Abstract: The present disclosure provides an automatic recharging method for an autonomous mobile device and a system. The method includes: when the autonomous mobile device moves toward a charging base, receiving, by at least two receivers disposed on the autonomous mobile device, directional guidance signals transmitted by at least three transmitters disposed on the charging base. The method includes determining output signals corresponding to each receiver based on predetermined movement rules and the guidance signals received by each receiver. The predetermined movement rules include output signals corresponding to each receiver when each receiver receives different guidance signals. The method includes performing a vector composition on the output signals corresponding to the receivers to obtain a vector sum, and controlling movement of the autonomous mobile device based on the vector sum.

Abstract: A recharging method for a cleaning robot is provided. The recharging method includes: determining a direction of a charging base; controlling the cleaning robot to move in a first direction toward the direction of the charging base; detecting, in real time, a distance between the cleaning robot and the charging base; determining whether the cleaning robot has arrived at a target location based on the distance, the target location being at a second distance in front of the charging base; controlling the cleaning robot to rotate for a predetermined angle when the cleaning robot arrives at the target location; controlling the cleaning robot to move backwardly to approach the charging base and to touch the charging base; controlling the cleaning robot to move forwardly for a first distance, and then to move backwardly to approach the charging base and to dock with the charging base to perform battery charging.

Abstract: This invention provides a method for preparing cycloastragenol monoglucoside CMG (cycloastragenol-6-O-?-D-glucoside), comprising the steps of: a. using astragaloside IV or Astragali extracts prepared by a conventional method as raw materials and adding an appropriate solvent thereinto to form a raw material solution; b. adding hydrolase and allowing for hydrolysis at a constant temperature to obtain a hydrolysate; c. separating the hydrolysate with macroporous adsorption resin; and d. obtaining the product by purification and separation. The present invention further provides cycloastragenol-6-O-?-D-glucoside prepared according to the method of this invention as well as its use in the preparation of a medicament for treating cardiovascular diseases and pharmaceutical compositions comprising the same.

Abstract: This invention provides a method for preparing cycloastragenol monoglucoside CMG (cycloastragenol-6-O-?-D-glucoside), comprising the steps of: a. using astragaloside IV or Astragali extracts prepared by a conventional method as raw materials and adding an appropriate solvent thereinto to form a raw material solution; b. adding hydrolase and allowing for hydrolysis at a constant temperature to obtain a hydrolysate; c. separating the hydrolysate with macroporous adsorption resin; and d. obtaining the product by purification and separation. The present invention further provides cycloastragenol-6-O-?-D-glucoside prepared according to the method of this invention as well as its use in the preparation of a medicament for treating cardiovascular diseases and pharmaceutical compositions comprising the same.