CN110943517A - Charging control method and device for automatic charging pile and storage medium - Google Patents
Charging control method and device for automatic charging pile and storage medium Download PDFInfo
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- CN110943517A CN110943517A CN201911311764.1A CN201911311764A CN110943517A CN 110943517 A CN110943517 A CN 110943517A CN 201911311764 A CN201911311764 A CN 201911311764A CN 110943517 A CN110943517 A CN 110943517A
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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
- 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
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a charging control method and device for an automatic charging pile and a storage medium, and belongs to the technical field of charging piles. The control method comprises the following steps: detecting whether a connection event is triggered or not, wherein after the connection event is triggered, the charging head extends out of the automatic charging pile from the inside of the automatic charging pile; after detecting the triggered connection event, detecting whether the charging head is in charging connection with the product to be charged; and after the charging head is detected to be connected with the product to be charged in a charging mode, the charging power supply is started to charge the connected product to be charged. According to the charging control method of the automatic charging pile, when the automatic charging pile is not used, the charging head is located in the automatic charging pile, the charging head is protected, the risk that an electrode on the charging head is easily damaged due to exposure of the charging head is effectively avoided, the risk that the charging head discharges outwards is effectively avoided, and a product to be charged can trigger a connection event so that the charging head stretches out to be connected with the product to be charged for charging so as to realize charging.
Description
Technical Field
The invention relates to the technical field of charging piles, in particular to a charging control method, a charging control device and a storage medium for an automatic charging pile.
Background
At present, an automatic charging pile for charging a mobile robot has an electrode exposed flat plate type, a magnetic type and a wireless charging type. The electrode-exposed automatic charging pile is mostly used for an AGV (automatic Guided vehicle) robot, and the AGV robot is in contact with an exposed large flat plate electrode of the automatic charging pile to realize charging. The automatic electric pile that fills of electrode exposed, its big dull and stereotyped electrode that is used for charging exposes, and the electrode is impaired easily and has the risk of external discharge.
Disclosure of Invention
The invention aims to provide a charging control method, a charging control device and a charging control storage medium for an automatic charging pile, and solves the technical problems that an electrode is easily damaged due to exposure of the electrode and the risk of external discharge exists.
The technical purpose of the invention is realized by the following technical scheme:
according to one aspect of the invention, a charging control method of an automatic charging pile is provided, which comprises the following steps:
detecting whether a connection event is triggered or not, wherein after the connection event is triggered, the charging head extends out of the automatic charging pile from the inside of the automatic charging pile;
after detecting the triggered connection event, detecting whether the charging head is in charging connection with the product to be charged;
and after the charging head is detected to be in charging connection with the product to be charged, starting a charging power supply to charge the connected product to be charged.
As a further optimization, before the turning on of the charging power supply to charge the product to be charged, the method further includes: and communicating with the connected product to be charged, wherein the communication content comprises the confirmation of whether the product is chargeable or not, and after the confirmation of the chargeable property, starting the charging power supply.
As a further optimization, the detecting whether the connection event is triggered includes detecting whether a mechanical travel switch is triggered, and after the mechanical travel switch is triggered, the charging head is extended.
As a further optimization, the detecting whether the charging head is connected with the product to be charged after the charging is completed further comprises: after detecting that the charging head does not finish charging connection, whether mechanical travel switch resets and/or whether the charging head is reset to the automatic charging pile is detected.
Preferably, the detection of whether the connection event is triggered includes detecting whether an electronic switch is triggered, the electronic switch being triggered such that the charging head is extended by the control device.
As a further optimization, the detecting whether the charging head is connected with the product to be charged after the charging is completed further comprises: after detecting that the charging head does not finish charging connection, starting the control device to reset the charging head into the automatic charging pile.
As a further refinement, said detecting whether a connection event is triggered includes detecting whether a charging head is extended;
and/or
Whether detect the head that charges and accomplish the charging connection with the product of waiting to charge after still include: after detecting that the charging head does not finish charging connection, whether the charging head is reset to the automatic charging pile is detected.
As a further optimization, the method further comprises the following steps:
turning off the charging power supply after charging;
detecting whether the charging head is disconnected from the charging;
after detecting that charging head removes the charging connection, whether the detection charging head is reset to automatic charging stake in.
According to another aspect of the present invention, there is provided an automatic charging pile charging control apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the automatic charging pile charging control method are implemented.
According to yet another aspect of the present invention, a storage medium is provided, the storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the steps of the automatic charging pile charging control method as described above.
