CN104378132B - A kind of device and its control method, mobile terminal of automatic loading and unloading communication card - Google Patents
A kind of device and its control method, mobile terminal of automatic loading and unloading communication card Download PDFInfo
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- CN104378132B CN104378132B CN201310351450.0A CN201310351450A CN104378132B CN 104378132 B CN104378132 B CN 104378132B CN 201310351450 A CN201310351450 A CN 201310351450A CN 104378132 B CN104378132 B CN 104378132B
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- communication card
- instruction
- coil
- sliding block
- communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
- H04M1/0202—Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets
- H04M1/026—Details of the structure or mounting of specific components
Abstract
The invention discloses a kind of devices of automatic loading and unloading communication card, including：Communication card sliding block, communication card pedestal and primary processor；Wherein, the communication card sliding block includes first coil, slides into and skids off under the control of primary processor, realizing；The communication card pedestal include the second coil, for primary processor control under, carry communication card sliding block slide-in with skid off；The primary processor, for according to the first instruction or the second instruction received, controlling the current direction in the first coil and second coil, generating the magnetic field force of mutual exclusion or attraction, control communication card sliding block skidding off and sliding into.The present invention further simultaneously discloses a kind of control method and mobile terminal of automatic loading and unloading communication card, and communication card simply and easily can be loaded and unload using the present invention.
Description
Technical field
The present invention relates to the communication card handling technique of mobile terminal, more particularly to the device of a kind of automatic loading and unloading communication card and
Its control method, mobile terminal.
Background technology
With the fast development of mobile communication, communication card has become the standard configuration of mobile terminal class product.It is so-called logical
Letter card stores authentication information, encrypted key and the user of digital mobile phone user exactly in one piece of integrated chip
The information such as phone directory.In general, communication card needs to be installed on the mainboard of mobile terminal by deck mode, common communication deck
Including plug-in type deck, clamshell deck, drawer type deck etc..
Since the integrated level requirement of mobile terminal is higher and higher, the producer of mobile terminal leads in constantly compression motherboard space
Letter card size is also constantly reducing therewith.Currently, communication card can be divided into according to size：Standard card, Micro cards and
Nano cards etc..In practical applications, part type causes user's dismounting communication card cumbersome, very due to excessively pursuing space
It must extremely be used very troublesome by proprietary tool.
Invention content
In view of this, the main purpose of the embodiment of the present invention is to provide device and its control of a kind of automatic loading and unloading communication card
Method processed, mobile terminal, simply and easily can load and unload communication card.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
An embodiment of the present invention provides a kind of device of automatic loading and unloading communication card, described device includes：Communication card sliding block leads to
Letter card pedestal and primary processor；Wherein,
The communication card sliding block slides into and skids off under the control of primary processor, realizing；The communication card sliding block packet
Include the communication card storehouse for placing communication card, rail plate and the first coil for generating magnetic field force；The rail plate is located at communication card
Sliding block both sides, the first coil are located at communication card slider bottom；
The communication card pedestal, for primary processor control under, carry communication card sliding block slide-in with skid off；It is described logical
Letter card pedestal includes carry the sliding block storehouse of communication card sliding block, sliding groove corresponding with rail plate position and generation magnetic field force the
Two coil；Second coil is located in sliding block storehouse；
The primary processor, for according to the first instruction or the second instruction received, controlling the first coil and institute
The current direction in the second coil is stated, the magnetic field force of mutual exclusion or attraction is generated, control communication card sliding block skidding off and sliding into.
In said program, the communication card pedestal further include skid off detector and slide into detector, it is described skid off detector,
It slides into detector and is located at the outside that communication card pedestal has the side of sliding groove, be connected with primary processor by PCB trace；For examining
That surveys communication card sliding block slides in and out state, and by the feedback of status detected to primary processor.
In said program, the primary processor is additionally operable to according to the first instruction or the second instruction and feedback states, really
Whether fixed be that communication card powers off and restores electricity.
In said program, the primary processor is additionally operable to determine whether to stop to first coil and the according to feedback states
Two coil provides electric current.
