KR20130125892A - Cleaning apparatus for window and method of controlling the same - Google Patents

Abstract

A cleaning apparatus for a window according to one side includes: a first cleaning unit which is in contact with one side of the window and includes a first handle and a first sensing unit which senses the location of the first handle; and a second cleaning unit which is in contact with the other side of the window, moves along the window with the first cleaning unit and includes a second handle and a second sensing unit which senses the location of the second handle. If the abnormal position of the handle is sensed by the first sensing unit or the second sensing unit, an alarm is generated on the first cleaning unit or the second cleaning unit.

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. And, each module may be provided with a handle for easy handling of the user.

By the way, according to the conventional automatic cleaner, when the user pulls the handle of any one of the inner module and the outer module does not generate any warnings or notifications, there is a problem that the module located on the opposite side falls and breaks. .

An object of the present invention is to provide a window cleaning apparatus and a control method thereof, in which the cleaner attached to the window is prevented from falling due to user's carelessness.

According to an aspect, a window type cleaning device includes: a first cleaner contacting one side of a window and having a first handle and a first sensing unit for sensing a position of the first handle; And a second cleaner in contact with the other side of the window and movable along the window with the first cleaner and having a second handle and a second sensing unit for sensing a position of the second handle. When at least one of the first sensing unit and the second sensing unit detects that the position of the handle is an abnormal position, an alarm is generated in at least one of the first cleaner and the second cleaner.

Another window cleaning device on another side comprises: an internal module in contact with a window inside the building; And an external module contacting the window outside the building and movable along the window together with the internal module, wherein the internal module includes a handle for detecting a handle and a position of the handle, and generates an alarm. And an alarm unit for detecting and detecting that the position of the handle is an abnormal position in the detection unit, an alarm is generated in the alarm unit.

According to another aspect of the present invention, a method of controlling a window type cleaning device includes: a method of controlling a window type cleaning device including a first cleaner and a second cleaner positioned opposite to each other with respect to a window, wherein a position of one or more handles of each of the cleaners is located. Is detected; And generating an alarm in at least one of the cleaners when the position of the handle is in an abnormal state as a result of the detection.

According to the proposed invention, by the alarm generated in the alarm unit, the user can easily recognize that the handle is located in an abnormal state, so that the user can operate the handle to be placed in the normal state, thereby inadvertently By pulling the handle, it can be prevented that any one cleaner falls and is broken.

1 is a view schematically showing a window type cleaning device according to an embodiment of the present invention.
Figure 2 is a block diagram of a window type cleaning device according to an embodiment of the present invention.
3 is a view schematically showing a state in which a detector for detecting a handle is provided in a cleaner according to an embodiment of the present disclosure.
Figure 4 is a flow chart for explaining a control method of the window cleaning device according to an embodiment of the present invention.
Figure 5 is a perspective view showing a state in which the second cleaner according to an embodiment of the present invention is connected to the fall prevention device.
6 is a view showing the fall prevention device according to an embodiment of the present invention.
7 is a perspective view of the fall prevention device according to another embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

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.

Referring to FIG. 1, a window type cleaning device 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 object to be cleaned 5 while the first cleaner 10 is in contact with one surface of the object to be cleaned 5, the first cleaner 10 and the second cleaner are in contact with each other. The cleaner 20 may be fixed in position by manpower.

In the present specification, for example, the first cleaner 10 is in contact with the cleaning object 5 from the inside of the building, and the second cleaner 20 is in contact with the cleaning object 5 from the outside of the building. Let's explain.

Accordingly, 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 vacuum cleaner 10 may include a plurality of wheels 11 for movement and a first handle 12 that a user can grip. The first handle 12 may be rotatably connected to the first cleaner 10. The user may grab the first 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 vacuum 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. 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.

Of course, the first cleaner 10 may also be provided with one or more cleaning members for cleaning the cleaning object (5).