In conclusion, the invention has the following beneficial effects: according to the charging control method of the automatic charging pile, when the automatic charging pile is not used, the charging head is positioned in the charging pile, the charging head is protected, the risk that an electrode on the charging head is easily damaged due to exposure of the charging head is effectively avoided, the risk that the charging head discharges outwards is effectively avoided, and a product to be charged can trigger a connection event to enable the charging head to extend out to be connected with the product to be charged for charging so as to realize charging; in addition, false triggering detection is set, and after the detection judges that false triggering occurs, the charging head is timely withdrawn and detected to ensure that the charging head is withdrawn.
Drawings
Fig. 1 is a schematic flowchart of a charging control method of an automatic charging pile according to a first embodiment;
fig. 2 is a schematic structural diagram of an automatic charging pile according to a second embodiment;
fig. 3 is a schematic structural diagram of a triggering device, a linkage device and a charging head of the automatic charging pile according to the second embodiment;
fig. 4 is an enlarged schematic structural view of a charging head of the automatic charging pile according to the second embodiment;
fig. 5 is a flowchart illustrating an automatic charging pile charging control method for an automatic charging pile according to a second embodiment;
fig. 6 is a flowchart illustrating a charging control method of the automatic charging pile in the third embodiment.
In the figure: 1. a charging pile body; 21. a trigger block; 22. a trigger shaft; 31. a linkage rod; 311. a linkage hole; 32. a rotating shaft; 33. a charging return spring; 4. a charging head; 41. a limiting column; 42. a limiting groove; 43. a guide slope; 51. and a limit rail.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
The embodiment discloses a charging control method of an automatic charging pile. As shown in fig. 1, the charging control method of the automatic charging pile includes the following steps:
and step S10, detecting whether a connection event is triggered or not, and after the connection event is triggered, extending the charging head out of the automatic charging pile.
Specifically, be equipped with on this automatic charging stake and be used for making the head that charges stretch out and withdraw the first control mechanism that charges that resets, and be equipped with relevant determine module on this automatic charging stake, real-time detection should charge first control mechanism and whether triggered in order to be triggered the connection incident, after being triggered the connection incident, charge first control mechanism drive and make the head that charges stretch out to outside the automatic charging stake in following automatic charging stake. This first control mechanism that charges can be pure mechanical mechanism, should charge first control mechanism promptly and include mechanical travel switch and aggregate unit, and mechanical travel switch passes through aggregate unit and drives the linkage of the head that charges, and when mechanical travel switch was triggered the back, mechanical travel switch starts and makes the head that charges stretch out through aggregate unit, and relevant detecting component real-time detection this mechanical travel switch is triggered to this judges whether the head that charges is stretched out. The charging head control mechanism can also be an automatic electronic structure, namely the charging head control mechanism comprises an electronic switch and a control device, the electronic switch is used as a starting piece of the control device, when the electronic switch is triggered, the control device is automatically started to enable the charging head to extend out, and a related detection assembly detects whether the electronic switch is triggered or not in real time, so that whether the charging head extends out or not is judged. It should be noted that, in other embodiments, whether the charging head is extended may also be detected in real time by the related detection component, so as to determine whether the connection event is triggered, for example, the related detection component is disposed at the opening where the charging head enters and exits to detect the position of the charging head.
Step S20, after detecting the triggered connection event, detecting whether the charging head completes charging connection with the product to be charged.
Specifically, after detecting the triggered connection event, it is further detected whether the charging head completes charging connection with the product to be charged. The purpose of the above detection is that sometimes, although a connection event is triggered, it is likely to be triggered by mistake, rather than by the actual product to be charged, such as a mobile robot, and whether it is triggered by mistake or effectively is distinguished by this detection. When the charging connection with a product to be charged is not detected, the charging head control mechanism is triggered by mistake, whether the mechanical travel switch is reset or not and/or whether the charging head is reset into the automatic charging pile or not is further detected for the charging head control mechanism with a pure mechanical structure, the charging head control mechanism with the pure mechanical structure has the function of automatically resetting the charging head and the mechanical travel switch, after the force applied to the mechanical travel switch is removed after the mechanical travel switch is triggered by mistake for a short time, the mechanical travel switch can be automatically reset and drive the charging head to reset and retract into the automatic charging pile, whether the charging head retracts or not is judged by detecting whether the mechanical travel switch is reset or not and/or whether the charging head is reset, so that the charging head is positioned in the automatic charging pile when the charging head is not used, and the risk that the electrode on the charging head is easily damaged due to exposure of the charging head is effectively avoided, and avoid the risk that the charging head discharges to the outside; when detecting that the connection event with the product to be charged is not completed, the connection event means that the connection event belongs to false triggering, and for a charging head control mechanism of an automatic electronic structure, a control device is started to withdraw the charging head to reset into the automatic charging pile.