The embodiment of the present invention additionally provides a kind of control method of automatic loading and unloading communication card, is applied to include communication card sliding block
In the device of communication card deck；The method includes：
Receive the first instruction or the second instruction；
According to the first instruction or the second instruction received, first coil in the block and communication card card are slided to communication card respectively
The second coil in seat provides in the same direction or reverse current；
First coil and the second coil generate mutual exclusion or attract magnetic field force, and control communication card sliding block is skidded off or slid into.
In said program, the method further includes：Detection communication card sliding block slides in and out state, and feeds back and detect
State.
In said program, the method further includes：Determine whether to stop to first coil and second according to the state of feedback
Coil with electric current.
In said program, the method further includes：Determined whether according to the first instruction or the second instruction and feedback states
It powers off and restores electricity for communication card.
In said program, first instruction includes the instruction for loading communication card, the instruction for unloading communication card, replaces communication
The instruction of card, second instruction include the instruction of communication close Ka Cang；It is described second instruction include loading communication card instruction,
It unloads the instruction of communication card, replace the instruction of communication card, first instruction includes the instruction of communication close Ka Cang.
The embodiment of the present invention provides a kind of mobile terminal again, the mobile terminal include it is recited above any one
The device of automatic loading and unloading communication card.
The device and its control method, mobile terminal of automatic loading and unloading communication card provided in an embodiment of the present invention, mobile whole
Configuration includes the device of the automatic loading and unloading communication card of communication card sliding block and communication card pedestal in end；According to the first instruction received
Or second instruction, control positioned at communication card sliding block first coil and the electric current side in the second coil of communication card pedestal
To the magnetic field force of generation mutual exclusion or attraction, control communication card sliding block skidding off and sliding into；Electromagnetism sense is utilized in the embodiment of the present invention
Principle is answered, by changing the current direction of communication card pedestal and communication card sliding block respectively in coil, and then changes and produces between the two
Raw magnetic field force direction, to realize the slide-in of communication card sliding block and skid off, in this way, can reasonably avoiding conventional motor drive mechanism
Space hold problem；
The embodiment of the present invention is according to user instruction content, it is determined whether disconnected for communication card before communication card sliding block skids off
It electricity and restores electricity for communication card after the slide-in of communication card sliding block, the burning brought is acted so as to avoid traditional hot plug
Card risk；
The design that communication card sliding block in the embodiment of the present invention slides into and skids off automatically according to user instruction, by traditional hand
Dynamic operation mode upgrades to automatic operation mode, effectively solves the problems, such as that user's dismounting communication card is cumbersome, provides to the user
Friendly operation interface, deck automation mechanized operation for mobile terminal class product provide new resolving ideas.
Description of the drawings
Fig. 1 is the positive structure schematic of communication card sliding block in the embodiment of the present invention；
Fig. 2 is the structure schematic diagram of communication card sliding block in the embodiment of the present invention；
Fig. 3 is the internal view of communication card pedestal in the embodiment of the present invention；
Fig. 4 is the assembly structure diagram of communication card pedestal and communication card sliding block in the embodiment of the present invention；
Fig. 5 is the implementation process schematic diagram for the control method that the embodiment of the present invention loads communication card automatically；
Fig. 6 is the operating process schematic diagram of user's handling or replacement communication card in the specific embodiment of the invention.
Specific implementation mode
The basic thought of the embodiment of the present invention is：Configuration includes communication card sliding block and communication card pedestal in the terminal
The device of automatic loading and unloading communication card；It is located at the first of communication card sliding block according to the first instruction or the second instruction, control that receive
Coil and the current direction in the second coil of communication card pedestal generate the magnetic field force of mutual exclusion or attraction, control communication card
Sliding block skidding off and sliding into.
Here, the device of automatic loading and unloading communication card further includes primary processor, for receiving the first instruction or the second instruction, is
The first coil of communication card sliding block and the second coil of communication card pedestal provide electric current in the same direction or reversed, make first coil and
Two coil generates the magnetic field force of mutual exclusion or attraction.Wherein, primary processor can be central processing unit（CPU）Or digital signal
Processor（DSP）Or programmable gate array（FPGA）.
The communication card sliding block and communication card pedestal generate relative motion under the control of primary processor, make communication card sliding block
It realizes and slides into and skid off, and then complete that communication card is positioned on communication card sliding block or takes communication card from communication card sliding block
Go out, i.e.,：Complete the loading or unloading of communication card.
