Base, automatic cleaning device and automatic cleaning method

Abstract

The embodiment of the application relates to the technical field of intelligent robots, and particularly discloses a base, an automatic cleaning device and an automatic cleaning method. The base is applied to a cleaning robot, and the base comprises a seat body, a landing mechanism, a guide mechanism and a charging mechanism. The seat body has a first end and a second end, and comprises a first plate surface and a second plate surface. The landing mechanism comprises a landing plate, the landing plate is installed on the first plate surface, and the landing plate can move and tilt relative to the first end in a first direction. The guide mechanism comprises a guide arm and an identification module, the guide arm is installed on both sides of the landing plate, the guide arm can move and tilt relative to the landing plate, and the identification module is installed on the first end. The charging mechanism is installed between the first plate surface and the second plate surface. The base can be switched between a first preset state and a second preset state. Through the above structure, the cleaning robot does not need to be charged by manual salvage, so that the cleaning efficiency is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of intelligent robots, in particular to a base, an automatic cleaning device and an automatic cleaning method. BACKGROUND

[0002] A pool robot is an intelligent device specially used for cleaning and maintaining a swimming pool. The pool robot can clean the water surface, pool bottom and pool wall of the swimming pool, replacing manual cleaning and greatly saving the manual labor for cleaning the swimming pool. The main working principle is to carry a cleaning mechanism to move in the swimming pool to clean garbage and sundries, thereby avoiding the breeding of a large number of bacteria and viruses in the swimming pool to pollute the water quality.

[0003] The inventor found in the process of implementing the present application that at present, when the pool robot has finished working or the power is low, manual salvage is needed for recharging, and the cleaning efficiency is low. SUMMARY

[0004] Embodiments of the present application aim to improve the current situation that when the pool robot has finished working or the power is low, manual salvage is needed for recharging, and the cleaning efficiency is low.

[0005] To solve the above technical problems, one technical scheme adopted by the present application is to provide a base applied to a cleaning robot, the base comprising: a seat body, a landing mechanism, a guide mechanism and a charging mechanism. The seat body has a first end and a second end opposite in a first direction, and comprises a first plate surface and a second plate surface opposite in a second direction, and further comprises a magnetic attraction assembly arranged at the first end and the second end. The landing mechanism comprises a landing plate, the landing plate being mounted on the first plate surface, the landing plate being movable relative to the first end in the first direction, and / or the landing plate being tiltable towards the second plate surface. The guide mechanism comprises a guide arm and an identification module, the guide arm being mounted on both sides of the landing plate, the guide arm being movable relative to the landing plate in the first direction, and / or the guide arm being tiltable relative to the landing plate about a third direction, and the identification module being mounted on the first end. The charging mechanism is mounted between the first plate surface and the second plate surface. The base can be switched between a first preset state and a second preset state: in the first preset state, the landing plate is accommodated between the first end and the second end, the guide arm is accommodated on both sides of the landing plate, and the charging mechanism charges the cleaning robot; in the second preset state, the identification module identifies the cleaning robot, the landing plate extends relative to the first end, and the guide arm extends relative to the landing plate. Among them, the first direction is the length direction of the seat body, the second direction is the height direction of the seat body, and the third direction is the width direction of the seat body, and any two directions among the first direction, the second direction and the third direction are perpendicular to each other.

[0006] Optionally, in the second preset state, the landing plate is tilted about the third direction towards the second plate surface at the first end, and the guide arm is tilted relative to the landing plate at the end of the landing plate away from the first end; or in the second preset state, the landing plate is parallel or collinear with the first plate surface at the first end, and the guide arm is parallel or collinear with the landing plate at the end of the landing plate away from the first end.

[0007] Optionally, the landing mechanism further comprises a driver and a first driving assembly, the driver being mounted on the second plate surface, and the first driving assembly comprising: a first gear and a first transmission member. The first gear is arranged close to the first plate surface, and the first gear is in driving abutment with the landing plate when the landing plate is located on the first plate surface. The first transmission member is connected between the driver and the first gear, and the driver drives the first gear to rotate through the first transmission member.

[0008] Optionally, the landing mechanism further comprises a second driving assembly, the second driving assembly comprising: a second gear and a second transmission member. The second gear is disposed at the first end, the second gear is away from the first plate face relative to the first gear, the second gear is in driving abutment with the landing plate when the landing plate is located at the first plate face, and / or the second gear is in driving abutment with the landing plate when the landing plate is tilted towards the second plate face. The second transmission member is connected between the driver and the second gear, the driver drives the second gear to rotate through the second transmission member.

[0009] Optionally, the landing mechanism further comprises a third driving assembly, the third driving assembly comprising a third gear. The third gear is disposed at the first end, the third gear is away from the second end relative to the second gear, and the third gear is away from the first plate face relative to the second gear. The third gear is in driving abutment with the landing plate when the landing plate is tilted relative to the first end. The second transmission member is further connected to the third gear, and the driver drives the second gear and the third gear to rotate through the second transmission member.

[0010] Optionally, the landing mechanism further comprises a first limiting rod and a second limiting rod, the first limiting rod is mounted on the seat body along the second direction and disposed close to the first end, and the second limiting rod is mounted on the seat body along the second direction and disposed close to the first end. The first limiting rod and the second limiting rod are oppositely disposed on two sides of the landing mechanism, the first limiting rod is provided with a first protrusion protruding towards the second limiting rod along a third direction, and the second limiting rod is provided with a second protrusion protruding towards the first limiting rod along the third direction. In the second preset state, the first protrusion and the second protrusion are in abutment with the landing plate, and the first limiting rod and the second limiting rod are used to limit the tilting angle of the landing plate relative to the first plate face.

[0011] Optionally, the landing mechanism further comprises a fourth driving assembly, comprising: a winch and a rope. The winch is mounted on the driver, and the driver drives the winch to rotate. One end of the rope is wound around the winch, the rope extends along the second plate face and is bent towards the second plate face, and the other end of the rope is connected to the end portion of the landing plate close to the second end.

