WO2011126193A1 - 유리창 청소 장치 및 그의 제어 방법 - Google Patents
유리창 청소 장치 및 그의 제어 방법 Download PDFInfo
- Publication number
- WO2011126193A1 WO2011126193A1 PCT/KR2010/007761 KR2010007761W WO2011126193A1 WO 2011126193 A1 WO2011126193 A1 WO 2011126193A1 KR 2010007761 W KR2010007761 W KR 2010007761W WO 2011126193 A1 WO2011126193 A1 WO 2011126193A1
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- WIPO (PCT)
- Prior art keywords
- window
- magnetic force
- cleaning
- magnetic
- unit
- Prior art date
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
- A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/06—Hand implements
- A47L1/12—Hand implements for cleaning both sides simultaneously
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
Definitions
- the present invention relates to a device for cleaning a window.
- the glass windows installed on the wall of the building is easily contaminated by external dust, pollution, etc., so it is easy to damage the aesthetics or deteriorate the skylight. Therefore, it is desirable to frequently clean the windows installed on the outer wall of the building.
- An object of the present invention is to provide a window cleaning apparatus and a control method thereof, which can improve the efficiency and stability of the operation.
- a window cleaning apparatus including a first cleaning unit and a second cleaning unit which are attached to both surfaces of a window and moved by magnetic force, and include a first magnetic module included in the first cleaning unit; A second magnetic module included in the second cleaning unit; A magnetic force sensing unit sensing magnetic force between the first and second magnetic modules; And a magnetic force control unit for controlling magnetic force between the first and second magnetic modules.
- control method of the window cleaning apparatus the step of sensing the magnetic force between the first magnetic module and the second magnetic module included in the first and second cleaning units; Comparing the sensed magnetic force with a reference value; And adjusting the magnetic force between the first and second magnetic modules according to the comparison result.
- control method may be implemented as a computer-readable recording medium recording a program for execution in a computer.
- FIG. 1 is a perspective view briefly showing the configuration of a window cleaning apparatus according to an embodiment of the present invention.
- FIG. 2 is a plan view showing an embodiment of the configuration of the first cleaning unit disposed inside the glass window.
- FIG 3 is a plan view showing an embodiment of the configuration of the second cleaning unit disposed on the outside of the glass window.
- Figure 4 is a block diagram briefly showing the configuration of the magnetic force control device provided in the window cleaning apparatus according to an embodiment of the present invention.
- FIG. 5 is a cross-sectional view for describing a first embodiment of a magnetic force adjustment method.
- FIG. 6 is a flowchart illustrating a control method of the window cleaning apparatus according to the first embodiment of the present invention.
- FIG. 7 is a diagram illustrating an embodiment of a method of displaying a sensed magnetic force.
- FIG. 8 is a block diagram showing an embodiment of the configuration of the first and second cleaning units provided in the window cleaning apparatus.
- FIG. 9 is a perspective view showing a first embodiment of the configuration of the first cleaning unit.
- FIG. 10 is a perspective view illustrating an embodiment of a configuration of the magnetic module illustrated in FIG. 9.
- FIG. 11 is a perspective view illustrating an embodiment of a configuration of the magnetic force control unit illustrated in FIG. 9.
- FIG. 12 is an exploded perspective view showing a second embodiment of the configuration of the first cleaning unit.
- FIG. 13 is a cross-sectional view for describing a second embodiment of a magnetic force adjustment method.
- FIG. 14 is a cross-sectional view for describing a third embodiment of the magnetic force adjustment method.
- 15 is a plan view illustrating an embodiment of a configuration of a magnetic body provided in the magnetic module.
- 16 is a flowchart illustrating a control method of the window cleaning apparatus according to the second embodiment of the present invention.
- 17 is a flowchart illustrating a movement control method of the window cleaning apparatus according to the embodiment of the present invention.
- FIG. 18 is a view showing an embodiment of a movement path of the window cleaning apparatus.
- 19 and 20 are views illustrating an embodiment of a method of measuring the width of a glass window.
- 21 is a view showing an embodiment of the movement path of the window cleaning apparatus, when the width of the window is less than the reference value.
- 22 is a view showing an embodiment of the movement path of the window cleaning apparatus when the width of the window exceeds the reference value.
- 23 and 24 are views illustrating embodiments of an up section of a moving path of the window cleaning apparatus.
- 25 and 26 are views illustrating an embodiment of a cleaning end method of the window cleaning apparatus.
- FIG. 27 is a flowchart illustrating a movement control method of a window cleaning apparatus according to another embodiment of the present invention.
- 28 and 29 are views illustrating an embodiment of a method for detecting an initial attachment position of a window cleaning apparatus.
- FIG. 30 is a view showing an embodiment of a movement path of the window cleaning apparatus.
- 31 and 32 are views illustrating an embodiment of a cleaning end method of the window cleaning apparatus.
- 33 to 37 are views showing embodiments of the movement path of the window cleaning apparatus after the cleaning is finished.
- FIG. 1 is a perspective view showing a simplified configuration of a window cleaning apparatus according to an embodiment of the present invention, the window cleaning apparatus shown includes two cleaning units (100, 200) respectively disposed on both sides of the glass window Can be configured.
- the first cleaning unit 100 may be disposed on the inner side of both sides of the glass window, and the second cleaning unit 200 may be disposed on the outer side of the glass window.
- the first cleaning unit 100 may be disposed on the outer side of the glass window, and the second cleaning unit 200 may be disposed on the inner side of the glass window.
- the first cleaning unit 100 and the second cleaning unit 200 may be attached to face both sides of the glass window using magnetic modules having magnetic force therein, respectively.
- the second cleaning unit 200 is respectively attached to the first and second cleaning units 100 and 200.
- the magnetic force between the provided magnetic modules may be simultaneously moved along the movement of the first cleaning unit 100.
- the second cleaning unit 200 may include a detachable member 250, for example, a handle 250 as shown in FIG. 1, which allows a user to easily attach and detach the second cleaning unit 100 to a windowpane.
- the first cleaning unit 100 may also include a detachable member (not shown) that facilitates detachment so as to correspond to the detachable member 250 of the second cleaning unit 200.
- the user can attach the cleaning device to the glass window by using two detachable members, that is, two handles provided in the first and second cleaning units 100 and 200, respectively, when the glass cleaning device is used.
- the handles can be used to separate the first and second cleaning units 100, 200 from the glass window.
- the window cleaning apparatus may further include a remote controller (remote controller, not shown) to enable a user to control the operation of the first, second cleaning units (100, 200). have.
- a remote controller remote controller, not shown
- the second cleaning unit 200 is dependently moved by the magnetic force according to the movement of the first cleaning unit 100, and the user uses the remote controller (not shown) of the first cleaning unit 100.
- the movement may be manipulated to control the driving of the window cleaning apparatus composed of the first and second cleaning units 100 and 200.
- a remote controller (not shown) that can be operated in a wireless manner is configured for the convenience of the user.
- the remote controller (not shown) according to the present invention may be used in a manner of operating by wire or manually by a user.
- the window cleaning apparatus according to an embodiment of the present invention, more specifically, the first cleaning unit 100 disposed inside the glass window is a sensor that can move along a preset movement path, detect dust or the like (not shown) It is also possible to determine and move the moving path that can be provided to improve the cleaning efficiency.
- FIG. 2 is a plan view showing an embodiment of the configuration of the first cleaning unit 100 and illustrates a configuration of an upper surface of the first cleaning unit 100 in contact with a glass window.
- the first cleaning unit 100 may include a first frame 110, a plurality of first wheel members 120, and a plurality of first magnetic modules 130.
- the first frame 110 forms the body of the first cleaning unit 100 so that the plurality of first wheel members 120 and the plurality of first magnetic modules 130 are coupled to the first frame 110. Can be fixed.
- the buffer member 140 may be formed on the edge of the first frame 110 to minimize the impact when the impact with the protruding structure, such as the window frame of the glass window during the movement of the window cleaning apparatus.
- the first cleaning unit 100 may change a movement path.
- the first frame 110 of the first cleaning unit 100 is configured to have a rectangular cross section, which is an embodiment of the present invention, but the present invention is not limited to this shape, and circular or other polygons. Of course, it can be configured in a variety of structures having a cross section of.
- the first cleaning unit 100 may include a plurality of first magnetic modules 130, and the first magnetic module 130 may include the first cleaning unit 100 and the second cleaning unit 200. It generates a magnetic force to be attached to both sides of the window.