Wherein, the communication card sliding block includes communication card storehouse, rail plate, first coil；The communication card pedestal includes
Sliding block storehouse, sliding groove, the second coil；The communication card sliding block is connected by rail plate with sliding groove with communication card pedestal, sliding
Dynamic guide rail can slide in sliding groove；First coil and the second coil respectively by first coil conducting wire and the second winding wire from
Primary processor obtains electric current, and the magnetic field force of mutual exclusion or attraction is generated using electromagnetic induction principle.
The implementation of technical solution is described in further detail in the following with reference to the drawings and specific embodiments.
Fig. 1 is the positive structure schematic of communication card sliding block in the embodiment of the present invention, as shown in Figure 1, communication card sliding block packet
Include rail plate 11, communication card storehouse 12 and first coil current supply line 13；Wherein,
Rail plate 11 is located at the both sides of communication card sliding block, opposite between communication card sliding block and communication card pedestal for completing
Movement, enables communication card sliding block to be realized on communication card pedestal and slides in and out；
Communication card storehouse 12 is located above communication card sliding block, and 12 bottom of communication card storehouse is provided with first coil；Communication card storehouse 12
Communication card for placing user, such as the card of SIM card, usim card for communication；In practical applications, when communication card is placed
Metal is face-up, to coordinate primary processor to connect；
First coil current supply line 13 is connected to the interface on the inside of communication card sliding block；One end of first coil current supply line 13
Be connected with primary processor, the other end is connected with first coil, the primary processor can by first coil current supply line 13 to
First coil provides electric current needed for work；Here, the inside refer to the communication card sliding block side that skid off direction opposite, be logical
One side of letter card sliding block.
Fig. 2 is the structure schematic diagram of communication card sliding block in the embodiment of the present invention, as shown in Fig. 2, communication card sliding block is also
Including first coil 22, the first coil 22 is located at the bottom of communication card sliding block, is connected with first coil current supply line 13；Institute
It states first coil 22 and the electric current that primary processor provides is obtained by first coil current supply line 13, and produced using electromagnetic induction principle
The magnetic field interaction that the second coil on magnetisation field force, with communication card pedestal generates, and then communication card sliding block is driven to realize base
Action is slid in and out in communication card pedestal.
Fig. 3 is the internal view of communication card pedestal in the embodiment of the present invention, as shown in figure 3, communication card pedestal includes sliding block storehouse
31, sliding groove 32, the second coil 33, coil power supply interface 34, slide into detector 35 and skid off detector 36；Wherein,
Sliding block storehouse 31 is located above communication card pedestal, and 31 top of sliding block storehouse is provided with the second coil 33, and sliding block storehouse 31 is used for
Communication card sliding block is carried, the space for skidding off or sliding into is provided；
Sliding groove 32 is located at the inside of communication card pedestal two sides, opposite with 11 position of rail plate of communication card sliding block
It answers, rail plate 11 can be placed in sliding groove 32, and the sliding in sliding groove 32；Rail plate 11 and sliding groove 32 combine,
Relative motion provides support between communication card sliding block and communication card pedestal so that is slided after communication card sliding block carrying communication card
Enter and skid off action；
Second coil 33 is located in sliding block storehouse 31, and the electric current that primary processor provides is obtained by the second coil power supply conducting wire,
And the magnetic field interaction that the first coil 22 on magnetic field force, with communication card sliding block generates is generated using electromagnetic induction principle, into
And it drives communication card sliding block to realize and action is slid in and out based on communication card pedestal；Second coil power supply conducting wire one end therein
It is connected with primary processor, the other end is connected with the second coil 33；The primary processor can by the second coil power supply conducting wire to
Coil provides electric current needed for work；Here, the inside refer to the communication card sliding block side that skid off direction opposite, be communication
One side of card pedestal；
Coil power supply interface 34 is located at the inside of communication card pedestal, includes two provided for first coil current supply line
Interface and two interfaces provided for the second coil power supply conducting wire；
It slides into detector 35 and skids off detector 36 and be located at the outside that communication card pedestal has the one side of sliding groove 32, slide into
Detector 35 can be located at the same side with detector 36 is skidded off, and can also be located at not homonymy；It slides into detector 35 and skids off detecting
Device 36 is connected by PCB trace with primary processor, can detect the state that slides in and out of communication card sliding block, and will be detected
Feedback of status is to primary processor, to provide cut-off foundation to first coil and the second coil power supply；
The realization of tradition machinery shrapnel can be used with detector 36 is skidded off in the slide-in detector 35.
