CN106026321A - Automatic charging device and method for self-moving device - Google Patents
Automatic charging device and method for self-moving device Download PDFInfo
- Publication number
- CN106026321A CN106026321A CN201610517958.7A CN201610517958A CN106026321A CN 106026321 A CN106026321 A CN 106026321A CN 201610517958 A CN201610517958 A CN 201610517958A CN 106026321 A CN106026321 A CN 106026321A
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- charging
- relay
- circuit
- wireless communication
- cradle
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- 238000000034 method Methods 0.000 title claims description 13
- 239000002184 metal Substances 0.000 claims abstract description 28
- 229910052751 metal Inorganic materials 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims description 38
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 18
- 229910052802 copper Inorganic materials 0.000 claims description 18
- 239000010949 copper Substances 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 230000000977 initiatory effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H02J7/045—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides an automatic charging device for a self-moving device. The device comprises a charging control system, a charging device arranged on the self-moving device, and a charging socket arranged on a wall. The charging control system controls the operation of the charging device and the movement of the self-moving device. The charging device includes a light-sensitive element, a battery pack and two charging contacts. The charging socket comprises a cylindrical or semi-cylindrical socket body, a power supply assembly arranged in the socket body, two arc-shaped power supply metal strips and one arc-shaped guide light source strip arranged on the outer side surface of the socket body. The two arc-shaped power supply metal strips and the one arc-shaped guide light source strip are arranged horizontally along the outer side surface of the socket body. The two charging contacts are connected with the battery pack. The two charging contracts are respectively in the same height with the two arc-shaped power supply metal strips. The light-sensitive element is in the same height with the guide light source strip. Due to the cooperative arrangement of an LED light source and the light-sensitive element, the charging socket can be found out. meanwhile, the device is simple in circuit, low in cost and high in success rate.
Description
Technical field
The present invention relates to a kind of automatic charge device from mobile device and method, be particularly suited for remotely controlling
System from mobile device.
Background technology
The equipment of battery-driven long-range control, its application scenario is often unmanned on the scene, when battery power shortage
The mode manually carrying out plugging charger is charged being difficult to realize, and also can often result in even if there being people to go to
Charging not in time, the problems such as waste of manpower.
Summary of the invention
The invention provides a kind of autonomous searching cradle, automatically operation, the automatic charge device of automatic butt
With control method, whole process, without manual intervention, can realize automatic charging when cell voltage is less than certain threshold value.
The technical solution of the present invention is:
A kind of automatic charge device from mobile device, including charge control system, is arranged on from mobile device
On charging device, be installed on the cradle of body of wall；Above-mentioned charge control system controls the work of charging device
And control the motion from mobile device；
It is particular in that:
Above-mentioned charging device includes light-sensitive element, battery component and two charging contacts；
Above-mentioned cradle include column or semicolumn pedestal, the power supply module being arranged in pedestal, arrange present
Two arcs of outside are for metal ribbon and an arcuate guide strip of light；
Above-mentioned two arc is horizontally disposed with along pedestal lateral surface for metal ribbon and an arcuate guide strip of light；
Above-mentioned two charging contact connects with battery component；
Above-mentioned two charging contact supplies the highly consistent of metal ribbon with two arcs respectively；
Above-mentioned light-sensitive element is highly consistent with guiding strip of light.
Above-mentioned arcuate guide strip of light is arranged on two arcs for the top of metal ribbon, centre or lower section.
Above-mentioned arc caves in pedestal lateral surface for metal ribbon, and charging contact stretches out pedestal.
Above-mentioned pedestal is semi-cylindrical.
Above-mentioned charging device also includes that relay, above-mentioned relay connect with above-mentioned battery component；Above-mentioned two
In charging contact, one of them charging contact connects with the negative pole of battery component, another charging contact with continue
Electrical equipment is connected.
Being set with spring on above-mentioned charging contact, the front end of charging contact is arc-shaped.
In order to realize remotely controlling, above-mentioned charging device also includes the first wireless communication unit；Above-mentioned cradle
Also include the second wireless communication unit.
Above-mentioned arc is for the material copper of metal ribbon；Above-mentioned arcuate guide strip of light is LED array.
