Substrate and contact system for charging an energy accumulator of a mobile device - Patents.com

Abstract

A system for supplying electrical energy to an energy-absorbing mobile device (900; 1000) having two conductive secondary terminals (802), the system comprising: a power supply substrate (100) having conductive primary terminals (101); and a supply control subsystem (700). The conductive primary terminals (101) are adapted to be placed in contact with the two secondary terminals (802) when the mobile device (900; 1000) is positioned on the substrate (100). The supply control subsystem (700) comprises a line selector (702) having an output line (701) connected to the primary terminals (101), a rectifier and program-controlled power supply (703) that supplies the energy, and a miniprocessor (704) connected to the line selector (702) and the rectifier and program-controlled power supply (703). The line selector (702) has two input lines (705) that have a voltage difference greater than zero and is configured to periodically apply a voltage difference to all possible pairs of output lines (701) based on commands received from the miniprocessor (704).

Description

[Technical field]

[0001] The present invention is in the field related to systems for charging energy stores of mobile devices such as land vehicles and aircraft. [Background technology]

[0002] There is a growing demand to connect and charge batteries to power autonomous mobile devices without human intervention or mechanical moving parts. This demand implies a multi-function device suitable for a variety of vehicles and accumulators that can charge mobile vehicles automatically without moving mechanisms or parts.

[0003] There are several methods known today for charging batteries in mobile devices, which depend primarily on the system designed for the particular device having the charging battery.

[0004] The main methods used today are: Manual or automatic supply cable connection Automating battery exchange with possible mechanical positioning of the mobile device Movement of the mobile device relative to the fixed charging contacts · Transfer of charging contacts to mobile devices ·Transfer of a single charging contact to a mobile device - Forced guided positioning system for moving equipment Charging via a conductive surface and multiple electrical contacts on the support substrate of the mobile device - Magnetic induction charging

[0005] The main limitations of the technology available today are: · Electromechanical complexities in contact connections or automating battery exchanges The need for precise spatial alignment of movement devices and contact systems -Limits on the amount of energy that can be transferred - The presence of a conductive surface that is uninsulated and constantly under tension The presence of battery terminals on the mobile device that are exposed and under tension -Protection against unintentional contact or short circuit · Specific layout requirements for supplying different voltages and power to different mobile devices Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention aims to solve the above-mentioned problems of current methods while improving operability and without moving parts, and to provide an efficient, reliable and inexpensive way to supply energy to a wide range of mobile devices. [Means for solving the problem]

[0007] The above mentioned object is achieved by a system according to claim 1 and a corresponding method according to claim 14. Further details of the invention are specified in the corresponding dependent claims.

[0008] The system comprises a conductive substrate having a set of conductive primary terminals mounted on a flat surface and electrically isolated from one another, a supply control subsystem connected to the primary terminals, and a subsystem (hereinafter also referred to as a "contact kit") mounted on the energy absorbing mobile device, the subsystem comprising secondary terminals, an identification circuit and possibly a circuit for controlling the battery. The substrate provides energy if all of the following conditions are met: When the moving device is placed on the board and the secondary terminal is in electrical contact with the primary terminal When the supply control subsystem detects a moving device through the moving device's contact kit - if the preset control conditions for supplying energy to the mobile device via the supply control subsystem are met;

[0009] The primary terminals disposed on the top surface of the substrate are insulated from one another by a non-conductive material and are connected to the supply control subsystem. The secondary terminals and the primary terminals have a predetermined mutual geometric relationship that prevents all of the secondary terminals mounted on the moving device from contacting a single contact on the substrate at the same time. Furthermore, the secondary terminals mounted on the moving device have contacts with dimensions larger than the non-conductive material that electrically isolates the primary terminals.

