CN106026321B - A kind of automatic charge device and method from mobile device - Google Patents
A kind of automatic charge device and method from mobile device Download PDFInfo
- Publication number
- CN106026321B CN106026321B CN201610517958.7A CN201610517958A CN106026321B CN 106026321 B CN106026321 B CN 106026321B CN 201610517958 A CN201610517958 A CN 201610517958A CN 106026321 B CN106026321 B CN 106026321B
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- charging
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- microcontroller
- cradle
- wireless communication
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- 238000000034 method Methods 0.000 title claims description 15
- 239000002184 metal Substances 0.000 claims abstract description 28
- 229910052751 metal Inorganic materials 0.000 claims abstract description 28
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims description 41
- 238000001514 detection method Methods 0.000 claims description 23
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 18
- 229910052802 copper Inorganic materials 0.000 claims description 18
- 239000010949 copper Substances 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims 1
- 239000010931 gold Substances 0.000 claims 1
- 229910052737 gold Inorganic materials 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000008719 thickening Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H02J7/045—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
A kind of automatic charge device from mobile device, including charge control system, be mounted on from mobile device charging unit, be installed on the cradle of wall；Movement of the work and control of the charge control system control charging unit from mobile device；The charging unit includes light-sensitive element, battery component and two charging contacts；The cradle includes column or semicolumn pedestal, intracorporal power supply module of being present is arranged, two arcs of present outside are arranged for metal ribbon and an arcuate guide strip of light；Described two arcs are horizontally disposed along pedestal lateral surface for metal ribbon and an arcuate guide strip of light；Described two charging contacts are connected to battery component；Described two charging contacts are consistent for the height of metal ribbon with two arcs respectively；The light-sensitive element is consistent with the guiding height of strip of light.The searching of cradle is carried out by the way of LED light source and light-sensitive element cooperation, circuit is simple, cost is relatively low, and success rate is high.
Description
Technical field
The present invention relates to a kind of automatic charge device and method from mobile device, be particularly suitable for it is remote controlled from
Mobile device.
Background technique
The equipment of storage battery power supply remotely controlled, often nobody is on the scene for application, in battery power shortage manually into
Row plug charger mode carry out charging is difficult to realize, can be often resulted in someone goes to charging not in time, waste
The problems such as manpower.
Summary of the invention
The present invention provides a kind of autonomous searching cradle, automatic running, the automatic charge device of automatic butt and controls
Method, whole process are not necessarily to manual intervention, can realize automatic charging when cell voltage is lower than some threshold value.
The technical solution of the invention is as follows:
A kind of automatic charge device from mobile device including charge control system, is mounted on from filling in mobile device
Electric installation, the cradle for being installed on wall；The work and control of above-mentioned charge control system control charging unit are set from movement
Standby movement；
Its special feature is that:
Above-mentioned charging unit includes light-sensitive element, battery component and two charging contacts；
Above-mentioned cradle includes column or semicolumn pedestal, intracorporal power supply module of being present is arranged, external side of being present is arranged
Two arcs in face are for metal ribbon and an arcuate guide strip of light；
Above-mentioned two arc is horizontally disposed along pedestal lateral surface for metal ribbon and an arcuate guide strip of light；
Above-mentioned two charging contact is connected to battery component；
Above-mentioned two charging contact is consistent for the height of metal ribbon with two arcs respectively；
Above-mentioned light-sensitive element is consistent with the guiding height of strip of light.
Two arcs are arranged in for the top, centre or lower section of metal ribbon in above-mentioned arcuate guide strip of light.
Above-mentioned arc invaginates for metal ribbon in pedestal lateral surface, and charging contact stretches out pedestal.
Above-mentioned pedestal is semi-cylindrical.
Above-mentioned charging unit further includes relay, and above-mentioned relay is connected to above-mentioned battery component；Above-mentioned two charging touching
In point, one of charging contact is connected to the cathode of battery component, another charging contact is connected with relay.
Spring is set on above-mentioned charging contact, the front end of charging contact is arc-shaped.
In order to realize long-range control, above-mentioned charging unit further includes the first wireless communication unit；Above-mentioned cradle further includes
Second wireless communication unit.
Material copper of the above-mentioned arc for metal ribbon；Above-mentioned arcuate guide strip of light is LED array.