Above-mentioned charge control system includes the first microcontroller, photosensitive circuit, the first wireless communication module, touches
Point voltage testing circuit and battery voltage detection circuit；Above-mentioned photosensitive circuit, the first wireless communication module and electricity
Cell voltage testing circuit respectively with the first microcontroller connects；
Above-mentioned photosensitive circuit controls light-sensitive element work, and above-mentioned first wireless communication module controls the first channel radio
Letter cell operation；The voltage of above-mentioned contact voltage testing circuit detection charging contact；
Above-mentioned battery component connects with battery voltage detection circuit；
Above-mentioned cradle also includes that cradle control system, above-mentioned cradle control system include the second microcontroller
Device, the second wireless communication module, control relay circuit, the second relay and the 3rd relay；
The outfan of above-mentioned second wireless communication module and the second microcontroller input connect；Above-mentioned second micro-
The outfan of controller and the input of control relay circuit connect；The output of above-mentioned control relay circuit
The input respectively at the second relay and the 3rd relay is held to connect；The input of above-mentioned 3rd relay is also
Connect with pedestal power supply module；
Above-mentioned second wireless communication module controls the second wireless communication unit work；
The outfan of above-mentioned second relay and arcuate guide strip of light connect；
Outfan and two arcs of above-mentioned 3rd relay connect for metal ribbon.
A kind of automatic recharging method from mobile device is provided, comprises the following steps:
Step one: battery voltage detection circuit detection battery component voltage；When brownout, micro-to first
Controller sends charging instruction；
Step 2: the first microcontroller receives charging instruction and by the first wireless communication module to cradle
Second wireless communication module sends charge command；
Step 3: the second wireless communication module receives charge command, and the transmission of this charge command is micro-to second
Controller；
Step 4: the second microcontroller receives charge command, sends commands to control relay circuit, continues
Electrical apparatus control circuit controls the second relay and connects, and makes LED array light or flashes；Control relay circuit
And control the 3rd relay ON switch power supply and arc confession metal ribbon, power on for metal ribbon to arc；
Step 5: photosensitive circuit finds luminous cradle, sends the signal to the first microcontroller, and first
Microcontroller is controlled by motor and go to circuit control from mobile device at luminous cradle close；
Step 6: when charging contact contacts for metal ribbon with arc, the detection of contact voltage testing circuit is filled
Whether electric contact has suitable voltage, if voltage is suitable, then motor is out of service, and the first microcontroller passes through
Control relay circuit controls relay and connects, and starts to charge up；
First microcontroller is filled to the second wireless communication module transmission of cradle by the first wireless communication module
Electricity initiation command, the second microcontroller is controlled by relay after accepting this order by the second wireless communication module
Circuit controls LED array and closes；
Step 7: whether voltage detecting circuit detection battery is full of, after being full of, the first microprocessor controls
Cradle is left from mobile device；
Step 8: the first wireless communication module sends charging to cradle and terminates order, and the second microcontroller leads to
Crossing bang-bang circuit and control the 3rd relay disconnection, arc is for metal ribbon power down.
The invention has the beneficial effects as follows:
The mode using LED light source and light-sensitive element to coordinate is charged the searching of seat, and circuit is simple, cost
Relatively low, and success rate is high, it is particularly well-suited to equipment and works by day the application of charging at night.Cradle and
Charge control system all uses relay to isolate, and voltage does not exports at ordinary times, and safety is high.Use radio communication
Module is charged getting in touch with and communicating, and LED light source need not flash always, energy-conserving and environment-protective.
Accompanying drawing explanation
Fig. 1 is charging socket structure schematic diagram of the present invention；
Fig. 2 is cradle fundamental diagram of the present invention；
Fig. 3 is that the present invention is from charging of mobile devices control principle drawing；
Fig. 4 is contact structure schematic diagram of the present invention.
In figure, reference is: 1-pedestal；2-arc is for metal ribbon；3-arcuate guide strip of light；4-is from moving
Dynamic equipment；5-contact；6-spring.
Detailed description of the invention
Understandable for enabling the foregoing of the present invention, feature and advantage to become apparent from, the most right
The detailed description of the invention of the present invention is described in detail.Following introduction elaborates a lot of detail with
It is easy to reader and fully understands the present invention, but the present invention can be different from alternate manner described below with multiple
Realizing, those skilled in the art can improve in the case of present configuration,
Therefore the present invention is not limited by following public detailed description of the invention.
Show as on Fig. 1, for charging socket structure schematic diagram.Pedestal 1 is semicylinder, wherein arcuate guide light
Source band 3, uses LED array, selects multiple high brightness LED, and semicircular in shape is horizontally installed to base
The top of 1, outwards luminous, actual application is mountable to any height and position of base 1, sets with from mobile
Quite, its quantity is unsuitable very few, otherwise can affect the hunting time of equipment for standby light-sensitive element height.
