Recharging guiding device and automatic charging system
By setting limiting grooves and guide posts on the charging nozzle and charging station of the lawnmower, the problems of low charging docking accuracy and high cost of the lawnmower are solved, and precise docking with the charging station and efficient charging are achieved.
Patent Information
- Application Number
- CN202323648890.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-29
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2033-12-29
AI Technical Summary
Existing lawnmower robots suffer from low recharging accuracy and high costs, making it difficult to achieve precise docking with charging stations and affecting charging efficiency.
Design a recharge guide device, including setting a limiting groove and a guide post on the charging nozzle of the lawnmower and the charging tongue of the charging pile. After the guide post is inserted into the limiting groove, it drives the lawnmower to be aligned under the guidance of the groove wall, ensuring that it is properly connected to the charging pile.
It improves the recharging and docking accuracy of lawnmower robots, has a simple structure and low cost, and ensures charging efficiency.
Smart Images
Figure CN222262189U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of lawn mowers, and in particular to a recharging guide device and an automatic charging system. Background Art
[0002] With the development of science and technology, various intelligent operation equipment have emerged, such as sweeping robots and lawn mowing robots. Among them, lawn mowing robots are intelligent robots that can be remotely controlled to achieve automatic garden weeding. Lawn mowing robots need to be charged after working for a period of time. Lawn mowing robots are generally equipped with charging piles for lawn mowing robots to charge. In order to achieve full automation, lawn mowing robots have an automatic recharging function, that is, lawn mowing robots are equipped with OCR (Optical Character Recognition) recognition equipment to automatically patrol to the charging pile.
[0003] The lawn mower robot patrolling to the charging pile also needs to dock with the charging pile for charging. There are currently two main ways to achieve the docking of the two. One is to lay a guide line at the bottom of the lawn mower robot, and the lawn mower robot moves along the extension direction of the guide line to dock with the charging pile; the other is to provide a track that matches the universal wheel in the lawn mower robot, and guide the lawn mower robot to dock with the charging pile through the track. However, the method of laying the guide line requires additional program development, and the production cost is high; the method of docking the charging pile with the track is difficult to achieve the precise alignment of the lawn mower robot and the charging pile. There is often an angle offset between the lawn mower robot and the charging pile, that is, it is difficult for the lawn mower robot to be aligned so that it is precisely aligned with the charging pile, thereby affecting the charging efficiency of the lawn mower robot. Utility Model Content
[0004] Based on this, it is necessary to provide a recharging guide device and an automatic charging system to address the problems of low recharging docking accuracy and high cost of current lawn mowing robots.
[0005] A recharging guide device is used to assist a lawn mower robot in docking with a charging pile, the recharging guide device comprising a charging nozzle arranged on the lawn mower robot and a charging tongue arranged on the charging pile:
[0006] One of the charging nozzle and the charging tongue is provided with a limiting groove, and the other of the two is provided with a guide column, and the guide column is configured to be inserted into the limiting groove to guide the lawn mowing robot to dock with the charging pile;
[0007] When the guide column is inserted into the limiting groove, the guide column drives the lawn mowing robot to align under the guidance of the groove wall of the limiting groove.
[0008] The above-mentioned recharging guide device is provided with a limiting groove on one of the charging nozzle and the charging tongue, and a guide column on the other of the two. When the guide column is inserted into the limiting groove, the guide column drives the lawn mower robot to align under the guidance of the groove wall of the limiting groove. The lawn mower robot is in direct contact with the charging pile, which conveniently improves the recharging docking accuracy of the lawn mower robot. The recharging guide device has a simple structure and low cost.
[0009] In one of the embodiments, the charging nozzle is provided with the limiting groove, and the charging tongue is provided with the guide column. When the guide column is inserted into the limiting groove, the groove wall of the limiting groove abuts against the outer wall of the guide column, and the limiting groove rotates around the guide column and drives the lawn mowing robot to align.