[0010] The exchange of electrical energy takes place through the primary terminals, which are identified when the mobile device is placed on the substrate and the secondary terminals of the mobile device come into contact with the primary terminals. Identification of the primary terminals in contact with the secondary terminals is performed by an identification device mounted on the mobile device and a line selector component on the substrate. The line selector component periodically applies a voltage difference to all possible pairs of primary terminals and detects the possibility of a closed circuit between the pair of primary terminals under tension. If a characteristic current of a predetermined value or within a predetermined threshold range is detected by the closed circuit, the primary terminal is considered to be identified. After identifying the primary terminal, the line selector applies a voltage to the identified primary terminal, the voltage being opposite in sign to the previous current. This allows the correct polarity to be supplied to the mobile device during the next energy transfer to be identified and a current with that polarity to be generated, if within the predetermined threshold range.

[0011] For example, if there is a closed circuit between the two primary terminals under tension due to an external conductor, the sensed current will not be within the expected characteristic threshold range and thus the system will report the anomaly.Following sensing and subsequent identification at the moving device, the board transfers electrical energy to the moving device via the identified primary terminal according to control criteria established within the supply control subsystem.

[0012] The present invention is available in several embodiments having different shapes, sizes, and types of electrical insulation between the primary terminals.

[0013] In a further embodiment, in order to limit the number of conductors exiting the substrate, the primary terminals are grouped, with each group containing the same number of adjacent primary terminals, and each terminal in a group is connected in parallel with a corresponding terminal in another group, such that the parallel connected primary terminals are connected to a supply control subsystem.

[0014] Here, the number of conductors coming out of the board is limited and does not have to be changed depending on the total number of primary terminals constituting the board. This advantage allows the number of primary terminals to be freely increased while reducing the manufacturing complexity and the associated costs. In this case, the geometric relationship between the secondary terminals of the mobile device and the board is designed such that when the mobile device is placed on the board, the secondary terminals mounted on the mobile device do not simultaneously contact the primary terminals connected in parallel to each other. The identification of the primary terminals is performed by the identification device and the line selector component mounted on the mobile device as described above, which periodically applies a voltage difference to all possible pairs of primary terminals and detects possible closed circuits having a predetermined characteristic current or having a predetermined threshold value.

[0015] In another embodiment, the secondary terminals of the mobile device may be identified by an exchange of a unique identifier between the contact kit of the mobile device and the supply control subsystem. In this embodiment, the contact kit includes its own microprocessor with non-volatile memory containing configuration data.

[0016] In alternative embodiments, multiple secondary contacts having different geometric relationships between the primary and secondary contacts may be used, using similar detection and identification techniques as described above. Effect of the Invention

[0017] The main advantages of the present invention include: - The moving device can be freely placed on the substrate surface. -Independent of the type of mobile device -Efficient energy transfer since there is no limit to the current that can be transferred or the voltage that can be applied Scalability in dimensions and flexibility to accommodate different configurations to suit specific requirements Operational safety -No moving parts, low manufacturing cost

[0018] In the following, reference is made to the drawings to which reference is made in the Detailed Description of the Invention. The mobile devices shown in the drawings are an Unmanned Ground Vehicle (UGV) and a Vertical Take-Off Aircraft, but may be different types of mobile devices. Features and advantages of the present invention will be described with reference to preferred practical embodiments shown as non-limiting examples in the accompanying drawings. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 shows a perspective view of a substrate. [Diagram 2] FIG. 2 shows a top view of the upper surface of the substrate. [Diagram 3] FIG. 3 is a top view of the top surface of the board showing the set of primary terminals. [Figure 4] Figure 4 shows the primary terminals connected to the line selector components of the supply control subsystem. [Diagram 5] FIG. 5 is a top view of the upper surface of the substrate, showing the dimensional relationship between the secondary terminals and the primary terminals of the movement device. [Figure 6] FIG. 6 is a detailed view of a portion of the primary terminals showing the dimensions of the contacts of the secondary terminals of the mobile device relative to the insulating gap between the primary terminals. [Figure 7] FIG. 7 shows the substrate delivery control subsystem. [Figure 8] FIG. 8 shows the components of the subsystem mounted on the mobile device. [Figure 9A] FIG. 9A is a side view of a moving device constituting an unmanned land vehicle, with a secondary terminal mounted on the abdomen. [Figure 9B]FIG. 9B is a front view of a moving device constituting an unmanned land vehicle, with the secondary terminal mounted on the abdomen. [Figure 10] FIG. 10 is a perspective view of a moving device constituting a vertical take-off aircraft, the moving device having secondary terminals mounted on supporting legs. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Elements in the drawings are illustrated to facilitate understanding of the text and are not necessarily drawn to actual size. For example, the size and relative position of some elements in the drawings may be exaggerated compared to other elements to better understand different embodiments according to the present invention. Furthermore, known elements required for industrial manufacturing in the present technology may not be disclosed or shown in order to make the content of the present invention easier to understand. Certain operations or steps may be disclosed or shown in a particular order as would be apparent to a person skilled in the art. Terms and expressions used herein shall have the common meanings in the art as used by a person skilled in the art unless otherwise specified.