[0012] Optionally, the guide arm comprises a third limiting rod, a guide portion and an abutting portion, the third limiting rod is installed on the second plate surface and extends towards the first plate surface along a second direction, the abutting portion is rotatably installed on two sides of the landing plate, and the guide portion is rotatably connected with the abutting portion. In the first preset state, the abutting portion is arranged obliquely relative to the landing plate, a rotation center of the abutting portion is closer to the second plate surface relative to a rotation center of the guide portion, and an end of the abutting portion away from the guide portion abuts against the third limiting rod. In the process of converting the first preset state into the second preset state, the abutting portion always abuts against the third limiting rod, and the guide portion rotates relative to the abutting portion. In the second preset state, the abutting portion is separated from the third limiting rod, the abutting portion is collinear with the guide portion, or there is an included angle between the abutting portion and the guide portion.

[0013] Optionally, the guide arm further comprises an opening portion, the opening portion is installed on an end of the guide portion away from the abutting portion, a distance between the guide portions of the two guide arms is D1, and a distance between the ends of the opening portions of the two guide arms away from the abutting portion is D2, D1 is less than D2.

[0014] Optionally, the overall density of the guide arm is less than water.

[0015] Optionally, the charging mechanism comprises a charging module, a swing arm guide wheel, a swing arm and a swing arm shaft, the swing arm shaft is installed on the seat body and is close to the second plate surface and the second end, the swing arm is rotatably installed on the swing arm shaft, the charging module is installed on one end of the swing arm, and the swing arm guide wheel is installed on the other end of the swing arm. In the first preset state, the charging module is flush with the first plate surface, or the charging module protrudes relative to the first plate surface, the swing arm guide wheel is in rolling contact with the landing plate, and the charging module supplies power to the cleaning robot. In the process of converting the first preset state into the second preset state, the landing plate moves towards the first end along a first direction, the swing arm guide wheel rolls relative to the landing plate until the swing arm guide wheel is separated from the landing plate, the swing arm rotates around the swing arm shaft, and the charging module moves away from the first plate surface along a second direction. In the second preset state, the swing arm guide wheel is away from the second plate surface relative to the first plate surface, and the charging module is concave relative to the first plate surface.

[0016] To solve the above technical problems, a second technical solution adopted by the present application is to provide an automatic cleaning device, comprising a cleaning robot and the above base, the robot can be accommodated in the landing mechanism or separated from the landing mechanism, and the cleaning robot is used to clean the environment outside the automatic cleaning device.

[0017] Optionally, the cleaning robot comprises a main machine, a first power mechanism, a second power mechanism and an identification module. The first power mechanism is installed on both sides of the main machine, and is used for movement of the cleaning robot on the ground. The second power mechanism is installed at the bottom of the main machine, and is used for movement of the cleaning robot in a water body. The identification module is installed on the outer surface of the main machine, and is used for information interaction between the cleaning robot and the base with the identification module.

[0018] To solve the above technical problems, a third technical solution adopted by the present application is to provide an automatic cleaning method applied to the base or the automatic cleaning device, the method comprising: the base being in a first preset state, and the cleaning robot being accommodated in the landing mechanism; the cleaning robot and the base receiving a work instruction; the base being switched from the first preset state to a second preset state, the cleaning robot moving with the landing plate towards the first end, the landing plate being inclined towards the second plate surface when the landing plate and the cleaning robot move to the first end, the guide arm moving with the landing plate to the first end, and the guide arm extending relative to the landing plate; and the cleaning robot moving away from the base along the landing plate.

[0019] To solve the above technical problems, a fourth technical solution adopted by the present application is to provide an automatic cleaning method applied to the base or the automatic cleaning device, the method comprising: the base being in a second preset state, the landing plate extending relative to the first end, and the guide arm extending relative to the landing plate; the cleaning robot and the base receiving a recycling instruction; the cleaning robot moving towards the base; the cleaning robot and the base identifying; the cleaning robot moving along the guide arm to the landing plate; the base being switched from the second preset state to the first preset state, the cleaning robot being inclined towards the first end relative to the first plate surface, the landing plate moving towards the second end along the first direction, and the guide arm being retracted relative to the landing plate.

[0020] The beneficial effects of the embodiments of the present application are as follows: Different from the prior art, the embodiments of the present application provide a base applied to a cleaning robot, the base comprising a seat body, a landing mechanism, a guide mechanism and a charging mechanism. The seat body has a first end and a second end opposite in a first direction, and comprises a first plate surface and a second plate surface opposite in a second direction. The landing mechanism comprises a landing plate, the landing plate being installed on the first plate surface, the landing plate being movable relative to the first end in the first direction, and / or the landing plate being tiltable towards the second plate surface. The guide mechanism comprises a guide arm and an identification module, the guide arm being installed on both sides of the landing plate, the guide arm being movable relative to the landing plate in the first direction, and / or the guide arm being tiltable relative to the landing plate in a third direction, the identification module being installed on the first end. The charging mechanism is installed between the first plate surface and the second plate surface. The base is switchable between a first preset state and a second preset state: in the first preset state, the landing plate is accommodated between the first end and the second end, the guide arm is accommodated on both sides of the landing plate, and the charging mechanism charges the cleaning robot; in the second preset state, the identification module identifies the cleaning robot, the landing plate extends relative to the first end, and the guide arm extends relative to the landing plate. Among them, the first direction is the length direction of the seat body, the second direction is the height direction of the seat body, and the third direction is the width direction of the seat body, and any two directions among the first direction, the second direction and the third direction are perpendicular to each other. Through the above structure, the base can accommodate the cleaning robot in the first preset state, when the base switches to the second preset state, the cleaning robot can leave the base along the landing plate, or the cleaning robot is identified by the identification module and then lands on the landing plate through the guide arm, the base switches from the second preset state to the first preset state, thereby recycling the cleaning robot, without manually fishing the cleaning robot for charging, thereby improving the cleaning efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by the drawings without creative labor.

[0022] Figure 1 is a perspective view of an automatic cleaning device according to an embodiment of the present application;

[0023] Figure 2 is a perspective view of a base according to an embodiment of the present application;

[0024] Figure 3 is a sectional view of the A face of the Figure 2

[0025] Figure 4 is a partial exploded view of one embodiment provided by the present application.

[0026] Figure 5 is an enlarged view of the B portion of one embodiment provided by the present application.

[0027] Figure 6 is a schematic view of a base provided by one embodiment of the present application.

[0028] Figure 7 is a further schematic view of a base provided by one embodiment of the present application.

[0029] Figure 8 is a perspective view of a cleaning robot provided by one embodiment of the present application.

