CN109921478A - A kind of mobile robot and its charging system - Google Patents
A kind of mobile robot and its charging system Download PDFInfo
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- CN109921478A CN109921478A CN201711332573.4A CN201711332573A CN109921478A CN 109921478 A CN109921478 A CN 109921478A CN 201711332573 A CN201711332573 A CN 201711332573A CN 109921478 A CN109921478 A CN 109921478A
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Abstract
The application provides a kind of mobile robot and its charging system, to improve the charging success rate of mobile robot.The mobile robot include: robot body, rechargeable battery, at least three be spaced apart from each other arrangement charging electrode and with each one-to-one control module of charging electrode, when at least one described charging electrode for the positive charging pile of mobile robot charging with for contacting, the anode of the charging electrode and the rechargeable battery is connected control module corresponding with charging electrode described in this；And when at least one other described charging electrode for the cathode charging pile of mobile robot charging with for contacting, the charging electrode is connected control module corresponding with charging electrode described in this with the cathode of the rechargeable battery, and then connect the anode of the positive charging pile and the rechargeable battery, the cathode of the cathode charging pile and the rechargeable battery is connected, charge circuit is formed.
Description
Technical field
This application involves mobile robot field more particularly to a kind of mobile robot and its charging systems.
Background technique
With the progress of expanding economy in recent years and science and technology, mobile robot has obtained promotion and application on a large scale.
Due to mobile robot mostly use it is rechargeable battery powered, so its continuous electric problem annoyings always people.Mobile robot needs
Frequent charge constrains its working efficiency, and needs special messenger to operate and unmanned, intelligentized needs are not achieved, and increases
Its use cost.In response to this, it is necessary to a kind of automatic charging scheme for mobile robot, to solve robot
Electric energy supply problem.
How robot moves to the position of charging in charging just, is the key that the technology.Machine is needed when charging
People accurately moves to specified position, and otherwise charging equipment and robot can not touch, then cannot complete to charge.But it is existing
The robot of technology needs higher merging precision in charging, there is the charging lower problem of success rate.
Summary of the invention
The application provides a kind of mobile robot and its charging system, to improve the charging success rate of mobile robot.
The embodiment of the present application provides a kind of mobile robot, comprising: includes: robot body, is arranged in the robot
At least three of the default surface of the robot body charging electricity for being spaced apart from each other arrangement is arranged in the rechargeable battery of body interior
Pole and with each one-to-one control module of charging electrode, wherein
The rechargeable battery includes anode and cathode；
The control module includes the institute with the input terminal of the corresponding charging electrode electrical connection and the rechargeable battery
The second output terminal stating the first output end of anode electrical connection and being electrically connected with the cathode of the rechargeable battery；
When at least one described charging electrode for the positive charging pile of mobile robot charging with for contacting, with
The anode of the charging electrode and the rechargeable battery is connected the charging electrode corresponding control module；
And when at least one other described charging electrode for the cathode charging pile of mobile robot charging with for contacting, with
The charging electrode is connected the charging electrode corresponding control module with the cathode of the rechargeable battery,
And then the anode of the positive charging pile and the rechargeable battery is connected, make the cathode charging pile and charging electricity
The cathode in pond is connected, and charge circuit is formed.
Preferably, each control module includes first switch diode and second switch diode, and described first opens
The anode for closing diode is electrically connected with the corresponding charging electrode, the cathode of the first switch diode and the charging
The anode electrical connection of battery；The anode of the second switch diode is electrically connected with the cathode of the rechargeable battery,
The cathode of the second switch diode is electrically connected with the corresponding charging electrode.
Preferably, the charging electrode is filled especially by the conductive component that the positive charging pile is arranged in the anode
Electric staking touching, and the conductive component by the way that the cathode charging pile is arranged in are contacted with the cathode charging pile.
Preferably, when the gap between the conductive component and adjacent multiple charging electrodes is opposite, the conduction
Component is contacted with one or adjacent at least two charging electrodes.
Preferably, the face that the conductive component is used to contact with the charging electrode is plane, the two neighboring charging
The spacing in gap is less than the spacing between maximum two points of distance of the plane between electrode.
Preferably, the distance at the center of two charging electrodes of arbitrary neighborhood is less than two conductive parts of arbitrary neighborhood
The centre distance of part.