The second cleaner 20 may further include a second handle 25 that the user can grip. The second handle 25 may be rotatably connected to the second cleaner 20. The user may grab the second handle 12 and move the second cleaner 20 to the cleaning object 5 or away from the cleaning object 5.

That is, the user grasps the first handle 12 of the first cleaner 10 and the second handle 25 of the second cleaner 20, and the cleaners 10 and 20 are disposed on the cleaning target 5. ), But can be separated from the cleaning object (5).

FIG. 2 is a block diagram of a window type cleaning device according to an embodiment of the present invention, and FIG. 3 is a view schematically showing a state in which a detection unit for detecting a handle is provided in a cleaner according to an embodiment of the present invention.

2 and 3, the first cleaner 10 includes a first driver 111 and a second driver 112 connected to each of the plurality of wheels 11, and a battery 113 for power supply. ), A first communication unit 114 for performing communication with the second cleaner 20, one or more first magnets 115, an impact detecting unit 116 for detecting an impact, and the first An angle sensor 119 for detecting an installation angle of the cleaner 10 and a first controller 110 for controlling the respective driving units 111 and 112 may be included.

The first driving unit 111 and the second driving unit 112 may be driven independently. Therefore, the first cleaner 10 can be moved back and forth and left and right rotated by adjusting the rotational 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, so that the first control unit 110 collides with the window frame. The driving unit 111 and 112 control the respective driving units 111 and 112.

The first cleaner 20 is a state in which the first sensing unit 117 for sensing the first handle 12 and the first sensing unit 117 do not sense the first handle 12. An alarm unit 118 that may generate an alarm may be further included.

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 A second sensing unit 214 for sensing the second handle 25 and a second control unit 210 for receiving information of the second sensing unit 214 may be included. An alarm unit 215 may be further provided in the second cleaner 20.

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 vacuum cleaner 10 and the second vacuum 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. The vacuum 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.

Meanwhile, the cleaners 10 and 20 may communicate with the remote controller 30 provided separately. The user may input a command to each of the cleaners 10 and 20 using the remote controller 30 or monitor the operation state. Although not shown, the remote controller 30 may be provided with an alarm unit.

Referring to FIG. 3, the handles 12 and 25 may be rotatably connected to the cleaners 10 and 20 by, for example, hinges 210. The hinge 210 may be formed on the handles 12 and 25 or the cleaners 10 and 20. Alternatively, the hinge 210 may exist in a separate configuration, and the handles 12 and 25 may be connected to the cleaners 10 and 20.

In the present specification, in a state in which the respective cleaners 10 and 20 are attached to the cleaning object 5, the handles 12 and 25 are placed in the vertical direction in the cleaners 10 and 20 (FIGS. 1 and 2). (See FIG. 3) (the cleaning object may be in a vertically arranged state) or the handles 12 and 25 are not lifted in the upper direction of the cleaners 12 and 25 (in the direction A in FIG. 3). The state will be described as the handles 12 and 25 are located in the normal state.

On the other hand, the handles 12 and 25 are not placed in the vertical direction in each of the cleaners 10 and 20 or the handles 12 and 25 are lifted in the upper direction of the cleaners 10 and 20. It will be described as being in an abnormal state.

The state in which the handles 12 and 25 are lifted in the upper direction of the cleaners 10 and 20 is a state in which the handles 12 and 25 are rotated by an angle in the other direction while the handles 12 and 25 cannot be rotated in one direction. . That is, the handles 12 and 25 in the state shown in FIG. 3 can no longer be rotated in the clockwise direction, and the handles 12 and 25 are lifted in the state in which the handles 12 and 25 are rotated in the counterclockwise direction. It means a true state.

Each of the sensing units 117 and 214 may be, for example, a switch. When the handles 12 and 25 are positioned in the normal state, the detection units 117 and 214 may detect the handles 12 and 25. That is, the switch may be pressurized when the knobs 12 and 25 are in the normal state.