[0030] Reference numerals of the automatic cleaning device 1 are as follows:

[0031]

[0032] DETAILED DESCRIPTION

[0033] For the purpose of facilitating the understanding of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element or one or more intervening elements can be present therebetween. When an element is described as being "connected to" another element, it can be directly connected to the other element or one or more intervening elements can be present therebetween. The terms "vertical", "horizontal", "left", "right", and similar expressions used in the present specification are for the purpose of illustration only.

[0034] Unless otherwise defined, all technical and scientific terms used in the present specification have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the present specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the present specification, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0035] Reference will now be made to Figure 1 ​The application provides an automatic cleaning device 1, comprising a cleaning robot 2000 and a base 1000. The robot can be accommodated in a landing mechanism 200 of the base 1000, or, leave the landing mechanism 200, the cleaning robot 2000 is used to clean the environment outside the automatic cleaning device 1. It can be understood that the cleaning robot 2000 mentioned in the application includes but is not limited to any one of the intelligent robots such as pool robot, garden robot, sweeping robot and the like. And the base 1000 is mainly used for charging the above-mentioned cleaning robot 2000. In order to facilitate the understanding of the application, the following will take the pool robot as the cleaning robot 2000 as an example for description, and the working environment of the cleaning robot 2000 includes but is not limited to the bottom of the water, the surface of the water and the wall surface of the pool.

[0036] For the foregoing base 1000, please refer to Figures 2 to 7 , and other drawings. The base 1000 provided by the embodiment of the application is applied to the cleaning robot 2000, and the base 1000 comprises a seat body 100, a landing mechanism 200, a guide mechanism 300 and a charging mechanism 400. The seat body 100 has a first end 101 and a second end 102 opposite to each other along a first direction X, and comprises a first plate surface 103 and a second plate surface 104 opposite to each other along a second direction Y. The landing mechanism 200 comprises a landing plate 201, the landing plate 201 is installed on the first plate surface 103, the landing plate 201 can move relative to the first end 101 along the first direction X, and / or the landing plate 201 can be inclined towards the direction of the second plate surface 104. The guide mechanism 300 comprises a guide arm 301 and an identification module 302, the guide arm 301 is installed on both sides of the landing plate 201, the guide arm 301 can move relative to the landing plate 201 along the first direction X, and / or the guide arm 301 can be inclined relative to the landing plate 201 around a third direction Z, and the identification module 302 is installed on the first end 101. The charging mechanism 400 is installed between the first plate surface 103 and the second plate surface 104. Please refer to Figure 6 and Figure 7The base 1000 can be switched between a first preset state and a second preset state: in the first preset state, the landing plate 201 is accommodated between the first end 101 and the second end 102, the guide arm 301 is accommodated on both sides of the landing plate 201, and the charging mechanism 400 charges the cleaning robot 2000; in the second preset state, the identification module 302 identifies the cleaning robot 2000, the landing plate 201 extends relative to the first end 101, and the guide arm 301 extends relative to the landing plate 201. Among them, the first direction X is the length direction of the seat body 100, the second direction Y is the height direction of the seat body 100, and the third direction Z is the width direction of the seat body 100. Among the first direction X, the second direction Y and the third direction Z, any two directions are perpendicular to each other. Through the above structure, the base 1000 can accommodate the cleaning robot 2000 in the first preset state. When the base 1000 is switched to the second preset state, the cleaning robot 2000 can leave the base 1000 along the landing plate 201, or the cleaning robot 2000 is identified by the identification module 302 and then lands on the landing plate 201 through the guide arm 301. The base 1000 is switched from the second preset state to the first preset state, so as to recover the cleaning robot 2000, without the need for manual salvage to charge the cleaning robot 2000, thereby improving the cleaning efficiency.

[0037] It should be noted that, please refer to Figures 2 to 7The seat body 100 is in the shape of a flat cuboid as a whole, and the first end 101 is provided in the shape of an inclined surface, so as to facilitate the tilting of the landing plate 201 relative to the first plate surface 103, thereby facilitating the landing of the cleaning robot 2000 on the landing plate 201. The landing plate 201 can be a flat plate surface or two plate surfaces erected on both sides of the seat body 100, wherein the width of the landing plate 201 in the third direction Z is greater than or equal to the width of the cleaning robot 2000 in the third direction Z, so as to accommodate the cleaning robot 2000, prevent landing misalignment, reduce the landing difficulty of the cleaning robot 2000, and improve the cleaning efficiency. Alternatively, the distance between the two plate surfaces in the third direction Z is greater than or equal to the width of the cleaning robot 2000 in the third direction Z, and the width of a single plate surface is greater than or equal to the width of the track of the cleaning robot 2000, thereby facilitating the landing of the cleaning robot 2000 on the landing plate 201. It can be understood that the surface of the landing plate 201 can be provided with a protrusion for abutting against the surface of the track of the cleaning robot 2000, thereby facilitating the landing or leaving of the cleaning robot 2000 on the landing plate 201. It is worth mentioning that the application provides a guide mechanism 300 of the guide arm 301, and the distance between the two guide arms 301 in the third direction Z is greater than the width of the cleaning robot 2000, thereby preventing the guide arm 301 from being stuck with the cleaning robot 2000, allowing the cleaning robot 2000 to approach the base 1000 in a correct posture in the channel formed by the two guide arms 301. In some other embodiments, the guide of the cleaning robot 2000 can also be assisted by an infrared module or a radar module or an image recognition module 302. It must be pointed out that the application illustrates that the landing plate 201 extends relative to the first end 101, and the guide arm 301 extends relative to the landing plate 201. This means that the landing plate 201 extends relative to the first end 101 of the base 1000 in a direction away from the second end 102, and the extension posture of the landing plate 201 can be parallel to, collinear with, or inclined to the first plate surface 103, and the inclined setting facilitates the recovery of the cleaning robot 2000. Correspondingly, the extension posture of the guide part 3012 can be parallel to, collinear with, or inclined to the landing plate 201, and the inclined setting facilitates the recovery of the cleaning robot 2000.