Arc uses arc copper sheet group, semicircular in shape for metal ribbon 2, and the most each a piece of, horizontal parallel is positioned over
On the side surface of pedestal 1, the charging contact 5 of its width ratio equipment is the widest, with equipment during to ensure to charge
The intact contact of charging contact；The thickness of arc copper sheet depends on the size of equipment charge electric current, and charging current is big
It is contemplated that suitably thicken, general thickness takes 0.5mm.
Show as on Fig. 2, for cradle fundamental diagram, use middle attaching plug to exchange with municipal administration 220V always
It is electrically connected, powers to Switching Power Supply.
It can be the switch needing DC voltage in battery charging by 220V convert alternating current that Switching Power Supply uses any
Type power supply, needs electric current as long as meeting in charging.Switching Power Supply is also powered to board mounted power simultaneously.
The input of board mounted power is Switching Power Supply, use switching power source chip or regulated power supply chip produce 5V or
The power supply of 3.3V, powers to the second microcontroller, the second wireless communication module and other circuit.
Control relay circuit is made up of audion and fly-wheel diode etc., and transistor base is by microcontroller
I/O mouth line traffic control, it is achieved the break-make of the second relay is controlled.
3rd relay one end is connected with the output of Switching Power Supply, and the other end connects arc copper sheet group, does not charges
Time the 3rd relay be off, arc copper sheet group power down.
Arc copper sheet group semicircular in shape, has upper and lower two panels, and bottom sheet connects the ground wire of Switching Power Supply, upper slice by the
Three relays are connected with Switching Power Supply DC output side, and the 3rd relay is by microprocessor controls, when there being charging
During demand, microprocessor controls the 3rd relay is connected, and arc copper sheet group powers on.The charging of equipment during charging
Contact can contact with this arc copper sheet group and carry out power taking.
Second wireless communication module can use the wireless modules such as si4432, NRF24L01, and be used for equipment is same
Type wireless module communicates, and receives the various control commands of charge control system, then the second microcontroller root
According to control command, LED array and each relay are controlled.
When charging is required, equipment can send charge command by the second wireless communication module to cradle, fills
The second microcontroller in electricity seat can be flashed by the second Control LED array, and equipment can be by photosensitive
The light source position of circuit identification flicker, thus move to be charged at light source.
For ensureing that LED array light source can be noticeable in all directions, LED uses high-brightness white-light type,
And quantity is no less than 15, using semicircle discharge, light head horizontal direction is placed to emission light beam, with
Equipment light-sensitive element height is identical, to reach farther light emitting region.
Show as on Fig. 3, for from charging of mobile devices control principle drawing；
Charging contact 5 is installed on the front end highlight of equipment, and when charging, the arc copper sheet group with cradle connects
Touch and carry out power taking.Charging contact 5 is connected with accumulator by relay, and when not charging, relay is in disconnection
State, prevents charging contact in equipment running process from encountering foreign body and produces short circuit phenomenon.
Contact voltage testing circuit and battery voltage detection circuit are made up of divider resistance and A/D converter, electricity
Cell voltage testing circuit is connected with accumulator, is used for detecting the voltage of accumulator to judge dump energy；Contact
Voltage detecting circuit is connected with charging contact, be used for detecting in charging process charging contact whether with cradle
The arc intact contact of copper sheet group.
Photosensitive circuit is made up of light sensitive diode and resistant series, and its junction point is connected with A/D converter, logical
Cross A/D conversion sampling brightness value.For guaranteeing effectively to search out cradle, light sensitive diode horizontal positioned,
And its height is consistent with the LED array of cradle.
When by battery voltage detection circuit, the first microcontroller detects that the brownout of accumulator needs charging
Time, first pass through photosensitive circuit detection surrounding brightness, if brightness is crossed higher position and wouldn't be charged, because ring
Border brightness too high may causing cannot find cradle light source.When ambient brightness is relatively low, the first microcontroller
Just send charge command by the first wireless communication module to cradle, the second microprocessor controls of cradle
LED array flashes, and controls its 3rd relay ON switch power supply and arc copper sheet group, now arc copper sheet
Group powers on.
After cradle sends charge command, the first microcontroller is controlled by motor and go to circuit controls to set
Standby advance, retreat or turn, the most open close photosensitive circuit of crossing finds the cradle of flicker, with first quick and back slow
Mode controls equipment and runs to cradle, owing to the arc copper sheet group of cradle uses semicircular structure, therefore
Equipment marches to base position at any angle, and its charging contact can intact with the arc copper sheet group of base connect
Touch.