- the first magnetic module 130 may include a permanent magnet such as a neodium magnet, and generate magnetic force together with the second magnetic module 233 provided in the second cleaning unit 200. Can be.
- a permanent magnet such as a neodium magnet
- first magnetic module 130 provided in the first cleaning unit 100 and the second magnetic module 233 provided in the second cleaning unit may include magnets having opposite polarities to each other. Accordingly, the first and second cleaning units 100 and 200 disposed on both sides of the glass window may be attached to the glass window and simultaneously moved by attracting each other by magnetic force.
- the magnetic modules 130 and 233 may be configured using an electromagnet in addition to the permanent magnet, or may be provided with a permanent magnet and an electromagnet as another embodiment.
- the window cleaning apparatus is not limited to the magnetic modules 130 and 233 as described above, and the first and second cleaning units 100 and 200 are attached to each other by the magnetic force with the glass window interposed therebetween. Various configurations that may be moved may be possible.
- any one of the first and second cleaning units 100 and 200 may include a magnetic material such as a permanent magnet or an electromagnet, and the other may include a metal body or the like that may be attracted by the magnetic force of the magnetic material. It may be.
- the first magnetic module 130 may be configured in four disk shapes and may be disposed on an upper surface of the first cleaning unit 100 attached to the glass window.
- the first magnetic module 130 may be provided in a form exposed in the direction in contact with the glass window, alternatively, may be disposed to be adjacent to the upper surface of the first cleaning unit 100 by using a separate cover member or the like. have.
- first wheel members 120 are disposed on the left and right sides of the first cleaning unit 100 such that a portion thereof is exposed upward of the first frame 110, for example, the left side as shown in FIG. 2.
- a total of two may be provided, one on each of the right side, or a total of four, one on each of the corner parts.
- the first wheel member 120 may be rotated by a driving unit (not shown) such as a motor installed in the first frame 110.
- the first cleaning unit 100 may be moved in a predetermined direction as the first wheel member 120 rotates in a state of being attached to the glass window.
- the first cleaning unit 100 may be capable of moving in a curved direction, that is, changing the moving direction, as well as in the linear direction.
- the rotation axis of the first wheel member 120 is changed, or the two first wheel members 120 provided on each of the left and right sides are rotated at different speeds so that the first cleaning unit 100 may be rotated.
- the direction of movement can be changed.
- the surface of the first wheel member 120 may be configured using a material such as fiber or rubber so that a predetermined friction force with the glass window when rotating, so that the first wheel member 120 does not spin when rotating.
- the first cleaning unit 100 can be easily moved along the inner surface of the glass window.
- the surface of the first wheel member 120 may be made of a material to prevent scratches in the glass window during rotation.
- the first cleaning unit 100 is attached to one surface of the glass window by the magnetic force of the first magnetic module 130, so that a reaction force formed in a direction perpendicular to the glass window may act on the first wheel member 120. Accordingly, when the first wheel member 120 is rotated by a drive unit (not shown) having a motor or the like, the first cleaning unit 100 can move along the inner surface of the glass window by the frictional force.
- the cleaning operation can be performed while moving integrally.
- FIG. 3 is a plan view showing an embodiment of the configuration of the second cleaning unit 200 and illustrates a configuration of a bottom surface of the second cleaning unit 200 in contact with the glass window.
- the second cleaning unit 200 may include a second frame 210, a plurality of second wheel members 220, and a plurality of cleaning modules 230.
- the second frame 210 forms the body of the second cleaning unit 200 and has a shape corresponding to the first frame 110 of the first cleaning unit 100 as described above, for example, a rectangular cross section. It may be configured as a plate structure.
- a plurality of second wheel members 220 may be formed on a lower surface of the second frame 210 to move the second cleaning unit 200 by magnetic force according to the movement of the first cleaning unit 100. can do.
- the second wheel member 220 is not connected to a driving unit such as a motor, and the second cleaning member ( It may be provided in a state that is axially connected to the second frame 210 to naturally rotate as the movement of the 200.
- the second wheel member 220 may rotate to perform a function similar to a bearing.
- the second wheel member 220 has a cylindrical shape, but the present invention is not limited thereto.
- the second wheel member 220 may be configured using a spherical member such as a ball bearing.
- the cleaning module 230 may be formed to be exposed to the lower surface of the second frame 210 to clean one surface of the glass window, for example, an outer surface on which the second cleaning unit 200 is disposed.
- the cleaning module 230 may include a plurality of modules, for example, a cleaning pad 231, a second magnetic module 232, and a detergent injection hole 231. 1 may be configured in the shape of four disks corresponding to the first magnetic module 130 of the cleaning unit (100).
- each of the four disk shapes provided in the cleaning module 230 may be provided to be rotatable by a driving unit (not shown) such as a motor (not shown).
- the cleaning module 230 may be formed to protrude at a predetermined interval from the lower surface of the second frame 210, so that the cleaning module 230 of the cleaning module 230 in the state that the second cleaning unit 200 is attached to the glass window By rotating, the cleaning operation may be performed on the outer surface of the glass window using the friction force.
- the cleaning module 230 may be attached on the exposed surface of the pad 231 made of a material such as fiber or rubber so as to easily remove foreign substances in the glass window by the friction force during rotation.
- the pad 231 may be made of a material of a micro hair structure or a porous structure.
- the cleaning module 230 may include a detergent inlet 232 for injecting detergent, for example, the detergent inlet 232 is a detergent storage container (not shown) built in the second cleaning unit 200. And a pump (not shown) and the like may be connected by a separate flow path to receive detergent. Accordingly, when cleaning the glass window cleaning module 230 may perform a cleaning operation while spraying the detergent to the glass window using the detergent injection port 232.
- the second magnetic module 233 may be formed inside the cleaning module 230, more specifically, under the pad 231 so as to overlap the cleaning module 230.
- the second magnetic module 233 has a shape corresponding to the first magnetic module 233 provided in the first cleaning unit 100, and the first and second cleaning units 100 and 200 may be attached to both sides of the glass window. It is a function to generate magnetic force so that it can
- the second magnetic module 233 may be made of a magnetic body or a metal body such as a permanent magnet, an electromagnet, etc., so that the first and second cleaning units 100 and 200 disposed on both sides of the glass window are attracted to each other by magnetic force. By pulling it can be attached to the window and moved simultaneously.
- the cleaning module 230 may be disposed at a position corresponding to the first magnetic module 130 and may include a second magnetic module 233 made of a neodium magnet having a polarity opposite to that of the first magnetic module 130. It may be disposed inside the cleaning module 230.
- the first cleaning unit 100 and the second cleaning unit 200 are both sides of the glass window by the magnetic force between the first magnetic module 130 and the second magnetic module 233 provided in the cleaning module 230.
- a continuous force acts on the cleaning module 230 in the glass window direction by the magnetic force between the first and second magnetic modules 130 and 233, thereby increasing the frictional force with the glass window when the cleaning module 230 rotates.
- the cleaning performance can be improved.
- the second cleaning unit 200 may include a plurality of auxiliary cleaning modules 240 formed at corner portions of the second cleaning unit 200.
- the cleaning module 230 may be formed inside the second frame 210. Referring to FIG. Since the edge portion of the glass window may be difficult to clean, the second cleaning unit may include auxiliary cleaning modules 240 to more easily clean the edge portion of the window frame.
- the auxiliary cleaning module 240 may include a roller member (not shown) rotatably installed, and a brush may be formed on an outer circumferential surface of the roller member. Accordingly, when the second cleaning unit 200 moves along the window frame, the auxiliary cleaning modules 240 may remove foreign substances in the window frame part while rotating by the friction force with the window frame.
- the auxiliary cleaning modules 240 have the same function as the buffer member 140 provided in the first cleaning unit 100 as described above, that is, to minimize the impact when colliding with a projecting structure such as a window frame, etc. It can also be used to detect shocks using a built-in sensor.
- the structure of the window cleaning apparatus according to an exemplary embodiment of the present invention has been described with reference to FIGS. 1 to 3, in which the window cleaning apparatus cleans only one surface, for example, an outer surface of the glass window. Since only one embodiment, the present invention is not limited thereto.
- the first cleaning unit 100 may also include a cleaning module 230 as provided in the second cleaning unit 200, so that the window cleaning apparatus according to the present invention simultaneously faces both sides of the glass window. You may want to clean it.
- the window cleaning apparatus as shown in FIGS. 1 to 3 may provide a magnetic force between the first and second cleaning units 100 and 200 that are attached and moved by magnetic force with the glass window interposed therebetween. And sense the magnetic force to satisfy a preset reference value.