[0038] Further, in the second preset state, the landing plate 201 is inclined at the first end 101 towards the second plate surface 104 in the third direction Z, and the guide arm 301 is inclined relative to the landing plate 201 at the end of the landing plate 201 away from the first end 101; or, in the second preset state, the landing plate 201 is parallel or collinear to the first plate surface 103 at the first end 101, and the guide arm 301 is parallel or collinear to the landing plate 201 at the end of the landing plate 201 away from the first end 101. It can be understood that when the base 1000 is placed on the ground surface at the edge of the pool, the landing plate 201 and the guide arm 301 need to be inclined to facilitate the extension into the water surface of the pool to recover the cleaning robot 2000; when the base 1000 is embedded in the ground surface at the edge of the pool and is flush with the horizontal plane, the landing plate 201 and the guide arm 301 only need to extend in a parallel or collinear posture to recover the cleaning robot 2000.

[0039] For the above-mentioned landing mechanism 200, please refer to Figure 3 , in combination with other drawings. The landing mechanism 200 further comprises a driver 202 and a first driving assembly 203. The driver 202 is mounted on the second plate surface 104, and the first driving assembly 203 comprises a first gear 2031, a first transmission member 2032 and a first frame body 2033. The first gear 2031 is arranged close to the first plate surface 103, and when the landing plate 201 is located on the first plate surface 103, the first gear 2031 is in driving abutment with the landing plate 201. The first frame body 2033 is mounted on the second plate surface 104, and the driver 202 is mounted on the first frame body 2033. The first transmission member 2032 is connected between the driver 202 and the first gear 2031, and the driver 202 drives the first gear 2031 to rotate through the first transmission member 2032. Optionally, the number of the first gear 2031 can be one, and a first gear 2031 is arranged corresponding to the middle part of the landing plate 201 in the third direction Z, so as to drive the landing plate 201 to move in the same direction as the driver 202 when the driver 202 rotates clockwise or counterclockwise; or, the number of the first gear 2031 can be two, and two first gears 2031 are arranged corresponding to the two sides of the landing plate 201, so as to more stably drive the landing plate 201 to move. The first transmission member 2032 comprises a belt, a chain, a gear set and the like. Through the above structure, the driver 202 can drive the landing plate 201 to move relative to the first plate surface 103 in the first direction X.

[0040] Further, please refer to Figure 3The landing mechanism 200 further comprises a second driving assembly 204, which comprises a second gear 2041, a second transmission member 2042, a second frame 2043 and a first bearing 2044. The second frame 2043 is mounted on the second plate surface 104, the first bearing 2044 is mounted on the second frame 2043, and the second gear 2041 is mounted on the first bearing 2044 or the second transmission member 2042 passes through the first bearing 2044, so as to improve the transmission efficiency. The second gear 2041 is arranged on the first end 101, and the second gear 2041 is away from the first plate surface 103 relative to the first gear 2031. When the landing plate 201 is located on the first plate surface 103, the second gear 2041 is in driving abutment with the landing plate 201, and / or when the landing plate 201 is tilted towards the direction of the second plate surface 104, the second gear 2041 is in driving abutment with the landing plate 201. The second transmission member 2042 is connected between the driver 202 and the second gear 2041, and the driver 202 drives the second gear 2041 to rotate through the second transmission member 2042. Optionally, the number of the second gears 2041 can be one, and a second gear 2041 is arranged corresponding to the middle of the landing plate 201 in the third direction Z, so as to drive the landing plate 201 to move in the same direction as the driver 202 when the driver 202 rotates clockwise or counterclockwise; or the number of the second gears 2041 can be two, and two second gears 2041 are arranged corresponding to the two sides of the landing plate 201, so as to more stably drive the landing plate 201 to move. It must be pointed out that when the landing plate 201 is tilted relative to the first end 101, the tilt axis of the landing plate 201 is the second gear 2041. That is, the second gear 2041 is in abutment with the landing plate 201 to drive the landing plate 201 to move when the landing plate 201 moves in the first direction X, or when the landing plate 201 is tilted relative to the first end 101, or when the landing plate 201 is tilted relative to the first plate surface 103 and moves. The second transmission member 2042 comprises a belt, a chain, a gear set and the like.

[0041] Further, please refer to Figure 3Please refer to FIG. 1 and FIG. 2. The landing mechanism 200 further comprises a third driving assembly 205, which comprises a third gear 2051, a third frame 2052 and a second bearing 2053. The third frame 2052 is installed on the second surface 104 and close to the first end 101. The second bearing 2053 is installed on the third frame 2052. The third gear 2051 is installed on the second bearing 2053 or the second transmission member 2042 passes through the second bearing 2053, so as to improve the transmission efficiency. The third gear 2051 is arranged on the first end 101. The third gear 2051 is away from the second end 102 relative to the second gear 2041. The third gear 2051 is away from the first surface 103 relative to the second gear 2041. When the landing plate 201 is inclined relative to the first end 101, the third gear 2051 is in driving abutment with the landing plate 201. The second transmission member 2042 is further connected to the third gear 2051. The driver 202 drives the second gear 2041 and the third gear 2051 to rotate through the second transmission member 2042. Alternatively, the number of the third gear 2051 can be one. A third gear 2051 is arranged on the middle of the landing plate 201 in the third direction Z, so as to drive the landing plate 201 to move in the same direction as the driver 202 when the driver 202 rotates clockwise or counterclockwise. Alternatively, the number of the third gear 2051 can be two. Two third gears 2051 are arranged on both sides of the landing plate 201, so as to more stably drive the landing plate 201 to move.

[0042] Further, please refer to Figure 3 and 4 and other drawings. The landing mechanism 200 further comprises a first limiting rod 206 and a second limiting rod 207. The first limiting rod 206 is installed on the seat 100 along the second direction Y and arranged close to the first end 101. The second limiting rod 207 is installed on the seat 100 along the second direction Y and arranged close to the first end 101. The first limiting rod 206 and the second limiting rod 207 are arranged opposite to each other on both sides of the landing mechanism 200. The first limiting rod 206 is provided with a first protrusion 2061 protruding towards the second limiting rod 207 along the third direction Z. The second limiting rod 207 is provided with a second protrusion 2071 protruding towards the first limiting rod 206 along the third direction Z. In the second preset state, the first protrusion 2061 and the second protrusion 2071 abut against the landing plate 201. The first limiting rod 206 and the second limiting rod 207 are used to limit the inclination angle of the landing plate 201 relative to the first surface 103.