[0010] In one embodiment, the limiting groove is a V-shaped or U-shaped structure.
[0011] In one embodiment, the guide column is a cylindrical or waist cylindrical structure.
[0012] In one embodiment, the charging tongue has two first convex walls, and the limiting groove is formed between the two first convex walls;
[0013] The charging nozzle includes a carrying plate and two rotating plates rotatably arranged above the carrying plate, the guide column is arranged above the carrying plate, and the guide column extends along a first direction, the two rotating plates are arranged at intervals on both sides of the guide column along a second direction, and two side walls of the guide column and the two rotating plates form two conductive spaces correspondingly, and the first direction is perpendicular to the second direction;
[0014] When the guide column follows the movement of the lawn mowing robot and is inserted into the limiting groove, the two rotating plates abut against the two first convex walls one by one, and the two rotating plates rotate in the direction away from the guide column so that the two first convex walls enter the two conductive spaces correspondingly.
[0015] In one embodiment, one of the two rotating plates is a first positive electrode conductor, and the other is a first negative electrode conductor;
[0016] One of the two first convex walls is provided with a second positive electrode lead corresponding to the first positive electrode lead, and the other is provided with a second negative electrode lead corresponding to the first negative electrode lead.
[0017] In one embodiment, the charging nozzle further includes a column and a torsion spring sleeved on the column, the column is disposed on the supporting plate, and the torsion spring is connected to the rotating plate.
[0018] In one embodiment, the guide column includes a shaft body disposed on the supporting plate and a rotating sleeve sleeved outside the shaft body, and the rotating sleeve can rotate around the axis of the shaft body.
[0019] In one of the embodiments, the charging nozzle further includes a limit plate, which is disposed at an end of the shaft body away from the supporting plate, and a size of the limit plate is larger than an opening size of the rotating sleeve.
[0020] The present application also provides an automatic charging system, which includes a lawn mowing robot, a charging pile, and a recharging guide device as described in any of the above embodiments, wherein the recharging guide device is used to guide the docking of the lawn mowing robot with the charging pile.
[0021] The automatic charging system guides the docking of the lawn mower robot and the charging pile by setting a recharging guide device, and the recharging guide device includes a charging tongue and a charging nozzle respectively set on the charging pile and the lawn mower robot. One of the charging nozzle and the charging tongue is provided with a limiting groove, and the other is provided with a guide column. When the guide column is inserted into the limiting groove, the guide column drives the lawn mower robot to align under the guidance of the groove wall of the limiting groove, so that the lawn mower robot and the charging pile are in direct contact, which conveniently improves the recharging docking accuracy of the lawn mower robot, and the recharging guide device has a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] FIG1 is a schematic diagram of the structure of the automatic charging system provided in the present application.
[0023] FIG2 is a schematic diagram of the structural state of the recharging guide device provided in the present application before the lawn mowing robot and the charging pile are docked.
[0024] FIG. 3 is a top view of FIG. 2 .
[0025] FIG4 is a schematic diagram of the structural state of the recharging guide device provided in the present application in the process of guiding the lawn mowing robot and the charging pile to align.
[0026] FIG5 is a schematic diagram of the structural state of the recharging guide device provided in the present application after guiding the lawn mowing robot and the charging pile to align.
[0027] FIG. 6 is a schematic diagram of the structure of the guide column provided in the present application.
[0028] FIG. 7 is a schematic diagram of the structural state of the limiting groove provided in the present application before being matched with the guide column in FIG. 6 .
[0029] FIG. 8 is a schematic diagram of the structural state of the limiting groove provided in the present application during the cooperation process with the guide column in FIG. 6 .
[0030] FIG. 9 is a top view of FIG. 8 .
[0031] FIG. 10 is a schematic diagram of the structural state of the limiting groove provided in the present application after being matched with the guide column in FIG. 6 .
[0032] FIG11 is a schematic diagram of the structure of the lawn mowing robot and the charging pile offset in the automatic charging system provided in the present application.