[0021] The invention presented herein relates to an electrical connection system between a conductive substrate and an energy absorbing transfer device, and to a controlled supply of electrical energy from the substrate to the energy absorbing transfer device.

[0022] The following elements are described as constituting this system. A) Contact board B) Supply control subsystem C) Mobile Device-Mounted Contact and Identification Subsystem

[0023] A) Contact board The contact substrate 100 shown in Figures 1 and 2 comprises a set of primary terminals 101 arranged on an upper surface of a substrate that is electrically insulated from one another and made of a non-conductive material.

[0024] In the embodiment shown in Figures 1 and 2, the primary terminals 101 are formed as rectangular tiles of electrically conductive material and separated from one another by non-conductive material 102. Referring to Figures 3 and 4, the primary terminals are grouped into sets of primary terminals that are connected in parallel to one another via parallel conductors 401. The primary terminals are then connected to output lines 701 of a line selector component 702 called a multiplexer. Figure 3 shows an arrangement of the primary terminals 101 grouped into nine primary terminals, each of which belongs to a set referred to as set "A", set "B", ... set "I". All primary terminals in a set are connected to the underside of a cable 401 or to a printed circuit track and are arranged in parallel to one another. Each parallel group of primary terminals is then connected to one of the nine output lines 701 of the line selector 702, as shown diagrammatically in Figure 4. As an advantage, as mentioned above, the number of conductors exiting the board is the same as the number of sets of primary terminals, which in this embodiment is nine. This allows the formation of boards with multiple or multiple primary terminals while limiting the number of conductors connecting the board to the supply control subsystem.

[0025] In further possible embodiments, the number of groups of primary terminals and the shape of the primary terminals may vary. For example, if the primary terminals have a hexagonal shape, there are seven groups of primary terminals, and thus the conductors coming out of the board that connect with the line selector. Alternatively, the groups of primary terminals have a single contact, which is directly connected to a line of the line selector. In the latter case, the number of line selectors is the same as the number of primary terminals. Further configurations and shapes are possible within the above ranges.

[0026] B) Supply control subsystem The supply control subsystem 700 shown in FIG. 7 comprises a line selector component 702, a programmable AC / DC power supply stage 703, and a mini-processor 704. The mini-processor 704 is provided with suitable software and a non-volatile memory for storing data and system configurations. These components are connected to each other, according to the schematic diagram of FIG. 7, via a data connection 707, as well as an external data connection 706 towards a network or other processor. As shown in FIG. 4, a multiplexer 702 connects two DC supply inlets 705 to an outlet 701, which in turn is connected to nine sets of primary terminals: set "A", set "B", ... set "I". The supply stage converts AC and DC power. Furthermore, the data connection 707 allows the possibility of programming the voltage and the output DC through commands from the microprocessor 704.

[0027] The microprocessor 704 communicates with the line selector 702 and a contact and identification subsystem 800 mounted on the mobile device to acquire data, monitor energy transmission, and send commands via wire or wirelessly according to industry standard protocols.