Above-mentioned charge control system includes the first microcontroller, photosensitive circuit, the first wireless communication module, contact voltage inspection
Slowdown monitoring circuit and battery voltage detection circuit；Above-mentioned photosensitive circuit, the first wireless communication module and battery voltage detection circuit difference
It is connected with the first microcontroller；
Above-mentioned photosensitive circuit control light-sensitive element work, above-mentioned first wireless communication module control the first wireless communication unit
Work；The voltage of above-mentioned contact voltage detection circuit detection charging contact；
Above-mentioned battery component is connected to battery voltage detection circuit；
Above-mentioned cradle further includes cradle control system, and above-mentioned cradle control system includes the second microcontroller, the
Two wireless communication modules, control relay circuit, the second relay and third relay；
The output end of above-mentioned second wireless communication module and the connection of the second microcontroller input；Above-mentioned second microcontroller
Output end connected with the input terminal of control relay circuit；The output end of above-mentioned control relay circuit is respectively at the second relay
Device is connected with the input terminal of third relay；The input terminal of above-mentioned third relay is also connected with pedestal power supply module；
Above-mentioned second wireless communication module controls the work of the second wireless communication unit；
The output end and arcuate guide light source band connection of above-mentioned second relay；
The output end of above-mentioned third relay and two arcs are connected for metal ribbon.
A kind of automatic recharging method from mobile device is provided, comprising the following steps:
Step 1: battery voltage detection circuit detects battery component voltage；When brownout, sent out to the first microcontroller
Send charging instruction；
Step 2: the first microcontroller receives charging instruction and passes through second nothing of first wireless communication module to cradle
Line communication module sends charge command；
Step 3: the second wireless communication module receives charge command, and the charge command is sent to the second microcontroller；
Step 4: the second microcontroller receives charge command, sends commands to control relay circuit, relay control
The second relay of circuit control is connected, and LED array is made to light or flash；Control relay circuit simultaneously controls the connection of third relay
Switching Power Supply and arc are powered on to arc for metal ribbon for metal ribbon；
Step 5: photosensitive circuit finds luminous cradle, sends the signal to the first microcontroller, the first microcontroller
It is controlled by motor control and go to circuit close at from mobile device to luminous cradle；
Step 6: when charging contact and arc are contacted for metal ribbon, contact voltage detection circuit detects charging contact
Whether suitable voltage is had, if voltage is suitable, motor is out of service, and the first microcontroller is controlled by control relay circuit
Relay is connected, and is started to charge；
First microcontroller sends charging to the second wireless communication module of cradle by the first wireless communication module and opens
Begin order, the second microcontroller is received after the order by the second wireless communication module through LED gusts of bang-bang circuit control
Column are closed；
Step 7: whether voltage detecting circuit detection battery is full of, and after being full of, the control of the first microcontroller is set from movement
It is standby to leave cradle；
Step 8: the first wireless communication module, which sends charging to cradle, terminates order, and the second microcontroller passes through relay
Control circuit controls third relay and disconnects, and arc is for metal ribbon power down.
The beneficial effects of the present invention are:
The searching of cradle is carried out by the way of LED light source and light-sensitive element cooperation, circuit is simple, cost is relatively low, and
Success rate is high, works by day the application field of night charging especially suitable for equipment.Cradle and charge control system all use
Relay isolation, usually voltage does not export, highly-safe.Charge using wireless communication module and gets in touch with and communicate, LED light source
Without flashing always, energy conservation and environmental protection.
Detailed description of the invention
Fig. 1 is charging socket structure schematic diagram of the present invention；
Fig. 2 is cradle working principle diagram of the present invention；
Fig. 3 is of the invention from charging of mobile devices control principle drawing；
Fig. 4 is contact structure schematic diagram of the present invention.
Appended drawing reference in figure are as follows: 1- pedestal；2- arc is for metal ribbon；3- arcuate guide strip of light；4- is from mobile device；
The contact 5-；6- spring.
Specific embodiment
It is understandable to enable above content of the invention, feature and advantage to be more clear, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Elaborate many details in order to which reader fully understands in following introduction
The present invention, but the present invention can be realized with a variety of different from other way described below, the professional technique people of this field
Member can improve without prejudice to structure of the invention, therefore the present invention is not by following public specific embodiment
Limitation.