[0033] in:
[0034] 10. Automatic charging system;
[0035] 100. Robotic lawn mower; 200. Charging station;
[0036] 300, recharging guide device; 310, charging nozzle; 311, guide column; 3111, shaft; 3112, rotating sleeve; 3113, limit plate; 312, bearing plate; 313, rotating plate; 314, conductive space; 315, column; 316, torsion spring; 320, charging tongue; 321, limit groove; 3211, groove wall; 322, first convex wall. DETAILED DESCRIPTION
[0037] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.
[0038] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.
[0039] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0040] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.
[0041] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0042] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.
[0043] Based on this, referring to Figures 1, 2, 3, 4 and 5, Figure 1 shows a schematic diagram of the structure of the automatic charging system 10 in an embodiment of the present application. Figure 2 shows a schematic diagram of the structural state of the recharging guide device 300 in an embodiment of the present application before docking with the mowing robot 100 and the charging pile 200, Figure 3 is a top view of Figure 2, Figure 4 shows a schematic diagram of the structural state of the recharging guide device 300 in an embodiment of the present application guiding the mowing robot 100 and the charging pile 200 to align, and Figure 5 shows a schematic diagram of the structural state of the recharging guide device 300 in an embodiment of the present application guiding the mowing robot 100 and the charging pile 200 to align.
[0044] The recharging guide device 300 provided in an embodiment of the present application is used to assist the lawn mower robot 100 to dock with the charging pile 200. The recharging guide device 300 includes a charging nozzle 310 provided on the lawn mower robot 100 and a charging tongue 320 provided on the charging pile 200. One of the charging nozzle 310 and the charging tongue 320 is provided with a limiting groove 321, and the other of the two is provided with a guide column 311. The guide column 311 is configured to be inserted into the limiting groove 321 to guide the lawn mower robot 100 to dock with the charging pile 200. When the guide column 311 is inserted into the limiting groove 321, the guide column 311 drives the lawn mower robot 100 to align under the guidance of the groove wall 3211 of the limiting groove 321, that is, the guide column 311 and the groove wall 3211 of the limiting groove 321 are mutually limited so that the lawn mower robot 100 is aligned. In this way, the lawn mower robot 100 is in direct contact with the charging pile 200, which is conducive to the charging of the lawn mower robot 100 by the charging pile 200.
[0045] It should be noted that, taking the charging tongue 320 as an example in which a limiting groove 321 is provided and the charging nozzle 310 is provided with a guide column 311, when the lawn mower robot 100 moves toward the charging pile 200 according to the OCR device configured by itself, the guide column 311 also moves with the lawn mower robot 100 until the guide column 311 itself abuts against the groove wall 3211 of the limiting groove 321. The groove wall 3211 of the limiting groove 321 is used to guide the movement of the guide column 311, so that the guide column 311 drives the lawn mower robot 100 to align when the lawn mower robot 100 continues to move toward the charging pile 200, thereby making the lawn mower robot 100 face to face with the charging pile 200, which is beneficial to the charging pile 200 for charging the lawn mower robot 100.
[0046] The above-mentioned recharging guide device 300 is provided with a limiting groove 321 on one of the charging nozzle 310 and the charging tongue 320, and a guide column 311 is provided on the other of the two. When the guide column 311 is inserted into the limiting groove 321, the guide column 311 drives the lawn mower robot 100 to align under the guidance of the groove wall 3211 of the limiting groove 321, so that the lawn mower robot 100 is in direct contact with the charging pile 200, which conveniently improves the recharging docking accuracy of the lawn mower robot 100, and the recharging guide device 300 has a simple structure and low cost.
