KR20130125424A - Cleaning apparatus for window and method of controlling the same - Google Patents

Abstract

A method for controlling a window cleaning device according to one side comprises: performing a cleaning process by moving the window cleaning device with a first driving pattern; and performing the cleaning process by moving the window cleaning device along a window frame with a second driving pattern if the cleaning process by the first driving pattern is completed.

Description

Cleaning apparatus for window and method of controlling the same}

The present specification relates to a window type cleaning device and a control method thereof.

In general, an automatic cleaner cleans while driving the floor of a house or building. The driving force for driving the automatic cleaner may be generated by a driving motor. Since the bottom surface is a flat ground, there is no great difficulty for the automatic cleaner to travel by using the drive motor.

However, the running of the automatic cleaner may be restricted when cleaning the inclined cleaning surface, that is, the cleaning surface inclined upward in the advancing direction, rather than the flat surface.

In particular, when the cleaning surface is a glass window provided in the building, the use of the automatic cleaner is very limited. Therefore, the window has to be manually cleaned by the user.

Recently, an automatic cleaner capable of automatically cleaning a cleaning surface disposed obliquely or vertically with respect to the ground, such as a glass window, has been proposed.

The automatic cleaner capable of cleaning the window may include an internal module provided on the indoor side and an external module provided on the outdoor side, and the internal module and the external module may be attached to the window by the magnet as an example.

In the case of the conventional automatic cleaner, it is possible to clean the window, but there was a problem that the cleaning of the portion adjacent to the window frame was not smooth.

An object of the present invention is to provide a window type cleaning apparatus and a control method thereof, in which cleaning of the portion adjacent to the window frame can be performed smoothly.

According to an aspect, a control method of a window type cleaning device may include: performing cleaning while the window type cleaning device is driven in a preset first driving pattern; And performing the cleaning while the window type cleaning device is driven in the second driving pattern moving along the window frame when the cleaning by the first driving pattern is completed.

According to another aspect, a window type cleaning device includes a first cleaner contacting one side of a window, and a second cleaner contacting the other side of the window and moving along the window together with the first cleaner. The cleaner and the second cleaner may perform cleaning while driving in the preset first driving pattern and then driving while driving in the second driving pattern moving along the window frame.

According to the proposed invention, since the window-type cleaning device runs in the first driving pattern and performs cleaning while driving in the second driving pattern along the window frame after the first cleaning is completed, the object to be cleaned adjacent to the window frame Cleaning is effectively performed.

1 is a view schematically showing a window type cleaning device according to an embodiment of the present invention.
Figure 2 is a bottom view of the second cleaner according to an embodiment of the present invention.
Figure 3 is a block diagram of a window type cleaning device according to an embodiment of the present invention.
Figure 4 is a flow chart for explaining a control method of the window cleaning device according to an embodiment of the present invention.
5 is a view showing a window type cleaning device to perform the cleaning in the first running pattern.
6 is a view showing a window cleaning device to perform the cleaning in the second driving pattern.
7 is a view showing the operating state of the brush body when the window cleaning device is located adjacent to the window frame.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

1 is a view schematically showing a window type cleaning apparatus according to an embodiment of the present invention, Figure 2 is a bottom view of a second cleaner according to an embodiment of the present invention.

1 and 2, a window type cleaning apparatus according to an embodiment of the present invention includes a first cleaner 10 and a second cleaner 20. When the second cleaner 20 is in contact with the other surface of the cleaning object 5 while the first cleaner 10 is in contact with one surface of the cleaning object 5, the first cleaner 10 and the second cleaner are in contact with the other surface of the cleaning object 5. The cleaner 20 may be fixed in position by manpower.

For example, the first cleaner 10 may contact the cleaning object 5 inside the building, and the second cleaner 10 may contact the cleaning object 5 outside the building. Therefore, the first cleaner 10 may be referred to as an internal module, and the second cleaner 20 may be referred to as an external module. Of course, on the contrary, the first cleaner 10 may be disposed outside the building, and the second cleaner 20 may be disposed inside the building.

At this time, the object to be cleaned (5) can be disposed inclined with respect to the ground (including vertical), the ground can be understood as a surface corresponding to the floor surface of the building or any place. In exemplary embodiments, the object to be cleaned 5 may be a window or a glass window.