[0043] Further, please refer to Figure 3 and 4The landing mechanism 200 further comprises a fourth driving assembly 208, including a winch 2081 and a cable 2082. The winch 2081 is installed on the driver 202, and the driver 202 drives the winch 2081 to rotate. One end of the cable 2082 is wound on the winch 2081, the cable 2082 extends along the second plate surface 104 and is bent towards the second plate surface 104, and the other end of the cable 2082 is connected to the end of the landing plate 201 close to the second end 102. The cable 2082 is used to transmit the forward and reverse rotation force of the driver 202, on the one hand, the cable 2082 can pull the landing plate 201 back to the second end 102 when the landing plate 201 moves close to the second end 102, on the other hand, the cable 2082 can prevent the landing plate 201 from being separated from the seat body 100 under the action of the above-mentioned gear.

[0044] For the above-mentioned guide arm 301, please refer to Figure 4 、 Figure 6 and Figure 8 , and other drawings. The guide arm 301 comprises a third limiting rod 3011, a guide portion 3012 and an abutting portion 3013, the third limiting rod 3011 is installed on the second plate surface 104 and extends towards the first plate surface 103 along the second direction Y, the abutting portion 3013 is rotatably installed on both sides of the landing plate 201, and the guide portion 3012 is rotatably connected with the abutting portion 3013. In the first preset state, the abutting portion 3013 is arranged obliquely relative to the landing plate 201, the rotation center of the abutting portion 3013 is close to the second plate surface 104 relative to the rotation center of the guide portion 3012, and the end of the abutting portion 3013 away from the guide portion 3012 abuts against the third limiting rod 3011. In the process of converting the first preset state into the second preset state, the abutting portion 3013 always abuts against the third limiting rod 3011, and the guide portion 3012 rotates relative to the abutting portion 3013. In the second preset state, the abutting portion 3013 is separated from the third limiting rod 3011, the abutting portion 3013 is collinear with the guide portion 3012, or there is an included angle. It is worth mentioning that the overall density of the guide arm 301 is less than water, and the two guide arms 301 form a guide channel floating on the water surface, thereby providing guidance for the cleaning robot 2000 on the water surface. When the overall density of the guide arm 301 is greater than water, the guide arm 301 can be inserted into water, so as to facilitate the recognition of the cleaning robot 2000. Optionally, the end of the guide portion 3012 away from the abutting portion 3013 can also be provided with an infrared module, thereby facilitating the recognition of the cleaning robot 2000.

[0045] Further, please refer to Figure 4Please refer to FIG. 1 and FIG. 2. The guiding arm 301 further comprises an opening part 3014, which is installed at the end of the guiding part 3012 away from the abutting part 3013. The distance between the guiding parts 3012 of the two guiding arms 301 is D1, and the distance between the ends of the opening parts 3014 of the two guiding arms 301 away from the abutting part 3013 is D2. D1 is less than D2. When the cleaning robot 2000 floats on the water surface, the track of the cleaning robot 2000 has no adhesion on the water surface, and the driving brake main machine 2001 has poor ability to move and adjust the posture. The guiding arm 301 is provided with the opening part 3014 on the water surface to open, so that the cleaning robot 2000 is close to the landing plate 201 in the channel formed by the two arms of the opening part 3014 in the correct posture.

[0046] For the above-mentioned charging mechanism 400, please refer to Figure 3 Please refer to FIG. 1 and FIG. 2. The guiding arm 301 further comprises an opening part 3014, which is installed at the end of the guiding part 3012 away from the abutting part 3013. The distance between the guiding parts 3012 of the two guiding arms 301 is D1, and the distance between the ends of the opening parts 3014 of the two guiding arms 301 away from the abutting part 3013 is D2. D1 is less than D2. When the cleaning robot 2000 floats on the water surface, the track of the cleaning robot 2000 has no adhesion on the water surface, and the driving brake main machine 2001 has poor ability to move and adjust the posture. The guiding arm 301 is provided with the opening part 3014 on the water surface to open, so that the cleaning robot 2000 is close to the landing plate 201 in the channel formed by the two arms of the opening part 3014 in the correct posture.

[0047] In the embodiments of the present application, please refer to Figure 2And Figure 8 The base 100 further comprises a magnetic attraction assembly 500, which comprises a first magnetic attraction switch 501 and a second magnetic attraction switch 502, and the first magnetic attraction switch 501 and the second magnetic attraction switch 502 are installed at both ends of the landing plate 201, so that when the cleaning robot 2000 lands on the landing plate 201, the first magnetic attraction switch 501 triggers the Hall switch 2005 on the cleaning robot 2000, and when the cleaning robot 2000 lands on the landing plate 201, the second magnetic attraction switch 502 triggers the Hall switch 2005 on the cleaning robot 2000, so as to determine the position of the cleaning robot 2000 on the landing plate 201.

[0048] For the foregoing cleaning robot 2000, please refer to Figure 8 And in combination with other drawings. The cleaning robot 2000 comprises a main machine 2001, a first power mechanism 2002, a second power mechanism 2003 and an identification module 2004. The first power mechanism 2002 is installed on both sides of the main machine 2001, and the first power mechanism 2002 is used for the movement of the cleaning robot 2000 on the ground. Optionally, the first power mechanism 2002 comprises a group of suction cups, a group of wheels and a track, etc., so as to facilitate the movement of the cleaning robot 2000 on the water bottom and / or land. The second power mechanism 2003 is installed at the bottom of the main machine 2001, and the second power mechanism 2003 is used for the movement of the cleaning robot 2000 in the water body. Optionally, the second power mechanism 2003 comprises a contra-propeller, a turbine, etc., so as to facilitate the movement of the cleaning robot 2000 in the middle and surface of the water body. The identification module 2004 is installed on the outer surface of the main machine 2001, and the identification module 2004 is used for identification with the identification module 302, and assists the information interaction between the cleaning robot 2000 and the base 1000. Optionally, the identification module 2004 comprises an infrared module, a radar module and an image information module, etc., so as to facilitate the cleaning robot 2000 to receive a working instruction, a recycling instruction, or to send a low power automatic recycling instruction to the base 1000; the identification module 2004 is installed at the front end and / or rear end of the first power mechanism 2002 in the direction of movement, so as to facilitate the identification between the cleaning robot 2000 and the base 1000.