Correspondingly, the primary processor, is additionally operable to be instructed according to the first instruction or second and feedback states, determination is
It is no to power off and restore electricity for communication card.The primary processor can also be determined whether to stop according to feedback states to first coil and
Second coil with electric current.
Communication card sliding block shown in FIG. 1 and communication card pedestal shown in Fig. 3 collectively form the automatic dress of the embodiment of the present invention
Unload the device of communication card.Fig. 4 is the assembly structure diagram of communication card pedestal and communication card sliding block in the embodiment of the present invention,
In, Fig. 4-1 is the sliding mode perspective view of communication card pedestal and communication card sliding block, and Fig. 4-2 is that communication card pedestal and communication card are slided
The sliding mode external view of block.
The sliding mode perspective view of Fig. 4-1 shows under sliding mode, communication card sliding block and communication card in communication card pedestal
The relative position of pedestal；The sliding mode external view of Fig. 4-2 shows under sliding mode, the outer communication card sliding block of communication card pedestal with
The relative position of communication card pedestal.
In embodiments of the present invention, a kind of mobile terminal is provided, including：Communication card pedestal as described in Figure 3, such as Fig. 1 institutes
The communication card sliding block and primary processor stated, the device of the automatic loading and unloading communication card collectively constituted, the device are fixed on mobile whole
The side at end.
When primary processor receives user instruction, communication card can be carried and skidded off other than mobile terminal case, to
Simplify user's operation.Wherein, the user instruction that primary processor is received includes the instruction for loading communication card, unloads the finger of communication card
Enable, replace the instruction of communication card, the instruction of communication close Ka Cang, the instruction for loading communication card, the instruction for unloading communication card,
The instruction for replacing communication card can be described as the first instruction；The instruction of the communication close Ka Cang can be described as the second instruction.
When receiving the first instruction from the user, primary processor changes the electricity for being supplied to first coil and the second coil
The direction of stream makes the communication card sliding block comprising communication card storehouse skid off；When receiving the second instruction from the user, primary processor
Change the sense of current for being supplied to first coil and the second coil again, the communication card sliding block comprising communication card storehouse is made to slide into, and
According to the command content of user, it is determined whether powered off and restored electricity to address card.Here, described instruction content refers to dress
It carries communication card or replaces communication card, or unloading communication card.
Fig. 5 is the implementation process schematic diagram for the control method that the embodiment of the present invention loads communication card automatically, as shown in figure 5,
The control method that the embodiment of the present invention loads communication card automatically includes the following steps：
Step 501：Receive the first instruction or the second instruction；
Here, first instruction is loads communication card instruction, the instruction of unloading communication card or replaces communication card instruction, and second
Instruction is the instruction of communication close Ka Cang；Alternatively, it is described second instruction for load communication card instruction, unloading communication card instruction or more
Change communication card instruction, the instruction that the first instruction is communication close Ka Cang.
Wherein, loading is to place communication card into the communication card storehouse of empty communication card sliding block；Replacement is to replace communication card to slide
The communication card placed in the communication card storehouse of block；Unloading is that the communication card placed in the communication card storehouse by communication card sliding block takes out.
No matter load communication card instruction, the instruction of unloading communication card or replace communication card instruction, is required to that communication card sliding block is made to skid off；It closes
The instruction for closing communication card storehouse needs that communication card sliding block is made to slide into.
Step 502：According to the first instruction or the second instruction received, respectively to communication card slide first coil in the block and
The second coil in communication card pedestal provides same direction current or reverse current；
Here, same direction current or reverse current are provided from primary processor to first coil and the second coil.
Step 503：First coil and the second coil generate the magnetic field force of attraction or mutual exclusion, and control is logical comprising address card storehouse
Letter card sliding block is skidded off or is slid into.