It is charging socket structure schematic diagram if shown on Fig. 1.Pedestal 1 is semicylinder, wherein arcuate guide strip of light 3, is used
LED array selects multiple high brightness LEDs, and semicircular in shape is horizontally installed to the top of pedestal 1, shines outward, practical
Any height and position of pedestal 1 is mountable in, suitable with the light-sensitive element height from mobile device, quantity is not
It is preferably very few, it otherwise will affect the hunting time of equipment.Arc for metal ribbon 2 use arc copper sheet group, semicircular in shape, up and down respectively
A piece of, horizontal parallel is placed on the side surface of pedestal 1, and width is slightly wider than the charging contact 5 of equipment, with guarantee charging when with
The intact contact of the charging contact of equipment；The thickness of arc copper sheet depends on the size of equipment charge electric current, charging current it is big can
Consider appropriate thickening, general thickness takes 0.5mm.
It is cradle working principle diagram if shown on Fig. 2, attaching plug, which is exchanged with municipal 220V always, in use is electrically connected,
It powers to Switching Power Supply.
Switching Power Supply uses any switching mode electricity that 220V convert alternating current can be needed to DC voltage in battery charging
Source, as long as meeting needs electric current in charging.Switching Power Supply is also powered to board mounted power simultaneously.
The input of board mounted power is Switching Power Supply, generates 5V's or 3.3V using switching power source chip or regulated power supply chip
Power supply, to the second microcontroller, the second wireless communication module and the power supply of other circuits.
Control relay circuit is made of triode and freewheeling diode etc., I/O mouth of the transistor base by microcontroller
Line traffic control is realized and is controlled the on-off of the second relay.
Third relay one end is connected with the output of Switching Power Supply, and the other end connects arc copper sheet group, third when not charging
Relay is in an off state, arc copper sheet group power down.
Arc copper sheet group semicircular in shape, there is upper and lower two panels, and bottom sheet connects the ground wire of Switching Power Supply, upper piece pass through third relay
It is connected with Switching Power Supply DC output side, third relay is controlled by microcontroller, when there is charge requirement, microcontroller control
Third relay is connected, and arc copper sheet group powers on.The charging contact of equipment can be contacted with the arc copper sheet group to carry out when charging
Take electricity.
The wireless modules such as si4432, NRF24L01 can be used in second wireless communication module, for the same type with equipment without
Wire module communication, receives the various control commands of charge control system, then the second microcontroller is according to control command to LED gusts
Column and each relay are controlled.
When charging is required, equipment can give cradle to send charge command by the second wireless communication module, in cradle
The second microcontroller can by the second relay control LED array flashing, equipment can pass through photosensitive circuit identification flashing light
Source position is charged to move at light source.
To guarantee that LED array light source can be noticeable in all directions, LED light tube uses high-brightness white-light type, and quantity
It no less than 15, is discharged using semicircle, the placement of light head horizontal direction launches outward light beam, with equipment light-sensitive element height phase
Together, to reach farther light emitting region.
It is from charging of mobile devices control principle drawing if shown on Fig. 3；
Charging contact 5 is installed on the front end highlight of equipment, contacts progress with the arc copper sheet group of cradle in charging
Take electricity.Charging contact 5 is connected to the battery by relay, and relay is in an off state when not charging, and prevents equipment from running
Charging contact encounters foreign matter generation short circuit phenomenon in the process.
Contact voltage detection circuit and battery voltage detection circuit are made of divider resistance and A/D converter, cell voltage
Detection circuit is connected to the battery, for detecting the voltage of battery to judge remaining capacity；Contact voltage detection circuit with fill
Electric contact is connected, for detect during the charging process charging contact whether with the arc copper sheet group of cradle is intact contacts.
Photosensitive circuit is composed in series by photodiode and resistance, and tie point is connected with A/D converter, is turned by A/D
Change sampling brightness value.To guarantee effectively to search out cradle, photodiode is horizontal positioned, and its height and cradle
LED array is consistent.
It is first when the first microcontroller detects that the brownout of battery needs to charge by battery voltage detection circuit
Photosensitive circuit detection ambient brightness is first passed through, if brightness crosses higher position and wouldn't charge, because ambient brightness is excessively high to lead
Cause can not find cradle light source.When ambient brightness is lower, the first microcontroller just passes through the first wireless communication module to filling
Electric seat sends charge command, the second microcontroller control LED array flashing of cradle, and controls its third relay and turn on
Powered-down source and arc copper sheet group, arc copper sheet group powers at this time.
