limit detecting module consists of border sensing elements on each side of the central-axis of housing. After a border sensor element on one end sends a signal to control module indicating that it has reached a predetermined distance from the limit, control module determines that limit on the other side of central axis forms a sharp angle with the central.

“Preferably said limit detecting module includes border sensing elements located on each side of said central-axis of said housing. When a border sensor element at one end sends a signal to said module indicating that it is not within said limit first, said module determines that the limit at said other side of said center axis forms an acute angle.

“Preferably said angle relationship is that said angle value between said central-axis and any of the two sides start at the intersection of said limit and said central-axis.”

“Preferably said limit detecting module includes border sensing element respectively located on said two sides of said central-axis of said housing. Said control module records the distance traveled by said autonomous vehicle in time intervals between said border sensing element respectively sending a signal indicating that it has reached a predetermined limit and calculates the angle between said centralaxis and said boundary.”

“Preferably said limit detecting module includes border sensing element respectively located on said two sides of said central-axis of said housing. Said control module records the distance of said autonomous car in the time interval between said borders sensing elements, respectively sending a signal indicating that it is out the limit. It then calculates the angle between said centralaxis and border.

“Preferably, when an autonomous vehicle has reached a predetermined location relationship, it is controlled by the control module to drive the driving module to perform turn based on the signal transmitted to the limit detecting unit that represents one of the autonomous vehicles closer to the limit. This ensures that the distance between one autonomous vehicle and the limit is always less than the distance from the other.

“Preferably the autonomous car will turn when it reaches the predetermined relationship. The signal from the limit-detecting module is used to determine which side of the autonomous vehicles is closest to the limit. If the left side is closer, the autonomous auto turns clockwise. If the right side is closer, the autonomous can turn anticlockwise.

“Preferably said limit detecting module includes border sensing elements respectively located at the two sides said central axis.

“Preferably said border sensing elements will be arranged in a symmetrical manner with respect to said central axle, which is located at the front of said housing.”

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

“Preferably the autonomous vehicle is a robot-mover, and also includes a cutting assembly located under the housing, and a cutting motor driving that cutting assembly.

“The present invention also includes an autonomous working method, which comprises a limit for limiting working scope of the autonomous work system and also the mentioned autonomous vehicle.”

“Preferably, the limit includes a border signal generating elements and a connection to the border signal generating elements. Border line signal generating elements send periodic current signals to the borderline. These border sensing elements can be inductors.

“The autonomous car moves towards the limit; it detects the relationship between the limit’s location and the limit. When the autonomous vehicle reaches a predetermined relationship with the limit, it makes a turn to move away. The autonomous vehicle continues moving towards the limit until reaching the predetermined relationship, then completes the turn.

“Preferably the autonomous work system also includes the following procedure: When the limit and the autonomous vehicle reach a predetermined relationship, the autonomous system detects the angle relationship between them. The limit is then divided into two parts.

“Preferably the autonomous operating system also includes the following procedure: The autonomous working system detects the angle relation between the autonomous car and the limit when they reach a predetermined relationship and turns in a direction where central axis is an acute angle, or right angle.

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving modules, a limit-detecting module, an energy modul, and a control module. The driving module drives the autonomous car to move, and it is connected to the limit detecting and driving modules. After the vehicle has moved to the limit and reached a predetermined location relationship, the control module controls the driving to cause the vehicle to turn away from the limit.

“Preferably after the turn begins and before it is completed, the control module controls the driving modules to cause the autonomous vehicle to move along the limit for a predetermined distance.

“Preferably the predetermined distance between 20 cm to 100 cm.”

“The control module controls the driving module and causes it to turn based on the signal representing an angle relationship between the autonomous car and the limit from limit detecting module. The driving module then drives the autonomous module to turn in the direction where the acute angle, or right angle between central axis or limit has been reduced.

“Preferably said control module drives said driving modules to turn based on an angle relationship between said autonomous car and said limit from the limit detecting module. This signals tells said driving module that the autonomous vehicle is to turn in a direction where the central axis, or limit, is less than the acute angle.

“Preferably, when an autonomous vehicle has reached a predetermined location relationship, it is controlled by the control module to drive the driving module to perform turn based on the signal transmitted to the limit detecting unit that represents one of the autonomous vehicles closer to the limit. This ensures that the distance between one autonomous vehicle and the limit is always less than the distance from the other.