[0049] Further, the cleaning robot 2000 further comprises a Hall switch 2005, a cleaning module 2006 and a charging receiving module 2007, the Hall switch 2005 is installed at the bottom of the main machine 2001, and is used for signal interaction with the magnetic suction assembly 500 on the base 1000 to identify the position of the cleaning robot 2000 on the landing plate 201 of the base 1000, wherein the number of the Hall switch 2005 can be two, three or more, so as to prevent the single Hall switch 2005 from failing to identify the position of the cleaning robot 2000 on the landing plate 201 of the base 1000. The cleaning module 2006 is installed on the main machine 2001, and is used for cleaning the bottom of the swimming pool or the water body. The charging receiving module 2007 is installed at the bottom of the main machine 2001, and is used for electrical connection with the charging module 401 on the base 1000, so as to charge. Alternatively, the charging mode between the cleaning robot 2000 and the base 1000 can be wireless charging or wired charging, and preferably, the application adopts the form of wireless charging, so as to prevent the cleaning robot 2000 from being short-circuited due to water droplets on the surface of the cleaning robot 2000 after the cleaning robot 2000 lands on the base 1000 from the swimming pool.

[0050] In combination with the above embodiments, Figure 6 and Figure 7 and further elaborating on the automatic cleaning method:

[0051] (1) Method one, please refer to a to e in Figure 6 :

[0052] S001: The base 1000 is in a first preset state, and the cleaning robot 2000 is accommodated in the landing mechanism 200.

[0053] S002: The cleaning robot 2000 and the base 1000 receive a work instruction.

[0054] S003: The base 1000 is switched from the first preset state to a second preset state, and the cleaning robot 2000 moves with the landing plate 201 towards the first end 101, and when the landing plate 201 and the cleaning robot 2000 move to the first end 101, the landing plate 201 is inclined to the second plate surface 104, the guide arm 301 moves to the first end 101 with the landing plate 201, and the guide arm 301 extends relative to the landing plate 201.

[0055] S004: The cleaning robot 2000 moves away from the base 1000 along the landing plate 201.

[0056] S005: The cleaning robot 2000 cleans the bottom of the swimming pool.

[0057] Specifically, when the base 100 receives a working instruction, the driver 202 rotates counterclockwise, and the first transmission member 2032 conducts power to the first gear 2031 to move in the same direction, and the rope cable 2082 is released by the winch 2081. The landing plate 201 moves in the first direction X under the driving of the driver 202, and when the landing plate 201 moves away from the compression swing arm guide wheel 402, the charging module 401 rotates upward by a certain angle with the swing arm shaft 404 as the center under the action of gravity. Optionally, the angle is in the range of 10° to 30°, and specifically, the angle is 15.5°. At the same time, the charging module 401 is lowered to be flush with or recessed in the first plate surface 103 to avoid interference with the landing plate 201. When the landing plate 201 continues to move in the first direction X to the first end 101 under the continuous power output of the first gear 2031, the abutting portion 3013 mounted on the guide arm 301 is prevented and abuts by the third limiting rod 3011, and the guide portion 3012 rotates counterclockwise. At this time, the guide arm 301 is flipped downward to a horizontal state under the action of gravity. The landing plate 201 continues to advance under the action of the second gear 2041, and when it runs to the center of gravity critical point of the landing plate 201, it will be flipped downward with the second gear 2041 as the fulcrum. The landing plate 201 is flipped downward and is limited by the first limiting rod 206 and the second limiting rod 207, and continues to slide down the inclined surface under the action of the second gear 2041 and the third gear 2051. At this time, the rope cable 2082 holds the landing plate 201 to prevent the landing plate 201 from being separated from the base 100. At this time, the guide arm 301 is in contact with the water surface, and since the overall density of the guide arm 301 is less than that of water, the guide arm 301 floats on the water surface under the action of buoyancy. At this time, the base 1000 switches to the second preset state, and the landing plate 201 release operation is completed.

[0058] (2) Method two, please refer to f to i in Figure 6

[0059] S006: The base 1000 is in the second preset state, the landing plate 201 extends relative to the first end 101, and the guide arm 301 extends relative to the landing plate 201.

[0060] S007: The cleaning robot 2000 and the base 1000 receive a recycling instruction.

[0061] S008: The cleaning robot 2000 approaches the base 1000.

[0062] S009: The cleaning robot 2000 and the base 1000 identify.

[0063] S010: The cleaning robot 2000 moves along the guide arm 301 to the landing plate 201.

[0064] ​S011: The base 1000 switches from the second preset state to the first preset state, and the cleaning robot 2000 is tilted to be parallel to the first plate surface 103 with the landing plate 201 facing the first end 101, and the landing plate 201 moves along the first direction X to face the second end 102, and the guide arm 301 is retracted relative to the landing plate 201.

[0065] Specifically, when the seat body 100 receives the recycling instruction, the driver 202 rotates clockwise, drives the second transmission member 2042 to conduct power to the second gear 2041 and the third gear 2051 to rotate clockwise, and simultaneously winds the cable 2082 through the winch 2081, and the landing plate 201 moves along the slope of the first end 101 under the drive of the second gear 2041, the third gear 2051, the winch 2081 and the cable 2082. The driver 202 continues to drive the second gear 2041, the winch 2081 and the cable 2082 to rotate clockwise and drive the landing plate 201 to continue to move upward, when the center of gravity of the landing plate 201 is offset, the landing plate 201 is flipped to a horizontal state around the second gear 2041 as a fulcrum and continues to move to the second end 102 under the push of the first gear 2031 and the second gear 2041, the landing plate 201 contacts the swing arm guide wheel 402 and then presses the swing arm 403 along the second direction Y to pry the charging module 401 to move to the first plate surface 103, so as to be close to the bottom charging receiving module 2007 of the cleaning robot 2000 to charge. At the same time, the guide arm 301 is limited by the third limiting rod 3011 at the abutting portion 3013 and rotates clockwise, and when the abutting portion 3013 exceeds 90°, the guide portion 3012 is flipped to a horizontal state under the action of gravity. The landing plate 201 continues to move to the second end 102 and stops at the third limiting rod 3011, and at this time, the base 1000 switches to the second preset state.