After sending charge command to cradle, before the first microcontroller controls equipment by motor control and go to circuit
Into, retreat or turning, it is not open close cross photosensitive circuit find flashing cradle, controlled in a manner of first quick and back slow equipment operation
To cradle, since the arc copper sheet group of cradle uses semicircular structure, therefore equipment marches to base position at any angle,
Its charging contact can with the arc copper sheet group of pedestal is intact contacts.
After charging contact and the contact of arc copper sheet group are upper, voltage detecting circuit detects that charging contact has suitable voltage
Afterwards, the first microcontroller control motor is out of service, and controls relay connection, and charging process starts.
The first microcontroller sends charging to cradle by the first wireless communication module and starts to order after charging process starts
It enables, cradle closes the LED array of flashing to save electric energy after receiving.
In charging process, the first microcontroller constantly detects whether battery is full of by voltage detecting circuit, after being full of,
First microcontroller controls motor operation, and equipment retreats, and leaves cradle, then passes through the second wireless communication module to cradle
Sending charging terminates order, and cradle disconnects charging third relay, and the arc copper sheet group power down of cradle connects to prevent foreign matter
Touching cradle causes the accidents such as short circuit, and entire charging process terminates.
Showing in one of shape and structure such as Fig. 4 of charging contact, contact 5 is cylindrical, it is cased with spring 6 above,
Certain compression, front end and arc be can produce when contacting with arc for metal ribbon 2 for 2 contact portion of metal ribbon in circular arc
Shape, to guarantee good contact.5 material of contact is with copper to be excellent, and contact arc-shaped head is exposed to from except mobile device, spring 6
From in mobile device.
Claims (9)
1. a kind of automatic charge device from mobile device including charge control system, is mounted on from the charging in mobile device
Device, the cradle for being installed on wall；The charge control system controls the work of charging unit and controls from mobile device
Movement；
It is characterized by:
The charging unit includes light-sensitive element, battery component and two charging contacts；
The cradle includes column or semicolumn pedestal, intracorporal power supply module of being present is arranged, present outside is arranged
Two arcs are for metal ribbon and an arcuate guide strip of light；
Described two arcs are horizontally disposed along pedestal lateral surface for metal ribbon and an arcuate guide strip of light；
Described two charging contacts are connected to battery component；
Described two charging contacts are consistent for the height of metal ribbon with two arcs respectively；
The light-sensitive element is consistent with the guiding height of strip of light；
The charge control system includes the first microcontroller, photosensitive circuit, the first wireless communication module, contact voltage detection electricity
Road and battery voltage detection circuit；The photosensitive circuit, the first wireless communication module and battery voltage detection circuit are respectively with
The connection of one microcontroller；
The photosensitive circuit control light-sensitive element work, first wireless communication module control the first wireless communication unit work
Make；The voltage of the contact voltage detection circuit detection charging contact；
The battery component is connected to battery voltage detection circuit；
The cradle further includes cradle control system, and the cradle control system includes the second microcontroller, the second nothing
Line communication module, control relay circuit, the second relay and third relay；
The output end of second wireless communication module and the connection of the second microcontroller input；Second microcontroller it is defeated
Outlet is connected with the input terminal of control relay circuit；The output end of the control relay circuit respectively at the second relay and
The input terminal of third relay connects；The input terminal of the third relay is also connected with pedestal power supply module；
Second wireless communication module controls the work of the second wireless communication unit；
The output end and arcuate guide light source band connection of second relay；
The output end of the third relay and two arcs are connected for metal ribbon.
2. the automatic charge device according to claim 1 from mobile device, it is characterised in that: the arcuate guide light
Two arcs are arranged in for the top, centre or lower section of metal ribbon in source band.
3. the automatic charge device according to claim 1 from mobile device, it is characterised in that: the arc power supply gold
Belong to and sink into pedestal lateral surface in band, charging contact stretches out pedestal.
4. from the automatic charge device of mobile device according to claims 1 or 2 or 3, it is characterised in that: the pedestal
For semi-cylindrical.
5. from the automatic charge device of mobile device according to claims 1 or 2 or 3, it is characterised in that: the charging
Device further includes relay, and the relay is connected to the battery component；In described two charging contacts, one of charging
Contact is connected to the cathode of battery component, another charging contact is connected with relay.