- FIG. 4 is a block diagram showing a simple configuration of a magnetic force control device provided in the window cleaning apparatus according to an embodiment of the present invention, the magnetic force adjustment device shown includes a magnetic force sensing unit 300 and a magnetic force control unit 310 can do.
- Window cleaning apparatus may include the components as described with reference to Figures 1 to 3, in addition to the magnetic force adjustment device as shown in Figure 4 to adjust the magnetic force can be have.
- the magnetic force detecting unit 300 detects magnetic force between the first and second cleaning units 100 and 200 attached to each other with a glass window interposed therebetween, and for this purpose, the first and second cleaning units 100. , 200 may include a magnetic sensor (not shown) capable of sensing magnetic force.
- the magnetic force between the first and second cleaning units 100 and 200 is a force for attaching the first and second cleaning units 100 and 200 with the glass window interposed therebetween. It may be a magnetic force between the first and second magnetic modules 130 and 233 respectively provided in the 200.
- the magnetic force control unit 310 may adjust the magnetic force of the magnetic module 130 so that the sensed magnetic force meets a predetermined reference value.
- the window cleaning apparatus may be stably attached to the window, whereas the first and second cleaning units 100 and 200 and the window The friction between the increase may cause a problem that the movement of the window cleaning device becomes difficult.
- the reference value of the magnetic force can be set in consideration of the attachment stability and mobility of the window cleaning apparatus as described above, and more specifically, the upper window has a maximum magnetic force that can easily move the window cleaning apparatus, the window cleaning The device can be set to have a minimum magnetic force that can be stably attached to the window as a lower limit.
- the magnetic force control unit 310 does not belong to the magnetic force between the first and second cleaning units 100 and 200 detected by the magnetic force sensing unit 300, that is, between the upper limit value and the lower limit value.
- the magnetic force between the first and second magnetic modules 130 and 233 may be adjusted to fall within the reference range.
- FIG. 5 is a cross-sectional view for explaining a first embodiment of the magnetic force control method, and the magnetic module 130 includes a configuration of the first and second cleaning units 100 and 200 attached to both surfaces of the glass window G, respectively. , 233).
- the thicknesses of the glass window G cleaned by the window cleaning apparatus according to the embodiment of the present invention may be different from each other.
- the glass window G of various thicknesses d may be installed according to a building, a location or a desired function of the glass window G installed therein.
- the magnetic forces of the first and second magnetic modules 130 and 233 provided in each of the first and second cleaning units 100 and 200 are the same, between the first and second magnetic modules 130 and 233
- the magnetic force may vary depending on the thickness d of the glass window G.
- the magnetic force between the first and second magnetic modules 130 and 233 increases, and as the thickness d of the glass window G increases, the first and second magnetic modules increase.
- the magnetic force between 130 and 233 can be reduced.
- the thickness d1 of the glass window G shown in (a) of FIG. 5 is thinner than the thickness d2 of the glass window G shown in (b), the thickness d1 of FIG. Compared to the case illustrated in (b), the magnetic force between the first and second magnetic modules 130 and 233 may be greater.
- the window cleaning apparatus may not be stably attached to the glass window.
- the window cleaning apparatus may not be stably attached to the glass window.
- the magnetic force adjusting unit 310 may have a magnetic force.
- the magnetic force detected by the sensing unit 300 may adjust the magnetic force between the first and second magnetic modules 130 and 233 to satisfy the reference value.
- the magnetic force adjusting unit 310 controls the first magnetic module 130 provided in the first cleaning unit 100 to adjust the magnetic force between the first and second magnetic modules 130 and 233.
- the magnetic force adjusting method according to the embodiment of the present invention has been described, the present invention is not limited thereto.
- the magnetic force adjusting unit 310 may control the second magnetic module 130 provided in the second cleaning unit 200 according to the magnetic force detected by the magnetic force sensing unit 300, and further, the first and second The first and second magnetic modules 130 and 233 may be controlled together so that the magnetic force between the magnetic modules 130 and 233 satisfies the reference value.
- the window cleaning robot As described above, by adjusting the magnetic force between the first and second magnetic modules 130 and 233 to fall within a preset reference range, the window cleaning robot according to the embodiment of the present invention has a thickness d of various glass windows G. All of them can be attached stably and can be easily moved to perform cleaning.
- the magnetic force between the first and second magnetic modules 130 and 233 is different according to the thickness d of the glass window G, but the first and second magnetic modules 130 and 233 have been described as an example.
- the magnetic force between) may be varied for other causes, for example, the power supply state, the state of the surface of the glass window (G), the cleaning operation step or the weather condition.
- FIG. 6 is a flowchart illustrating a control method of the window cleaning apparatus according to the first embodiment of the present invention. The control method illustrated in FIG. 6 will be described with reference to the block diagram shown in FIG. 4.
- the magnetic force detecting unit 300 provided in the window cleaning apparatus detects the magnetic force between the first and second cleaning units 100 and 200 (400).
- the magnetic force between the first and second cleaning units 100 and 200 may include a magnetic sensor (not shown) provided in the magnetic force sensing unit 300 provided in the first and second cleaning units 100 and 200, respectively.
- the magnetic force between the one and two magnetic units 130 and 233 may be sensed.
- the magnetic force sensing unit 300 is provided in at least one of the first and second cleaning units 100 and 200, and preferably adjacent to at least one of the first and second magnetic units 130 and 233. Can be arranged.
- the magnetic force control unit 310 checks whether the detected magnetic force satisfies a preset reference value (step 410), and compares the detected magnetic force with the reference value (step 420).
- the magnetic force adjusting unit 310 reduces the magnetic force between the first and second magnetic modules 130 and 233 (step 430).
- the magnetic force control unit 310 increases the magnetic force between the first and second magnetic modules (130, 233) (step 430).
- the magnetic force control unit 310 may detect the first and second magnetic modules 130 when the detected magnetic force is greater than the upper limit value of the reference value. It can be adjusted to fall within the range of the reference value by reducing the magnetic force between the 233).
- the magnetic force control unit 310 may be adjusted to fall within the range of the reference value by reducing the magnetic force between the first and second magnetic modules (130, 233).
- the detected magnetic force may be displayed by the display unit 150 provided in the window cleaning apparatus and transmitted to the user.
- the display unit 150 may include a plurality of display units 151, 152, and 153 for displaying the detected magnetic force, and the plurality of display units 151, 152, and 153 may display different colors. It may be configured to include a light source, for example, a light emitting diode (LED).
- a light source for example, a light emitting diode (LED).
- the red LED unit 151 of the plurality of display units 151, 152, and 153 emits light, indicating that the magnetic force is strong.
- the green LED unit 152 emits light when the value falls within the reference value range, and indicates that the magnetic force is normal.
- the yellow LED unit 153 emits the light. 'Can be displayed.
- the display unit 150 may display the detected magnetic force in a different manner as described above, for example, by dividing the detected magnetic force into four or more steps or by displaying a digital value.
- the user may check the magnetic force displayed on the display unit 150, and then adjust the magnetic force between the first and second magnetic modules 130 and 233 using the magnetic force adjusting unit 300.
- the user may turn on the green LED unit 152 indicating 'normal magnetic force'.
- the magnetic force between the first and second magnetic modules 130 and 233 may be reduced by using the magnetic force control unit 310 until turned on.
- the user may change the first and second magnetic modules until the green LED unit 152 indicating 'normal magnetic force' is turned on. 130, 233 may increase the magnetic force.
- the magnetic force adjustment method as described with reference to Figure 6 is when the window cleaning start using the window cleaning robot, that is, the user to the first, second cleaning unit (100, 200) on both sides of the glass window It may be performed at the point of attachment.
- the magnetic force between the first and second magnetic modules 130 and 233 is set very weakly to a value below the reference value. Accordingly, the user may attach the first and second cleaning units 100 and 200 to both sides of the glass window, and then increase the magnetic force between the first and second magnetic modules 130 and 233 using the magnetic force control unit 310. have.
- the user attaches the first and second cleaning units 100 and 200 to the glass window, and then displays the magnetic force between the first and second magnetic modules 130 and 233 so that the green LED unit 152 of the display unit 150 is turned on. Increase until the green LED unit 152 is turned on and instruct the window cleaning apparatus to start cleaning.
- the magnetic force between the first and second magnetic modules 130 and 233 may be automatically adjusted by the magnetic force control unit 310 when the glass window is attached to the window cleaning apparatus.
- the yellow LED unit 153 is first turned on, and the first and second magnetic modules 130 are turned on until the green LED unit 152 is turned on. , 233, may be automatically increased by the magnetic force control unit 310.