In the present embodiment, as long as the sensing units 117 and 214 can sense the positions of the handles 12 and 25, the sensing units 117 and 214 are not limited. For example, the detectors 117 and 214 may include a light emitting sensor and a light receiving sensor. In this case, the handles 12 and 25 may be determined to be in a normal state when they are rotated within a predetermined range, and may be determined to be in an abnormal state when they are rotated beyond the predetermined range. As another example, the detectors 117 and 214 may include magnets provided in the handles 12 and 25 and magnetic sensors provided in the cleaners 10 and 20 to detect the magnets. have. In the present embodiment, the first sensing unit 117 and the second sensing unit 214 may have the same type or different types.

Each of the cleaners 10 and 20 may further include an elastic member 230 that provides an elastic force to each of the handles 12 and 25 so that the handles 12 and 25 may be normally placed. . The elastic member 230 may be, for example, a torsion spring, one end of which is fixed to or in contact with each of the cleaners 10 and 20 or the hinge 210 (when the hinge is integrally formed with the cleaner) and the other end of the elastic member 230. It may be connected to the handle 12, 25 (when the hinge is a separate configuration from the handle) or the hinge 210 (when the hinge is formed integrally with the handle). That is, the elastic member 230 provides elastic force to each of the handles 12 and 25 so that the handles 12 and 25 move in a direction closer to the cleaning object 5.

In the present embodiment, the elastic member 230 may be provided in only one or both of the cleaners 10 and 20.

As another example, at least one of the cleaners 10 and 20 may include a fixing mechanism for fixing the handle in the normal position.

The fixing mechanism may include a magnet provided in each of the handles 12 and 25 and the cleaners 10 and 20. As another example, the fixing mechanism may include a magnet provided in one of the handles 12 and 25 and the cleaners 10 and 20, and a metal provided in the other. As another example, the fixing mechanism may include a protrusion provided in one of the handles 12 and 25 and the cleaners 10 and 20, and a groove provided in the other to insert the protrusion.

4 is a flowchart illustrating a control method of the window type cleaning device according to an embodiment of the present invention.

Referring to FIG. 4, in order to perform the cleaning object 5, the user attaches the window cleaning device to the cleaning object 5. As described above, the user attaches the cleaners 10 and 20 to the cleaning object while holding the handles 12 and 25 of the cleaners 10 and 20.

The window cleaning device may detect whether it is attached to the cleaning object 5 (S1).

Since the first cleaner 10 includes an angle sensor 119, it may be determined whether the first cleaner 10 is attached to a cleaning object based on the detected angle. For example, when the angle detected by the angle sensor 119 is 0 while the first cleaner 10 is placed horizontally, when the first cleaner 10 is attached to the cleaning object 5, the angle sensor The angle detected at 119 will be an angle greater than zero.

In the present embodiment, a reference angle range for determining that the window type cleaning device is attached to a cleaning object is stored in a memory unit not shown, and the angle detected by the angle sensor 119 falls within the reference angle range. It is determined that the window cleaning device is attached to the cleaning object.

After detecting that the window cleaning device is attached to the cleaning object, it is determined whether the handles 12 and 25 are detected in at least one of the first sensing unit 117 and the second sensing unit 214. (S2). That is, the controllers 110 and 210 of the cleaners 10 and 20 determine whether the handle undetected signal is output from the sensors 117 and 214.

If the handle undetected signal is output from one or more of the first sensing unit 117 and the second sensing unit 214, an alarm is generated in the alarm unit 118 (S3).

For example, when the second handle 25 is not detected in the second sensing unit 214 of the second cleaner 20 disposed outside the building, the first communication unit 114 in the second communication unit 211. The handle non-detection information is transmitted, and the first control unit 110 receives the control and controls the alarm to be generated in the alarm unit 118. Of course, an alarm may also occur in the alarm unit 215 of the second cleaner 20. In this case, when an alarm occurs in at least one of the cleaners 10 and 20, the alarm may also occur in the remote controller 30.