The first cleaner 10 may include a plurality of wheels 11 for movement and a handle 12 that can be easily handled by a user. The user may grab the handle 12 and move the first cleaner 10 to the cleaning object 5 or away from the cleaning object 5.

The first cleaner 10 may further include bumpers 14 and 15 for absorbing the impact with the window frame during movement.

The second cleaner 20 may include a plurality of first cleaning members 21 and 22 and a plurality of second cleaning members 23 and 24. The second cleaning members 23 and 24 may be positioned inside the first cleaning members 21 and 22. That is, the plurality of second cleaning members 23 and 24 may be positioned between the plurality of first cleaning members 21 and 22. The plurality of first cleaning members 21 and 22 and the plurality of second cleaning members 23 and 24 may be arranged side by side.

The plurality of first cleaning members 21 and 22 may be formed of, for example, a rubber material. Therefore, when the second cleaner 20 moves, the plurality of first cleaning members 21 and 22 slide with the cleaning object 5 in a state in which the plurality of first cleaning members 21 and 22 are in contact with the cleaning object 5, and thus the cleaning object ( 5) Clean.

The plurality of second cleaning members 23 and 24 may be formed of, for example, a fiber material. Although not shown, the second cleaner 20 may be provided with a water spray device, and the plurality of second cleaning members 23 and 24 may wipe the cleaning object 5 in a state of containing water. . For example, the water spraying device may spray water onto the second cleaning members 23 and 34 or directly to the cleaning target 5.

Meanwhile, referring to FIG. 2, a brush body 25 having a brush 26 may be provided at four corners of the second cleaner 20. That is, the second cleaner 20 may include a plurality of brush bodies 25. In this embodiment, the brush body 25 effectively cleans the cleaning object 5 at a position adjacent to the window frame. Of course, the brush body 25 having the brush 26 may also be provided in the first cleaner 20.

The brush body 25 is movably installed in the second cleaner 20, and is drawn out to the outside of the second cleaner 20 in a state in which part or all of the brush body 25 is accommodated inside the second cleaner 20. Can be projected). The brush body 25 may be rotatably installed or slidably installed in the second cleaner 20 as an example.

In exemplary embodiments, the second cleaner 20 may include two brush drivers and four brush drivers. For example, the first brush driver simultaneously drives two brush bodies on the right side of the second cleaner 20, and the second brush driver simultaneously drives two brush bodies on the left side of the second cleaner 20, for example. can do.

3 is a block diagram of a window type cleaning apparatus according to an embodiment of the present invention.

Referring to FIG. 3, the first cleaner 10 may include a first driver 111 and a second driver 112 connected to each of the wheels 11, a battery 113 for supplying power, A first communication unit 114 for performing communication with the second cleaner 20, one or more first magnets 115, an impact detector 116 for detecting an impact, and the respective driving units 111 and 112 It may include a first control unit 110 for controlling.

The first driving unit 111 and the second driving unit 112 may be driven independently. Therefore, the first cleaner 10 may be moved back and forth and left and right rotated by adjusting the rotation speeds of the driving units 111 and 112.

The shock detector 116 may include, for example, a plurality of switches. In this embodiment, for example, the shock detection unit 116 may include four switches. The four switches may be located at four corners of the first cleaner 10, respectively. The four switches may be pressed by the bumpers 14 and 15. For example, when the bumpers 14 and 15 collide with the window frame, one or more of the four switches are pressed, and accordingly, the first control unit 110 causes the first cleaner 10 to collide with the window frame. The driving unit 111 and 112 control the respective driving units 111 and 112.

The second cleaner 20 may include a second communication unit 211 that communicates with the first communication unit 114, a battery 212 for supplying power, one or more second magnets 213, and At least one brush driver 214 for driving the brush body 25 and a second controller 210 for controlling the brush driver 214 may be included.

When the first magnet 115 and the second magnet 213 are positioned to correspond to each other, the attraction force (magnetic force) between the first cleaner 10 and the second cleaner 20 is applied to each of the cleaners 10, 20 may be attached to the inclined cleaning object 5. That is, each of the cleaners 10 and 20 may be prevented from falling or sliding downward in contact with the inclined cleaning object 5.

