Autonomous movement system

An autonomous movement system comprising:

• a working robot configured to perform an operation while moving autonomously in a working area;
• a charging station configured to charge the working robot;
• a boundary wire defining the working area, wherein the boundary wire is configured to generate a magnetic field when a current flows in the boundary wire;
• and
• a station wire at the charging station and electrically connected to the boundary wire, wherein the station wire is configured to generate a magnetic field when a current flows in the station wire,
• wherein
• the working robot comprises:
• a working unit configured to perform the operation;
• a working motor configured to drive the working unit;
• a movement unit comprising wheels configured to move the working robot;
• a movement motor configured to drive the movement unit;
• a battery configured to be charged at the charging station and supply power to the working motor and the movement motor;
• a magnetic detecting unit comprising a sensor configured to detect the magnetic field generated by the boundary wire and the magnetic field generated by the station wire;
• and
• a control unit comprising a microcomputer configured to control the working motor and the movement motor and detect the station wire based on a detection result by the magnetic detecting unit;
• the working unit is fixed to an output shaft of the working motor and is configured to operate by a rotation of the output shaft;
• the charging station comprises:
• a charging terminal configured to be electrically connected to the working robot;
• and
• a signal generator configured to supply an identical electric signal to the boundary wire and the station wire,
• a current waveform and a phase of the electric signal supplied to the station wire are identical to a current waveform and a phase of the electric signal supplied to the boundary wire, and
• the station wire is electrically connected in series to the boundary wire.