Preferably, the centre distance of two conductive components of arbitrary neighborhood is two charging electrodes of arbitrary neighborhood
1.5 times of the distance at center.
Preferably, the conductive component is the spring contact or cambered surface elastic slice of circular cone head, and the charging pile passes through described
Spring contact or the cambered surface elastic slice are contacted with the charging electrode of the mobile robot.
The embodiment of the present application also provides a kind of intelligent apparatus, including the mobile machine as described in provided by the embodiments of the present application
People.
The embodiment of the present application has the beneficial effect that: mobile robot provided by the embodiments of the present application, including is arranged in machine
Rechargeable battery inside human agent is arranged in robot body and presets at least three of the surface charging electricity for being spaced apart from each other arrangement
Pole, and with the one-to-one control module of each charging electrode, and then when any charging electrode and positive charging pile contact,
Control module corresponding with the charging electrode anode of the charging electrode and battery can be connected, and in other charging electrode
When contacting with cathode charging pile, control module corresponding with the charging electrode can be led the cathode of the charging electrode and battery
It is logical, and then charge circuit is formed, due to may make up a part of charge circuit between any charging electrode and battery, compared to existing
There is the mobile robot of technology, it is necessary to by the corresponding connection of positive charging electrode corresponding with anode and positive charging pile, with
And by negative charging electrode corresponding with battery cathode, corresponding connection can just charge with cathode charging pile, the embodiment of the present application
The mobile robot of offer, each charging electrode both may act as positive charging electrode, can also act as negative charging electrode, into
And can in the case that mobile robot dock with charging pile be not very accurately, can still charge, improve moving machine
The charging success rate of device people.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of mobile robot provided by the embodiments of the present application；
Fig. 2 is a kind of structural schematic diagram of specific mobile robot provided by the embodiments of the present application；
Fig. 3 is that each control module provided by the embodiments of the present application includes that the structures of mobile robot of two diodes is shown
It is intended to；
Fig. 4 is the structural schematic diagram that positive charging pile provided by the embodiments of the present application is contacted with two charging electrodes；
Fig. 5 is the structural representation that a charging pile provided by the embodiments of the present application is contacted with a corresponding charging electrode respectively
Figure；
Fig. 6 is the structural schematic diagram that cathode charging pile provided by the embodiments of the present application is contacted with two charging electrodes；
Fig. 7 is another knot that a charging pile provided by the embodiments of the present application is contacted with a corresponding charging electrode respectively
Structure schematic diagram；
Fig. 8 is charging pile provided by the embodiments of the present application while being the structural schematic diagram that multiple mobile robots charge.
Specific embodiment
The realization process of the embodiment of the present application is described in detail with reference to the accompanying drawings of the specification.It should be noted that
Same or similar label indicates same or similar element or element with the same or similar functions from beginning to end.Lead to below
It crosses the embodiment being described with reference to the drawings to be exemplary, is only used for explaining the application, and should not be understood as the limitation to the application.
Referring to Fig. 1, the embodiment of the present application provides a kind of mobile robot, comprising: robot body is arranged in robot master
The rechargeable battery 2 in internal portion is arranged in robot body and presets at least three of surface and is spaced apart from each other and the charging of laid out in parallel
Electrode 4 and with the one-to-one control module 3 of each charging electrode 4, wherein
Rechargeable battery 2 includes anode and cathode；
Control module 3 includes being electrically connected with the input terminal of corresponding charging electrode 4 electrical connection, with the anode of rechargeable battery 2
The first output end and the second output terminal that is electrically connected with the cathode of rechargeable battery 2；
When at least one charging electrode 4 for the positive charging pile of mobile robot charging with for contacting, with the charging
The anode of the charging electrode 4 and rechargeable battery 2 is connected electrode corresponding control module 3；And at least one other charging
When electrode 4 for the cathode charging pile of mobile robot charging with for contacting, control module 3 corresponding with the charging electrode 4 will
The charging electrode 4 is connected with the cathode of rechargeable battery 2, and then connects the anode of positive charging pile and rechargeable battery 2, makes
The cathode of cathode charging pile and rechargeable battery 2 is connected, and charge circuit is formed.