[0047] It should be emphasized that, taking the charging nozzle 310 as an example in which the limiting groove 321 is provided and the charging tongue 320 is provided with a guide column 311, a preferred embodiment is that the charging nozzle 310 is provided with a limiting groove 321 and the charging tongue 320 is provided with a guide column 311. In the process of the guide column 311 being inserted into the limiting groove 321, the groove wall of the limiting groove 321 abuts against the outer wall of the guide column 311, and the limiting groove 321 rotates around the guide column 311 and drives the lawn mower robot 100 to align, thereby achieving the lawn mower robot 100 and the charging pile 200 facing each other. It should be noted that at this time, the process of the guide column 311 being inserted into the limiting groove 321 means that the limiting groove 321 moves with the lawn mower robot 100 so that the limiting groove 321 receives the guide column 311, that is, the guide column 311 is inserted into the limiting groove 321.
[0048] During specific operation, the lawn mower robot 100 moves toward the charging pile 200 according to the OCR device configured by itself, and the limiting groove 321 follows the lawn mower robot 100 until the groove wall 3211 of the limiting groove 321 abuts against the outer wall of the guide column 311. When the lawn mower robot 100 continues to move toward the charging pile 200, the groove wall 3211 of the limiting groove 321 rotates around the outer wall of the guide column 311, and the groove wall 3211 drives the lawn mower robot 100 to be straightened, thereby achieving direct contact between the lawn mower robot 100 and the charging pile 200.
[0049] In order to better match the limiting groove 321 with the guide column 311, in a preferred embodiment, the limiting groove 321 is a V-shaped or U-shaped structure. Through the above configuration, the guide column 311 can reach the bottom of the limiting groove 321 along the groove wall 3211 of the limiting groove 321. At this time, the guide column 311 also drives the lawn mowing robot 100 to face the charging pile 200. In the specific configuration, the shape of the limiting groove 321 is not limited to the above-mentioned V-shaped or U-shaped structure, and can also be any other geometric pattern such as a prism with a notch on one side, a polygon, etc.
[0050] In order to facilitate the movement of the guide column 311 along the groove wall 3211 of the limiting groove 321, in a preferred embodiment, the guide column 311 is a cylindrical or waist cylindrical structure. Through the above configuration, the outer wall of the guide column 311 has a circular surface or an arc surface, which facilitates the movement of the guide column 311 along the groove wall 3211 of the limiting groove 321, thereby accelerating the straightening speed of the lawn mowing robot 100. In the specific configuration, the shape of the guide column 311 is not limited to the above cylindrical or waist circular structure, but can also be other columnar structures such as a polygonal column and a conical column.
[0051] In order to prevent the lawn mowing robot 100 from shaking after it comes into direct contact with the charging pile 200, a preferred embodiment is that the charging tongue 320 has two first convex walls 322, and a limiting groove 321 is formed between the two first convex walls 322. The charging nozzle 310 also includes a supporting plate 312 and two rotating plates 313 rotatably arranged above the supporting plate 312. The guide column 311 is arranged above the supporting plate 312, and the guide column 311 extends along a first direction. The two rotating plates 313 are arranged on both sides of the guide column 311 at intervals along a second direction. The two side walls of the guide column 311 and the two rotating plates 313 form two conductive spaces 314 correspondingly, and the first direction is perpendicular to the second direction. When the guide post 311 follows the movement of the lawn mower robot 100 and is inserted into the limiting groove 321, the two rotating plates 313 abut against the two first convex walls 322 one by one, and the two rotating plates 313 rotate in the direction away from the guide post 311, so that the two first convex walls 322 enter the two conductive spaces 314 accordingly. Through the above arrangement, when the guide post 311 moves along the groove wall 3211 of the limiting groove 321 to the bottom end of the limiting groove 321, the two first convex walls 322 outside the groove wall 3211 abut against the two rotating plates 313, increasing the contact points between the charging tongue 320 and the charging nozzle 310, which can prevent the lawn mower robot 100 from shaking due to accidental force after direct contact with the charging pile 200 to a certain extent.
