WO2013176335A1

WO2013176335A1 - Method for controlling window cleaning apparatus

Info

Publication number: WO2013176335A1
Application number: PCT/KR2012/005766
Authority: WO
Inventors: 류만현; 김동규
Original assignee: 인텔렉추얼디스커버리 주식회사
Priority date: 2012-05-23
Filing date: 2012-07-19
Publication date: 2013-11-28
Also published as: KR101617991B1; EP2853185A4; JP2015531609A; KR20150018538A; EP2853185A1

Abstract

According to one embodiment of the present invention, in the cleaning units that are attached respectively to the inner and outer surfaces of a window and move on the inner and outer surfaces by means of magnetic force, the magnetic force working between first and second cleaning units is initialized during an initial operation, thereby holding the magnetic force constant. Furthermore, according to another embodiment of the present invention, in the cleaning units that are attached respectively to the inner and outer surfaces of a window and move on the inner and outer surfaces by means of magnetic force, first and second cleaning units that can be interlock with each other as a set are automatically set during an initial operation from among a plurality of first and second cleaning units, thus increasing user convenience.

Description

Control Method of Window Cleaning Device

The present invention relates to a method of controlling a device for cleaning a window.

In general, 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 degrade the light. Therefore, it is desirable to frequently clean the windows installed on the outer wall of the building.

However, in the case of the outer wall of the glass window, it is more difficult to clean than the inner wall. In particular, as the residential building becomes higher and higher, the cleaning of the outer wall of the glass window has a high risk.

An object of the present invention is to provide a control method of the window cleaning apparatus that can improve the efficiency and safety of the operation.

A control method of a window cleaning apparatus according to an embodiment of the present invention is a control method of a window cleaning apparatus including a first cleaning unit and a second cleaning unit which are attached to both surfaces of a window by a magnetic force and are moved. A first step of driving at least one of the two cleaning units; A second step of detecting magnetic force (X) between the first and second magnetic modules respectively provided in the first and second cleaning units; A third step of comparing the sensing magnetic force (X) with a preset reference value (X ₀ ); And a fourth step of setting an initial value X ₁ according to a result of the comparison of the detected magnetic force X, or informing a magnetic error. The magnetic force acting between the first and second cleaning units at the time of initial driving. Can be initialized.

In addition, the control method of the window cleaning apparatus according to another embodiment of the present invention, the window cleaning apparatus including at least one or more first cleaning unit and at least one or more second cleaning unit which is attached to both sides of the glass window by a magnetic force and moved, respectively. A control method of the first step, wherein the first and second cleaning units are registered with each other in advance to enable communication; Searching for the first and second cleaning units registered during the initial operation of the first and second cleaning units; Measuring a radio frequency signal strength between the retrieved first and second cleaning units; And a fourth step of setting the searched first and second cleaning units into a set that can be interlocked according to the radio frequency signal strength. The cleaning unit can be set automatically.

According to an embodiment of the present invention, in the cleaning units that are attached and moved to the inner and outer surfaces of the window using magnetic force, respectively, by initializing the magnetic force acting between the first and second cleaning units, the magnetic force is constant. I can keep it.

Therefore, even if the magnetic force acting between the first and second cleaning units changes according to the assembly state of the product, the position of the rotating magnet, the temperature change, and the earth's latitude, it initializes and maintains uniformity, thereby acting between the first and second cleaning units. It is possible to eliminate the influence of external noise on the magnetic force, and to stably maintain data communication between the first and second cleaning units that may be affected by the magnetic force. Furthermore, not only the reliability of the data received by the stable communication is guaranteed, but also the control based on the accurate data can be performed to improve the cleaning performance and stability.

In addition, according to another embodiment of the present invention, in the cleaning units that are attached and moved to the inner and outer surfaces of the glass window using magnetic force, respectively, which can be interlocked with a set of several first and second cleaning units at the time of initial driving. By setting the first and second cleaning units automatically, the user's convenience can be increased.

In addition, by adjusting the radio frequency intensity between the first and second cleaning units that can be linked to the set at the time of initial driving, the data transmission loss is prevented as the radio frequency intensity is lowered below the reference value, and the radio frequency intensity is the reference value. As the above increase, it is possible to prevent the deviation from the wireless authentication standard value and provide an optimal communication environment.