- the user may command cleaning of the window cleaning apparatus.
- FIG. 8 is a block diagram illustrating an embodiment of the configuration of the first and second cleaning units included in the window cleaning apparatus, and FIG. 8 is a view illustrating the configuration of the first and second cleaning units 100 and 200 illustrated in FIG. 8. The same descriptions as those described with reference to FIGS. 1 to 7 will be omitted below.
- the first cleaning unit 100 may include a first magnetic module 130, an LED display unit 150, a first wireless communication module 160, and a magnetic force control unit 310.
- the second cleaning unit 200 may include a second magnetic module 233, a second wireless communication module 260, a magnetic sensor 301, and an A / D converter 302.
- the magnetic sensor 301 provided in the second cleaning unit 200 measures the magnetic force between the first and second magnetic modules 130 and 233, and the measured magnetic force is measured by the A / D converter 302. Can be converted to digital values.
- the magnetic sensor 301 may be arranged at a position adjacent to the second magnetic module 233.
- the first wireless communication module 160 provided in the first cleaning unit 100 and the second wireless communication module 260 provided in the second cleaning unit 200 are short-range such as Bluetooth or Zigbee. Wireless communication can be used to send and receive signals.
- the second wireless communication module 260 wirelessly transmits the magnetic force converted into the digital value to the first wireless communication module 160 provided in the first cleaning unit 100, whereby the first cleaning unit 100 The magnetic force value detected by the second cleaning unit 200 may be received.
- the magnetic force value received by the first wireless communication module 160 is input to the magnetic force control unit 310, and the magnetic force control unit 310 controls the first magnetic module 130 according to the input magnetic force value to generate a first magnetic force value.
- the magnetic force between the two magnetic modules 130 and 233 can be adjusted.
- the magnetic force control unit 310 may adjust the magnetic force between the first and second magnetic modules 130 and 233 by using the method described with reference to FIGS. 4 to 7, and thus a detailed description thereof will be omitted. Let's do it.
- the magnetic force control unit 310 may adjust the magnetic force between the first and second magnetic modules 130 and 233 by varying the position of the first magnetic module 130, and the first and second magnetic modules 130.
- the magnetic force can be adjusted by adjusting the distance between the two layers.
- the first and second magnetic modules 130 and 233 when the distance between the first and second magnetic modules 130 and 233 increases according to the positional change of the first magnetic module 130 by the magnetic force control unit 310, the first and second magnetic modules 130 and 233.
- the magnetic force between decreases, and when the gap is reduced, the magnetic force between the first and second magnetic modules 130 and 233 may increase.
- the magnetic force control unit 310 varies the amount of current supplied to the first magnetic module 130 to make the first magnetic module 130 vary.
- the magnetic force between the two magnetic modules 130 and 233 can be adjusted.
- FIG. 9 is a perspective view showing a first embodiment of the configuration of the first cleaning unit, and shows an internal structure of the first cleaning unit 100. A description of the same elements as those described with reference to FIGS. 1 to 8 among the configurations of the first cleaning unit 100 illustrated in FIG. 9 will be omitted below.
- the magnetic force adjusting unit 300 provided in the first cleaning unit 100 is coupled to the rotating member 311 and the rotating member 311, and a rotation shaft 312 formed on an outer surface of a screw thread rising in one direction is provided. It may include.
- the first magnetic module 130 may have a through hole 135 formed at a central portion thereof through which the rotation shaft 312 of the magnetic force adjusting unit 300 is coupled.
- a thread of a shape corresponding to a screw of the rotation shaft 312 may be formed on an inner surface of the through hole 135 of the first magnetic module 130.
- the first magnetic module 130 includes an upper case 131, a magnetic body 132, and a lower case 133 having a through hole 135 formed in a center thereof, and the upper case 131 and the lower case.
- a magnetic body 132 made of a permanent magnet such as a neodymium magnet may be provided in the inner space between the cases 133.
- first frame 110 of the first cleaning unit 100 may be configured to include a first lower frame 111
- the first magnetic module 130 is a guide connected to the first lower frame 111 It may be disposed inside the member 112.
- the first magnetic module 130 may be guided by the guide member 112 to be raised or lowered by the combination of the screw of the rotating shaft 312 and the screw of the through hole 135. have.
- the distance between the first and second magnetic modules 130 is reduced, so that the magnetic force between the first and second magnetic modules 130 may be increased.
- an interval between the first and second magnetic modules 130 increases, so that the magnetic force between the first and second magnetic modules 130 may be reduced.
- the user may rotate the rotating member 311 in the first direction (for example, counterclockwise direction) to elevate the first magnetic module 130.
- the spacing between the magnetic modules 130 may be reduced to increase the magnetic force.
- the user can lower the first magnetic module 130 by rotating the rotating member 311 in a second direction (for example, in a clockwise direction), and accordingly, a gap between the first and second magnetic modules 130. This increase can reduce the magnetic force.
- the user may turn on the green LED unit 152 so that the magnetic force between the first and second magnetic modules 130 may fall within the reference range.
- the magnetic force can be increased by rotating the rotating member 311 counterclockwise until it is rotated.
- the user may reduce the magnetic force by rotating the rotating member 311 clockwise until the green LED unit 152 is turned on. .
- the magnetic force control unit 310 may include a drive unit such as a motor to rotate the rotating shaft 312, accordingly, the first magnetic module 130 is the magnetic force control unit 310 It can raise or lower automatically by.
- FIG. 11 is a perspective view illustrating an embodiment of the configuration of the magnetic force control unit illustrated in FIG. 9, and illustrates a shape of the coupling structure of the first magnetic module 130 and the magnetic force control unit 310 viewed from below.
- the magnetic force adjusting unit 310 may include a rotation shaft gear 131, a motor 134, and a power transmission unit 135.
- the rotary shaft gear 131 is coupled to the lower end of the rotary shaft 312 as described above, the rotary shaft 312 may rotate in one direction according to the rotation of the rotary shaft gear 131.
- the magnetic force control unit 310 may operate the motor 134 to rotate the rotary shaft gear 131 coupled to the rotary shaft 312, and the power transmission unit 135 may include a plurality of gears of the motor 134. Power may be transmitted to the rotary shaft gear 131.
- the magnetic force adjusting unit 310 rotates the rotation shaft gear 131 in the first direction (for example, counterclockwise direction).
- the motor 134 may be operated so that the first magnetic module 130 may be automatically raised to increase the magnetic force between the first and second magnetic modules 130 and 233 to a reference value.
- the magnetic force adjusting unit 310 may include a motor (eg, a rotary shaft gear 131) to rotate in the second direction (for example, clockwise direction). 134, the magnetic force between the first and second magnetic modules 130 and 233 may be reduced to the reference value by automatically lowering the first magnetic module 130.
- a motor eg, a rotary shaft gear 131 to rotate in the second direction (for example, clockwise direction).
- FIG. 12 is an exploded perspective view showing a second embodiment of the configuration of the first cleaning unit, and the description of the same configuration as that described with reference to FIGS. 1 to 11 of the configuration of the first cleaning unit 100 shown in FIG. It will be omitted below.
- the first frame 110 of the first cleaning unit 100 includes a first upper frame 113 and a first lower frame 111, and the first upper frame 113 and the first first frame 110.
- the first magnetic module 130 and the magnetic force adjusting unit 310 as described above may be disposed in the lower frame 111.
- a detachable member 150 for example, a handle may be connected to the first upper frame 113 so that a user may easily attach or detach the first cleaning unit 100 to the glass window.
- the wheel driver 121 including the first wheel members 120 and a motor for rotating the first wheel members 120 may be fixed to the 111.
- the module cover 134 may be disposed on the upper side of the first magnetic module 130, four module covers 134 as shown in Figure 12 is the guide portion (1) of the first lower frame (11) 112 may be coupled to the top.
- the magnetic force adjustment method as described with reference to Figure 6 may be performed during the window cleaning operation.
- the magnetic force adjusting method as described with reference to FIG. 6 is performed at a predetermined cycle so that the magnetic force adjusting unit 310 is the magnetic force sensing unit.
- the magnetic force between the first and second magnetic modules 130 and 233 may be adjusted according to the magnetic force sensed by the 300.
- FIG. 13 is a cross-sectional view for describing a second embodiment of the magnetic force control method, and the configuration of the first and second cleaning units 100 and 200 illustrated in FIG. 13 is different from that described with reference to FIGS. 1 to 12. The description of the same will be omitted below.