[0052] In order to more conveniently realize docking and charging of the lawn mower robot 100 and the charging pile 200, specifically, one of the two rotating plates 313 is a first positive electrode guide 3121, and the other is a first negative electrode guide 3122. One of the two first convex walls 322 is provided with a second positive electrode guide corresponding to the first positive electrode guide 3121, and the other first convex wall 322 is provided with a second negative electrode guide corresponding to the first negative electrode guide 3122. Through the above arrangement, when the two first convex walls 322 are correspondingly abutted against the two rotating plates 313, the second positive electrode guide and the second negative electrode guide are in one-to-one contact with the first positive electrode guide 3121 and the first negative electrode guide 3122, and docking and charging of the lawn mower robot 100 and the charging pile 200 can be realized.
[0053] In order to more conveniently realize that the rotating plate 313 is rotatably mounted on the supporting plate 312, specifically, the charging nozzle 310 also includes a column 315 and a torsion spring 316 sleeved on the column 315, the column 315 is arranged on the supporting plate 312, and the torsion spring 316 is connected to the rotating plate 313. Through the above arrangement, the rotating plate 313 rotates around the axis of the column 315 through the torsion spring 316. It should be noted that when the rotating plate 313 abuts against the first convex wall 322, the rotating plate 313 rotates in the driving direction away from the guide column 311 under the action of the first convex wall 322. At this time, the torsion spring 316 is configured to have a rebound force in the opposite direction, so that the abutment strength between the rotating plate 313 and the first convex wall 322 is increased to prevent the lawn mowing robot 100 from shaking at will.
[0054] In combination with Figures 6, 7, 8, 9 and 10, Figure 6 is a schematic diagram of the structure of the guide column 311 in an embodiment of the present application, Figure 7 is a schematic diagram of the structural state of the limiting groove 321 in an embodiment of the present application before the cooperation with the guide column 311 in Figure 6, Figure 8 is a schematic diagram of the structural state of the limiting groove 321 in an embodiment of the present application during the cooperation with the guide column 311 in Figure 6, Figure 9 is a top view of Figure 8, and Figure 10 is a schematic diagram of the structural state of the limiting groove 321 in an embodiment of the present application after the cooperation with the guide column 311 in Figure 6.
[0055] When the guide column 311 moves along the groove wall 3211 of the limiting groove 321, in order to reduce the friction between the guide column 311 and the limiting groove 321, specifically, the guide column 311 includes a shaft body 3111 disposed on the bearing plate 312 and a rotating sleeve 3112 sleeved outside the shaft body 3111, and the rotating sleeve 3112 can rotate around the axis of the shaft body 3111. In the specific configuration, the rotating sleeve 3112 and the shaft body 3111 are clearance-matched, so that the rotating sleeve 3112 can rotate around the shaft body 3111. When the outer wall of the guide column 311 and the outer side of the rotating sleeve 3112 move along the groove wall 3211 of the limiting groove 321, rolling friction occurs between the rotating sleeve 3112 and the groove wall 3211 of the limiting groove 321, thereby reducing the friction between the two.
[0056] In order to prevent the rotating sleeve 3112 from being separated from the shaft body 3111 during rotation, more specifically, the charging nozzle 310 further includes a limiting plate 3113, which is arranged at one end of the shaft body 3111 away from the carrying plate 312, and the size of the limiting plate 3113 is larger than the opening size of the rotating sleeve 3112. Through the above arrangement, the rotating sleeve 3112 is located between the carrying plate 312 and the limiting plate 3113, and the rotating sleeve 3112 will not be separated from the shaft body 3111 when rotating around the shaft body 3111.
[0057] In conjunction with FIG11, FIG11 provides a schematic structural diagram of the lawn mower robot 100 and the charging pile 200 of the automatic charging system 10 in an embodiment of the present application being offset. In order to more conveniently make the lawn mower robot 100 and the charging pile 200 face each other, the present application further provides an automatic charging system 10, which includes the lawn mower robot 100, the charging pile 200, and the recharging guide device 300 as described in any of the above embodiments.