And step S30, after the charging head and the product to be charged are detected to finish charging connection, the charging power supply is started to charge the connected product to be charged.
Specifically, after the charging connection between the charging head and the product to be charged is detected, the automatic charging pile is controlled to start the charging power supply to charge the connected product to be charged. Whether this head that charges is connected with waiting to charge product charging is detected through set up relevant detecting element on charging the head.
As an optimization, in this embodiment, before the charging power supply is turned on to charge the product to be charged, the method further includes: communicating with the connected product to be charged. The communication content can comprise protocol matching determination of relevant parameters of a product to be charged and preset corresponding relevant charging parameters, confirmation of whether charging is available and the amount of charging required, and starting of charging of the charging power supply after confirmation of charging. If the charging is not needed, the charging power supply is not started, the automatic charging pile and the product can be kept connected to the charging requirement or the product automatically leaves, and the product can be informed of leaving the automatic charging pile and withdrawing the charging head in a communication mode.
According to the charging control method of the automatic charging pile, when the automatic charging pile is not used, the charging head is located in the charging pile, the charging head is protected, the risk that an electrode on the charging head is easily damaged due to exposure of the charging head is effectively avoided, the risk that the charging head discharges outwards is effectively avoided, and a product to be charged can trigger a connection event to enable the charging head to extend out to be connected with the product to be charged in a charging mode to realize charging; in addition, false triggering detection is set, and after the detection judges that false triggering occurs, the charging head is timely withdrawn and detected to ensure that the charging head is withdrawn.
Example two
The embodiment discloses an automatic charging pile applying the automatic charging pile charging control method in the first embodiment, and a charging head control mechanism of the automatic charging pile is a purely mechanical mechanism. As shown in fig. 2, this automatic charging pile is including filling electric pile body 1, fills and installs trigger device, aggregate unit and the head 4 that charges in electric pile body 1, and trigger device's one end stretches out to outside filling electric pile body 1, and the other end passes through aggregate unit and the first 4 linkage that charges. This automatic fill electric pile when not using, trigger device's one end stretches out outside filling electric pile body 1, charge head 4 and pack up in filling electric pile body 1, the mobile robot that needs to charge removes and is close to when should filling electric pile body 1 of laminating, trigger device's one end outside filling electric pile body 1 is triggered by mobile robot and is promoted to filling electric pile body 1 and remove, trigger device passes through aggregate unit and drives charge head 4 and remove and stretch out outside filling electric pile body 1, thereby make charge head 4 and mobile robot peg graft in order to realize charging. The automatic electric pile that fills of mobile robot in this embodiment, when not charging, the head that charges 4 is packed up and is being filled electric pile body 1 in, has avoided charging head 4 to expose effectively and has made the easy impaired risk of the electrode on charging head 4, and has effectively avoided charging head 4 to the risk of discharging outward.
In this embodiment, as shown in fig. 2 and fig. 3, the linkage device includes a linkage rod 31 and a rotating shaft 32, the linkage rod 31 is rotatably connected through the rotating shaft 32, and the linkage rod 31 can rotate relative to the rotating shaft 32. The trigger device and the charging head 4 are respectively located at two sides of the rotating shaft 32 and are both connected with the linkage rod 31. In the present embodiment, the triggering device is located above the charging head 4. When the trigger device moves, the linkage rod 31 rotates, so that the charging head 4 is driven to move. In this embodiment, a charging return spring 33 is disposed between the linkage rod 31 and the charging head 4, when the linkage rod 31 drives the charging head 4 to move and extend, the charging return spring 33 generates elastic deformation, and the elastic force generated by the elastic deformation of the charging return spring 33 can drive the linkage rod 31 to rotate and return, so as to drive the charging head 4 and the triggering device to move and return. In this embodiment, still be equipped with the guide rail in the electric pile body 1 that fills, charge and move along the guide rail when first 4 remove, the guide rail plays direction and limiting displacement to the removal of charging first 4 to ensure that first 4 rectilinear movement as far as possible charges. Specifically, the guide rail includes two spacing rails 51 that the interval set up, and head 4 that charges is located between two spacing rails 51, and the both sides of head 4 that charges all are equipped with two spacing posts 41 that are located two spacing rails 51 respectively, and when head 4 that charges removed, two spacing posts 41 of both sides removed along corresponding spacing rail 51 respectively. In other embodiments, both sides of the charging head 4 may also be provided with only one limiting column 41, but the two limiting columns 41 can effectively ensure that the charging head 4 can only rotate relatively to the limiting rail 51 within a small angle range, so that the plugging of the charging head 4 and the mobile robot is not affected due to an excessively large rotation angle. It is shown in fig. 4 that combines, in this embodiment, the head that charges 4 is equipped with and is used for realizing the spacing groove 42 of joint with the mobile robot cooperation, and spacing groove 42 is located the non-metallic contact surface of the head that charges 4, and it is corresponding, sets up the stopper in the mobile robot, and stopper and spacing groove 42 cooperation chucking make the metal contact surface of the head that charges 4 promptly the electrode place face contact with the electrode in the mobile robot more reliably. In other embodiments, a limit block can be arranged on the charging head 4, and correspondingly, a limit groove is formed in the mobile robot. In this embodiment, the end of the charging head 4 is provided with a guiding inclined plane 43 on the non-metal contact surface, the charging head 4 is firstly contacted with the mobile robot through the guiding inclined plane 43, and the guiding inclined plane 43 plays a guiding role, so that the charging head 4 is better inserted into the mobile robot to realize connection.