“When the autonomous car reaches the predetermined relationship, the control module directs the driving module to perform turning. Based on the signal from the limit-detecting module, which represents one side of an autonomous vehicle closer towards the limit, the autonomous vehicles turns clockwise if that side is closer and anticlockwise for those who are closer to it.

“Preferably said autonomous vehicle continues moving towards the limit and reaches the predetermined location relationship to complete the turn.”

“Preferably the autonomous vehicle is a robot-mover, and also includes a cutting assembly located under the housing, and a cutting motor driving that cutting assembly.

“The present invention also includes an autonomous working method, which comprises a limit for limiting working scope of the autonomous work system and also the mentioned autonomous vehicle.”

“Preferably, the border line signal generation element is connected to the border line signal generator element. The border line signal-generating element sends periodic current signals to the borderline; said limit detecting modules comprises inductors that sense said borderline signal. The control module regulates the driving module so that the distance between the border sensing elements and the border lines is maintained.

“Preferably, the border sensing elements should be located on both sides of the central direction. One border sensing element can be found within the borderline, and the other is out of the borderline. The driving module is controlled by the control module so that the distances between the border sensing elements and the border line are equal.

“The invention also provides a turning mechanism for an autonomous vehicle. The central axis of the autonomous vehicle divides it into two parts, namely left and right sides. The following steps are required for the turning process: The autonomous vehicle moves towards the limit. After the vehicle reaches a predetermined relationship with the limit, it makes a turn. Before the turn is complete, the control module controls the driving module so that the autonomous car moves along the limit for some distance.

“Preferably the method also includes the following steps: The autonomous vehicle determines which side is closest to the limit when it reaches a predetermined relationship. When the turn is complete, the distance between one side and the limit is always less than that from the other side. However, one side is closer when the turn starts.”

“Preferably the autonomous vehicle turns clockwise if it is the left side that is closest to the limit in reaching the predetermined relationship; the autonomous vehicle turns anticlockwise if it is the right side.”

The present invention also provides an autonomous car for moving and operating within a limited working area. It comprises: a housing with a longitudinal centralaxis; a driving unit mounted on said housing. This module drives the autonomous vehicle to move and turn. A limit detecting module mounted on the housing detects the location of the autonomous vehicle relative to the limit. An energy module mounted on the housing supplies energy to the autonomous vehicle. The control module is connected to the limit detecting and driving modules. The control module then drives the driving module to cause the autonomous vehicle to turn and return to the border line after receiving the collision signal. The control module receives the collision signal once more and records a numerical value. If the numerical value exceeds a predetermined value, it determines which direction the autonomous vehicle will turn in when crossing the borderline for the first time.

Summary for “Autonomous working system and an autonomous vehicle, with a turning method”

The present invention aims to provide an autonomous vehicle that selects the turning path rationally, efficiently, and uses a highly efficient and rational turning method for autonomous vehicles. The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing with a longitudinal central axle; a driving unit mounted on said housing. This module drives the autonomous vehicle to make turns and moves. A signal from the limit detecting modules transmits information about the angle between the autonomous vehicle’s central axis and the limit. However, the control module controls the driving module to turn based on said signal.

“Preferably said driving module drives the autonomous vehicle in a way where the acute angle of or right angle between central axis and limit is reduced.”

“Preferably, the angle at which said turn takes place is less than 180 degrees.”

“Preferably the angle of said turn exceeds or equals 90 degrees.”

“Preferably said limit detecting module includes border sensing elements respectively located at the two sides said central axis.

“Preferably said border sensing elements will be arranged in a symmetrical manner with respect to said central-axis.”

“Preferably said border sensing elements are located on the front part of said housing.”

“Preferably said border sensing elements will be inductors.”

“Preferably said predetermined relationship is that one said border sensing element reaches a predetermined range from said limit.”

“Preferably said predetermined relationship is that one said border sensing element is not within said limit.”

“Preferably the angle relationship is that between said central axis, any side of the limit beginning at the intersection point of said central axis. The limit is either a right angle, an acute angle or obtuse angle.

“Preferably said limit detecting module includes border sensing elements on each side of said central axis. When a border sensor element on one end sends a signal to said module indicating that it has reached a predetermined distance from said limit, said module determines that the limit on the other side of said central axis forms a acute angle with said central.