Since the attraction force of the first magnet 115 and the second magnet 213 is varied according to the distance between the first magnet 115 and the second magnet 213, the first cleaner 10 or the first magnet. 2 The cleaner 20 may be provided with a magnetic force control unit (not shown) for varying the distance between the first magnet 115 and the second magnet 213 by moving the magnets 115 and 213. have.

In the present embodiment, when the first cleaner 10 and the second cleaner 20 are moved by the attraction force by the magnets 115 and 213, the second cleaner 20 is moved. Will move with.

4 is a flowchart illustrating a method of controlling a window type cleaning device according to an embodiment of the present invention, FIG. 5 is a view illustrating a window type cleaning device performing cleaning in a first running pattern, and FIG. 6 is a window type type. FIG. 7 is a view showing a cleaning device performing cleaning in a second driving pattern, and FIG. 7 is a view showing an operating state of a brush body when the window cleaning device is positioned adjacent to a window frame.

First, referring to FIGS. 4 to 6, in order to perform the cleaning object 5, the user attaches the window type cleaning device to the cleaning object 5. Then, a cleaning start command is inputted to the window cleaning device. For example, since the first cleaner 10 is located inside the building, the first cleaner 10 may be provided with an input unit for inputting an operation command. Of course, although not shown, it is also possible to input the cleaning command using the remote control.

In the description of the present embodiment, it will be described with an example that the window-type cleaning device is first attached to the position adjacent to the right side of the window frame (6).

Then, the window cleaning device confirms the initial attachment position (S1). The window cleaning device first moves vertically upwards. Then, the window type cleaning device collides with the upper side of the window frame 6, and when the impact detection unit 116 detects this, the window type cleaning device stops.

Although not shown, an encoder for detecting the rotation speed of the plurality of wheels 11 may be provided inside the first cleaner 10. Thus, the vertical moving distance L1 when the window cleaning device is vertically moved at the initial attachment position can be calculated.

The window cleaning device then horizontally moves to the left, for example. At this time, the window-type cleaning device is moved in a counterclockwise direction to the left and horizontally moved to the lower side after moving a predetermined distance to the lower side in a state in which the window-type cleaning device has collided with the upper portion of the window frame (6). The reason is that the cleaning members 21, 22, 23, 24 are arranged in the vertical direction as shown in FIG.

Then, the window cleaning device collides with the left side of the window frame 6, and when the impact detecting unit 116 detects this, the window cleaning device stops. Then, the horizontal distance L2 from the point where the window-type cleaning device collides with the upper side of the window frame 6 to the left side of the window frame 6 can be calculated.

That is, the horizontal and vertical distances from the upper left side of the window frame 6 to the initial attachment position are calculated by the vertical movement of the window cleaning apparatus and the horizontal movement to the left to confirm the initial attachment position.

Since the pressurized switch when the first cleaner 10 collides with a specific point of the window frame 6 may vary, based on this, the first cleaner 10 is located at any point of the window frame. It is possible to determine whether (10) has collided.

In this embodiment, the upper left end of the window frame in Figure 5 may be referred to as the cleaning start position. Therefore, in the present embodiment, the step of confirming the initial attachment position of the window cleaning apparatus may be understood as the step of moving the window cleaning apparatus to the first cleaning start position. Of course, the first cleaning start position of the window cleaning apparatus may be different, and may be the upper right side of the window frame 6. That is, the first cleaning start position varies depending on setting the window cleaning device to move upward from the initial attachment position to collide with the upper side of the window frame 6 to move in either the left or right direction. Can be.

In FIG. 5, the second cleaner 20 is attached to the cleaning object 6, and the cleaning members 21 and 22 are based on the imaginary line that bisects the second cleaner 20 shown in FIG. 5 up and down. , 23, 24) can be divided into A and B parts.

After the window cleaning apparatus moves to the first cleaning start position as shown in FIG. 5, the window cleaning apparatus performs cleaning while driving in the first driving pattern (S2). In an exemplary embodiment, the window cleaning device moves horizontally to the right from the first cleaning start position. If the window cleaning device collides with the right side of the window frame 6 while the window cleaning device is horizontally moved to the right, the window cleaning device is stopped. At this time, since the window cleaning device moves from the upper left end of the window frame 6 to the upper right end, the window cleaning device can calculate the maximum horizontal moving distance L3.