Here, provide direction opposite electric current to first coil and the second coil respectively, first coil and the second coil will
The magnetic field force of mutual exclusion is generated, control communication card sliding block skids off；There is provided direction identical electricity to first coil and the second coil respectively
Stream, first coil and the second coil will generate the magnetic field force attracted, and control communication card sliding block slides into.
Fig. 6 is the operating process schematic diagram of user's handling or replacement communication card in the specific embodiment of the invention, the present embodiment
In, communication card is SIM card；As shown in fig. 6, the operating process of user's handling or replacement communication card includes following step in the present embodiment
Suddenly：
Step 601：User selects the operation carried out to SIM card, primary processor to receive in the user interface of mobile terminal
Instruction from the user；
Step 602：Primary processor judges user's operation to be carried out according to the instruction received, if replacement or unloading
SIM card thens follow the steps 603；If SIM card is loaded, 604 are thened follow the steps；
Step 603：Primary processor is SIM card fast break；
Step 604：Primary processor is according to received instruction, to be set to the second coil and the communication of communication card pedestal
The first coil of card sliding block provides the electric current of opposite direction；
Specifically, the instruction of this step is to load SIM card or unloading SIM card or replacement SIM card；Primary processor is first
Coil and the second coil provide the electric current of opposite direction, and communication card sliding block of the control comprising SIM card storehouse skids off；
Step 605：The magnetic field force that mutual exclusion is generated between first coil and the second coil, pushes communication card sliding block to skid off；
Step 606：It skids off whether detector detecting communication card sliding block fully slides out, if do not fully slid out, continues
Step 604 and step 605 are executed, first coil and the second coil with electric current are continued as, communication card sliding block is pushed to skid off；If
It has been fully slid out that, then primary processor is notified to stop to first coil and the second coil with electric current；
Step 607：User as desired operates SIM card；
Here, the operation for loading communication card or unloading communication card or replaces communication card；
Step 608：It is first coil and second after primary processor receives the instruction in closing SIM card storehouse from the user
Coil provides the electric current of the same direction, and communication card sliding block of the control comprising SIM card storehouse slides into；
Step 609：The magnetic field force to attract each other is generated between first coil and the second coil, and sliding block is pushed to slide into；
Step 610：It slides into whether detector detecting communication card sliding block is slid completely into, if be not slid completely into, continues
Step 608 and step 609 are executed, is the second coil with electric current of first coil, communication card sliding block is pushed to slide into；If complete
It is complete to slide into, then notify primary processor to stop to first coil and the second coil with electric current；
Step 611：Primary processor judges user's operation to be carried out according to the instruction received, if replacement or loads
SIM card thens follow the steps 612；If unloading SIM card, 613 are thened follow the steps；
Step 612：It powers to SIM card, SIM card is connected to the mainboard of mobile terminal；
Step 613：User interface shows that SIM card end of operation, present treatment flow terminate；
Here, the operation includes loading SIM card or unloading SIM card or replacement SIM card.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.
Claims (10)
1. a kind of device of automatic loading and unloading communication card, which is characterized in that described device includes：Communication card sliding block, communication card pedestal
And primary processor；Wherein,
The communication card sliding block slides into and skids off under the control of primary processor, realizing；The communication card sliding block includes putting
Set communication card storehouse, rail plate and the first coil for generating magnetic field force of communication card；The rail plate is located at communication card sliding block
Both sides, the first coil are located at communication card slider bottom；
The communication card pedestal, for primary processor control under, carry communication card sliding block slide-in with skid off；The communication card
Pedestal includes the sliding block storehouse for carrying communication card sliding block, sliding groove corresponding with rail plate position and the second line for generating magnetic field force
Circle；Second coil is located in sliding block storehouse；
The primary processor, for according to the first instruction or the second instruction received, controlling the first coil and described the
Current direction in two coil, generates the magnetic field force of mutual exclusion or attraction, and control communication card sliding block skidding off and sliding into.
2. device according to claim 1, which is characterized in that the communication card pedestal further includes skidding off detector and slide-in is detectd
Survey device, it is described skid off detector, slide into detector be located at the outside that communication card pedestal has the side of sliding groove, pass through PCB trace
It is connected with primary processor；The state that slides in and out for detecting communication card sliding block, and give the feedback of status detected to main place
Manage device.