- the magnetic sensor 301 may generate a magnetic force between the first and second magnetic modules 130 and 233 every 10 seconds.
- the magnetic force control unit 310 may adjust the magnetic force between the first and second magnetic modules 130 and 233 to satisfy the reference value by comparing the measured magnetic force with a reference value.
- the thickness d of the glass window G may be thinner than the outer region in the center region.
- the magnetic sensor The magnetic force measured by 301 may increase gradually.
- the magnetic force control unit 310 uses the magnetic force measured by the magnetic sensor 301 at regular intervals, so that the first and second magnetic modules 130, as the first and second cleaning units 100 and 200 move in the direction of the arrow. 233) can be adjusted to gradually decrease the magnetic force.
- some regions of the glass window G may protrude, and in this case, the magnetic force measured by the magnetic sensor 301 as the first and second cleaning units 100 and 200 move in the direction of the arrow. This may decrease gradually.
- the magnetic force control unit 310 by using the magnetic force measured at a constant cycle, the magnetic force between the first and second magnetic modules 130, 233 gradually as the first, second cleaning units 100, 200 move in the direction of the arrow. Can be adjusted to increase.
- the magnetic force control unit 310 adjusts the magnetic force between the first and second magnetic modules 130 and 233 by using a magnetic force measured at a predetermined cycle, so as to clean the window of the window cleaning robot according to the embodiment of the present invention.
- the magnetic force between the first and second magnetic modules 130 and 233 may be prevented from moving out of the reference range, thereby continuously improving the attachment stability and mobility of the window cleaning robot.
- FIG. 15 is a plan view showing an embodiment of a configuration of a magnetic body provided in the magnetic module, and among the first and second magnetic modules 130 and 233 provided in the first and second cleaning units 100 and 200, respectively. One embodiment of at least one configuration is shown.
- the magnetic body 132 provided in the magnetic module 130 may include a permanent magnet 138 and an electromagnet 139.
- the permanent magnet 138 continuously provides the minimum magnetic force of the magnetic body 132, and the electromagnet 139 may variably provide the additional magnetic force according to the amount of current applied.
- the magnetic force control unit 310 adjusts the amount of current applied to the electromagnet 139 according to the magnetic force measured by the magnetic force sensing unit 300, and thus the additional magnetic force provided by the electromagnet 139. This can be variable. Meanwhile, as the magnetic force of the electromagnet 139 included in the magnetic body 132 is changed as described above, the magnetic force between the first and second magnetic modules 130 and 233 may be adjusted.
- the magnetic body 132 is composed of the permanent magnet 138 and the electromagnet 139 as described above, the magnetic force between the first and second magnetic modules 130 and 233 can be easily adjusted and consumed for generating the magnetic force. Power can be reduced.
- the magnetic force adjustment method as described above can be applied even when the window cleaning robot is separated.
- 16 is a flowchart illustrating a control method of the window cleaning apparatus according to the second embodiment of the present invention.
- the window cleaning apparatus detects whether the device is detached from the attached window (step 500).
- the user can separate the first and second cleaning units 100 and 200 from the glass window after the window cleaning is finished, and the handle 150 provided in the first and second cleaning units 100 and 200 therefor. , 250 may be applied to a predetermined force.
- a sensor (not shown) is provided on the handles 150 and 250 provided in the first and second cleaning units 100 and 200 and the force is applied to the handles 150 and 250 by a predetermined level or more, the user cleans the glass window. It can be detected that the device is about to be separated from the window.
- the window cleaning apparatus includes two handles 150 provided in the first and second cleaning units 100 and 200. , 250) can recognize the time of separation only when the force is applied to the predetermined level or more.
- the magnetic force control unit 310 reduces the magnetic force between the first and second magnetic modules 130 and 233 (step 510), and the magnetic force detection unit 300 is the first and second magnetic The magnetic force between the modules 130 and 233 is detected (step 520).
- the magnetic force adjusting unit 310 checks whether the sensed magnetic force is minimized (step 530), and steps 510 and 520 are repeated until the magnetic force is minimized.
- the minimization of the magnetic force may be confirmed by determining whether the sensed magnetic force is reduced to a predetermined minimum magnetic force, and the minimum magnetic force is easily determined by the user using the handles 150 and 250.
- 100, 200 may be preset to a value that can be separated from the window.
- the method of reducing the magnetic force between the first and second magnetic modules 130 and 233 by the magnetic force adjusting unit 310 may be the same as the method described with reference to FIGS. 4 to 15 and will be omitted below.
- the first and second cleaning units 100 and 200 are separated from the glass window (step 540).
- the user uses the two handles 150 and 250 to move the first and second cleaning units 100 and 200 from the glass window. Easily separated.
- the LED display unit 150 includes a separate display unit, for example a separate LED unit, indicating that the magnetic force between the first and second magnetic modules 130, 233 is minimized, and the user is the LED unit
- the first and second cleaning units 100 and 200 may be separated from the glass window by applying a force to the two handles 150 and 250 held.
- the window cleaning apparatus attached to the window and moved to clean the window may determine the moving path based on the width of the window to be cleaned, move according to the determined moving path, and perform cleaning. Can be.
- FIG. 17 is a flowchart illustrating a movement control method of the window cleaning apparatus according to the embodiment of the present invention, wherein the movement control method is a window cleaning apparatus, more specifically, a control module provided in the window cleaning apparatus (not shown). It can be performed by.
- the movement control method is a window cleaning apparatus, more specifically, a control module provided in the window cleaning apparatus (not shown). It can be performed by.
- control module measures the width of the window (step 600), and determines a movement path of the window cleaning apparatus based on the measured width of the window (step 610).
- control module may measure the width of the glass window to be cleaned by moving left and right at the position where the glass cleaning device is attached by the user, and the movement path of the glass cleaning device differs from each other according to the measured glass window. Can decide.
- control module moves the window cleaning apparatus according to the determined movement path (step 620).
- the window cleaning apparatus can perform cleaning while moving along the movement path determined based on the width of the window as described above.
- FIG. 18 illustrates an embodiment of a movement path of the window cleaning apparatus.
- the window cleaning apparatus 10 includes a first section for performing cleaning while moving from one end to the other end of the window 700 and a second cleaning while moving from the other end to the one end.
- the section can be repeated.
- the movement path of the window cleaning apparatus 10 includes a right-down section 810 moving downward in the right direction from the left end to the right end and a left-down section moving downward in the left direction from the right end to the left end.
- the right-down section 810 and the left-down section 820 may be alternately repeated.
- the angle at which the window cleaning apparatus 10 moves downward in the right-down section 810 and the left-down section 820 is a vertical distance d of the moving path, that is, the moving path of the window cleaning device. It may be set according to the interval between two adjacent end positions of the.
- the downward movement angle of the window cleaning apparatus 10 may be set to be increased, thereby cleaning the window more finely but cleaning the window The time spent on can be increased.
- the downward movement angle of the window cleaning apparatus 10 may be set to be reduced, thereby reducing the time required for cleaning the window, but cleaning the window It can be done with less detail.
- the vertical gap (d) of the movement path may be preset to a predetermined value, for example, 1/2 of the size (s) of the window cleaning apparatus 10, and the user needs a cleaning time required for cleaning or fine cleaning. It may be changed by decreasing or increasing the vertical gap d of the moving path according to the figure.
- the window cleaning device 10 is moved in the right direction or the left direction can be slipped downward by gravity, the window cleaning device 10 is moved with a downward angle larger than the set value by the fall as described above. Can be done.
- the degree of falling of the window cleaning apparatus 10 due to gravity as described above may be changed depending on the width (w) of the window 700.
- the degree of falling of the window cleaning apparatus 10 may increase, and the change of the degree of falling of the window cleaning apparatus 10 may be changed in the vertical direction of the moving path.
- the interval d can be changed.
- the free fall distance of the window cleaning apparatus 10 due to gravity increases, thereby increasing the vertical distance d of the movement path.
- the movement path of the window cleaning apparatus 10 may be determined according to the width w of the window 700 to compensate for the drop of the window cleaning apparatus 10 due to gravity.
- the upper and lower intervals d of the moving path may be set to maintain a set value, for example, 1/2 of the size s of the window cleaning apparatus 10 or a value set by the user.
- the movement control method of the window cleaning apparatus 10 as described above may be applied to the window cleaning apparatus having the configuration as described with reference to FIGS. 1 to 3.
- the first cleaning unit 100 attached to the inner side of the glass window 700 among the first and second cleaning units 100 and 200 included in the window cleaning apparatus moves along the determined movement path as described above.