Preferably, shown in Figure 2, each control module 3 may include first switch diode T1 and second switch two
Pole pipe T2, first switch diode T1 anode with corresponding charging electrode 4 be electrically connected, the cathode of first switch diode T1 and
The anode electrical connection of rechargeable battery 2；The anode of second switch diode T2 is electrically connected with the cathode of rechargeable battery 2, second switch
The cathode of diode T2 is electrically connected with the corresponding charging electrode 4.In the specific implementation, control module can also be shown in Fig. 2
Circuit structure other than other circuit structures, the application is not limited, as long as being able to satisfy in any charging electrode and charging
When staking is touched, the charging electrode can be made to be connected with the positive or negative pole of battery, it is within the scope of the present invention.
In the specific implementation, the shape in the face that charging electrode 4 is used to contact with conductive component can be rectangle, pros
Shape, trapezoidal, round, oval or triangle.Preferably, the shape, size of each charging electrode are identical, spaced set.
In the specific implementation, shown in Figure 3, positive charging pile 51 and cathode charging for charging for mobile robot
Stake 52 is provided with conductive component 6 in the end opposite with charging electrode 4, and charging electrode 4 is charged by conductive component 6 and anode
Stake 51 or cathode charging pile 52 contact.I.e., it is preferred that charging electrode 4 is especially by the conductive component 4 that positive charging pile is arranged in
It is contacted with positive charging pile 51, and the conductive component 6 by the way that cathode charging pile 52 is arranged in is contacted with cathode charging pile 52.
Specifically, conductive component 6 can be the spring contact or cambered surface elastic slice of nose cone shape, positive charging pile or cathode
Charging pile is contacted by spring contact or cambered surface elastic slice with the charging electrode 4 of mobile robot.Conductive component 6 is circular cone head shapes
Spring contact when, when such contact touches single charging electrode, with conical tip contact charging electrode, touching two
When a charging electrode, two charging electrodes are contacted with conical side surface.The way of contact of cambered surface elastic slice is similar.Certainly, conductive component
The face opposite with charging electrode may be plane, in the specific implementation, can accordingly be arranged as the case may be.
Preferably, the spacing in gap needs to meet between two neighboring charging electrode 4: conductive component 6 and adjacent multiple chargings
When gap between electrode 4 is opposite, which contacts with one or at least two adjacent charging electrodes 4.Specifically
, by taking the face that conductive component 6 is used to contact with charging electrode 4 is plane as an example, between two neighboring charging electrode 4 between gap
Away from the spacing between maximum two points of distance for being less than the plane.That is, between conductive component 6 and two neighboring charging electrode 4
When gap is with respect to be charged, which is at least contacted with two charging electrodes 4.That is, in the specific implementation, it should
Keep the spacing in gap between two neighboring charging electrode 4 small as far as possible, can be connected with charging electrode 4 with guaranteeing any conductive component 6
It connects, and since each charging electrode 4 is connect with control module 3, that is, the charging electrode 4 can be made positive or negative with battery 2
Pole conducting, and then improve the charging success rate of mobile robot.Certainly, the size of different size of mobile robot itself may
Difference, thus the specific value of the spacing in gap may be different between two neighboring charging electrode 4, need to carry out as the case may be
Specific setting.In addition, in the specific implementation, mobile robot can be in the space work for having conductive dust, metal fillings, conducting solution
Make, and when the gap setting of two neighboring charging electrode 4 is too small, may result in it is short-circuit between two charging electrodes 4, therefore,
To avoid two neighboring charging electrode 4 that short circuit occurs in that case, the gap between two neighboring charging electrode 4 should also
Greater than preset threshold, which is gap width when short circuit occurs for two neighboring charging electrode 4.
In the specific implementation, positive charging pile 51 and cathode charging pile 52 can with shape, size identical, spaced set,
It can be cylindrical body, square, cuboid or end face are the cone of end face.It is charging correspondingly, conductive component 6 can be set
The midpoint of stake end, each 6 shape of conductive component, size are identical, spaced set.Positive charging pile 51 and cathode charging
Stake 52 specifically fixed and for mobile robot, can be the robot by wheel in ground moving on the ground,
That is, mobile robot further includes the wheel that robot body's opposite sides is arranged in and is used to support robot body, so that machine
Human agent has certain spacing away from ground, for example, be the first default spacing, and for charging electrode 4, it can be set and moving
The bottom end surface of mobile robot, and it is located at the front end or rear end of wheel direction of travel, for the charging staking with fixation on the ground
Touching.