“Preferably said limit detecting module includes border sensing elements located on each side of said central-axis of said housing. When a border sensor element at one end sends a signal to said module indicating that it is not within said limit first, said module determines that the limit at said other side of said center axis forms an acute angle.

“Preferably said angle relationship is that said angle value between said central-axis and any of the two sides start at the intersection of said limit and said central-axis.”

“Preferably said limit detecting module includes border sensing element respectively located on said two sides of said central-axis of said housing. Said control module records the distance traveled by said autonomous vehicle in time intervals between said border sensing element respectively sending a signal indicating that it has reached a predetermined limit and calculates the angle between said centralaxis and said boundary.”

“Preferably said limit detecting module includes border sensing element respectively located on said two sides of said central-axis of said housing. Said control module records the distance of said autonomous car in the time interval between said borders sensing elements, respectively sending a signal indicating that it is out the limit. It then calculates the angle between said centralaxis and border.

“Preferably the autonomous vehicle is a robot-mover, and also includes a cutting assembly located under the housing, and a cutting motor driving that cutting assembly.

“Preferably the autonomous vehicle continues moving towards the limit and reaches the predetermined location relationship to complete the turn.

“Preferably the autonomous vehicle moves along the limit after the turn starts and before it is completed.”

“The present invention also discloses an autonomy working system that includes a limit to limit the scope of the autonomous work system and the mentioned autonomous vehicle.”

“Preferably, the limit includes a border signal generating elements and a connection to the border line signal generator element. The border line signal-generating element sends periodic current signals to the boundary line.

“The invention also discloses a turning mechanism for an autonomous vehicle. The autonomous vehicle can be used to move and work within a limited working area. The following steps are required to turn an autonomous vehicle.

“Preferably the autonomous vehicle turns in the direction wherein either the acute angle of the limit or the right angle between it and the axis is reduced.”

“Preferably the autonomous vehicle moves along the limit after the turn starts and before it is completed.”

“Preferably the autonomous vehicle moves at a predetermined speed or distance along the limit after the turn begins, and before it is complete.”

“Preferably the predetermined distance between 20 cm to 100 cm.”

“Preferably the autonomous car has border sensing components on each side of axis. The predetermined relationship is that one border sensing component reaches a predetermined limit. This method of sensing the angle between the autonomous and limit involves the following steps. The border sensing device on one side sends a collision message to the control modules of the autonomous vehicles after sensing that it has reached the predetermined limit. The border sensing unit on the other side sends a collision signals to the control modules of the autonomous vehicles.

“Preferably said autonomous car has border sensing components on each side of said central axis. If one of said border sensors elements senses that it’s outside of the limit, then said border sensor element on said other side sends a collision message to said control module. When it senses that it’s outside of the limit, said control module determines that the control module is forming an acute angle with the limit.

“Preferably said autonomous car has border sensing components on each side of said central axle, and said predetermined relationship is that said border sensor element sends a collision message to a control module when it detects that said autonomous vehicles has reached said predetermined range. The autonomous vehicle continues to move, and the border sensing element at the other end of the vehicle sends a collision warning to said control module when it senses that said autonomous vehicule has reached said predetermined radius. Calculating the included angle between the central axis

“Preferably said autonomous car has border sensing components on each side of said central axle, and said predetermined relationship is that one of those border sensing entities is outside said limit. Step two: When said autonomous vehicles detects that it is out of limit, the border sensing element on said one side sends a collision message to a control module; the autonomous vehicle continues to move, and then the border sensing element at the other side sends a collision warning to said control module when it senses that it is beyond said vehicle.

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving and energy module, as well as a limit detecting and energy modules. The control module is connected to the control module and the limit-detecting module. After moving towards the limit, the autonomous vehicle turns to move away from it. The predetermined location relationship divides the limit into two sides by the point at which it intersects with the central axis. Based on the signal from the limit detecting unit, the control module controls the driving module. The driving module then drives the autonomous car to turn in the direction of the central axis.

“Preferably the central axis or right angle of the autonomous car always forms an acute angle, or a right angle, with one side when the turn is complete, and the opposite side forms an acute angle, or right angle, with the central-axis of autonomous vehicle when it begins.”

“The invention also offers a turning mechanism for an autonomous vehicle. The autonomous vehicle can be used to move and work within a limited working area. The following steps are required to perform the turning procedure: the autonomous driving vehicle must drive to the limit. Once it has reached a predetermined relationship, the autonomous vehicle will detect the angle relationship between it (and the limit) and then the autonomous working device must turn in the direction that the acute angle or right angle is between the central axis of the limit and the limit.