- the second cleaning unit 200 attached to the outer surface of the window 700 may be moved by magnetic force according to the movement of the first cleaning unit 100.
- the first cleaning unit 100 attached to the inner surface of the glass window 700 among the first and second cleaning units 100 and 200 included in the window cleaning apparatus 10 as described above is A case of movement by the movement control method according to the embodiment will be described as an example.
- 19 and 20 illustrate one embodiment of a method of measuring the width of a window pane.
- a window frame 710 for fixing the window 700 may be provided at an outer region of the window 700, and thus, the window cleaning device 10 may extend to one end of the window 700. When moving, it may be in contact with the window frame 710.
- the window cleaning apparatus 10 if the user attaches the window cleaning apparatus 10 to the window 700 and requests the start of the cleaning operation, the window cleaning apparatus 10, more specifically, the inside of the window 700.
- the first cleaning unit 100 attached to the surface moves upward in the attachment position.
- the first cleaning unit 100 may vertically move up from the attachment position to move to the upper end of the glass window, and the buffer member provided in the first cleaning unit 100 may contact the upper window frame 710 to contact the upper window frame 710. In this case, it may be determined that the first cleaning unit 100 has moved to the upper end of the glass window.
- the first cleaning unit 100 moves upward. Can be terminated.
- the detergent is sprayed through the detergent injection hole 631 of the second cleaning unit 200 so that the pad 631 provided in the cleaning module 630 is wet. Can lose.
- the first cleaning unit 100 may move horizontally to the left side and move to the right end of the glass window, and the cushioning member provided in the first cleaning unit 100 is in contact with the window frame 710 on the right side. It may be determined that the first cleaning unit 100 has moved to the right end of the glass window.
- the first cleaning unit 100 when the first cleaning unit 100 is horizontally moved to the left and the bumper provided hits the window frame 710 and is detected by the sensor from the left side, the first cleaning unit 100 is left The movement of the direction can be terminated.
- the first cleaning unit 100 may move to the left end of the uppermost end of the glass window 700 after being attached by the user.
- the first cleaning unit 100 may move horizontally from the left end of the uppermost end of the glass window to the right end thereof to move to the left end of the glass window, and the buffer provided in the first cleaning unit 100 may be When the member hits the window frame 710 on the left side, it may be determined that the first cleaning unit 100 has moved to the left end of the glass window.
- the first cleaning unit 100 is detected by the sensor that the bumper provided while hitting the window frame 710 and the pressure from the right side while the first cleaning unit 100 is moved horizontally to the right, the first cleaning unit 100 is right The movement of the direction can be terminated.
- the width w of the window 70 may be measured by moving the first cleaning unit 100 from the left end to the right end of the top end of the window 700, for example, 1
- the width w of the glass window 70 may be measured by the amount of rotation of the first wheel members 120 provided in the cleaning unit 100.
- the window cleaning apparatus 10 is based on the measured width w.
- the movement path of 100 may be determined.
- the path as shown in FIG. 18, that is, the right-down section 810 and the left-down section 820 are alternated.
- the movement path may be set to repeat repeatedly.
- the movement path includes an upward section moving upwards to the right or left side, and drops by gravity of the window cleaning apparatus 10. To compensate.
- the present invention has been described with reference to FIGS. 19 and 20 by measuring the width w of the window 700 by moving the window cleaning apparatus 10, but the present invention is not limited thereto. No, the width w of the window 700 may be input by the user.
- FIG. 21 illustrates an embodiment of a movement path of the window cleaning apparatus when the width of the window is less than or equal to the reference value.
- the first cleaning unit 100 may horizontally move to the left end of the glass window 700.
- the first cleaning unit 100 moves horizontally in the right direction as shown in FIG. 20 and horizontally moves in the left direction as shown in FIG. 21, the first cleaning unit 100 is repeated twice for the upper portion of the glass window 700.
- the cleaning can be performed, whereby dust and the like present in the portion adjacent to the window frame 710 can be removed more cleanly.
- the first cleaning unit 100 After the first cleaning unit 100 is moved to the upper left end of the window 700, the first cleaning unit 100 moves downward to the right end of the window 700, and then downward to the left end of the window 700 again. do.
- the first cleaning unit 100 alternately repeats the right-down section 810 and the left-down section 820 as described above. Can be moved.
- FIG. 22 illustrates an embodiment of a moving path of the window cleaning apparatus when the width of the window exceeds a reference value.
- the movement path of the window cleaning apparatus 10 may be determined. It may include an upward section 815 moving upward in the direction.
- the first cleaning unit 100 positioned at the upper left end of the window 700 is moved downward in the right direction to the right end of the window 700, and is moved upward in the left direction for a predetermined time, and then the glass window. It may be moved downward in the left direction to the left end of the (700).
- the first cleaning unit 100 includes a right-down section 810, a left-up section 815, and a left-down section 820. ) Can be repeated in sequence.
- the drop of the window cleaning apparatus 10 according to the width w of the window 700 exceeding the reference value is compensated for.
- the upper and lower intervals d of the moving path may be adjusted to maintain a predetermined value, for example, 1/2 of the size s of the window cleaning apparatus 10 or a value set by the user. .
- 23 and 24 illustrate embodiments of an upward section of a moving path of the window cleaning apparatus.
- the moving path of the first cleaning unit 100 may include a right-down section 810, a left-up section 815, and a left side. It may include a downward section 820 in sequence, in the left-up section 815, the first cleaning unit 100 may move upward in a left direction for a predetermined time (t).
- the movement time t of the left-up section 815 may be set according to the width w of the glass window 700. For example, as the width w of the glass window 700 increases, the left- By setting the movement time t of the upward section 815 to increase, it is possible to effectively compensate for the fall of the window cleaning apparatus 10.
- the free fall distance of the window cleaning apparatus 10 may increase, and assuming that the upward movement angle is constant, the movement time t of the left-up section 815 may be increased. Increasing) may increase the upper moving distance of the first cleaning unit 100 to compensate for the increased free fall distance.
- the travel time t of the left-up section 815 may be set to be proportional to the difference between the width w of the window 700 and the reference value (for example, 1 m). have.
- the movement time t of the left-up section 815 may be calculated by Equation 1 according to the width w of the glass window 700.
- Equation 1 r is a reference value for the width w of the glass window 700, for example, may be 1m, and k is a proportional constant.
- the window cleaning apparatus 10 may be configured as a lookup table by matching the width w of the window 700 and the moving time t of the left-up section 815. ), And thus, the movement time t of the left-up section 815 may be obtained by referring to the lookup table according to the measured width w of the glass window 700.
- the movement time t of the left-up section 815 in which the first cleaning unit 100 moves upward in the left direction may be increased.
- the moving distance of the left-up section 815 may be increased.
- 25 and 26 illustrate an embodiment of a cleaning end method of the window cleaning apparatus.
- the first cleaning unit 100 reaches the lower end of the window 700 while the first cleaning unit 100 moves downward from side to side according to a movement path determined based on the width w of the window 700 as described above. In this case, the window cleaning operation may be terminated.
- the first cleaning unit 100 moves downward in the right direction hits and contacts the lower window frame 710, the first cleaning unit 100 moves to the lower end of the glass window. It can be judged that.
- the lower bumper provided in the first cleaning unit 100 when hit by the window frame 710 and receives pressure from the lower side for a predetermined time or more, it may be recognized as a cleaning end time.
- the first cleaning unit 100 moves to the lower end of the glass window and the cleaning end point is recognized, the first cleaning unit 100 moves horizontally in the right direction along the lower window frame 710 to move the glass window 700. Can move to the right end of the, the detergent injection of the second cleaning unit 200 may be terminated at the horizontal movement time of the right direction.
- the first cleaning unit 100 may move to the right end of the glass window 700, and then move horizontally in the left direction along the lower window frame 710 to the left end of the glass window 700. have.
- the window cleaning apparatus 10 When the movement and cleaning of the window cleaning apparatus 10 is completed as described above, the window cleaning apparatus 10, more specifically, the first cleaning unit 100 returns to a specific position, for example, a position where the user can easily remove the window cleaning apparatus 10. can do.
- the window cleaning apparatus includes first and second cleaning units 100 and 200 attached to the inner side and the outer side of the window by magnetic force, for example, in the movement control method according to the embodiment of the present invention.
- the glass window 700 may be attached to only one of the inner and outer surfaces of the glass window 700 by a vacuum suction or the like in addition to the glass cleaning apparatus or magnetic force. It may be applicable to a window cleaning apparatus to be attached.