On the contrary, when the first handle 12 is not detected in the first sensing unit 117 of the first cleaner 10, the handle undetected information is transmitted from the first communication unit 114 to the second communication unit 211. Is transmitted, and the second control unit 210 receives the control and controls the alarm to occur in the alarm unit 215. Of course, an alarm may also occur in the alarm unit 118 of the first cleaner 10.

Then, the window type cleaning device determines whether or not driving (S4). If it is determined that the window cleaning device is running, the window cleaning device stops running (S5). At this time, when the handles 12 and 25 are sensed by the sensing units 117 and 214 in the state in which the window cleaning apparatus is stopped, the window cleaning apparatus may perform cleaning while driving again.

In this embodiment, the timing of detecting that the window cleaning device is attached to the object to be cleaned may be after the cleaning command is input to the window cleaning device, before the cleaning command is input, or while driving, and there is no limitation in the time. Put it.

When an alarm occurs in the alarm unit 118, the user can easily recognize that the handles 12 and 25 are in an abnormal state, so that the user manipulates the handles 12 and 25 to the normal state. Can be inadvertently pulled on the handles 12, 25 to prevent any one of the cleaners 10, 20 from falling and breaking.

5 is a perspective view illustrating a state in which a second cleaner according to an embodiment of the present invention is connected to a fall prevention device, and FIG. 6 is a view illustrating a fall prevention device according to an embodiment of the present invention.

5 and 6, the window cleaning device may further include a drop preventing device 40 for preventing the second cleaner 20 from falling. For example, the fall prevention device 40 may be coupled to the cleaning object 5 or may be coupled to a window frame or other parts. In addition, the fall prevention device 40 may be connected to the second cleaner 20. That is, the fall prevention device 40 can be fixed to the fixed object, it is noted that there is no limitation to the fixed object. Hereinafter, the fixed object will be described as the cleaning object 5 by way of example.

The fall prevention device 40 includes a body 410 in contact with the fixed object, a pressing unit 420 for firmly contacting the body 410 with the fixed object 410, and the body 410. It is connected to or fixed to, and may include a connection mechanism 430 connected to the second cleaner (20).

The contact part 410 may include a contact part 412 for contacting one surface of the fixed object, a support part 413 spaced apart from the contact part 412, and supporting the pressing part 420, and the contact part 412. And a connection part 411 connecting the support part 413.

The pressing part 420 may penetrate the support part 413, and an end part thereof may be provided with a contact part 422 for contacting the other surface of the fixed object. The contact part 422 may be formed of, for example, a rubber material.

A thread is formed on an outer circumferential surface of the pressing portion 420, and a distance between the contact portion 422 of the pressing portion 420 and the contact portion 412 of the body 412 is formed by the rotation operation of the pressing portion 420. Can be adjusted.

The connection mechanism 430 is a wire 430, a reel (not shown) to which the wire 430 is wound, and an elastic member (not shown) to provide elastic force to the reel in a direction in which the wire 430 is wound. ) May be included. A coupling part (not shown) for coupling the wire 430 may be formed in the second cleaner 20.

When the second cleaner 20 is far from the connector 430, the wire 430 is released, and when the second cleaner 20 is close to the connector 430, the wire 430. Is wound by the elastic member.

According to the present embodiment, even when the first cleaner 10 is detached from the object to be cleaned 5 by the user in a state where the handle of the second cleaner is not held, the second cleaner 20 is connected to the wire ( Since the second stop is stopped in the dropped state by the length of 430, the second cleaner 20 can be prevented from colliding with the ground or the floor to be damaged.

In the present embodiment, the fall prevention device has been described as being connected to the second cleaner 20 located outside the building, but may also be connected to the first cleaner 10 located inside the building. In this case, the fall prevention device may include a plurality of connection mechanisms.

7 is a perspective view of a fall prevention apparatus according to another embodiment of the present invention.

