CN108877046A - vending machine automatic charging system - Google Patents
vending machine automatic charging system Download PDFInfo
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- CN108877046A CN108877046A CN201811013867.5A CN201811013867A CN108877046A CN 108877046 A CN108877046 A CN 108877046A CN 201811013867 A CN201811013867 A CN 201811013867A CN 108877046 A CN108877046 A CN 108877046A
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- vending machine
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- charging unit
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- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000001960 triggered effect Effects 0.000 claims description 11
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 8
- 229910052802 copper Inorganic materials 0.000 claims description 8
- 239000010949 copper Substances 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/002—Vending machines being part of a centrally controlled network of vending machines
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- 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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
Abstract
The invention belongs to Vending Machine fields, more particularly to vending machine automatic charging system, Vending Machine is provided with navigation device, infrared sensor receiver board, first wireless transmit/receive units, charging unit is provided with charging module, infrared sensor expelling plate and the second wireless transmit/receive units, wherein, after detecting that Vending Machine reaches charging unit set-point, the charging unit is sent infrared signal and is communicated with Vending Machine, Vending Machine receives the signal and moves to charging unit position, until the travel switch triggering on charging unit, stop motion is charged.Vending Machine charge while its wheel is stuck in lock slots and is fixed, lockable Vending Machine when charging, avoid outside cause that its charging is caused to be interrupted, determine that Vending Machine runs to ideal position, while can real-time perfoming wireless communication raising charging reliability and safety between Vending Machine, charging unit and host computer three.
Description
Technical field
The invention belongs to Vending Machine fields, and in particular to the automatic charging system of vending machine.
Background technique
The system temporarily to charge without vending machine auto-returned designated place, technically it is immediate be sweeping robot and
The automatic charging mechanism of partial service robot.The touching that above-mentioned automatic charging mechanism passes through electrode slice is charged, if
Vending Machine is detached from by accidental movement and automatic charging mechanism during the charging process, then can be retracted into automatically charging mechanism after
Continuous charging.In order to reach above-mentioned function, it is desirable that Vending Machine bobbin movement part is constantly in electrification shape during the charging process
State, this will lead to, and volume is big, weight is big mobile vending machine consumes energy increases, and charge efficiency reduces；And above-mentioned automatic charger
Real time communication processing is had no between structure and charging pile, when there is metal object that may lead when surprisingly contacting automatic charging mechanism electrode slice
Cause failure.If do not broken down easily with charging pile real-time, interactive data, therefore, existing automatic charging mechanism should be changed
Into to adapt to the realization for recharging system automatically of Vending Machine.
Summary of the invention
To overcome the above the deficiencies in the prior art, the invention discloses a kind of vending machine automatic charging systems.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：A kind of vending machine automatic charging system is provided
System, including Vending Machine, charging unit and host computer, the Vending Machine is provided with navigation device, infrared sensor connects
Plate, the first wireless transmit/receive units are received, the navigation device is used to navigate for Vending Machine, the first wireless receiving and dispatching list
Member with charging unit and/or host computer for carrying out wireless communication；The charging unit is provided with charging module, infrared sensor
Expelling plate and the second wireless transmit/receive units, the charging module are described for locking Vending Machine and charging to it
Second wireless transmit/receive units are used to carry out real-time wireless communication, the infrared biography with the first wireless transmit/receive units and/or host computer
Sensor expelling plate with Vending Machine infrared sensor receiver board for matching；The host computer is for sending instruction and receiving
Upload data；
Wherein, after detecting that Vending Machine reaches charging unit set-point, the charging unit is through sending infrared signal
It is communicated with Vending Machine, Vending Machine receives the signal and to the movement of charging unit position, until charging fills
The travel switch triggering set, stop motion are charged.
Further, the charging unit passes through the encoded infrared hair of infrared sensor expelling plate transmitting being arranged thereon
Signal is penetrated, the infrared sensor receiver board of Vending Machine setting carries out posture tune by receiving infrared emission encoded signal
It is whole, position of the Vending Machine relative to charging unit is determined by encoded radio.