Referring to fig. 2 and 3, in this embodiment, the triggering device includes a triggering block 21, one end of the triggering block 21 extends out of the charging pile body 1, and the other end is connected to the linkage rod 31. Specifically, the other end of the trigger block 21 is provided with a trigger shaft 22, the linkage rod 31 is provided with a linkage hole 311, the trigger shaft 22 is located in the linkage hole 311, and the trigger shaft 22 can move in the linkage hole 311. The mobile robot pushes the trigger block 21 to move towards the charging pile body 1 after approaching, the trigger shaft 22 moves in the linkage hole 311 until the linkage rod 31 rotates, and the linkage rod 31 rotates to push the charging head 4 to move outwards and extend out. In this embodiment, be equipped with between trigger shaft 22 and the linkage hole and trigger reset spring, trigger block 21 and triggered when removing to filling electric pile body 1, trigger reset spring and produce elastic deformation, trigger block 21 to filling electric pile body 1 outer removal of elasticity drive that reset spring elastic deformation produced and reset.
As shown in fig. 5, the automatic charging pile in the first embodiment of the present invention includes the following steps when applying the automatic charging pile control method in the first embodiment of the present invention:
step S100 detects whether the trigger block 21 is triggered or whether the charging head 4 is extended.
Step S200, after detecting that the trigger block 21 is triggered or detecting that the charging head 4 has been extended, detecting whether the charging head 4 is in charging connection with the mobile robot.
When detecting that the trigger block 21 is triggered or detecting that the charging head 4 is extended but the charging head 4 is not completed in charging connection, subsequently detecting whether the trigger block 21 is reset or the charging head 4 is retracted and reset into the charging pile body 1.
Step S300, after detecting that the charging head 4 and the mobile robot to be charged complete the charging connection, turning on the charging power supply to charge the connected mobile robot.
EXAMPLE III
As shown in fig. 6, the charging control method for the automatic charging pile in this embodiment further includes the following steps based on the first embodiment:
in step S40, the charging power supply is turned off after the charging is completed.
Specifically, after the product to be charged is charged, the automatic charging pile is controlled to close the charging power supply, so that the electric quantity is saved, and the charging head can be effectively prevented from discharging outwards.
In step S50, it is detected whether or not the charging head is disconnected from the charging connection.
Specifically, whether the charging head is released from the charging connection by the product or not is detected through a related detection piece on the charging head, namely whether the product leaves the automatic charging pile or not is detected.
And S60, detecting whether the charging head is reset into the automatic charging pile or not after the charging head is detected to be disconnected from charging.
Specifically, after the connection event of the charging head is detected and judged through the detection piece on the charging head, the fact that the product leaves the automatic charging pile means that the product leaves the automatic charging pile, for the charging head control mechanism with a pure mechanical structure, after the product leaves the automatic charging pile, the mechanical travel switch can automatically reset and drive the charging head to reset and retract into the automatic charging pile, whether the charging head is reset or not is detected to ensure that the charging head resets and retracts into the automatic charging pile, and therefore when the product is not used, the charging head is located in the automatic charging pile, the risk that an electrode on the charging head is easily damaged due to exposure of the charging head is effectively avoided, and the risk that the charging head discharges outwards is effectively avoided; to the first control mechanism that charges of automatic electronic structure, then start controlling means will charge the head and withdraw and reset to automatic charging stake in, whether the head that charges is whether is reset through detecting simultaneously and ensures that the head that charges restores to the throne and withdraws to automatic charging stake in.
Example four
In this embodiment, the control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the automatic charging pile charging control method according to the first embodiment, the second embodiment, and the third embodiment are implemented.