Referring to FIG. 7, the fall prevention device 50 of the present embodiment includes an attachment portion 510 attached to a cleaning object 5, an operation portion 520 for increasing the attachment force of the attachment portion, and the operation portion 520. And a connection mechanism 530 having a wire 531.

The connection mechanism 530 is connected to the second cleaner 20 and may have the same structure as the connection mechanism 430 described with reference to FIG. 6.

The attachment part 510 may include a contact part 512 in contact with the cleaning object 512. For example, the contact part 512 may be formed of a rubber material.

When the manipulation unit 520 is operated, the body of the attachment unit 512 presses the contact portion 512 to the cleaning object 5, and a space between the contact portion 512 and the cleaning object 5 is reduced. In a vacuum state, the attachment part 512 may be attached to the cleaning object 5.

For example, the attachment part 510 may be formed in the same structure as the attachment part provided in the cradle for mounting the navigation, and thus description of the detailed operation will be omitted.

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 vacuum cleaner 20: second vacuum cleaner

Claims (14)

A first cleaner in contact with one side of the window and having a first handle and a first sensing unit for sensing a position of the first handle; And
A second vacuum cleaner which contacts the other side of the window and is movable along the window with the first vacuum cleaner, the second vacuum cleaner having a second handle and a second sensing part for sensing a position of the second handle,
And at least one of the first detecting unit and the second detecting unit detects an abnormal position of the handle, and generates an alarm in at least one of the first cleaner and the second cleaner. The method of claim 1,
Each of the first cleaner and the second cleaner includes a window type cleaning device for generating an alarm. The method of claim 1,
The window cleaner of claim 1, wherein an alarm is generated in each of the first and second cleaners when one of the cleaners detects that the handle is in an abnormal position. The method of claim 1,
At least one of the first sensing unit and the second sensing unit is a window-type cleaning device is a switch that is pressed by the handle. The method of claim 1,
At least one of the first detection unit and the second detection unit window cleaning device including a light emitting sensor and a light receiving sensor. The method of claim 1,
At least one of the first sensing unit and the second sensing unit includes a magnet and a magnetic sensing sensor for sensing magnetism of the magnet,
The magnet is provided on any one of a cleaner and a handle, the magnetic sensor is a window type cleaning device is provided on the other. The method of claim 1,
At least one of the first vacuum cleaner and the second vacuum cleaner, the window cleaning device including an elastic member for providing an elastic force to the handle to move in a direction closer to the cleaning object. The method of claim 1,
At least one of the first vacuum cleaner and the second vacuum cleaner, the window type cleaning device is provided with a fixing mechanism for fixing the position of the handle. The method of claim 1,
And a fall prevention device connected to at least one of the first vacuum cleaner and the second vacuum cleaner to prevent one or more of the first vacuum cleaner and the second vacuum cleaner from falling. The method of claim 1,
And a remote controller for inputting an operation command to the first vacuum cleaner or the second vacuum cleaner or for monitoring the first vacuum cleaner or the second vacuum cleaner,
When the alarm occurs in at least one of the first vacuum cleaner and the second vacuum cleaner, the window type cleaning device for generating an alarm in the remote control. The method of claim 1,
The window type cleaning device, wherein the driving of the cleaner is stopped when it is detected that the position of the handle is abnormal in at least one of the first sensing unit and the second sensing unit while the cleaner is running. Internal modules in contact with the windows inside the building; And
An outer module that contacts the window outside the building and is movable along the window with the inner module,
The inner module includes a handle and a sensing unit for detecting a position of the handle and an alarm unit for generating an alarm,
The window-type cleaning device for generating an alarm in the alarm unit when it is detected that the position of the handle is an abnormal position in the detection unit. In the control method of the window-type cleaning device comprising a first cleaner and a second cleaner located opposite to each other based on the window,
Detecting the position of one or more handles of each of the cleaners; And
And detecting an alarm in at least one of the cleaners when the position of the handle is abnormally detected. The method of claim 13,
The control method of the window-type cleaning device, when the position of the handle is located in an abnormal state while the cleaner is running.

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