3. device according to claim 2, which is characterized in that the primary processor is additionally operable to according to the first instruction or second
Instruction and feedback states, it is determined whether power off and restore electricity for communication card.
4. device according to claim 2, which is characterized in that the primary processor, being additionally operable to be determined according to feedback states is
It is no to stop to first coil and the second coil with electric current.
5. a kind of control method of automatic loading and unloading communication card, which is characterized in that be applied to include communication card sliding block and communication card card
In the device of seat；The method includes：
Receive the first instruction or the second instruction；
According to the first instruction or the second instruction received, slided in first coil in the block and communication card deck to communication card respectively
The second coil provide in the same direction or reverse current；
First coil and the second coil generate mutual exclusion or attract magnetic field force, and control communication card sliding block is skidded off or slid into.
6. method according to claim 5, which is characterized in that the method further includes：Detect communication card sliding block slide-in and
State is skidded off, and feeds back the state detected.
7. method according to claim 6, which is characterized in that the method further includes：Determined whether according to the state of feedback
Stop to first coil and the second coil with electric current.
8. method according to claim 6, which is characterized in that the method further includes：Instructed according to the first instruction or second,
And feedback states determine whether to power off and restore electricity for communication card.
9. method according to claim 5, which is characterized in that first instruction includes the instruction for loading communication card, unloading
The instruction of communication card, the instruction for replacing communication card, second instruction include the instruction of communication close Ka Cang；Alternatively, described
Two instructions include the instruction for loading communication card, the instruction for unloading communication card, the instruction for replacing communication card, and first instruction includes
The instruction of communication close Ka Cang.
10. a kind of mobile terminal, which is characterized in that the mobile terminal includes that Claims 1-4 any one of them fills automatically
Unload the device of communication card.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310351450.0A CN104378132B (en) | 2013-08-13 | 2013-08-13 | A kind of device and its control method, mobile terminal of automatic loading and unloading communication card |
| PCT/CN2014/072476 WO2014161401A1 (en) | 2013-08-13 | 2014-02-24 | Device for assembling and disassembling communications card, and control method, terminal, and storage medium thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310351450.0A CN104378132B (en) | 2013-08-13 | 2013-08-13 | A kind of device and its control method, mobile terminal of automatic loading and unloading communication card |
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| CN104378132A CN104378132A (en) | 2015-02-25 |
| CN104378132B true CN104378132B (en) | 2018-10-19 |
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| CN201310351450.0A Active CN104378132B (en) | 2013-08-13 | 2013-08-13 | A kind of device and its control method, mobile terminal of automatic loading and unloading communication card |
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| Country | Link |
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| CN (1) | CN104378132B (en) |
| WO (1) | WO2014161401A1 (en) |
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| CN105897288A (en) * | 2016-03-28 | 2016-08-24 | 联想(北京)有限公司 | Electronic equipment and intelligent card processing method |
| CN107306142A (en) * | 2016-04-22 | 2017-10-31 | 中兴通讯股份有限公司 | A kind of SIM card load carrier and mobile terminal |
| CN106850896B (en) | 2017-03-07 | 2019-12-03 | Oppo广东移动通信有限公司 | Terminal |
| CN109756653A (en) * | 2017-11-03 | 2019-05-14 | 广东欧珀移动通信有限公司 | A kind of CCD camera assembly and mobile terminal |
| EP3481035B1 (en) | 2017-11-03 | 2020-07-29 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Mobilephone camera slidable by electromagnetic force |
| CN113206933B (en) | 2017-11-30 | 2023-04-18 | Oppo广东移动通信有限公司 | Camera assembly, mobile terminal and control method of camera assembly |
| CN109962995B (en) * | 2017-12-14 | 2021-03-12 | Oppo广东移动通信有限公司 | Functional assembly, electronic device and control method thereof |
| CN110827483B (en) * | 2018-08-08 | 2022-06-03 | 中国电信股份有限公司 | Article storing and taking device, system and method, patch, storage rack and robot |
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| WO2014161401A1 (en) | 2014-10-09 |
| CN104378132A (en) | 2015-02-25 |
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