The automatic charging pile charging control device of this embodiment is the same as the method of the first embodiment, the second embodiment, and the third embodiment, and specific implementation processes thereof are described in detail in the corresponding method embodiments, and technical features in the method embodiments are correspondingly applicable in this embodiment, and are not described herein again.
EXAMPLE five
The present embodiment provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the automatic charging pile charging control method in the first embodiment, the second embodiment, and the third embodiment are implemented.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.
In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The above specific embodiments are merely illustrative of the present invention, and are not restrictive, and those skilled in the art can modify the above embodiments without inventive contribution as required after reading the present specification, but only protected by the patent laws within the scope of the claims of the present invention.
Claims (10)
1. A charging control method of an automatic charging pile is characterized by comprising the following steps: the method comprises the following steps:
detecting whether a connection event is triggered or not, wherein after the connection event is triggered, the charging head extends out of the automatic charging pile from the inside of the automatic charging pile;
after detecting the triggered connection event, detecting whether the charging head is in charging connection with the product to be charged;
and after the charging head is detected to be in charging connection with the product to be charged, starting a charging power supply to charge the connected product to be charged.
2. The charging control method for the automatic charging pile according to claim 1, characterized in that: before the charging power supply is turned on to charge the product to be charged, the method further comprises the following steps: and communicating with the connected product to be charged, wherein the communication content comprises the confirmation of whether the product is chargeable or not, and after the confirmation of the chargeable property, starting the charging power supply.
3. The charging control method for the automatic charging pile according to claim 1, characterized in that: the detecting whether the connection event is triggered comprises detecting whether a mechanical travel switch is triggered, and after the mechanical travel switch is triggered, the charging head is extended.
4. The charging control method for the automatic charging pile according to claim 3, characterized in that: whether detect the head that charges and accomplish the charging connection with the product of waiting to charge after still include: after detecting that the charging head does not finish charging connection, whether mechanical travel switch resets and/or whether the charging head is reset to the automatic charging pile is detected.
5. The charging control method for the automatic charging pile according to claim 1, characterized in that: the detecting whether the connection event is triggered includes detecting whether an electronic switch is triggered, after which the charging head is extended by the control device.
6. The charging control method for the automatic charging pile according to claim 5, characterized in that: whether detect the head that charges and accomplish the charging connection with the product of waiting to charge after still include: after detecting that the charging head does not finish charging connection, starting the control device to reset the charging head into the automatic charging pile.
7. The charging control method for the automatic charging pile according to claim 1, characterized in that: the detecting whether a connection event is triggered comprises detecting whether a charging head is extended;
and/or
Whether detect the head that charges and accomplish the charging connection with the product of waiting to charge after still include: after detecting that the charging head does not finish charging connection, whether the charging head is reset to the automatic charging pile is detected.
8. The charging control method for the automatic charging pile according to claim 1, characterized in that: further comprising:
turning off the charging power supply after charging;
detecting whether the charging head is disconnected from the charging;
after detecting that charging head removes the charging connection, whether the detection charging head is reset to automatic charging stake in.
9. The utility model provides an automatic fill electric pile charge control equipment which characterized in that: the control device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the automatic charging pile charging control method according to any one of claims 1 to 8.
10. A storage medium, characterized by: the storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the automatic charging pile charging control method according to any one of claims 1 to 8.
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| CN201911311764.1A CN110943517B (en) | 2019-12-18 | 2019-12-18 | Charging control method and device for automatic charging pile and storage medium |
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| CN107351723A (en) * | 2017-08-13 | 2017-11-17 | 胡顺扬 | A kind of electric automobile, matched charging pile and charging system |
| CN207069657U (en) * | 2017-08-17 | 2018-03-02 | 英华达（上海）科技有限公司 | A kind of intelligent charge structure |
| CN108116265A (en) * | 2017-12-26 | 2018-06-05 | 佛山市禾才科技服务有限公司 | A kind of electric vehicle intelligent three-dimensional automatic charging stake and its control method |
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| US20160380458A1 (en) * | 2015-06-26 | 2016-12-29 | Intel Corporation | Electronic device to be directly charged |
| CN106877454A (en) * | 2017-04-06 | 2017-06-20 | 上海木爷机器人技术有限公司 | Robot charging method and device |
| CN107351723A (en) * | 2017-08-13 | 2017-11-17 | 胡顺扬 | A kind of electric automobile, matched charging pile and charging system |
| CN207069657U (en) * | 2017-08-17 | 2018-03-02 | 英华达（上海）科技有限公司 | A kind of intelligent charge structure |
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