Further, the pose adjustment is specially that Vending Machine rotates in place, the left side on infrared sensor receiver board
Reception pipe receive the encoded radio of transmitting tube on the right of infrared sensor expelling plate, with regard to left and rotation counterclockwise, infrared biography
The reception pipe on the right receives the encoded radio of infrared sensor expelling plate left side transmitting tube on sensor receiver board, with regard to right translation and suitable
Hour hands rotate, and the reception pipe on the left side receives the coding of infrared sensor expelling plate left side transmitting tube on infrared sensor receiver board
Value, the reception pipe on the right receive the encoded radio on the right, and Vending Machine is just kept straight on.
Further, the infrared sensor above charging charging unit can be triggered when Vending Machine contact charging device
Expelling plate, charging unit can close infrared sensor expelling plate and open charge switch, while pass through the second wireless transmit/receive units
It sends and reaches information to Vending Machine.
Further, after reaching information described in reception, the Vending Machine will continue to close to charging module；It is described to fill
Electric module copper plate electrode can touch copper billet electrode, compress electrode inwards, until the travel switch on charging module is triggered.
Further, when travel switch is triggered, Vending Machine wheel is stuck in the lock slots quilt of charging module setting
It fixes and stop motion.
Further, charging action is completed in the Vending Machine base plate electric machine release, and Vending Machine enters charging shape
State.
Further, if Vending Machine fills electricity within the set time, report charging successful information to host computer；Instead
It, then report failure.
Further, charging complete letter can be sent after the Vending Machine charging complete by the first wireless transmit/receive units
It ceases to charging unit.
Further, after receiving the information, the charging module of the charging unit setting opens lock slots, discharges automatic selling
It sells wheel and rules it out charged state, Vending Machine chassis re-powers, and leaves charging unit and is sold again.
The invention has the advantages that：The automatic charging system structure is simple, and stability, reliability is stronger, charging
It is both provided with infrared receiving/transmission plate real-time perfoming transmitting-receiving process above stake and Vending Machine, and each time after transmission, is received
Side has to response, finds the position of charging pile accurately by pose adjustment, Vending Machine charge while its wheel is stuck in and fills
Electric stake lock slots are fixed, and lockable leads to its accidental interruption that charges to avoid outside cause when charging, at the same charging pile with from
Dynamic vending machine carries out wireless communication, and using the wireless module of 2.4G, improves charging reliability and safety.
Detailed description of the invention
Fig. 1 is the structural block diagram of vending machine automatic charging system of the present invention；
Fig. 2 is the charging structure schematic diagram of vending machine automatic charging system of the present invention；
Fig. 3 is the charging flow figure of vending machine automatic charging system of the present invention.
Specific embodiment
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：As shown in Figs. 1-2, one kind is provided to sell
Machine automatic charging system, including Vending Machine, charging unit and host computer, the Vending Machine is by wirelessly and host computer
Or charging unit is communicated, and infrared sensor receiver board is provided on the Vending Machine, the charging unit is provided with
Charging module and infrared sensor expelling plate, the charging module are described for locking Vending Machine and charging to it
Infrared sensor expelling plate with Vending Machine infrared sensor receiver board for matching；The host computer for send instruction with
And it receives and uploads data；Wherein, after detecting that Vending Machine reaches charging unit set-point, the charging unit is red through sending
External signal is communicated with Vending Machine, and Vending Machine receives the signal and moves to charging unit position, until
Travel switch triggering on charging unit, stop motion are charged.
It is highly preferred that the charging unit, which passes through the infrared sensor expelling plate being arranged thereon, emits encoded infrared hair
Signal is penetrated, the infrared sensor receiver board of Vending Machine setting carries out posture tune by receiving infrared emission encoded signal
It is whole, position of the Vending Machine relative to charging unit is determined by encoded radio.
It is highly preferred that the pose adjustment is specially that Vending Machine rotates in place, the left side on infrared sensor receiver board
Reception pipe receive the encoded radio of transmitting tube on the right of infrared sensor expelling plate, with regard to left and rotation counterclockwise, infrared biography
The reception pipe on the right receives the encoded radio of infrared sensor expelling plate left side transmitting tube on sensor receiver board, with regard to right translation and suitable
Hour hands rotate, and the reception pipe on the left side receives the coding of infrared sensor expelling plate left side transmitting tube on infrared sensor receiver board
Value, the reception pipe on the right receive the encoded radio on the right, and Vending Machine is just kept straight on.