[0058] The automatic charging system 10 guides the docking of the mowing robot 100 and the charging pile 200 by setting a recharging guide device 300. The recharging guide device 300 includes a charging tongue 320 and a charging nozzle 310 respectively arranged on the charging pile 200 and the mowing robot 100. A limiting groove 321 is provided on one of the charging nozzle 310 and the charging tongue 320, and a guide column 311 is provided on the other of the two. When the guide column 311 is inserted into the limiting groove 321, the guide column 311 drives the mowing robot 100 to align under the guidance of the groove wall 3211 of the limiting groove 321, so that the mowing robot 100 and the charging pile 200 are in direct contact with each other, which conveniently improves the recharging docking accuracy of the mowing robot 100, and the recharging guide device 300 has a simple structure and low cost.
[0059] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0060] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.
Claims
1. A charging guide device for assisting a lawn mowing robot to dock with a charging pile, characterized in that: The recharging guide device includes a charging nozzle arranged on the lawn mowing robot and a charging tongue arranged on the charging pile: One of the charging nozzle and the charging tongue is provided with a limiting groove, and the other of the two is provided with a guide column, and the guide column is configured to be inserted into the limiting groove to guide the lawn mowing robot to dock with the charging pile; When the guide column is inserted into the limiting groove, the guide column drives the lawn mowing robot to align under the guidance of the groove wall of the limiting groove.
2. The refill guide device according to claim 1, characterized in that: The charging nozzle is provided with the limiting groove, and the charging tongue is provided with the guide column. When the guide column is inserted into the limiting groove, the groove wall of the limiting groove abuts against the outer wall of the guide column, and the limiting groove rotates around the guide column and drives the lawn mowing robot to align.
3. The refill guide device according to claim 1, characterized in that: The limiting groove is a V-shaped or U-shaped structure.
4. The refill guide device according to claim 1, characterized in that: The guide column is a cylindrical or waist cylindrical structure.
5. The refill guide device according to claim 1, characterized in that: The charging tongue has two first convex walls, and the limiting groove is formed between the two first convex walls; The charging nozzle includes a carrying plate and two rotating plates rotatably arranged above the carrying plate, the guide column is arranged above the carrying plate, and the guide column extends along a first direction, the two rotating plates are arranged at intervals on both sides of the guide column along a second direction, and two side walls of the guide column and the two rotating plates form two conductive spaces correspondingly, and the first direction is perpendicular to the second direction; When the guide column follows the movement of the lawn mowing robot and is inserted into the limiting groove, the two rotating plates abut against the two first convex walls one by one, and the two rotating plates rotate in the direction away from the guide column so that the two first convex walls enter the two conductive spaces correspondingly.
6. The refill guide device according to claim 5, characterized in that: One of the two rotating plates is a first positive electrode guide, and the other is a first negative electrode guide; One of the two first convex walls is provided with a second positive electrode lead corresponding to the first positive electrode lead, and the other is provided with a second negative electrode lead corresponding to the first negative electrode lead.
7. The refilling guide device according to claim 5, characterized in that: The charging nozzle further includes a column and a torsion spring sleeved on the column. The column is arranged on the supporting plate, and the torsion spring is connected to the rotating plate.
8. The refill guide device according to claim 5, characterized in that: The guide column comprises a shaft body arranged on the bearing plate and a rotating sleeve sleeved outside the shaft body, and the rotating sleeve can rotate around the axis of the shaft body.
9. The refilling guide device according to claim 8, characterized in that: The charging nozzle further includes a limiting plate, which is arranged at one end of the shaft body away from the supporting plate, and the size of the limiting plate is larger than the opening size of the rotating sleeve.
10. An automatic charging system, characterized in that: The automatic charging system includes a lawn mowing robot, a charging pile, and a recharging guide device as described in any one of claims 1 to 9, wherein the recharging guide device is used to guide the lawn mowing robot to dock with the charging pile.