[0028] C) Contact and Identification Subsystem A contact and identification subsystem 800 mounted on a mobile device, as shown in FIG. 8, comprises a detection circuit 803 with the purpose of detection, identification and protection, and a support 801 with two secondary terminals 802. FIG. 8 also shows an energy absorber 804 and a control circuit 805, which controls a power absorber consisting of a battery management system (BMS) which connects to a battery 804 via a balance cable 806 and a power cable 807, as shown in the figure as a non-limiting example. In FIG. 9A and FIG. 9B, a side view and a front view of a mobile device are shown. Here, the mobile device is an unmanned ground vehicle (UGV) mounted with a support 801 for the secondary terminals 802. In FIG. 10, a vertical take-off aircraft 1000 is shown as a mobile device, with a support 801 for the secondary terminals 802 mounted on one of its support legs.

[0029] With reference to Figures 5 and 6, the dimensions of the two secondary terminals 802 mounted on the mobile device, i.e. their mutual distance and the diameter of the contact area 601 of the single contact 802, are geometrically correlated to the size and shape of the primary terminals 101 of the substrate and the dimensions of the electrical insulator 102 interposed between the primary terminals 101 of the substrate. In the example shown in Figures 5 and 6, the primary terminals have a rectangular shape. This indicates the minimum dimension 501 and the maximum dimension 502 of the distance existing between the secondary terminals of the mobile device, as well as the minimum dimension of the contact area 601 of the single secondary contact. As shown in Figure 6, the dimensions of the single secondary contact 802 of the contact kit mounted on the mobile device have a contact surface 601. The contact surface 601 preferably has a diameter larger than the insulator 102.

[0030] In the above-mentioned embodiment, further referring to FIG. 5 and FIG. 6 in which the primary terminals have a square shape, the distance between the secondary terminals 802 of the contact kit mounted on the mobile device preferably satisfies the following condition: A distance greater than or equal to the sum of the diagonal of the primary terminal and twice the diagonal of the insulator, as shown as 501 in Figure 5 As shown in FIG. 5 as 502, the distance is less than or equal to twice the sum of the length of the side of the primary terminal 101 and the insulator 102.

[0031] The secondary terminals 802 of the moving device may be formed by spring pressure with cylindrical or spherical head, conductive rings, tinned copper wire, graphite, or other shapes and materials to ensure sufficient electrical contact and the required current. The secondary terminals 802 may each have one or more contact points. The support 801 or the secondary terminals 802 may each be mounted on the moving device either by a rigid or elastic support or by a controllably movable operating arm. The distance between the secondary terminals 802, the dimensions of the contact area 601 of the moving device, and the corresponding geometric relationship of the primary terminals may differ from those described above depending on the shape of the primary terminals and the distance of the electrical insulator between the primary terminals.

[0032] operation When the mobile device 1000 or 900 is placed on the substrate 100, due to the dimensional relationship between the primary terminals 101 of the substrate and the secondary terminals 802 of the mobile device, the secondary terminals 802 mounted on the mobile device are electrically connected to two or more primary terminals 101 of the substrate, which belong to different sets of primary terminals. The line selector component periodically connects to different sets of primary terminals and scans all possible pairs of primary terminals 101. When the first pair of primary terminals is electrically connected to the secondary terminals 802, it closes an electrical circuit to the sensing circuit 803 and measures the current. If the measured current is within a predetermined threshold, the primary terminal 101 of the substrate in contact with the secondary terminal 802 is identified.

[0033] This causes the supply control subsystem 700 to identify which primary terminal 101 is connected to the secondary terminal 802 of the mobile device. Preferably, in a subsequent identification phase, the supply control subsystem 700 measures a second current by swapping the polarity of the applied voltage. The different values ​​of these two currents are used to indicate to the system the polarity to apply to the primary terminal 101 for the next energy transfer.

[0034] In another embodiment, the above-mentioned subsequent discrimination phase is not performed, and the correct polarity is inferred directly from the value of the current sensed in the initial scanning phase.