It is highly preferred that the infrared sensor above charging charging unit can be triggered when Vending Machine contact charging device
Expelling plate, charging unit can close infrared sensor expelling plate and open charge switch, while pass through the second wireless transmit/receive units
It sends and reaches information to Vending Machine.
It is highly preferred that the Vending Machine will continue to close to charging module after reaching information described in receiving；It is described to fill
Electric module copper plate electrode can touch copper billet electrode, compress electrode inwards, until the travel switch on charging module is triggered.
It is highly preferred that Vending Machine wheel is stuck in the lock slots quilt of charging module setting when travel switch is triggered
It fixes and stop motion.
It is highly preferred that charging action is completed in the Vending Machine base plate electric machine release, Vending Machine enters charging shape
State.
It is highly preferred that reporting charging successful information to host computer if Vending Machine fills electricity within the set time；Instead
It, then report failure.
It is highly preferred that charging complete letter can be sent after the Vending Machine charging complete by the first wireless transmit/receive units
It ceases to charging unit.
It is highly preferred that the charging module of the charging unit setting opens lock slots after receiving the information, automatic selling is discharged
It sells wheel and rules it out charged state, Vending Machine chassis re-powers, and leaves charging unit and is sold again.
The specific workflow of vending machine automatic charging system of the present invention is as follows：
Charging unit specifically uses charging pile (to be also not necessarily limited to charging pile, can be other can match with Vending Machine
The equipment with charge function), by selling for a long time, the electricity of automatic vending machine battery can be lower than to be set Vending Machine
Definite value, influences the normal work of Vending Machine, and the controller of Vending Machine receives the automatic of host computer and recharges instruction or institute
The power management module for stating Vending Machine judges that its voltage lower than setting value (5%), uploads data to host computer, by host computer
It assigns and recharges request to charging pile, judge whether charging pile replys the charge request, if charging pile does not carry out response reply,
Report failure information to host computer；If charging pile carries out response, Vending Machine starts to return to charged area.A kind of scheme is
Vending Machine detects charging pile position using the laser radar that its front is arranged, and concrete mode is：Have on charging pile
One 30*15 centimetres of retroreflective regions, this retroreflective regions it is reflective very strong, then receive in laser radar in this part
The reflecting rate of data is just very big, is taken as detecting charging pile in this way.It is reflective that this can be calculated by the cosine law
Then the area in region makes comparisons the area of this region area and actual area, so can significantly prevent it
The interference of the very high object of his reflecting rate, judges whether Vending Machine searches out the position of charging pile, if hunting time is more than
10s is then reported and is found failure information to host computer；If searching out the position of charging pile, the inspection that host computer passes through laser radar
Measured data converses the position of charging pile, cooks up the Dubins curve for going to charge point, and the subsequent Vending Machine is logical
It crosses its PID control and is gone to along the Dubins curve and fill an electricity, judge whether Vending Machine reaches charge point thereafter, if not
Charging pile is reached to continue waiting for.
May farther out, for precision navigation due to selling distance, another embodiment is that Vending Machine carries out in situ
Spinning is navigated to host computer to the laser radar that Vending Machine is set by the laser radar navigation operation being arranged thereon
Target point, the target point are to be also possible to the target point of other positions, target positioned at 1.25 meters on charging pile perpendicular bisector of position
Point can form the region of an arbitrary shape.In the visual range of laser radar, the data of laser radar return can be passed through
Coordinate and direction of the charging pile below laser radar coordinate system are calculated, is converted by coordinate system, automatic selling can be calculated
It sells coordinate and direction of the machine below charging pile coordinate system and is not at mesh if Vending Machine is before target point at this time
Between punctuate and charging pile, then just planning a Bezier by the changing coordinates of Vending Machine, then by automatic
The X or Y of vending machine changing coordinates calculate the actual point on Bezier, then seek first derivative to Bezier,
The tangent line of this point is calculated, tangential direction is exactly the target direction of Vending Machine, and Vending Machine current point arrives tangent line
Distance with regard to approximation be considered Vending Machine current point to Bezier the shortest distance, then to the deviation of directivity and apart from inclined
Difference respectively does a PID arithmetic, and the angular speed by the sum of output of PID arithmetic twice as Vending Machine exports, then automatically
Vending machine will be moved along this Bezier, and Vending Machine is perpendicular to charging when reaching target point in this way
Stake；If Vending Machine is most initially to be between target point and charging pile, behind target point then automatic vending
Machine just according to the coordinate data of its internal odometer being arranged, runs along straight line path and reaches target point.Odometer is exactly to utilize
The value for two motor encoders being arranged on Vending Machine calculates displacement, with gyroscope robot measurement angle information, this
Sample can calculate coordinate of the Vending Machine below odometer coordinate system.