1 is a perspective view briefly showing the configuration of a window cleaning apparatus according to an embodiment of the present invention.

Figure 2 is a plan view showing an embodiment of the configuration of the first cleaning unit disposed inside the glass window.

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.

Figure 5 is a block diagram showing an embodiment of the configuration of the first and second cleaning units provided in the window cleaning apparatus of the present invention.

6 is a flowchart illustrating a control method of initializing magnetic force of the window cleaning apparatus according to the embodiment of the present invention.

7 is a flowchart illustrating a control method for initializing wireless communication of the window cleaning apparatus according to the embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings as follows. Hereinafter, the embodiments may be modified in various forms, and the technical scope of the embodiments is not limited to the embodiments described below. The examples are provided to more fully illustrate those skilled in the art. Accordingly, the shape and size of elements in the drawings may be exaggerated for clarity.

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) disposed on both sides of the glass window, respectively.

Referring to Figure 1, the first cleaning unit 100 is an internal cleaning unit disposed on the inner side of the glass window, the second cleaning unit 200 is an external cleaning unit disposed on the outer side of the glass window, the first cleaning As the second cleaning unit 200 is moved in accordance with the movement of the unit 100, the window cleaning by the second cleaning unit 200 is performed.

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.

In addition, when the first cleaning unit 100 is moved in the state attached to the inner surface of the glass window by the external or its own power, the second cleaning unit 200 is respectively attached to the first and second cleaning units (100, 200) The magnetic force between the provided magnetic module may be moved together along the movement of the first cleaning unit 100.

The first cleaning unit 100 may include a detachable member 150, for example, a handle 150 as shown in FIG. 1, to allow a user to easily attach and detach the first cleaning unit 100 to a glass window. In addition, the second cleaning unit 200 may be provided on the second cleaning unit 200, the removable member (not shown) to facilitate the detachable.

Accordingly, 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 may be used to separate the first and

second cleaning units

100 and 200 from the glass window.

On the other hand, the window cleaning apparatus according to an embodiment of the present invention may further include a remote controller (remote controller, not shown) for allowing a user to control the operation of the first and second cleaning units (100, 200). have.

As described above, the second cleaning unit 200 is dependently moved by the magnetic force in accordance with the movement of the first cleaning unit 100, the user of the first cleaning unit 100 using a remote controller (not shown) The movement may be controlled to control the driving of the window cleaning apparatus including the first and

second cleaning units

100 and 200.

In the present embodiment, a remote controller (not shown) that can be operated in a wireless manner is configured for the convenience of the user. However, 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.

On the other hand, 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 predetermined movement path, or 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.

Hereinafter, specific configurations of each of the first and

second cleaning units

100 and 200 illustrated in FIG. 1 will be described in more detail with reference to FIGS. 2 and 3.

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.

Referring to FIG. 2, 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.

On the other hand, a buffer member 140 may be formed on the edge of the first frame 110 to minimize the impact when a collision with the protruding structure such as the window frame of the glass window during the movement of the window cleaning apparatus. In addition, when an impact is detected by a sensor (not shown) connected to the buffer member 140, the first cleaning unit 100 may change a movement path.

Meanwhile, 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. In addition to the function of generating a magnetic force to be attached to both sides of the glass window, the first magnetic module 130 and the second by the first magnetic control unit (not shown) of the first magnetic module 130 Magnetic force between the magnetic modules 233 may be adjusted.

In addition, the first magnetic module 130 may include a permanent magnet such as a neodium magnet, and may generate magnetic force together with the second magnetic module 233 provided in the second cleaning unit 200. .

More specifically, the 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 side surfaces of the glass window may be attached to the glass window and simultaneously moved by attracting each other by magnetic force.

In addition, as another embodiment of the present invention, 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 according to the embodiment of the present invention 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.

For example, 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 which may be attracted by the magnetic force of the magnetic material. It may be.

As shown in FIG. 2, the first magnetic module 130 is configured to have a plurality of magnetic bodies arranged horizontally, and the first magnetic module 130 may be configured in two in the first cleaning unit 100. Can be.