[0035] After performing the identification of the polarity direction of the voltage to be applied to the primary terminal 101 and the moving device, the supply and control system applies the working voltage to the identified primary terminal, which is connected to the secondary terminal 802 and to the conductor 809 in the detection circuit 803. Upon detecting the incoming voltage, the detection circuit 803 opens the connection on the energy absorber side, thereby connecting the input cable 809 to the output cable 808 via the energy transmission with pre-set parameters.

[0036] The method of operation is described in detail below with reference to the states of the supply control subsystem 700.

[0037] Scan Status The supply control subsystem 700 periodically scans all pairs of primary terminals 101 connected to different sets of primary terminals by applying a test voltage. If the electrical circuit of a pair of primary terminals 101 belonging to a different set of primary terminals 101 is open, the supply control subsystem 700 continues to the next pair of primary terminals 101.

[0038] In this phase, a voltage is applied to the primary terminals 101 of interest for the duration of the scan (a few milliseconds). Furthermore, for safety reasons, the applied voltage is very low (a few volts) and the power delivered is limited. If an electrical circuit of a pair of primary terminals 101 belonging to different sets is closed, then a current will pass as analyzed by the supply control subsystem 700 and, if necessary, a state change will occur.

[0039] Preferably, the supply control subsystem 700 stops scanning and moves directly to the next phase as soon as a short condition is detected on any pair of primary terminals 101 .

[0040] According to another embodiment of the present invention, before moving to the next phase, the supply control subsystem 700 performs a scan of all pairs of the primary terminals 101 described above and stores the sensed current or corresponding circuit status for each pair.

[0041] The sequence of pairs of scanned primary terminals 101 is arranged to include all possible pairs of primary terminals 101, where each pair is used twice in reverse order. Such a sequence therefore coincides with a set of combinations without repeating any two elements of the set of primary terminals 101, with a cardinality of N×(N−1), as is evident, where N denotes the number of primary terminals 101. Thus, each pair of primary terminals 101 is selected twice in the sequence, each time with a different polarity.

[0042] In another embodiment, the sequence for the pairs of primary terminals 101 is arranged to include all possible pairs of primary terminals 101, but not including a reversal of the above order. Such a sequence corresponds to a set of combinations without repeating two elements of the set of primary terminals 101 with half the concentration as compared to the previous embodiment, as will be seen. In this embodiment, the appropriate polarity to be applied is determined based on the following matters after the pair of primary terminals 101 connected to the secondary terminals 802 is identified. Advantageously, this embodiment allows the scan to be performed in less time as compared to the previous embodiment.

[0043] As will be apparent, if the primary terminals 101 are connected in parallel to form the above mentioned sets A to I, then the above disclosure can be modified such that in each pass of the scan, the sets A to I of the primary terminals 101 are selected instead of the single primary terminal 101.

[0044] An abnormality has occurred If a current value is detected and is above or below an expected threshold, for example due to the presence of a conductive or partially conductive foreign object, the system switches to an abnormal status and temporarily stops scanning.

[0045] Pre-orbit condition The value of the current is sensed and if it is within a pre-set threshold, the primary terminal 101 has been correctly identified.

[0046] Identification Status A voltage with reversed polarity is applied to the primary terminals 101 identified in the previous step, such that when a reverse current is applied, a current with a different value is generated due to the different impedance of the sensing circuit 803. If this value is within a preset threshold range, the system can determine the appropriate polarity to be applied to the primary terminals 101, thereby identifying the contact kit and the mobile device carrying it.

[0047] According to another embodiment of the present invention, the above-mentioned polarity swap at the primary terminals 101 is not performed and the proper polarity is inferred from the value of the sensed current depending on whether said value is within a first interval of currents, in which case the proper polarity is identified as a first polarity, and if the value is within a second interval of currents, the proper polarity is identified as a polarity opposite to the first polarity.

[0048] According to yet another embodiment of the invention, the possibility of polarity swapping is not performed at the level of the primary terminals 101, but rather at the level of the contact and identification subsystem 800 of the mobile device 1000. The subsystem comprises a known polarity control device, not shown, for example integrated in the detection circuit 803 or interposed between the secondary terminal 802 and the energy absorber 804. Such a polarity control device is configured to determine the polarity of the voltage difference present at the secondary terminal 802 due to the connection with the two identified primary terminals 101, and to swap the connection between the secondary terminal 802 and the energy absorber 804 if said polarity does not correspond to the one suitable for supplying the energy absorber 804.