- the window cleaning apparatus may wait to return to a position that is easy for the user to detach after the end of cleaning, that is, a position adjacent to the position where the user attaches the window cleaning apparatus.
- an initial attachment position of the window cleaning apparatus is detected when the user attaches the window cleaning apparatus to the glass window for cleaning the window, and after the cleaning is finished, the window cleaning apparatus is configured to remove the window from the left end and the right end of the window. It can be moved to a position adjacent to the detected attachment position, so that after the end of cleaning, the user can easily detach the window cleaning apparatus.
- FIG. 27 is a flowchart illustrating a movement control method of the window cleaning apparatus according to an embodiment of the present invention, wherein the movement control method is a control module (not shown) provided in the window cleaning apparatus, and more particularly, the window cleaning apparatus. It can be performed by.
- the movement control method is a control module (not shown) provided in the window cleaning apparatus, and more particularly, the window cleaning apparatus. It can be performed by.
- control module detects an initial attachment position of the window cleaning apparatus in operation 900.
- the control module determines whether the initial attachment position of the window cleaning device is the right or left side of the window. Can be.
- the window cleaning apparatus moves along the set movement path and performs window cleaning.
- the control module determines whether the window cleaning is finished (step 910), and when the cleaning is finished, moves the window cleaning apparatus to a position adjacent to the detected attachment position among the left end and the right end of the window (step 920). ).
- control module may move the window cleaning apparatus to the left end of the window after the cleaning is finished.
- control module may move the window cleaning apparatus to the right end of the window after the cleaning is finished.
- the position where the user attaches the window cleaning apparatus may be a position where the user may easily remove the window cleaning apparatus, by returning the window cleaning apparatus to the position adjacent to the initial attachment position after the end of cleaning as described above, It may facilitate the user to separate the window cleaning apparatus from the window.
- control module may continue to move the window cleaning apparatus according to the movement path.
- the window cleaning apparatus may perform cleaning while gradually moving from the upper end to the lower end of the window, in which case the cleaning is terminated when the window cleaning apparatus is moved to the lower end of the window. It can be judged.
- the first cleaning unit 100 attached to the inner surface of the glass window 700 among the first and second cleaning units 100 and 200 included in the window cleaning apparatus 10 as described above is A case of movement by the movement control method according to the embodiment will be described as an example.
- 28 and 29 illustrate one embodiment of a method for detecting an initial attachment position of a window cleaning apparatus.
- a window frame 710 for fixing the glass window 700 may be provided at an outer region of the glass window 700, such that the window cleaning device 10 may be provided to one end of the glass window 700. When moving, it may be in contact with the window frame 710.
- the window cleaning apparatus 10 if the user attaches the window cleaning apparatus 10 to the window 700 and requests the start of the cleaning operation, the window cleaning apparatus 10, more specifically, the inside of the window 700.
- the first cleaning unit 100 attached to the surface moves upward in the attachment position.
- the first cleaning unit 100 may vertically move up from the attachment position to move to the upper end of the glass window, and the buffer member provided in the first cleaning unit 100 may contact the upper window frame 710 to contact the upper window frame 710. In this case, it may be determined that the first cleaning unit 100 has moved to the upper end of the glass window.
- the first cleaning unit 100 moves upward. Can be terminated.
- the first cleaning unit 100 may move horizontally to the left side and move to the right end of the glass window, and the cushioning member provided in the first cleaning unit 100 is in contact with the window frame 710 on the right side. It may be determined that the first cleaning unit 100 has moved to the right end of the glass window.
- the first cleaning unit 100 when the first cleaning unit 100 is horizontally moved to the left and the bumper provided hits the window frame 710 and is detected by the sensor from the left side, the first cleaning unit 100 is left The movement of the direction can be terminated.
- the first cleaning unit 100 may move to the left end of the uppermost end of the glass window 700 after being attached by the user.
- the first moving distance m1 may be measured while the first cleaning unit 100 is horizontally moved to the left side, and for example, the first cleaning unit 100 may be provided with a first cleaning unit 100.
- the first moving distance m1 may be measured by the amount of rotation of the first wheel members 120.
- the first cleaning unit 100 may move horizontally in the right direction from the left end of the uppermost end of the glass window 700 to the left end of the glass window, and the buffer provided in the first cleaning unit 100 may be moved.
- the buffer provided in the first cleaning unit 100 may be moved.
- the first cleaning unit 100 is detected by the sensor that the bumper provided while hitting the window frame 710 and the pressure from the right side while the first cleaning unit 100 is moved horizontally to the right, the first cleaning unit 100 is right The movement of the direction can be terminated.
- the second moving distance m2 may be measured while the first cleaning unit 100 moves from the left end to the right end of the top of the window 700, for example, the first cleaning.
- the second moving distance m2 may be measured by the amount of rotation of the first wheel members 120 provided in the unit 100.
- the first and second moving distances m1 and m2 are compared to compare the window cleaning apparatus.
- the initial attachment position can be detected.
- the initial attachment position of the window cleaning apparatus is determined by the window 700. It may be determined to be the right side.
- the window cleaning apparatus more specifically, the first cleaning unit 100 moves to the right end of the window to stand by, and thus the user moves the first and second cleaning units 100 and 200 to the window pane. 700).
- the initial attachment position of the window cleaning apparatus may be determined to be the left side of the window, and thus after the end of cleaning
- the first cleaning unit 100 may move to the left end of the glass window and wait.
- the first cleaning unit 100 rises vertically from the initial attachment position, and then first moves by the third moving distance m3 to the right end of the window and again from the right end of the window. It may be moved to the end and may be moved by the fourth moving distance m4.
- the initial attachment position of the window cleaning apparatus may be determined to be the left side of the window 700.
- the initial attachment position of the window cleaning apparatus may be determined to be the right side of the glass window.
- FIG. 30 illustrates an embodiment of a movement path of the window cleaning apparatus.
- the upper portion of the window 700 is moved.
- the cleaning may be repeated twice, so that dust or the like present in the portion adjacent to the window frame 710 may be removed more cleanly.
- the first cleaning unit 100 After the first cleaning unit 100 is moved to the upper left end of the window 700, the first cleaning unit 100 moves downward to the right end of the window 700, and then downward to the left end of the window 700 again. do.
- the movement path of the first cleaning unit 100 may alternately repeat the right-down section 810 moved downward in the right direction and the left-down section 820 moved downward in the left direction.
- 31 and 32 illustrate an embodiment of a cleaning end method of the window cleaning apparatus.
- the first cleaning unit 100 reaches the lower end of the window 700 while the first cleaning unit 100 moves downward from side to side according to the movement path determined based on the width w of the window 700 as described above. In this case, the window cleaning operation may be terminated.
- the first cleaning unit 100 moves downward in the right direction hits and contacts the lower window frame 710, the first cleaning unit 100 moves to the lower end of the glass window. It can be judged that.
- the lower bumper provided in the first cleaning unit 100 when hit by the window frame 710 and receives pressure from the lower side for a predetermined time or more, it may be recognized as a cleaning end time.
- the first cleaning unit 100 moves to the lower end of the glass window and the cleaning end point is recognized, the first cleaning unit 100 moves horizontally in the right direction along the lower window frame 710 to move the glass window 700. Can move to the right end of the, the detergent injection of the second cleaning unit 200 may be terminated at the horizontal movement time of the right direction.
- the first cleaning unit 100 may move to the right end of the glass window 700, and then move horizontally in the left direction along the lower window frame 710 to the left end of the glass window 700. have.
- the window cleaning apparatus 10 When the cleaning of the window cleaning apparatus 10 is completed as described above, the window cleaning apparatus 10, more specifically, the first cleaning unit 100, may be easily detached by the user as described above, for example, an initial attachment. You can move to a location adjacent to the location.
- 33 to 37 illustrate embodiments of the movement path of the window cleaning apparatus after the cleaning is finished.
- the first cleaning unit 100 is moved at a predetermined distance in an upward direction. You can move by (h).
- the first cleaning unit 100 may move upward in the right direction with a path similar to the parabola and may rise by a predetermined distance h.
- the first cleaning unit 100 when the first cleaning unit 100 is moved to the right end of the glass window 700 and the cleaning is finished, the first cleaning unit 100 has a path similar to the parabola and moves upward to the left direction for a predetermined distance (h). May rise by).
- the first cleaning unit 100 may move toward an end adjacent to the initial attachment position of the detected window cleaning apparatus among the left end and the right end of the window 700.
- the first cleaning unit 100 may horizontally move to the right end of the window 700 in the right direction.
- the first cleaning unit 100 may move to the right end of the glass window 700 and then move by a predetermined distance b in the opposite direction, that is, in the left direction.