Preferably, it is preferred that charging electrode 4 needs to meet with the size of 6 contact surface of conductive component: a charging electrode 4
It is connect when different with two neighboring conductive component 6.That is, charging electrode 4 is used for and positive charging pile 51 or cathode charging pile 52
Spacing between maximum two points of the distance in the face of contact is less than two neighboring conductive component 6 for contacting with charging electrode 4
Contact point between spacing.In the embodiment of the present application, a charging electrode 4 is connect when different with two neighboring conductive component 6,
It can prevent two conductive components 6 from contacting with the same charging electrode 4, prevent short-circuit conditions.It is circle for conductive component 6
When the spring contact of pan head shape, the gap between two neighboring conductive component 6, which refers to, can refer between two nose cone vertex
Spacing；And conductive component 6 is when being the cambered surface elastic slice of circular cone head shapes, the gap between two neighboring conductive component 6 refers to and can refer to
Spacing between the highest point of two cambered surface elastic slices, that is, between the point of conductive component 6 contacted with charging electrode 4 between gap
Away from.
In the specific implementation, the setting closeness of the charging electrode 4 of mobile robot should be greater than the close of the setting of charging electrode 6
Intensity improves charging success rate so that the charging electrode 6 of mobile robot can have biggish probability to contact with charging pile.It is excellent
Choosing, the distance at the center of two charging electrodes 4 of arbitrary neighborhood is less than the centre distance of two conductive components 6 of arbitrary neighborhood.Into
One step, the centre distance of two conductive components 6 of arbitrary neighborhood is in two charging electrodes 4 of arbitrary neighborhood of mobile robot
1.5 times of the distance of the heart.In the embodiment of the present application, the centre distance of two conductive components 6 of arbitrary neighborhood is mobile robot
1.5 times of the distance at the center of two charging electrodes 4 of arbitrary neighborhood, it is ensured that the configuration of charging electrode 4 and conductive component 6 is most
It is good, charging success rate with higher.
The application also provides a kind of mobile robot charging system, including mobile machine provided by the embodiments of the present application
People further includes positive charging pile and cathode charging pile for charging for mobile robot.
For the clearer charging process for understanding mobile robot provided by the embodiments of the present application, below by way of specific reality
It applies example and carries out concrete example explanation:
Referring to fig. 4 shown in-Fig. 7, there are five charging electrodes 4 for mobile robot setting, successively distinguish from left to right in Fig. 4
For the first charging electrode, the second charging electrode, third charging electrode, the 4th charging electrode, the 5th charging electrode, mobile robot
The control module of body interior includes first switch diode T1 corresponding with each charging electrode 4, second switch diode T2,
That is, each charging electrode 4 is connect by two diodes with rechargeable battery 2.There are two charging pile settings, the respectively first anode
Charging pile 51, the first cathode charging pile 52.
In Fig. 4, the first positive charging pile 51 contacts simultaneously with two charging electrodes, i.e., with third charging electrode and the 4th
Charging electrode contacts simultaneously, and the first cathode charging pile 52 is contacted with the second charging electrode.It is moved since the voltage of charging pile side is greater than
The cathode voltage of rechargeable battery 2 inside mobile robot, the first positive charging pile 51 pass through third charging electrode and the 4th charging
Electrode and the corresponding first switch diode of third charging electrode and first switch diode corresponding with the 4th charging electrode with
The anode conducting of rechargeable battery, as shown in heavy line with the arrow in Fig. 4, the cathode of rechargeable battery 2 passes through electric with the second charging
Extremely corresponding second switch diode, the second charging electrode and the first cathode charging pile 52 are connected, as with the arrow solid in Fig. 6
Shown in line, and then complete charging.Wherein, also shown in Fig. 4 gap between charging unit 6 and charging electrode 4 it is opposite when, lead
Electrical components 6 and two situations of the charging room away from contact.