[0049] Condition before supply Once the identification phase is over and a predefined time interval has elapsed, a working voltage of appropriate polarity is applied to the contact kit, timed to allow cooling of the energy absorber and correlated to a temperature-indicative signal sent to the mobile device.

[0050] Supply Status The supply control subsystem 700 applies a working voltage to the primary terminal, which is connected to the secondary terminal, thereby placing the entrance conductor 809 of the sensing circuit 803 under tension. When the sensing circuit 803 detects a voltage, it opens the electrical connection to the energy absorber, which starts absorbing current. The supply control subsystem 700 detects the current and switches to the supply state. If the electrical circuit is subsequently opened, the supply control subsystem 700 returns to the scan state.

[0051] Condition after supply When the battery is deemed fully charged, the delivery control subsystem suspends the energy delivery and the subsequent scanning phase for a predefined (optional) time interval, aiming to optimize the battery life.

[0052] According to another embodiment of the invention, the test voltage and the working voltage are not provided by the same power supply 703. The power supply 703 is controlled by a microprocessor 704, which provides each of the two voltages when required.

[0053] According to another embodiment of the present invention, not shown, the two aforementioned voltages may be provided by two different power sources, both of which are controlled by the microprocessor 704.

[0054] In further embodiments, instead of the characteristic current value, the above-mentioned operations may be performed using digital signals suitable for detecting and identifying the mobile device, performing monitoring, sending commands or pre-programmed instructions, etc. In this case, the detection circuit 803 on board the mobile device comprises a microprocessor and a non-volatile memory suitable for storing parameters including software programs and a unique identifier.

[0055] The aforementioned identification phase may be performed by the supply control subsystem by establishing communication with the identification circuit 803 and obtaining its unique identifier.

[0056] When in the scan state, the control and supply subsystem periodically connects pairs of primary terminals as described above, and waits a predefined time at each connection to receive a data packet from the detection circuit 803. The detection circuit 803 is responsible for identifying the primary terminals and the contact kit mounted on the mobile device. This mode of operation reports possible anomalies, such as a short between two primary terminals, and without any disturbance, the scan continues to search for a pair of primary terminals that is likely to provide a data packet. This allows for a subsequent energy exchange. The above-mentioned mode of operation allows for an energy supply with specific parameters linked to an identifier associated with the mobile device. For example, the voltage and activation power values ​​can be set from time to time as the role of a specific mobile device mounted on the board, and the parameters transmitted by the mobile device to the supply control subsystem 700 can be detected.

[0057] The supply control subsystem 700 can realize the commands controlling and setting all the operating parameters by means of a mini-processor 704. From the viewpoint of safety and integrity of the device, the supplied energy is monitored to detect possible abnormal conductive events, such as the presence of conductive or partially conductive material between the primary terminals 101 or a short circuit caused, for example, by an external conductive material on the board. By monitoring the supplied energy, the charge state and the completion of the charge of the accumulator can be determined, the actual energy transferred can be estimated, and the accumulator can be determined to be in a state where it is ready for normal functioning, for example by analyzing the history of the charging sequence or by indirectly measuring the internal impedance of the accumulator.

[0058] Due to the lack of moving mechanisms and parts, and due to the low voltage and limited energy applied only for very short time intervals during the scanning phase, the operation of the substrate is inherently safe. Furthermore, a subsystem mounted on the moving device prevents the secondary terminal 802 of the moving device from being under tension when no working voltage is present at the input side of the detection circuit 803. For example, in the case of an energy absorber constituted by a battery, when the moving device is not placed on the substrate, the battery voltage is safely provided for the secondary terminal 802, which would otherwise be at risk of being exposed. [Industrial Applicability]