As shown in figure 3, after charging pile detects that Vending Machine moves to reach charging unit set-point, the charging dress
It sets and is communicated through transmission infrared signal with Vending Machine, judge whether Vending Machine receives the signal, work as automatic vending
Machine receives the infrared encoded signal, then Vending Machine is mobile to charging unit position by pose adjustment, if not receiving
The infrared encoded signal then judges that the time whether more than 10 seconds, continues waiting for if being less than, is more than to report for 10 seconds when the time
Error message is to host computer；The specific detection mode of infrared signal is：After Vending Machine reaches charge point, automatic vending at this time
The position of machine is arbitrary, and the charging unit passes through the infrared sensor expelling plate being arranged thereon and emits encoded infrared hair
Signal is penetrated, the infrared sensor receiver board of Vending Machine setting carries out posture tune by receiving infrared emission encoded signal
It is whole, position of the Vending Machine relative to charging unit is determined by encoded radio, the pose adjustment is specially automatic vending
Machine rotates in place, and the reception pipe on the left side receives the volume of transmitting tube on the right of infrared sensor expelling plate on infrared sensor receiver board
Code value, with regard to left and rotation counterclockwise, the reception pipe on the right receives infrared sensor transmitting on infrared sensor receiver board
The encoded radio of plate left side transmitting tube, with regard to right translation and rotates clockwise, and the reception pipe on the left side receives on infrared sensor receiver board
To the encoded radio of infrared sensor expelling plate left side transmitting tube, the reception pipe on the right receives the encoded radio on the right, automatic vending
Machine is just kept straight on；Vending Machine is judged behind the position of charging pile, and Vending Machine begins to move to charging pile, when automatic
Vending machine can trigger the infrared sensor above charging pile when touching charging pile, at this moment charging pile may turn off infrared biography
Sensor simultaneously opens charge switch, while being sent by the second wireless transmit/receive units and reaching information to Vending Machine, described in reception
After reaching information, Vending Machine continues to charge switch movement, and charge switch copper plate electrode can touch copper billet electrode, make electrode
Face pressure contracts inwards, until the travel switch above charging pile is triggered, when travel switch is triggered, Vending Machine wheel subcard
It is fixed and stop motion in the lock slots of charging module setting.Charging action is completed in the release of Vending Machine base plate electric machine, then
Vending Machine enters charge mode, reaches charged state；Vending Machine reports charging successful information to host computer.It has charged
At rear automatic vending chance by wireless transmission charge completion information to charging pile, after receiving the information, charging pile is just released from
Dynamic vending machine wheel rules it out charged state and charge closing switch, waiting are charged next time, Vending Machine chassis weight
It newly powers on, leaves charging pile and sold again.Lockable Vending Machine wheel when due to charging, avoids outside cause from causing
It, which charges, interrupts, and charging pile and Vending Machine real-time perfoming wirelessly communicate, and using the NRF24L01 wireless module of 2.4G, improves
Charge reliability and safety, is both provided at wireless transmit/receive units real-time perfoming transmitting-receiving above charging pile and Vending Machine
Reason, and after sending each time, recipient has to response, and the data of transmission include data head, data, verification, thus
Significantly it can prevent data from interfering.