- the first cleaning unit 100 stops at a position spaced apart from the right end of the window 700 by a predetermined distance b, so that the user may easily separate the window cleaning apparatus. This is because when the window cleaning apparatus is in contact with the window frame 710, the window cleaning apparatus may not be easily separated.
- the first cleaning unit 100 may horizontally move to the left end of the window 700.
- the first cleaning unit 100 may move to the left end of the glass window 700 and then stop by moving a predetermined distance b in the opposite direction, that is, in the right direction.
- the window cleaning apparatus includes first and second cleaning units 100 and 200 attached to the inner side and the outer side of the window by magnetic force, for example, in the movement control method according to the embodiment of the present invention.
- the glass window 700 may be attached to only one of the inner and outer surfaces of the glass window 700 by a vacuum suction or the like in addition to the glass cleaning apparatus or magnetic force. It may be applicable to a window cleaning apparatus to be attached.
- the first cleaning unit 100 attached to the inner side of the glass window is also provided with the buffer member, for example, as described above.
- a bumper may be provided.
- the continuous movement of the first cleaning unit 100 is performed.
- the first and second cleaning units 100 and 200 may be separated.
- the magnetic force of the magnetic body provided in the cleaning unit can be adjusted according to the magnetic force.
- the inner and outer modules may be attached and moved with a magnetic force suitable for the thickness of the window or the operation stage of the apparatus, thereby improving the performance and stability of the window cleaning apparatus.
- the window cleaning apparatus by moving the window cleaning apparatus to a position adjacent to the initial attachment position after the end of cleaning, it is easy for the user to detach the window cleaning apparatus from the glass window.
- the stability of the window cleaning apparatus can be improved by facilitating the separation of the inner and outer units.
- control method of the window cleaning apparatus according to the present invention described above can be stored in a computer-readable recording medium produced as a program to be executed in a computer
- examples of the computer-readable recording medium is ROM, RAM CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like, and also include those implemented in the form of carrier waves (eg, transmission over the Internet).
- the computer readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.
- functional programs, codes, and code segments for implementing the control method can be easily inferred by programmers in the art to which the present invention belongs.
Abstract
Description
Claims (15)
- 자력으로 유리창의 양면에 각각 부착되어 이동되는 제1 청소 유닛 및 제2 청소 유닛을 포함하는 유리창 청소 장치에 있어서,상기 제1 청소 유닛에 포함된 제1 마그네틱 모듈;상기 제2 청소 유닛에 포함된 제2 마그네틱 모듈;상기 제1, 2 마그네틱 모듈 사이의 자력을 감지하는 자력 감지부; 및상기 제1, 2 마그네틱 모듈 사이의 자력을 조절하는 자력 조절부를 포함하는 유리창 청소 장치.
- 제1항에 있어서, 상기 자력 조절부는상기 감지된 자력이 기준치보다 큰 경우 상기 제1, 2 마그네틱 모듈 사이의 자력을 감소시키고, 상기 감지된 자력이 기준치보다 작은 경우 상기 제1, 2 마그네틱 모듈 사이의 자력을 증가시키는 유리창 청소 장치.
- 제1항에 있어서, 상기 자력 조절부는상기 제1, 2 마그네틱 모듈 사이의 간격을 조절하는 유리창 청소 장치.
- 제3항에 있어서, 상기 자력 조절부는상기 제1, 2 마그네틱 모듈 중 적어도 하나를 상승 또는 하강시키는 모듈 구동부를 더 포함하는 유리창 청소 장치.
- 제1항에 있어서,상기 제1, 2 마그네틱 모듈 중 적어도 하나는 전자석을 포함하며,상기 자력 조절부는상기 전자석에 공급되는 전류의 양을 조절하는 유리창 청소 장치.
- 제1항에 있어서,상기 감지된 자력을 표시하는 표시부를 더 포함하는 유리창 청소 장치.
- 제1항에 있어서, 상기 자력 조절부는상기 제1, 2 청소 유닛들의 유리창 부착시 상기 자력 감지부에서 감지된 자력을 이용하여 상기 제1, 2 마그네틱 모듈 사이의 자력을 증가시키는 유리창 청소 장치.
- 제1항에 있어서, 상기 자력 조절부는상기 제1, 2 청소 유닛들의 유리창 분리시 상기 자력 감지부에서 감지된 자력을 이용하여 상기 제1, 2 마그네틱 모듈 사이의 자력을 감소시키는 유리창 청소 장치.
- 제1항에 있어서,상기 자력 조절부는 상기 제1, 2 청소 유닛들 중 유리창의 내측에 배치되는 상기 제1 청소 유닛에 구비되며, 상기 자력 감지부는 유리창의 외측에 배치되는 상기 제2 청소 유닛에 구비되며,상기 제2 청소 유닛의 자력 감지부에서 측정된 자력 값은 제1 청소 유닛으로 무선 전송되는 유리창 청소 장치.
- 제1항에 있어서,상기 유리창 청소 장치의 이동 경로는 상기 유리창의 폭에 기초하여 결정되는 유리창 청소 장치.
- 제10항에 있어서,상기 유리창의 폭이 기준치를 초과하는 경우,상기 이동 경로는 상기 유리창 청소 장치를 우측 방향으로 하향 이동시키는 우-하향 구간, 좌측 방향으로 하향 이동시키는 좌-하향 구간과, 우측 및 좌측 중 적어도 한 방향으로 상향 이동시키는 상향 구간을 포함하는 유리창 청소 장치.
- 제1항에 있어서,청소 종료 후, 상기 유리창의 좌측 끝단 및 우측 끝단 중 상기 유리창 청소 장치의 초기 부착 위치에 인접한 위치로 이동되는 유리창 청소 장치.
- 자력으로 유리창의 양면에 각각 부착되어 이동되는 제1 청소 유닛 및 제2 청소 유닛을 포함하는 유리창 청소 장치를 제어하는 방법에 있어서,상기 제1, 2 청소 유닛들에 각각 포함된 제1 마그네틱 모듈과 제2 마그네틱 모듈 사이의 자력을 감지하는 단계;상기 감지된 자력과 기준치를 비교하는 단계; 및상기 비교 결과에 따라 상기 제1, 2 마그네틱 모듈 사이의 자력을 조절하는 단계를 포함하는 유리창 청소 장치의 제어 방법.
- 제13항에 있어서, 상기 자력 조절 단계는상기 감지된 자력이 상기 기준치보다 큰 경우 상기 제1, 2 마그네틱 모듈 사이의 자력을 감소시키고, 상기 감지된 자력이 기준치보다 작은 경우 상기 제1, 2 마그네틱 모듈 사이의 자력을 증가시키는 유리창 청소 장치의 제어 방법.
- 제13항에 있어서, 상기 자력 조절 단계는상기 제1, 2 마그네틱 모듈 사이의 간격을 조절하는 유리창 청소 장치의 제어 방법.
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JP2013503649A JP5706961B2 (ja) | 2010-04-09 | 2010-11-04 | ガラス窓掃除装置 |
US13/386,016 US9215956B2 (en) | 2010-04-09 | 2010-11-04 | Glass window cleaning device and a control method therefor |
EP10849540.9A EP2446793B1 (en) | 2010-04-09 | 2010-11-04 | Glass window cleaning device and a control method therefor |
CN201080034950.6A CN102573590B (zh) | 2010-04-09 | 2010-11-04 | 玻璃窗清洁设备及用于玻璃窗清洁设备的控制方法 |
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KR1020100032786A KR101071667B1 (ko) | 2010-04-09 | 2010-04-09 | 유리창 청소 장치 및 그의 제어 방법 |
KR10-2010-0032786 | 2010-04-09 | ||
KR10-2010-0045717 | 2010-05-15 | ||
KR1020100045718A KR101081927B1 (ko) | 2010-05-15 | 2010-05-15 | 유리창 청소 장치 및 그의 이동 제어 방법 |
KR1020100045717A KR101289240B1 (ko) | 2010-05-15 | 2010-05-15 | 유리창 청소 장치 및 그의 이동 제어 방법 |
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CN102573590B (zh) | 2014-08-13 |
US20130014782A1 (en) | 2013-01-17 |
EP2446793B1 (en) | 2013-10-16 |
EP2446793A4 (en) | 2012-12-12 |
EP2446793A1 (en) | 2012-05-02 |
US9215956B2 (en) | 2015-12-22 |
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JP2013523308A (ja) | 2013-06-17 |
CN102573590A (zh) | 2012-07-11 |
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