[0059] Among the salient aspects of the present invention are the following: - The moving device can be freely placed on the substrate surface. -The contact system is independent of moving vehicles, etc. -Efficient energy transfer since there is no limit on the transfer power or applied voltage - The process from establishing contact between the moving vehicle and the charging station to the energy transfer can be performed fully automatically with remote control and monitoring. Operational safety Scalability in dimensions and flexibility to accommodate different configurations to suit specific requirements -No moving parts, low manufacturing cost

[0060] The present system for supplying electrical energy to a charging accumulator in a mobile device can be easily and inexpensively applied in industrial applications to a large number of accumulator-powered devices, examples of which are given below. · Land vehicles (e.g. UGVs) ·aircraft ·robot Industrial operation systems

Claims

1. 1. A system for supplying electrical energy to an energy absorbing mobile device (900; 1000) having two conductive secondary terminals (802), the system comprising: A power supply board (100), A supply control subsystem (700); Equipped with the power supply substrate (100) comprises a plurality of conductive primary terminals (101) located on an upper surface of the substrate (100) and spaced apart by a non-conductive material (102), the primary terminals (101) being adapted to be placed in contact with the two secondary terminals (802) when the moving device (900; 1000) is located on the substrate (100); The supply control subsystem (700) comprises a line selector (702) having an output line (701) connected to the primary terminals (101), a rectifier and program-controlled power supply (703) for supplying energy, and a mini-processor (704) connected to the line selector (702) and the rectifier and program-controlled power supply (703) for sending and receiving data and commands; The line selector (702) has two input lines (705) across which a voltage difference greater than zero occurs, and is configured to periodically apply the voltage difference to all possible pairs of output lines (701) and thus to their corresponding pairs of primary terminals (101) based on the command received from the mini-processor (704), The moving device (900; 1000), a contact and identification subsystem (800) mounted on said mobile device (900; 1000); Equipped with The contact and identification subsystem (800) comprises an energy absorber (804) and the two secondary terminals (802); the moving device (900; 1000) is adapted to absorb energy whilst being disposed on the substrate (100), regardless of its position on the surface of the substrate (100); The contact and identification subsystem (800) comprises a sensing circuit (803); the line selector (702) closes an electrical circuit towards the sensing circuit (803) when the output line (701) is connected to a pair of the primary terminals (101) that are in electrical contact with the two secondary terminals (802), so that the line selector (702) can measure the current; The system is characterized in that the detection circuit (803) is configured to establish a connection towards the energy absorber (804) when a working voltage is detected on the inlet side and energy starts to be transferred to the energy absorber (804), thereby avoiding the secondary terminal (802) being placed under tension when the working voltage is not present on the inlet side of the detection circuit (803).

2. 2. The system of claim 1, wherein the mini-processor (704) is configured to operate the power source (703) to reverse the polarity of the voltage difference upon detecting that an electrical circuit between one of the pairs of primary terminals (101) is closed.

3. The supply control subsystem (700) comprises: applying said voltage difference to the pair of output wires (701) until it is detected that the two primary terminals (101) of a corresponding pair are connected to and identified by the two secondary terminals (802); 3. A system according to claim 1 or 2, characterized in that it is arranged to apply a working voltage different from said voltage difference to said two primary terminals (101).

4. 4. The system of claim 3, wherein the supply control subsystem (700) is configured to apply the working voltage with a predetermined delay after the two primary terminals (101) have been identified.

5. 5. The system according to claim 1, wherein the primary terminals (101) are grouped into a plurality of sets (A to I), the plurality of sets (A to I) of primary terminals (101) being connected in parallel with each other and with the output lines (701) of the line selector (702).

6. 6. The system according to claim 1, wherein each of the secondary terminals (802) has a support portion (601), the support portion (601) having a dimension larger than a non-conductive space between two adjacent primary terminals (101).

7. The system according to claim 5 or claim 6 in combination with claim 5, characterized in that the secondary terminals (802) have a dimensional correlation with the primary terminals (101) to prevent simultaneous contact with the primary terminals (101) belonging to the same set (A to I) of primary terminals (101).