“Preferably the limit is divided by the point of intersection of the central-axis when the autonomous car and limit reach a predetermined relationship. The central axis is always an acute angle, or a right angle, with one side when the turn is complete, while the opposite side of limit forms an acute angle, or right angle, with the central axle of the autonomous vehicles when the turn starts.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving and energy module, a limit-detecting module, a control module, and a limit detecting and energy module. The control module is connected to the driving and limit detecting modules. After moving towards the limit, the autonomous vehicle turns to move away from it. The control module controls the driving module and turns the autonomous car when it reaches the predetermined relationship. This is done based on the signal from the limit-detecting module. It represents the autonomous vehicle’s closer side to the limit.

“Preferably the autonomous vehicle turns clockwise if it is the left side that is closest to the limit in reaching the predetermined relationship; the autonomous vehicle turns anticlockwise if it is the right side.”

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

“Preferably said limit detecting module includes border sensing elements respectively located at the two sides the central axis.

“Preferably said border sensing elements will be arranged in a symmetrical manner with respect to said central axle, which is located at the front of said housing.”

“Preferably said predetermined relationship is that one border sensing element reaches a predetermined separation from the limit.”

“Preferably said predetermined relationship is that one said border sensing element is not within said limit.”

“Preferably, a border sensing device at one end sends a signal to said controller module indicating that it has reached a predetermined distance from the limit first. The control module then determines that said one is closer to the limit.”

“Preferably, a border sensing device at one end sends a signal to said controller module indicating that it is out the limit first. The control module then determines that the other side is closer to the limit.”

“Preferably the autonomous vehicle is a robot-moving robot, and also includes a cutting unit below the housing, and a motor that drives the cutting unit to cut.”

“Preferably the autonomous vehicle continues moving towards the limit and reaches the predetermined location relationship to complete the turn.

“Preferably the autonomous vehicle moves along the limit after the turn starts and before it is completed.”

“The present invention also includes an autonomous working method, which comprises a limit for limiting working scope of the autonomous work system and also the mentioned autonomous vehicle.”

“Preferably, the limit includes a border signal generating elements and a connection to the border line signal generator element. The border line signal-generating element sends periodic current signals to the boundary line.

“The invention also provides a turning mechanism for an autonomous vehicle. The central axis of the autonomous vehicle divides it into two parts, namely left and right sides. The following steps are required for the turning process: The autonomous vehicle moves towards the limit. After determining the location relationship, the autonomous car determines which side is closest to the limit. Finally, the autonomous vehicles turns and moves away from it. This ensures that one side is always closer to the limit than the other.

“Preferably, the autonomous vehicle turns clockwise when it reaches the predetermined relationship. If the left side is closer, it will turn anticlockwise.

“Preferably the autonomous vehicle moves along the limit after the turn starts and before it is completed.”

“Preferably the autonomous vehicle moves at a predetermined speed or distance along the limit after the turn begins, and before it is complete.”

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

“Preferably the autonomous vehicle has border sensors elements on each side of the axis. The predetermined relationship is that one border sensing element reaches a predetermined limit.

“Preferably the step where the autonomous vehicle determines which side is closest to the limit is: When a border sensing device at one end sends a signal to said module indicating that it has reached a predetermined distance from the limit first, then the control module determines that said one is closer to said limit.”

“Preferably said autonomous vehicle has border sensor elements respectively on the two ends of said central axis. The predetermined relationship between said border sensing element and said limit is that one of them is not within said limit.”

“Preferably the step where the autonomous vehicle determines which side is closest to the limit is: When a border sensing device at one end sends a signal to said module indicating that it is outside of the limit first, then the control module determines that said one is closer than said limit.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving and energy module, a limit-detecting module, and an energy module. The control module is connected to the control module and the limit-detecting module. After moving towards the limit, the autonomous vehicle turns to move away from it. The control module sends a signal to the limit detecting module. If the left side of the autonomous car is closer than the limit when it reaches the predetermined relationship, the controlling module directs the driving module to turn the vehicle clockwise. If the right side is closer, the autonomous vehicles turns anticlockwise.

“Preferably, the turn is complete when the distance between one side of an autonomous vehicle and the limit is always less than the distance between the other side and the limit.”