[0066] For the cleaning robot 2000, the cleaning robot 2000 floats up to the water surface under the action of the second power mechanism 2003. The cleaning robot 2000 adjusts the body posture to align with the base 1000 direction and advances in the channel formed by the two opening parts 3014 and the two guide parts 3012 to approach the landing plate 201 by receiving the signal sent from the identification module 302 through the identification module 2004. When the cleaning robot 2000 approaches the landing plate 201, the bottom Hall switch 2005 triggers the first magnetic attraction switch 501, and feeds back to the second power mechanism 2003 to increase the power to leave the water body. At the same time, the first power mechanism 2002 contacts the protrusion on the landing plate 201, and the first power mechanism 2002 and the second power mechanism 2003 jointly push the cleaning robot 2000 onto the landing plate 201. The first power mechanism 2002 drives the cleaning robot 2000 to climb the landing plate 201, and when the Hall switch 2005 triggers the second magnetic attraction switch 502 and feeds back to the cleaning robot 2000, the advancement is stopped. At the same time, the base 1000 switches from the second preset state to the first preset state.

[0067] Correspondingly, when the cleaning robot 2000 receives a work instruction, the base 1000 switches from the first preset state to the second preset state, and when the base 1000 is in the second preset state, the cleaning robot 2000 will enter the water along the landing plate 201 and perform the cleaning task.

[0068] In the embodiments of the present application, a base 1000 is provided for a cleaning robot 2000, the base 1000 comprises a seat body 100, a landing mechanism 200, a guiding mechanism 300 and a charging mechanism 400. The seat body 100 has a first end 101 and a second end 102 opposite along a first direction X, and comprises a first plate surface 103 and a second plate surface 104 opposite along a second direction Y. The landing mechanism 200 comprises a landing plate 201, the landing plate 201 is installed on the first plate surface 103, the landing plate 201 is movable relative to the first end 101 along the first direction X, and / or the landing plate 201 is tiltable towards the direction of the second plate surface 104. The guiding mechanism 300 comprises a guiding arm 301 and an identification module 302, the guiding arm 301 is installed on both sides of the landing plate 201, the guiding arm 301 is movable relative to the landing plate 201 along the first direction X, and / or the guiding arm 301 is tiltable relative to the landing plate 201 about a third direction Z, and the identification module 302 is installed on the first end 101. The charging mechanism 400 is installed between the first plate surface 103 and the second plate surface 104. The base 1000 is switchable between a first preset state and a second preset state: in the first preset state, the landing plate 201 is accommodated between the first end 101 and the second end 102, the guiding arm 301 is accommodated on both sides of the landing plate 201, and the charging mechanism 400 charges the cleaning robot 2000; in the second preset state, the identification module 302 identifies the cleaning robot 2000, the landing plate 201 extends relative to the first end 101, and the guiding arm 301 extends relative to the landing plate 201. Among them, the first direction X is the length direction of the seat body 100, the second direction Y is the height direction of the seat body 100, and the third direction Z is the width direction of the seat body 100, and any two directions of the first direction X, the second direction Y and the third direction Z are perpendicular to each other. Through the above structure, the base 1000 can accommodate the cleaning robot 2000 in the first preset state, when the base 1000 switches to the second preset state, the cleaning robot 2000 can leave the base 1000 along the landing plate 201, or the cleaning robot 2000 is identified by the identification module 302 and then lands on the landing plate 201 through the guiding arm 301, and the base 1000 switches from the second preset state to the first preset state, so as to recover the cleaning robot 2000, without manually fishing the cleaning robot 2000 to charge it, thereby improving the cleaning efficiency.

[0069] Based on the same inventive concept, the present application also provides an automatic cleaning device 1, which comprises a cleaning robot 2000 and a base 1000. The structure and function of the cleaning robot 2000 and the base 1000 can be referred to the above embodiments, which will not be repeated here.

[0070] Based on the same inventive concept, the application further provides an automatic cleaning method applied to the base 1000 and / or the automatic cleaning device 1. For the method and the structures and functions of the cleaning robot 2000 and the base 1000, reference can be made to the above embodiments, which will not be described here one by one.

[0071] It should be noted that the preferred embodiments of the present application are given in the specification and drawings of the present application, but the present application can be implemented in many different forms, and is not limited to the embodiments described in the specification. These embodiments are not additional limitations on the content of the present application, and the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Furthermore, the above technical features continue to be combined with each other, forming various embodiments not listed above, which are all considered to be within the scope of the present application. Furthermore, for those skilled in the art, the above description can be improved or transformed, and all these improvements and transformations should be within the scope of protection of the claims of the present application.

Claims

1. A base applied to a cleaning robot, characterized by, The base comprises: a seat body having a first end and a second end opposite in a first direction, and comprising a first plate surface and a second plate surface opposite in a second direction, the seat body further comprising a magnetic attraction assembly arranged at the first end and the second end; a landing mechanism comprising a landing plate mounted on the first plate surface, the landing plate being movable relative to the first end in the first direction, and / or the landing plate being tiltable towards the second plate surface; a guiding mechanism comprising guiding arms mounted on both sides of the landing plate, the guiding arms being movable relative to the landing plate in the first direction, and / or the guiding arms being tiltable relative to the landing plate about a third direction, and an identification module mounted on the first end; a charging mechanism mounted between the first plate surface and the second plate surface; the base being switchable between a first preset state and a second preset state: in the first preset state, the landing plate is accommodated between the first end and the second end, the guiding arms are accommodated on both sides of the landing plate, and the charging mechanism charges the cleaning robot; in the second preset state, the identification module identifies the cleaning robot, the landing plate extends relative to the first end, and the guiding arms extend relative to the landing plate; wherein the first direction is a length direction of the seat body, the second direction is a height direction of the seat body, and the third direction is a width direction of the seat body, and any two of the first direction, the second direction and the third direction are perpendicular to each other.

2. The susceptor of claim 1, wherein in the second preset state, the landing plate is tilted about the third direction towards the second plate surface at the first end, and the guiding arms are tilted relative to the landing plate at the end of the landing plate away from the first end; or, in the second preset state, the landing plate is parallel or collinear with the first plate surface at the first end, and the guiding arms are parallel or collinear with the landing plate at the end of the landing plate away from the first end.

3. The susceptor of claim 2, wherein The landing mechanism further comprises a driver mounted on the second plate surface, and a first driving assembly comprising: a first gear arranged close to the first plate surface, the first gear being in driving abutment with the landing plate when the landing plate is located on the first plate surface; a first transmission member connected between the driver and the first gear, the driver driving the first gear to rotate through the first transmission member.