At this time, when the window-type cleaning device is attached to a position adjacent to the right side of the window frame 6 as described above, L2 is larger than 1/2 of L3, so that the window-type cleaning device is It can be determined that the adjacent attachment to the right side.

After the window cleaning device moves to the right and stops, the window cleaning device moves to the left. At this time, the window-type cleaning device does not move horizontally to the left side, but moves downward at an angle downward as shown in FIG. 5. The reason is to make it possible to clean the entire area of the object to be cleaned.

In addition, the window type cleaning device does not rotate on the right side of the window frame 6, but moves downward while only changing the moving direction. Therefore, referring to Fig. 5, even when the window type cleaning device moves from the right side to the left side of the window frame 6, the positions of the A and B portions of the respective cleaning members are not changed. That is, when the window cleaning device runs in the first travel pattern, part A is always positioned on the upper side and part B is located on the lower side.

Referring to FIG. 5, since the window type cleaning device performs cleaning while driving the cleaning object 5 in a zigzag manner, the first driving pattern may be referred to as a zigzag driving pattern.

Then, while the window cleaning device is traveling in the first running pattern, the window cleaning device determines whether or not the cleaning is completed (S3). In the present embodiment, when it is determined that the cleaning is completed, the window type cleaning device is located at the bottom right of the window frame 6. In the present embodiment, the lower right end of the window frame 6 may be referred to as a first cleaning completion position. At this time, the first cleaning start position and the first cleaning completion position are different positions. Of course, the first cleaning completed position may be the right bottom end of the window frame 6 or the left bottom end according to the angle at which the window cleaning device moves downward.

If it is determined that the cleaning is completed while the window type cleaning device is driven in the first running pattern, the window type cleaning device is configured to clean the cleaning object 5 at a position adjacent to the window frame 6. The cleaning is performed while traveling in S4. In this case, the first driving pattern and the second driving pattern are different patterns.

Meanwhile, referring to FIG. 7, since the first cleaning members 21 and 22 positioned outward from the second cleaner 20 are disposed to be spaced inward from the corner of the second cleaner 20, the window type cleaning is performed. Even when the device collides with the right side of the window frame 6, cleaning of the object 5 to be cleaned in the portion adjacent to the right side of the window frame 6 is not performed or in a position adjacent to the window frame 6 Contaminants may accumulate in the object to be cleaned.

That is, when the window-type cleaning device performs cleaning while driving in the first travel pattern, the cleaning object 5 may not be cleaned or contaminants may be accumulated at positions adjacent to the left and right portions of the window frame 6. have.

Therefore, in the present embodiment, when the window type cleaning device collides with the left side or the right side of the window frame 6 and moves away from the window frame 6, the brush driving unit 214 operates to operate the left side and the right side of the window frame 6. Allow cleaning of the part adjacent to the part.

Specifically, the first cleaner 10 may detect a collision with the window frame 6. When a collision is detected, collision notification information is transmitted from the first communication unit 114 to the second communication unit 211. Then, the plurality of brush bodies corresponding to the impacted window frame 6 may be driven by the brush driver 214 as shown in FIG. 7 to clean the position adjacent to the window frame 6. That is, as illustrated in FIG. 7, the brush 26 may clean the cleaning object 5 in a portion adjacent to the window frame 6 by the movement of the plurality of brush bodies 25.

In this embodiment, since the brush body 25 is effective for cleaning the object to be cleaned 5 in the portion adjacent to the window frame 6, it is preferable to start the operation after the window type cleaning device collides with the window frame 6. desirable. At this time, in order to effectively perform the cleaning of the portion adjacent to the window frame 6, after the window type cleaning device collides with the window frame 6, the window frame is separated from the window frame by a predetermined distance and stopped, and the brush body 25 is stopped. Can be moved again after cleaning.

Of course, even when the window type cleaning device does not stop in the process of moving in the opposite direction after the collision with the window frame 6, it is possible to clean by the operation of the brush body (25).

In the present exemplary embodiment, the brush 26 is fixed to the brush body 25 by way of example. Alternatively, a separate rotating member is rotatably installed on the brush body 25, and the rotating member 25 is fixed to the brush body 25. It is also possible to be provided with a brush 26. In this case, the rotational power of the rotating member 25 may be transmitted from the brush driver. That is, the brush driving unit may rotate (rotate or rotate) the rotating member while simultaneously moving (sliding or rotating) the brush body 25.