“The invention also provides a turning mechanism for an autonomous vehicle. The central axis of the autonomous vehicle divides it into two parts, namely the left and right sides. The following steps are required for the turning process: the autonomous car moves towards the limit; it monitors the location relationship with that limit; it makes a turn to move away from the limit. If the left side is closer, the autonomous vehicles makes a clockwise turn; if the right side of the limit is closer, the autonomous vehicles makes an anticlockwise turn.

“Preferably, the distance between one side of an autonomous vehicle and the limit after the turn is complete is always smaller than that between the other side to limit. However, one side is closer when the turn starts.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving and energy module, and a limit-detecting module. The limit detecting and limit detecting modules detect the relationship between autonomous vehicles and limits. A control module is connected to the driving and energy modules. The signal from the limit detecting module indicating the location relationship between the autonomous vehicle and the limit is received by the vehicle. The control module controls the autonomous vehicle to turn in order to leave the limit.

“Preferably the driving motor drives the steering wheel continuously from that the autonomous car and the limit reach the predetermined place to complete the turn.”

“Preferably the control module controls turning using the signal from the limit-detecting module that represents the angle relationship between the autonomous car and the limit. This ensures that the central direction of the autonomous vehicles always forms an acute angle, or right angle, with the limit at the end of the turn, while the opposite side of it forms an acute angle, or right angle, with the central vehicle’s axis when it begins.

“Preferably the control module controls driving module to turn based on signal representing angle relationship between autonomous vehicle and limit transmitted by limit detecting module. The driving module turns in the direction of the limit or acute angle.

“Preferably the angle relationship is that which is the angle between central axis, central axis, and any side limit starting at the intersection point of central axis. The limit can be a right angle, an acute angle, or an obtuse angles.

“Preferably the limit detecting module consists of border sensing elements on each side of the central-axis of housing. After a border sensor element on one end sends a signal to control module indicating that it has reached a predetermined distance from the limit, control module determines that limit on the other side of central axis forms a sharp angle with the central.

“Preferably said limit detecting module includes border sensing elements located on each side of said central-axis of said housing. When a border sensor element at one end sends a signal to said module indicating that it is not within said limit first, said module determines that the limit at said other side of said center axis forms an acute angle.

“Preferably said angle relationship is that said angle value between said central-axis and any of the two sides start at the intersection of said limit and said central-axis.”

“Preferably said limit detecting module includes border sensing element respectively located on said two sides of said central-axis of said housing. Said control module records the distance traveled by said autonomous vehicle in time intervals between said border sensing element respectively sending a signal indicating that it has reached a predetermined limit and calculates the angle between said centralaxis and said boundary.”

“Preferably said limit detecting module includes border sensing element respectively located on said two sides of said central-axis of said housing. Said control module records the distance of said autonomous car in the time interval between said borders sensing elements, respectively sending a signal indicating that it is out the limit. It then calculates the angle between said centralaxis and border.

“Preferably, when an autonomous vehicle has reached a predetermined location relationship, it is controlled by the control module to drive the driving module to perform turn based on the signal transmitted to the limit detecting unit that represents one of the autonomous vehicles closer to the limit. This ensures that the distance between one autonomous vehicle and the limit is always less than the distance from the other.

“Preferably the autonomous car will turn when it reaches the predetermined relationship. The signal from the limit-detecting module is used to determine which side of the autonomous vehicles is closest to the limit. If the left side is closer, the autonomous auto turns clockwise. If the right side is closer, the autonomous can turn anticlockwise.

“Preferably said limit detecting module includes border sensing elements respectively located at the two sides said central axis.

“Preferably said border sensing elements will be arranged in a symmetrical manner with respect to said central axle, which is located at the front of said housing.”

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

“Preferably the autonomous vehicle is a robot-mover, and also includes a cutting assembly located under the housing, and a cutting motor driving that cutting assembly.

“The present invention also includes an autonomous working method, which comprises a limit for limiting working scope of the autonomous work system and also the mentioned autonomous vehicle.”

“Preferably, the limit includes a border signal generating elements and a connection to the border signal generating elements. Border line signal generating elements send periodic current signals to the borderline. These border sensing elements can be inductors.

“The autonomous car moves towards the limit; it detects the relationship between the limit’s location and the limit. When the autonomous vehicle reaches a predetermined relationship with the limit, it makes a turn to move away. The autonomous vehicle continues moving towards the limit until reaching the predetermined relationship, then completes the turn.