For reference, Figure 2 is for showing the first magnetic module 130 according to an embodiment of the present invention, in the actual use of the first cleaning unit 100, the first magnetic module 130 is covered by a cover or the like There may be.

One of the magnetic bodies constituting the first magnetic module 130 rotates according to the driving of the motor, and the magnitude of the magnetic force between the first magnetic module 130 and the second magnetic module 233 is adjusted by the rotating magnetic body. There is a characteristic. This will be described in more detail with reference to the accompanying drawings.

On the other hand, two or more first wheel member 120 on the left and right of the first cleaning unit 100 so that a portion thereof is exposed in the upper direction of the first frame 110, for example, left as shown in FIG. 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.

For example, 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.

On the other hand, 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. For example, the rotation axis of the first wheel member 120 is changed, or the two first wheel members 120 respectively provided on 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 by using a material such as fiber, rubber or silicon so that a predetermined friction force may occur with the glass window when the wheel is rotated. The first cleaning unit 100 can be easily moved along the inner surface of the glass window without turning. In addition, the surface of the first wheel member 120 may be made of a material that does not cause scratches on 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 driving unit (not shown) having a motor or the like, the first cleaning unit 100 may move along the inner surface of the glass window by the frictional force.

On the other hand, when the first cleaning unit 100 is moved by the rotation of the first wheel member 120, the second cleaning unit 200, which is attached to the opposite side of the glass window, that is, the outer surface also by the magnetic force first cleaning unit According to the movement of the 100, the cleaning operation can be performed while moving integrally.

3 is a plan view showing an embodiment of the configuration of the second cleaning unit 200, and shows a configuration of the bottom surface of the second cleaning unit 200 in contact with the glass window.

Referring to FIG. 3, 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.

In addition, a plurality of second wheel members 220 are formed on a lower surface of the second frame 210, and the second cleaning unit 200 is movable by magnetic force according to the movement of the first cleaning unit 100. can do.

According to one embodiment of the present invention, unlike the first wheel member 120 provided in the first cleaning unit 100, 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.

Accordingly, when the second cleaning unit 200 moves by the magnetic force together with the first cleaning unit 100, the second wheel member 220 may rotate to perform a function similar to a bearing.

In FIG. 3, the second wheel member 220 has a cylindrical shape, but the present invention is not limited thereto. For example, 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.

As shown in FIG. 3, the cleaning module 230 may include a plurality of modules, for example, a cleaning pad 231 and a detergent injection hole 232.

Meanwhile, each of the four disk shapes included in the cleaning module 230 may be provided to be rotatable by a driving unit (not shown) such as a motor (not shown). In addition, the cleaning module 230 may be formed to protrude at a predetermined interval from the lower surface of the second frame 210, and thus the cleaning module 230 of the cleaning module 230 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. In this case, in order to improve the cleaning performance of the window cleaning apparatus, the pad 231 may be made of a material of a micro hair structure or a porous structure.

In addition, 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.

Meanwhile, the second magnetic module 233 is positioned inside the cleaning module 230, that is, in the second cleaning unit 200. The second magnetic module 233 may have a shape corresponding to the first magnetic module 130 provided in the first cleaning unit 100, but is not limited thereto. The first and

second cleaning units

100 and 200 may be used. ) Generates magnetic force so that it can be attached to both sides of the window.

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.

In addition, 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.

Referring to FIG. 3, the second cleaning unit 200 may include a plurality of auxiliary cleaning modules 240 formed at corner portions. Since the cleaning module 230 may be formed inside the second frame 210 to make it difficult to clean the edge of the glass window, the second cleaning unit may include auxiliary cleaning modules 240 to cover the window frame such as the window frame. It can be cleaned more easily.

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.

On the other hand, 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, minimizes the impact when colliding with the projecting structure, such as a window frame, It can also be used to detect shocks using a built-in sensor.

In the above, 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.

For example, 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 covers both sides of the glass window. You may want to clean it.

According to an embodiment of the present invention, the window cleaning apparatus as shown in Figures 1 to 3 is a magnetic force between the first and second cleaning units (100, 200) attached and moved by the magnetic force with the glass window in between. And sense the magnetic force to satisfy a preset reference value.