On the other hand, with reference to the second driving pattern, when the window-type cleaning device is located at the bottom right of the window frame 6 and the cleaning is completed, the window-type cleaning device performs cleaning while moving along the window frame (6) Done. In the present embodiment, the first cleaning completed position is the same as the second cleaning start position.

In detail, the window cleaning device is horizontally moved to the left along the lower part of the window frame 6 at the second cleaning start position (see arrow 1). When the window cleaning device collides with the left side of the window frame 6, the window cleaning device is rotated clockwise after moving to the right (see arrow 2). The reason why the window cleaning device rotates as described above is to allow relatively dirty portions of the cleaning members 21, 22, 23, and 24 to be located close to the window frame 6. When the window type cleaning device is rotated as shown by arrow 2, part B of the cleaning members 21, 22, 23, and 24 is positioned closer to the window frame than part A.

In the present embodiment, when the window cleaning device runs in the first traveling pattern, the portion B of the cleaning members 21, 22, 23, and 24 is always located below the portion A, so that the portion B is less than the portion A. It gets dirty. The reason for this is that cleaning is performed while the B portion of the cleaning members 21, 22, 23, 24 contacts the cleaning object 5 first, and the cleaning is not performed by the B portion or the B portion where the cleaning is completed. This is because part A performs cleaning.

If part A of the cleaning members 21, 22, 23, and 24 is located close to the window frame, the cleaning object cleaned by the part B which is relatively dirty while the window type cleaning device moves in the second driving pattern ( Since 5) may be contaminated, in this embodiment, the window-type cleaning device runs while the relatively dirty part B is located close to the window frame 6.

After the window cleaning device is rotated clockwise as shown by arrow 2, the window cleaning device is raised along the left side of the window frame 6 (see arrow 3). If the window cleaning device collides with the upper side of the window frame 6 while the window cleaning device is raised as shown by arrow 3, the window cleaning device is lowered along the left side of the window frame 6 (see arrow 4). ).

Since the window cleaning device is located at the top left and bottom left of the window frame 6 during the war in the second traveling pattern as in the present embodiment, the window cleaning device is used in the cleaning object 5. The maximum vertical travel distance L4 can be calculated.

The window cleaning device collides with the lower part of the window frame 6 while the window cleaning device is lowered as indicated by arrow 4. Then, the window cleaning device is rotated counterclockwise as shown by arrow 5 after being spaced apart from the lower side of the window frame (6). The window cleaning device then moves to the right along the underside of the window frame 6 (see arrow 6). The window cleaning device collides with the right side of the window frame 6 while the window cleaning device is moving to the right as shown by arrow 6. Then, the window-type cleaning device is rotated counterclockwise as shown by arrow 7 after being spaced apart from the right side of the window frame 6. The window cleaning device is then raised along the right side of the window frame 6 (see arrow 8). When the window cleaning device collides with the upper part of the window frame 6, the window cleaning device is lowered along the right side of the window frame 6 (see arrow 9). And finally, when the window cleaning device is located at the right bottom of the window frame 6, the window cleaning device is stopped.

While the window cleaning device is traveling in the second driving pattern, the window cleaning device determines whether or not the cleaning is completed (S5). In the present embodiment, when it is determined that cleaning is completed, the window type cleaning device returns to the second cleaning start position for the second time while traveling in the second driving pattern. That is, the window cleaning device first returns to the second cleaning start position when moving as shown by arrow 6 and then returns to the second cleaning start position when moving as shown by arrow 9.

Of course, in the present embodiment, the cleaning completed position at the time of driving in the second driving pattern may be referred to as the second cleaning completed position, in which case the second cleaning start position and the second cleaning completed position become the same position.

Then, when it is determined that the cleaning is completed in step S5, the window cleaning device is returned to the initial attachment position (S6).

In the present embodiment, when the window cleaning device runs in the second driving pattern, the trajectory drawn by the window cleaning device is shaped like "U".

In the present exemplary embodiment, the second driving pattern has been described as having a pattern such as “U”. However, it is clear that the driving pattern is not limited as long as the window type device can move along the window frame.