“Preferably the autonomous work system also includes the following procedure: When the limit and the autonomous vehicle reach a predetermined relationship, the autonomous system detects the angle relationship between them. The limit is then divided into two parts.

“Preferably the autonomous operating system also includes the following procedure: The autonomous working system detects the angle relation between the autonomous car and the limit when they reach a predetermined relationship and turns in a direction where central axis is an acute angle, or right angle.

“Preferably the angle of said turn should be greater than or equal 90 degrees and less than 180 degrees.”

The present invention provides an autonomous vehicle that can move within a limited working area. It includes a housing, a driving modules, a limit-detecting module, an energy modul, and a control module. The driving module drives the autonomous car to move, and it is connected to the limit detecting and driving modules. After the vehicle has moved to the limit and reached a predetermined location relationship, the control module controls the driving to cause the vehicle to turn away from the limit.

“Preferably after the turn begins and before it is completed, the control module controls the driving modules to cause the autonomous vehicle to move along the limit for a predetermined distance.

“Preferably the predetermined distance between 20 cm to 100 cm.”

“The control module controls the driving module and causes it to turn based on the signal representing an angle relationship between the autonomous car and the limit from limit detecting module. The driving module then drives the autonomous module to turn in the direction where the acute angle, or right angle between central axis or limit has been reduced.

“Preferably said control module drives said driving modules to turn based on an angle relationship between said autonomous car and said limit from the limit detecting module. This signals tells said driving module that the autonomous vehicle is to turn in a direction where the central axis, or limit, is less than the acute angle.

“Preferably, when an autonomous vehicle has reached a predetermined location relationship, it is controlled by the control module to drive the driving module to perform turn based on the signal transmitted to the limit detecting unit that represents one of the autonomous vehicles closer to the limit. This ensures that the distance between one autonomous vehicle and the limit is always less than the distance from the other.

“When the autonomous car reaches the predetermined relationship, the control module directs the driving module to perform turning. Based on the signal from the limit-detecting module, which represents one side of an autonomous vehicle closer towards the limit, the autonomous vehicles turns clockwise if that side is closer and anticlockwise for those who are closer to it.

“Preferably said autonomous vehicle continues moving towards the limit and reaches the predetermined location relationship to complete the turn.”

“Preferably the autonomous vehicle is a robot-mover, and also includes a cutting assembly located under the housing, and a cutting motor driving that cutting assembly.

“The present invention also includes an autonomous working method, which comprises a limit for limiting working scope of the autonomous work system and also the mentioned autonomous vehicle.”

“Preferably, the border line signal generation element is connected to the border line signal generator element. The border line signal-generating element sends periodic current signals to the borderline; said limit detecting modules comprises inductors that sense said borderline signal. The control module regulates the driving module so that the distance between the border sensing elements and the border lines is maintained.

“Preferably, the border sensing elements should be located on both sides of the central direction. One border sensing element can be found within the borderline, and the other is out of the borderline. The driving module is controlled by the control module so that the distances between the border sensing elements and the border line are equal.

“The invention also provides a turning mechanism for an autonomous vehicle. The central axis of the autonomous vehicle divides it into two parts, namely left and right sides. The following steps are required for the turning process: The autonomous vehicle moves towards the limit. After the vehicle reaches a predetermined relationship with the limit, it makes a turn. Before the turn is complete, the control module controls the driving module so that the autonomous car moves along the limit for some distance.

“Preferably the method also includes the following steps: The autonomous vehicle determines which side is closest to the limit when it reaches a predetermined relationship. When the turn is complete, the distance between one side and the limit is always less than that from the other side. However, one side is closer when the turn starts.”

“Preferably the autonomous vehicle turns clockwise if it is the left side that is closest to the limit in reaching the predetermined relationship; the autonomous vehicle turns anticlockwise if it is the right side.”

The present invention also provides an autonomous car for moving and operating within a limited working area. It comprises: a housing with a longitudinal centralaxis; a driving unit mounted on said housing. This module drives the autonomous vehicle to move and turn. A limit detecting module mounted on the housing detects the location of the autonomous vehicle relative to the limit. An energy module mounted on the housing supplies energy to the autonomous vehicle. The control module is connected to the limit detecting and driving modules. The control module then drives the driving module to cause the autonomous vehicle to turn and return to the border line after receiving the collision signal. The control module receives the collision signal once more and records a numerical value. If the numerical value exceeds a predetermined value, it determines which direction the autonomous vehicle will turn in when crossing the borderline for the first time.