After charging contact contacts with arc copper sheet group, voltage detecting circuit detects that charging contact has conjunction
After suitable voltage, the first microprocessor controls motor is out of service, and controls relay connection, and charging process is opened
Begin.
After charging process starts, the first microcontroller is opened to cradle transmission charging by the first wireless communication module
Beginning to order, cradle closes the LED array of flicker with saves energy after receiving.
In charging process, by voltage detecting circuit, the first microcontroller constantly detects whether battery is full of, when
After Chong Maning, the first microprocessor controls motor runs, and equipment retreats, and leaves cradle, then by second
Wireless communication module sends charging to cradle and terminates order, and cradle i.e. disconnects charging the 3rd relay, fills
The arc copper sheet group power down of electricity seat, in case abnormal contact cradle causes the accidents such as short circuit, whole charging process
Terminate.
The one of which shape of charging contact is shown in structure such as Fig. 4, and contact 5 is cylindrical, is cased with above
Spring 6, can produce certain compression when contacting for metal ribbon 2 with arc, and its front end and arc are powered gold
Belonging to band 2 contact portions is arc-shaped, to ensure good contact.Contact 5 material is with copper for excellent, and contact is round
Arcuation head is exposed to outside mobile device, and spring 6 is in mobile device.
Claims (10)
1., from an automatic charge device for mobile device, including charge control system, it is arranged on the most mobile setting
Standby upper charging device, it is installed on the cradle of body of wall；Described charge control system controls the work of charging device
Make and control the motion from mobile device；
It is characterized in that:
Described charging device includes light-sensitive element, battery component and two charging contacts；
Described cradle include column or semicolumn pedestal, the power supply module being arranged in pedestal, arrange present
Two arcs of outside are for metal ribbon and an arcuate guide strip of light；
Said two arc is horizontally disposed with along pedestal lateral surface for metal ribbon and an arcuate guide strip of light；
Said two charging contact connects with battery component；
Said two charging contact supplies the highly consistent of metal ribbon with two arcs respectively；
Described light-sensitive element is highly consistent with guiding strip of light.
2. according to the automatic charge device from mobile device described in claims 1, it is characterised in that: institute
State arcuate guide strip of light and be arranged on two arcs for the top of metal ribbon, centre or lower section.
3. according to the automatic charge device from mobile device described in claims 1, it is characterised in that: institute
Stating arc and cave in pedestal lateral surface for metal ribbon, charging contact stretches out pedestal.
4. according to the automatic charge device from mobile device described in claims 1 or 2 or 3, its feature
It is: described pedestal is semi-cylindrical.
5. according to the automatic charge device from mobile device described in claims 1 or 2 or 3, its feature
It is: described charging device also includes that relay, described relay connect with described battery component；Described two
In individual charging contact, one of them charging contact connects with the negative pole of battery component, another charging contact with
Relay is connected.
6. according to the automatic charge device from mobile device described in claims 1 or 2 or 3, its feature
Being: be set with spring on described charging contact, the front end of charging contact is arc-shaped.
7. according to the automatic charge device from mobile device described in claims 1 or 2 or 3, its feature
It is: described charging device also includes the first wireless communication unit；Described cradle also includes the second channel radio
Letter unit.
8. according to the automatic charge device from mobile device described in claims 1 or 2 or 3, its feature
It is: described arc is for the material copper of metal ribbon；Described arcuate guide strip of light is LED array.
9. according to the automatic charge device from mobile device described in claims 1 or 2 or 3, its feature
Be: described charge control system include the first microcontroller, photosensitive circuit, the first wireless communication module,
Contact voltage testing circuit and battery voltage detection circuit；Described photosensitive circuit, the first wireless communication module and
Battery voltage detection circuit respectively with the first microcontroller connects；
Described photosensitive circuit controls light-sensitive element work, and described first wireless communication module controls the first channel radio
Letter cell operation；The voltage of described contact voltage testing circuit detection charging contact；
Described battery component connects with battery voltage detection circuit；
Described cradle also includes that cradle control system, described cradle control system include the second microcontroller
Device, the second wireless communication module, control relay circuit, the second relay and the 3rd relay；
The outfan of described second wireless communication module and the second microcontroller input connect；Described second micro-
The outfan of controller and the input of control relay circuit connect；The output of described control relay circuit
The input respectively at the second relay and the 3rd relay is held to connect；The input of described 3rd relay is also
Connect with pedestal power supply module；
Described second wireless communication module controls the second wireless communication unit work；
The outfan of described second relay and arcuate guide strip of light connect；
Outfan and two arcs of described 3rd relay connect for metal ribbon.