In Fig. 5, the first positive charging pile 51 is contacted with the 4th charging electrode, the first cathode charging pile 52 and the second charging
Electrode contact.Since the voltage of charging pile side is greater than the cathode voltage of the rechargeable battery inside mobile robot, the first anode fills
Electric stake 51 is led by the anode of the 4th charging electrode, first switch diode corresponding with the 4th charging electrode and rechargeable battery 2
Logical, as shown in heavy line with the arrow in Fig. 5, the cathode of rechargeable battery 2 passes through second switch corresponding with the second charging electrode
Diode, the second charging electrode and the first cathode charging pile 52 are connected, and then complete charging
In Fig. 6, the first positive charging pile 51 is contacted with the 4th charging electrode, the first cathode charging pile 52 and meanwhile with two
Charging electrode contact, i.e., contact with the second charging electrode and third charging electrode simultaneously.It is moved since the voltage of charging pile side is greater than
The cathode voltage of rechargeable battery 2 inside mobile robot, the first positive charging pile 51 charge by the 4th charging electrode, with the 4th
The anode of the corresponding first switch diode of electrode and rechargeable battery 2 is connected, and the cathode of rechargeable battery 2 passes through electric with the second charging
Extremely corresponding second switch diode and second switch diode corresponding with third charging electrode, the second charging electrode and third
Charging electrode and the first cathode charging pile 52 are connected, and then complete charging.
In Fig. 7, the first positive charging pile 51 is contacted with the 4th charging electrode, and the first cathode charging pile 52 charges with third
Electrode contact.Since the voltage of charging pile side is greater than the cathode voltage of the rechargeable battery inside mobile robot, the first anode fills
Electric stake 51 is led by the anode of the 4th charging electrode, first switch diode corresponding with the 4th charging electrode and rechargeable battery 2
Logical, the cathode of rechargeable battery 2 is negative by second switch diode corresponding with third charging electrode, third charging electrode and first
Pole charging pile 52 is connected, and then completes charging.
It should be noted that the attached drawing in the application is only provided with five charging electrodes, charging pile with mobile robot
Including a positive charging pile and a cathode charging pile carry out for example, in the specific implementation, mobile robot may be used also
Shown in Figure 8 for charging unit the charging electrode of other quantity, but at least three are arranged, charging electrode 4 is arranged
In the lower surface of mobile robot ontology 1, multiple anode charging piles 51 and multiple cathode charging piles 52 are alternately arranged, it is preferred that
Multiple charging piles are arranged at a column arrangement or multiple rows of column, and then be can be implemented as multiple robots while being charged.
The embodiment of the present application has the beneficial effect that: mobile robot provided by the embodiments of the present application, including is arranged in machine
Rechargeable battery inside human agent is arranged in robot body and presets at least three of the surface charging electricity for being spaced apart from each other arrangement
Pole, and with the one-to-one control module of each charging electrode, and then when any charging electrode and positive charging pile contact,
Control module corresponding with the charging electrode anode of the charging electrode and battery can be connected, and in other charging electrode
When contacting with cathode charging pile, control module corresponding with the charging electrode can be led the cathode of the charging electrode and battery
It is logical, and then charge circuit is formed, due to may make up a part of charge circuit between any charging electrode and battery, compared to existing
There is the mobile robot of technology, it is necessary to by the corresponding connection of positive charging electrode corresponding with anode and positive charging pile, with
And by negative charging electrode corresponding with battery cathode, corresponding connection can just charge with cathode charging pile, the embodiment of the present application
The mobile robot of offer, each charging electrode both may act as positive charging electrode, can also act as negative charging electrode, into
And can in the case that mobile robot dock with charging pile be not very accurately, can still charge, improve moving machine
The charging success rate of device people.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (10)
1. a kind of mobile robot characterized by comprising filling inside the robot body is arranged in robot body
Battery, be arranged in the robot body preset surface at least three be spaced apart from each other arrangement charging electrode and with it is every
The one one-to-one control module of charging electrode, wherein
The rechargeable battery includes anode and cathode；
The control module include with the input terminal of corresponding charging electrode electrical connection, with the rechargeable battery it is described just
First output end of pole electrical connection and the second output terminal being electrically connected with the cathode of the rechargeable battery；
When at least one described charging electrode for the positive charging pile of mobile robot charging with for contacting, with the institute
It states the charging electrode corresponding control module anode of the charging electrode and the rechargeable battery is connected；And
In addition when at least one charging electrode for the cathode charging pile of mobile robot charging with for contacting, with the institute
It states the charging electrode corresponding control module and the charging electrode is connected with the cathode of the rechargeable battery, in turn
The anode of the positive charging pile and the rechargeable battery is connected, the cathode charging pile and the rechargeable battery are made
The cathode is connected, and charge circuit is formed.