8. The contact and identification subsystem (800) comprises a polarity control device; 8. The system of claim 1, wherein the polarity control device is configured to determine the polarity of the voltage difference and to switch the connection between the secondary terminals (802) and the energy absorber (804) if the polarity does not match a polarity suitable for supplying the energy absorber (804).

9. 9. The system of claim 7 or 8, characterized in that the supply control subsystem (700) is configured to communicate with the detection circuit (803) to identify the pair of primary terminals (101) in electrical contact with the secondary terminals (802) and to identify the polarity of the voltage to be applied to the secondary terminals (802).

10. The detection circuit (803) is provided with a unique identifier for identification; The system of any one of claims 1 to 9, characterized in that the supply control subsystem (700) is configured to obtain the unique identifier from the detection circuit (803) through an electrical connection established between the substrate (100) and the contact and identification subsystem (800) or by wireless communication.

11. The system of claim 10, characterized in that the supply control subsystem (700) is configured to supply energy to the mobile device (900; 1000), the voltage and current values ​​of which are predetermined or linked to the unique identifier obtained from the detection circuit (803).

12. 12. A method of operating a system according to any one of claims 1 to 11, said method comprising the steps of: performing a periodic scan of the pairs of output lines (701) by applying a voltage difference greater than zero to each of all possible pairs of the output lines (701) of the line selector (702) and thus to the corresponding pair of primary terminals (703); sensing a first current by closing a circuit between a pair of the output lines (701) of the line selector (702) electrically connected to the primary terminals (101) to which the voltage difference is applied; analyzing said first current and determining whether the value of said first current is within a characteristic value range indicative of a circuit being completed at said secondary terminal (802) and identifying a pair of said primary terminal (101) in contact with said secondary terminal (802); applying a working voltage to the identified primary terminal (101); and when a voltage difference is detected at the input side of the secondary terminals (802) and the contact and identification subsystem (800) is correctly identified, connecting the energy absorber (804) to the secondary terminals (802) to supply energy to the mobile device (900; 1000).

13. 13. The method of claim 12, further comprising the act of applying a voltage difference having an opposite sign to a voltage difference applied during the act of performing the periodic scan to the identified pair of primary terminals (101) to obtain a second current, and comparing a value of the second current to a value of the first current to identify a polarity appropriate for the voltage used.

14. 13. The method of claim 12, further comprising indicating an anomaly if the first current is not within a characteristic value range or if an auxiliary sensor detects an alarm.

15. 14. The method of claim 13, further comprising indicating an anomaly if the first current or the second current is not within a characteristic value range or if an auxiliary sensor detects an alarm.

16. The method of claim 12 or 13, further comprising interrupting the operation of performing the periodic scan if an abnormality is reported.

17. The system is a system according to claim 10 or 11, The operation of applying the working voltage to the identified pair of primary terminals (101) comprises: a sub-operation of obtaining said unique identifier from said detection circuit (803) through an electrical connection established between said two primary terminals (101) and said secondary terminal (802) or by wireless communication; The method according to any one of claims 12 to 16, further comprising the sub-operation of supplying the power from the substrate (101) to the moving device (900; 1000) by supplying the working voltage and power based on predetermined parameters or parameters associated with the identification of the contact and identification subsystem (800).

18. 18. The method of claim 17, characterized in that after applying the voltage difference to each of the pairs of primary terminals (101), the operation of performing the periodic scan includes an operation of waiting a predetermined time for the supply control subsystem (700) to transmit a data packet from the detection circuit (803) suitable for identification of the contact and identification subsystem (800).

19. 19. The method according to any one of claims 12 to 18, further comprising the operation of transmitting and receiving data and commands to and from an external system through a standard interface provided by said mini-processor (704).

20. 20. The method of claim 12, wherein analyzing the first current comprises determining whether a value of the first current indicates an open circuit, a short circuit, or a miscontact.

21. 21. The method according to claim 12, characterized in that the operation of analysing the first current is performed after an operation of performing the periodic scan of all possible pairs of the output lines (701) of the line selector (702) according to a predefined sequence.

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