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How to Search for Patents

A patent search is the first step to getting your patent. You can do a google patent search or do a USPTO search. Patent-pending is the term for the product that has been covered by the patent application. You can search the public pair to find the patent application. After the patent office approves your application, you will be able to do a patent number look to locate the patent issued. Your product is now patentable. You can also use the USPTO search engine. See below for details. You can get help from a patent lawyer. Patents in the United States are granted by the US trademark and patent office or the United States Patent and Trademark office. This office also reviews trademark applications.

Are you interested in similar patents? These are the steps to follow:

1. Brainstorm terms to describe your invention, based on its purpose, composition, or use.

Write down a brief, but precise description of the invention. Don’t use generic terms such as “device”, “process,” or “system”. Consider synonyms for the terms you chose initially. Next, take note of important technical terms as well as keywords.

Use the questions below to help you identify keywords or concepts.

• What is the purpose of the invention Is it a utilitarian device or an ornamental design?
• Is invention a way to create something or perform a function? Is it a product?
• What is the composition and function of the invention? What is the physical composition of the invention?
• What’s the purpose of the invention
• What are the technical terms and keywords used to describe an invention’s nature? A technical dictionary can help you locate the right terms.

2. These terms will allow you to search for relevant Cooperative Patent Classifications at Classification Search Tool. If you are unable to find the right classification for your invention, scan through the classification’s class Schemas (class schedules) and try again. If you don’t get any results from the Classification Text Search, you might consider substituting your words to describe your invention with synonyms.

3. Check the CPC Classification Definition for confirmation of the CPC classification you found. If the selected classification title has a blue box with a “D” at its left, the hyperlink will take you to a CPC classification description. CPC classification definitions will help you determine the applicable classification’s scope so that you can choose the most relevant. These definitions may also include search tips or other suggestions that could be helpful for further research.

4. The Patents Full-Text Database and the Image Database allow you to retrieve patent documents that include the CPC classification. By focusing on the abstracts and representative drawings, you can narrow down your search for the most relevant patent publications.

5. This selection of patent publications is the best to look at for any similarities to your invention. Pay attention to the claims and specification. Refer to the applicant and patent examiner for additional patents.

6. You can retrieve published patent applications that match the CPC classification you chose in Step 3. You can also use the same search strategy that you used in Step 4 to narrow your search results to only the most relevant patent applications by reviewing the abstracts and representative drawings for each page. Next, examine all published patent applications carefully, paying special attention to the claims, and other drawings.

7. You can search for additional US patent publications by keyword searching in AppFT or PatFT databases, as well as classification searching of patents not from the United States per below. Also, you can use web search engines to search non-patent literature disclosures about inventions. Here are some examples:

• Add keywords to your search. Keyword searches may turn up documents that are not well-categorized or have missed classifications during Step 2. For example, US patent examiners often supplement their classification searches with keyword searches. Think about the use of technical engineering terminology rather than everyday words.
• Search for foreign patents using the CPC classification. Then, re-run the search using international patent office search engines such as Espacenet, the European Patent Office’s worldwide patent publication database of over 130 million patent publications. Other national databases include:
• European Patent Office (EPO) provides esp@cenet to access a network of Europe’s patent databases with access to machine translation of European patents. 
• Japan Patent Office (JPO) – with access to machine translations of Japanese patents.
• World Intellectual Property Organization (WIPO) offers PATENTSCOPE with a full-text search of published international patent applications and machine translations for some documents, as well as a list of international patent databases.
• Korean Intellectual Property Rights Information Service (KIPRIS)
• State Intellectual Property Office (SIPO) with machine translation of Chinese patents.
• Other International Intellectual Property Offices with online patent databases include Australia, Canada, Denmark, Finland, France, Germany, Great Britain, India, Israel, Netherlands, Norway, Sweden, Switzerland, and Taiwan.
• Search non-patent literature. Inventions can be made public in many non-patent publications. It is recommended that you search journals, books, websites, technical catalogs, conference proceedings, and other print and electronic publications.

To review your search, you can hire a registered patent attorney to assist. A preliminary search will help one better prepare to talk about their invention and other related inventions with a professional patent attorney. In addition, the attorney will not spend too much time or money on patenting basics.

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