2. mobile robot as described in claim 1, which is characterized in that each control module includes two pole of first switch
Pipe and second switch diode, the anode of the first switch diode and corresponding charging electrode electrical connection, described the
The cathode of one switching diode is electrically connected with the anode of rechargeable battery described in this；The second switch diode anode with
The cathode of the rechargeable battery is electrically connected, and the cathode of the second switch diode and the corresponding charging electrode are electric
Connection.
3. mobile robot as described in claim 1, which is characterized in that the charging electrode especially by setting it is described just
The conductive component of pole charging pile is contacted with the positive charging pile, and the conductive component by the way that the cathode charging pile is arranged in
It is contacted with the cathode charging pile.
4. mobile robot as claimed in claim 3, which is characterized in that between the two neighboring charging electrode between gap
Away from needing to meet: when the gap between the conductive component and adjacent multiple charging electrodes is opposite, the conductive component with
One or the adjacent at least two charging electrode contacts.
5. mobile robot as claimed in claim 4, which is characterized in that the conductive component with the charging electrode for connecing
The face of touching is plane, and the spacing in gap is less than maximum two points of distance of the plane between the two neighboring charging electrode
Between spacing.
6. mobile robot as claimed in claim 3, which is characterized in that the charging electrode is contacted with the conductive component
The size in face needs to meet: contacting when a charging electrode difference with the two neighboring conductive component.
7. mobile robot as claimed in claim 3, which is characterized in that the center of two charging electrodes of arbitrary neighborhood
Distance is less than the centre distance of two conductive components of arbitrary neighborhood.
8. mobile robot as claimed in claim 7, which is characterized in that the center of two conductive components of arbitrary neighborhood away from
1.5 times with a distance from the center for two charging electrodes of arbitrary neighborhood.
9. mobile robot as claimed in claim 3, which is characterized in that the conductive component is the spring contact of circular cone head
Or cambered surface elastic slice, the charging that the charging pile passes through the spring contact or the cambered surface elastic slice and the mobile robot
Electrode contact.
10. a kind of mobile robot charging system, which is characterized in that including such as described in any item moving machines of claim 1-9
Device people further includes positive charging pile and cathode charging pile for charging for the mobile robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711332573.4A CN109921478A (en) | 2017-12-13 | 2017-12-13 | A kind of mobile robot and its charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711332573.4A CN109921478A (en) | 2017-12-13 | 2017-12-13 | A kind of mobile robot and its charging system |
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| CN109921478A true CN109921478A (en) | 2019-06-21 |
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| CN201711332573.4A Pending CN109921478A (en) | 2017-12-13 | 2017-12-13 | A kind of mobile robot and its charging system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901426A (en) * | 2019-12-09 | 2020-03-24 | 北京京东乾石科技有限公司 | Charging device, unmanned aerial vehicle, charging panel and unmanned aerial vehicle charging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1478670A (en) * | 2002-08-26 | 2004-03-03 | 朱成龙 | Strip and block type power suplly network |
| WO2015188344A1 (en) * | 2014-06-12 | 2015-12-17 | 深圳市大疆创新科技有限公司 | Charging system, power supply device and flying machine |
-
2017
- 2017-12-13 CN CN201711332573.4A patent/CN109921478A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1478670A (en) * | 2002-08-26 | 2004-03-03 | 朱成龙 | Strip and block type power suplly network |
| WO2015188344A1 (en) * | 2014-06-12 | 2015-12-17 | 深圳市大疆创新科技有限公司 | Charging system, power supply device and flying machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901426A (en) * | 2019-12-09 | 2020-03-24 | 北京京东乾石科技有限公司 | Charging device, unmanned aerial vehicle, charging panel and unmanned aerial vehicle charging system |
| CN110901426B (en) * | 2019-12-09 | 2021-05-25 | 北京京东乾石科技有限公司 | Charging device, unmanned aerial vehicle, charging panel and unmanned aerial vehicle charging system |
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Application publication date: 20190621 |
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