6. from the automatic charge device of mobile device according to claims 1 or 2 or 3, it is characterised in that: the charging
Spring is set on contact, the front end of charging contact is arc-shaped.
7. from the automatic charge device of mobile device according to claims 1 or 2 or 3, it is characterised in that: the charging
Device further includes the first wireless communication unit；The cradle further includes the second wireless communication unit.
8. from the automatic charge device of mobile device according to claims 1 or 2 or 3, it is characterised in that: the arc
For the material copper of metal ribbon；The arcuate guide strip of light is LED array.
9. a kind of automatic recharging method from mobile device, it is characterised in that: the following steps are included:
Step 1: battery voltage detection circuit detects battery component voltage；When brownout, filled to the transmission of the first microcontroller
Electricity instruction；
Step 2: the first microcontroller receives charging instruction and passes through second channel radio of first wireless communication module to cradle
Believe that module sends charge command；
Step 3: the second wireless communication module receives charge command, and the charge command is sent to the second microcontroller；
Step 4: the second microcontroller receives charge command, sends commands to control relay circuit, control relay circuit
The connection of the second relay is controlled, LED array is made to light or flash；Control relay circuit simultaneously controls third relay connection switch
Power supply and arc are powered on to arc for metal ribbon for metal ribbon；
Step 5: photosensitive circuit finds luminous cradle, sends the signal to the first microcontroller, the first microcontroller passes through
Motor control and go to circuit control close at from mobile device to luminous cradle；
Step 6: when charging contact and arc are contacted for metal ribbon, whether contact voltage detection circuit detects charging contact
There is suitable voltage, if voltage is suitable, motor is out of service, and the first microcontroller controls relay by control relay circuit
Device is connected, and is started to charge；
First microcontroller sends charging to the second wireless communication module of cradle by the first wireless communication module and starts to order
It enables, the second microcontroller is received after the order by the second wireless communication module through bang-bang circuit control LED array pass
It closes；
Step 7: voltage detecting circuit detection battery whether be full of, after being full of, the first microcontroller control from mobile device from
Open cradle；
Step 8: the first wireless communication module, which sends charging to cradle, terminates order, and the second microcontroller passes through after electric control
Circuit control third relay disconnects, and arc is for metal ribbon power down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610517958.7A CN106026321B (en) | 2016-07-04 | 2016-07-04 | A kind of automatic charge device and method from mobile device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610517958.7A CN106026321B (en) | 2016-07-04 | 2016-07-04 | A kind of automatic charge device and method from mobile device |
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| Publication Number | Publication Date |
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| CN106026321A CN106026321A (en) | 2016-10-12 |
| CN106026321B true CN106026321B (en) | 2018-12-07 |
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| CN201610517958.7A Active CN106026321B (en) | 2016-07-04 | 2016-07-04 | A kind of automatic charge device and method from mobile device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109698527A (en) * | 2017-10-20 | 2019-04-30 | 莲花丝路科技有限公司 | A kind of charging system and method reading equipment for radio POS terminal periphery |
| CN109510266B (en) * | 2018-11-30 | 2024-02-06 | 广东银狐医疗科技股份有限公司 | Electric wheelchair charging device and charging system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1507828A (en) * | 2002-12-17 | 2004-06-30 | Lg | Automatic charging apparatus of self-walking duster |
| CN103066645A (en) * | 2012-12-14 | 2013-04-24 | 安科智慧城市技术（中国）有限公司 | Robot and system and method of automatic charging thereof |
| CN105449780A (en) * | 2015-12-25 | 2016-03-30 | 四川理工学院 | Automatic positioning and charging apparatus for substation patrol robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101324503B1 (en) * | 2012-03-21 | 2013-11-01 | 주식회사 엔티리서치 | Charging device of autonomously travelling mobile robot and charging system thereof |
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2016
- 2016-07-04 CN CN201610517958.7A patent/CN106026321B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1507828A (en) * | 2002-12-17 | 2004-06-30 | Lg | Automatic charging apparatus of self-walking duster |
| CN103066645A (en) * | 2012-12-14 | 2013-04-24 | 安科智慧城市技术（中国）有限公司 | Robot and system and method of automatic charging thereof |
| CN105449780A (en) * | 2015-12-25 | 2016-03-30 | 四川理工学院 | Automatic positioning and charging apparatus for substation patrol robot |
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| CN106026321A (en) | 2016-10-12 |
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