10. one kind from the automatic recharging method of mobile device, it is characterised in that: comprise the following steps:
Step one: battery voltage detection circuit detection battery component voltage；When brownout, micro-to first
Controller sends charging instruction；
Step 2: the first microcontroller receives charging instruction and by the first wireless communication module to cradle
Second wireless communication module sends charge command；
Step 3: the second wireless communication module receives charge command, and the transmission of this charge command is micro-to second
Controller；
Step 4: the second microcontroller receives charge command, sends commands to control relay circuit, continues
Electrical apparatus control circuit controls the second relay and connects, and makes LED array light or flashes；Control relay circuit
And control the 3rd relay ON switch power supply and arc confession metal ribbon, power on for metal ribbon to arc；
Step 5: photosensitive circuit finds luminous cradle, sends the signal to the first microcontroller, and first
Microcontroller is controlled by motor and go to circuit control from mobile device at luminous cradle close；
Step 6: when charging contact contacts for metal ribbon with arc, the detection of contact voltage testing circuit is filled
Whether electric contact has suitable voltage, if voltage is suitable, then motor is out of service, and the first microcontroller passes through
Control relay circuit controls relay and connects, and starts to charge up；
First microcontroller is filled to the second wireless communication module transmission of cradle by the first wireless communication module
Electricity initiation command, the second microcontroller is controlled by relay after accepting this order by the second wireless communication module
Circuit controls LED array and closes；
Step 7: whether voltage detecting circuit detection battery is full of, after being full of, the first microprocessor controls
Cradle is left from mobile device；
Step 8: the first wireless communication module sends charging to cradle and terminates order, and the second microcontroller leads to
Crossing bang-bang circuit and control the 3rd relay disconnection, arc is for metal ribbon power down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610517958.7A CN106026321B (en) | 2016-07-04 | 2016-07-04 | A kind of automatic charge device and method from mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610517958.7A CN106026321B (en) | 2016-07-04 | 2016-07-04 | A kind of automatic charge device and method from mobile device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106026321A true CN106026321A (en) | 2016-10-12 |
| CN106026321B CN106026321B (en) | 2018-12-07 |
Family
ID=57106784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610517958.7A Active CN106026321B (en) | 2016-07-04 | 2016-07-04 | A kind of automatic charge device and method from mobile device |
Country Status (1)
| Country | Link |
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| CN (1) | CN106026321B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109510266A (en) * | 2018-11-30 | 2019-03-22 | 广东银狐医疗科技股份有限公司 | A kind of electric wheelchair charging unit, charging system |
| CN109698527A (en) * | 2017-10-20 | 2019-04-30 | 莲花丝路科技有限公司 | A kind of charging system and method reading equipment for radio POS terminal periphery |
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| CN1507828A (en) * | 2002-12-17 | 2004-06-30 | Lg | Automatic charging apparatus of self-walking duster |
| CN103066645A (en) * | 2012-12-14 | 2013-04-24 | 安科智慧城市技术（中国）有限公司 | Robot and system and method of automatic charging thereof |
| KR20130106969A (en) * | 2012-03-21 | 2013-10-01 | 주식회사 엔티리서치 | Charging device of autonomously travelling mobile robot and charging system thereof |
| CN105449780A (en) * | 2015-12-25 | 2016-03-30 | 四川理工学院 | Automatic positioning and charging apparatus for substation patrol robot |
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2016
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1507828A (en) * | 2002-12-17 | 2004-06-30 | Lg | Automatic charging apparatus of self-walking duster |
| KR20130106969A (en) * | 2012-03-21 | 2013-10-01 | 주식회사 엔티리서치 | Charging device of autonomously travelling mobile robot and charging system thereof |
| CN103066645A (en) * | 2012-12-14 | 2013-04-24 | 安科智慧城市技术（中国）有限公司 | Robot and system and method of automatic charging thereof |
| CN105449780A (en) * | 2015-12-25 | 2016-03-30 | 四川理工学院 | Automatic positioning and charging apparatus for substation patrol robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109698527A (en) * | 2017-10-20 | 2019-04-30 | 莲花丝路科技有限公司 | A kind of charging system and method reading equipment for radio POS terminal periphery |
| CN109510266A (en) * | 2018-11-30 | 2019-03-22 | 广东银狐医疗科技股份有限公司 | A kind of electric wheelchair charging unit, charging system |
| CN109510266B (en) * | 2018-11-30 | 2024-02-06 | 广东银狐医疗科技股份有限公司 | Electric wheelchair charging device and charging system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106026321B (en) | 2018-12-07 |
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