Claims (10)
1. vending machine automatic charging system, which is characterized in that including Vending Machine, charging unit and host computer are described automatic
Vending machine is provided with navigation device, infrared sensor receiver board, the first wireless transmit/receive units, and the navigation device is for being automatic
Vending machine navigates, and first wireless transmit/receive units with charging unit and/or host computer for carrying out wireless communication；It is described
Charging unit is provided with charging module, infrared sensor expelling plate and the second wireless transmit/receive units, and the charging module is used for
Locking Vending Machine simultaneously charge to it, second wireless transmit/receive units be used for the first wireless transmit/receive units and/or
Host computer carries out real-time wireless communication, and the infrared sensor expelling plate is used for and Vending Machine infrared sensor receiver board
Match；The host computer uploads data for sending instruction and receiving；Wherein, detect that Vending Machine reaches charging unit and sets
After setting a little, the charging unit is sent infrared signal and is communicated with Vending Machine, and Vending Machine receives the signal simultaneously
Mobile to charging unit position, until the travel switch triggering on charging unit, stop motion is charged.
2. vending machine automatic charging system as described in claim 1, which is characterized in that the charging unit by being arranged thereon
Infrared sensor expelling plate emit encoded infrared emission signal, the infrared sensor receiver board of Vending Machine setting is logical
Reception infrared emission encoded signal is crossed to carry out pose adjustment, determines Vending Machine relative to charging unit by encoded radio
Position.
3. vending machine automatic charging system as claimed in claim 2, which is characterized in that the pose adjustment is specially automatic selling
The machine of selling rotates in place, and the reception pipe on the left side receives transmitting tube on the right of infrared sensor expelling plate on infrared sensor receiver board
Encoded radio, with regard to left and rotation counterclockwise, the reception pipe on the right receives infrared sensor hair on infrared sensor receiver board
The encoded radio for penetrating plate left side transmitting tube with regard to right translation and rotates clockwise, and the reception pipe on the left side connects on infrared sensor receiver board
The encoded radio of infrared sensor expelling plate left side transmitting tube is received, the reception pipe on the right receives the encoded radio on the right, automatic selling
Machine is sold just to keep straight on.
4. the vending machine automatic charging system as described in claim 1-3 any claim, which is characterized in that work as automatic vending
The infrared sensor expelling plate above charging charging unit can be triggered when machine contact charging device, charging unit can close infrared biography
Sensor expelling plate simultaneously opens charge switch, while being sent by the second wireless transmit/receive units and reaching information to Vending Machine.
5. vending machine automatic charging system as claimed in claim 4, which is characterized in that described after reaching information described in reception
Vending Machine will continue to close to charging module；The charging module copper plate electrode can touch copper billet electrode, make electrode inwards
Compression, until the travel switch on charging module is triggered.
6. vending machine automatic charging system as claimed in claim 5, which is characterized in that when travel switch is triggered, automatically
The lock slots that vending machine wheel is stuck in charging module setting are fixed and stop motion.
7. vending machine automatic charging system as described in claim 1 or 6, which is characterized in that the Vending Machine chassis electricity
Charging action is completed in machine release, and Vending Machine enters charged state.
8. vending machine automatic charging system as described in claim 1, which is characterized in that if Vending Machine is within the set time
It fills electricity with, then reports charging successful information to host computer；Conversely, then reporting failure.
9. vending machine automatic charging system as described in claim 1, which is characterized in that after the Vending Machine charging complete
Charge completion information can be sent by the first wireless transmit/receive units to charging unit.
10. vending machine automatic charging system as claimed in claim 8, which is characterized in that after receiving the information, the charging dress
The charging module installed opens lock slots, and release Vending Machine wheel rules it out charged state, Vending Machine bottom
Disk re-powers, and leaves charging unit and is sold again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811013867.5A CN108877046A (en) | 2018-08-31 | 2018-08-31 | vending machine automatic charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811013867.5A CN108877046A (en) | 2018-08-31 | 2018-08-31 | vending machine automatic charging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108877046A true CN108877046A (en) | 2018-11-23 |
Family
ID=64322953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811013867.5A Pending CN108877046A (en) | 2018-08-31 | 2018-08-31 | vending machine automatic charging system |
Country Status (1)
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|---|---|
| CN (1) | CN108877046A (en) |
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|---|---|---|---|---|
| EP0693813A1 (en) * | 1994-07-22 | 1996-01-24 | Chen-Chi Yang | Battery vending system |
| CN204631616U (en) * | 2015-05-13 | 2015-09-09 | 美的集团股份有限公司 | Robot |
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| CN208737578U (en) * | 2018-08-31 | 2019-04-12 | 成都越凡创新科技有限公司 | Vending machine automatic charging system |
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