4. The susceptor of claim 3, wherein The landing mechanism further comprises a second driving assembly comprising: a second gear arranged at the first end, the second gear being away from the first plate surface relative to the first gear, the second gear being in driving abutment with the landing plate when the landing plate is located on the first plate surface, and / or the second gear being in driving abutment with the landing plate when the landing plate is tilted towards the second plate surface; a second transmission member connected between the driver and the second gear, the driver driving the second gear to rotate through the second transmission member.

5. The susceptor of claim 4, wherein The landing mechanism further comprises a third driving assembly comprising: A third gear is arranged at the first end, the third gear is away from the second end relative to the second gear, and the third gear is away from the first plate surface relative to the second gear; When the landing plate is inclined relative to the first end, the third gear is in driving abutment with the landing plate; The second transmission member is further connected to the third gear, and the driver drives the second gear and the third gear to rotate through the second transmission member.

6. The base of claim 4, wherein, The landing mechanism further comprises a first limiting rod and a second limiting rod, the first limiting rod is installed on the seat body along the second direction and arranged close to the first end, and the second limiting rod is installed on the seat body along the second direction and arranged close to the first end; The first limiting rod and the second limiting rod are arranged on two sides of the landing mechanism, the first limiting rod is provided with a first protrusion protruding towards the second limiting rod along a third direction, and the second limiting rod is provided with a second protrusion protruding towards the first limiting rod along the third direction; In the second preset state, the first protrusion and the second protrusion are in abutment with the landing plate, and the first limiting rod and the second limiting rod are used to limit the inclination angle of the landing plate relative to the first plate surface.

7. The susceptor of claim 3, wherein The landing mechanism further comprises a fourth driving assembly, comprising: A winch is installed on the driver, and the driver drives the winch to rotate; A rope cable is wound on the winch at one end, extends along the second plate surface and bends towards the second plate surface, and the other end of the rope cable is connected to the end of the landing plate close to the second end.

8. The susceptor of claim 2, wherein The guide arm comprises a third limiting rod, a guide portion and an abutment portion, the third limiting rod is installed on the second plate surface and extends towards the first plate surface along the second direction, the abutment portion is rotatably installed on both sides of the landing plate, and the guide portion is rotatably connected with the abutment portion; In the first preset state, the abutment portion is arranged to be inclined relative to the landing plate, the rotation center of the abutment portion is close to the second plate surface relative to the rotation center of the guide portion, and one end of the abutment portion away from the guide portion is in abutment with the third limiting rod; During the conversion from the first preset state to the second preset state, the abutment portion is always in abutment with the third limiting rod, and the guide portion rotates relative to the abutment portion; In the second preset state, the abutment portion is separated from the third limiting rod, and the abutment portion is collinear with the guide portion or there is an included angle.

9. The susceptor of claim 8, wherein, The guide arm further comprises an opening portion, the opening portion is installed on one end of the guide portion away from the abutment portion, the distance between the guide portions of the two guide arms is D1, and the distance between the end portions of the opening portions of the two guide arms away from the abutment portion is D2, D1 is less than D2.

10. The base of claim 2, wherein, The overall density of the guide arm is less than water.

11. The susceptor of claim 1, wherein The charging mechanism comprises a charging module, a swing arm guide wheel, a swing arm and a swing arm shaft, the swing arm shaft is installed on the seat body and is close to the second plate surface and the second end, the swing arm is rotatably installed on the swing arm shaft, the charging module is installed on one end of the swing arm, and the swing arm guide wheel is installed on the other end of the swing arm. In the first preset state, the charging module is flush with the first plate surface, or the charging module protrudes relative to the first plate surface, the swing arm guide wheel is in rolling contact with the landing plate, and the charging module supplies power to the cleaning robot. In the process of switching from the first preset state to the second preset state, the landing plate moves in a first direction towards the first end, the swing arm guide wheel rolls relative to the landing plate until the swing arm guide wheel is separated from the landing plate, the swing arm rotates around the swing arm shaft, and the charging module moves in a second direction away from the first plate surface. In the second preset state, the swing arm guide wheel is away from the second plate surface relative to the first plate surface, and the charging module is concave relative to the first plate surface.

12. An automatic cleaning device, characterized in that The cleaning robot and the base as claimed in any one of claims 1-11, the robot can be accommodated in the landing mechanism, or separated from the landing mechanism, and the cleaning robot is used to clean the environment outside the automatic cleaning device.

13. The automatic cleaning device according to claim 12, characterized in that, The cleaning robot comprises: a main machine; a first power mechanism installed on both sides of the main machine, the first power mechanism being used for the movement of the cleaning robot on the ground; a second power mechanism installed on the bottom of the main machine, the second power mechanism being used for the movement of the cleaning robot in a water body; an identification module installed on the outer surface of the main machine, the identification module being used for identification with the identification module to assist the information interaction between the cleaning robot and the base.

14. A method for automatic cleaning, applied to a base as claimed in any one of claims 1-11, or comprising an automatic cleaning device as claimed in claims 12 and 13, characterized in that, The method comprises: the base is in a first preset state, and the cleaning robot is accommodated in the landing mechanism; the cleaning robot and the base receive a work instruction; the base is switched from the first preset state to a second preset state, the cleaning robot moves with the landing plate towards the first end, the landing plate is tilted towards the second plate surface when the landing plate and the cleaning robot move to the first end, the guide arm moves with the landing plate to the first end, and the guide arm is extended relative to the landing plate; the cleaning robot moves away from the base along the landing plate.

15. A method for automatic cleaning, applied to a base as claimed in any one of claims 1-11, or comprising an automatic cleaning device as claimed in claims 12 and 13, characterized in that, The method comprises: the base is in a second preset state, the landing plate is extended relative to the first end, and the guide arm is extended relative to the landing plate; the cleaning robot and the base receive a recycling instruction; the cleaning robot moves towards the base; the cleaning robot identifies with the base; the cleaning robot moves along the guide arm to the landing plate; the base is switched from the second preset state to the first preset state, the cleaning robot is tilted towards the first end to be parallel to the first plate surface with the landing plate, the landing plate moves in a first direction towards the second end, and the guide arm is retracted relative to the landing plate.

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