For example, the second driving pattern may be a pattern such as "ㅁ". At this time, when the second driving pattern is a pattern such as "U", the driving process returns to the second cleaning start position a plurality of times. When the second driving pattern is a pattern such as "ㅁ", the driving pattern returns to the second cleaning starting position once. Can be returned multiple times.

In addition, since the window type cleaning device is driven in the second driving pattern to perform cleaning while moving along the window frame 6, the brush driving unit stops when the window type cleaning device is driven in the second driving pattern. It can be maintained.

That is, when the window type cleaning device runs in the first driving pattern, the brush driving unit operates, and when the window type cleaning device runs in the second driving pattern, the brush driving unit can be stopped.

According to the proposed invention, since the window-type cleaning device runs in the first driving pattern and performs cleaning while traveling in the second driving pattern along the window frame after the first cleaning is completed, the object to be cleaned adjacent to the window frame Cleaning is effectively performed.

In addition, when driving in the first driving pattern, since the cleaning of the portion adjacent to the window frame in the brush body is possible, there is an advantage that more effective cleaning is possible.

In the above embodiment, the window-type cleaning device having a brush body has traveled in the first driving pattern and the second driving pattern. However, the window-type cleaning device having a brush body performs cleaning while driving only in the first driving pattern. Or, it is also found that the window-type cleaning device, which is not provided with a brush body, performs cleaning while traveling in the first driving pattern and the second driving pattern.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. Furthermore, the terms "comprises", "comprising", or "having" described above mean that a component can be implanted unless otherwise specifically stated, But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Terms used generally, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be interpreted in an ideal or excessively formal sense unless explicitly defined in the present invention.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

10: first cleaner 20: second cleaner

Claims (13)

In the control method of the window cleaning device,
Performing cleaning by driving the window cleaning device in a preset first driving pattern; And
And when the cleaning is completed by the first driving pattern, performing the cleaning while the window type cleaning device is driven in the second driving pattern moving along the window frame. The method of claim 1,
The first driving pattern and the second driving pattern is a control method of the window cleaning device is a different driving pattern. The method of claim 1,
When driving in the first driving pattern, the window cleaning device starts at the first cleaning start position and stops at the first cleaning completion position,
The window cleaning apparatus controls the window cleaning apparatus starting from the second cleaning start position and returning to the first cleaning starting position when the vehicle is driven in the second driving pattern. The method of claim 3, wherein
The first cleaning start position and the first cleaning completion position are different positions;
And the second cleaning start position and the second cleaning completion position are the same position. The method of claim 1,
When the window cleaning device is driven by the second running pattern, the trajectory drawn by the window cleaning device is in the form of "U" or "ㅁ". The method of claim 1,
The window cleaning device is a control method of the window cleaning device for changing the direction of rotation by the corner of the window frame. The method of claim 1,
And a brush body moved by a brush drive unit to clean the object to be cleaned when the window cleaning device is positioned adjacent to the window frame when the window cleaning device is driven in the first running pattern. The method of claim 7, wherein
The brush driving unit, when the window type cleaning device collides with the window frame and is spaced apart from the window frame, the control method of the window type cleaning device to start operation. The method of claim 1,
Moving to a cleaning start position before driving in the first driving pattern,
After the completion of the driving in the second driving pattern, further comprising the step of moving to the initial attachment position of the window cleaning device,
The first attachment position is a control method of the window cleaning device is determined during the driving in the first driving pattern. A first vacuum cleaner in contact with one side of the window,
A second vacuum cleaner which contacts the other side of the window and moves along the window with the first vacuum cleaner,
The first vacuum cleaner and the second vacuum cleaner, the window type cleaning device for performing the cleaning while traveling in the second driving pattern moving along the window frame after performing the cleaning in a predetermined first driving pattern. 11. The method of claim 10,
At least one of the first vacuum cleaner and the second vacuum cleaner has a brush body for cleaning the window frame and the adjacent window,
Window type cleaning device including a brush drive for driving the brush body. The method of claim 11,
The brush driving unit may operate when driving in the first driving pattern, and stop when driving in the second driving pattern. The method of claim 11,
The brush drive unit, the window type cleaning device to start the operation when the first cleaner and the second cleaner is located adjacent to the window frame.

Images