Referring to FIG. 4, the magnetic force sensing unit 300 detects magnetic force or physical tension between the first and

second cleaning units

100 and 200 attached to each other with the glass window therebetween, and cleans the first and second cleaning devices for them. At least one of the

units

100 and 200 may include a magnetic sensor (not shown) capable of sensing magnetic force and physical tension.

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.

On the other hand, 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.

For example, as the magnetic force between the first and second

magnetic modules

130 and 233 increases, 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.

On the contrary, as the magnetic force between the first and second

magnetic modules

130 and 233 decreases, frictional force decreases, thereby making it easier to move the window cleaning apparatus. On the other hand, there is a problem that may fall due to an external impact of the window cleaning apparatus. have.

Therefore, 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.

Accordingly, the magnetic force control unit 310 is a magnetic force and physical tension between the first and second cleaning units (100, 200) detected by the magnetic force sensing unit 300 is the range of the reference value, that is, between the upper and lower limits If not, the magnetic force between the first and second

magnetic modules

130 and 233 may be adjusted to fall within the reference value range.

FIG. 5 is a block diagram showing an embodiment of the configuration of the first and second cleaning units provided in the window cleaning apparatus, and FIG. 5 is a view illustrating the configuration of the first and

second cleaning units

100 and 200 shown in FIG. The same descriptions as those described with reference to FIGS. 1 to 4 will be omitted below.

Referring to FIG. 5, the first cleaning unit 100 may include a first magnetic module 130, a display unit 150, a first wireless communication module 160, a main controller 103, 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 main controller 303, a magnetic sensor 301 or a physical tension sensor (not shown) and An A / D converter 302 may be included.

First, 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, the measured magnetic force by the A / D converter 302 Can be converted to digital values. For that purpose, the magnetic sensor 301 can 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, so that the first cleaning unit 100 is 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.

In this case, the magnetic force control unit 310 may be configured in various forms, for example, to adjust the interval between the first and second

magnetic modules

130 and 233, or as another example the first and second magnetic modules 130, 233) may be composed of a plurality of interacting magnetic bodies to adjust the polarity of the magnetic bodies. Therefore, since the magnetic force between the first and second

magnetic modules

130 and 233 by the magnetic force control unit 310 of various forms can be adjusted, a detailed description thereof will be omitted.

FIG. 6 is a flowchart illustrating a control method for initializing a magnetic force of a window cleaning apparatus according to an exemplary embodiment of the present invention, and the control method illustrated in FIG. 6 will be described with reference to the block diagrams shown in FIGS. 4 and 5.

In the embodiment to be described below, the first cleaning unit 100 includes a magnetic force control unit 310, the second cleaning unit 200 includes a magnetic force detection unit 300, the second cleaning unit 200 After this operation, the first cleaning unit 100 is operated, and the first and

second cleaning units

100 and 200 are not attached to the window, that is, in the place where there is no influence of magnetic force such as in the air or the floor of the floor. The description will be based on the initial operation.

First, the second cleaning unit 200 is operated, and the magnetic force X is sensed on the second cleaning unit 200 side (see S1 and S2).

In this case, the magnetic force between the first and

second cleaning units

100 and 200 may include a magnetic sensor 301 provided in the magnetic force sensing unit 300 provided in the first and

second cleaning units

100 and 200, respectively. It can be detected by measuring the magnetic force between the 1,2 magnetic units (130, 233).

Of course, the magnetic force sensing unit 300 is provided in at least one of the first and

second cleaning units

100 and 200, and preferably disposed to be adjacent to at least one of the first and second

magnetic units

130 and 233. Can be. However, in the exemplary embodiment of the present invention, the magnetic force sensing unit 300 will be described as being limited to that provided in the external cleaning unit 200 mounted outside the window.

However, the magnetic force sensing unit 300 is provided inside the second cleaning unit 200. Since the magnetic force is measured by the mutual electromagnetic force, the magnetic force measured by the magnetic force sensing unit 300 is an assembled state of the product, and a rotated magnet. Will change due to the surface position, the temperature change, and the latitude of the earth.

As such, when the magnetic force sensed by the magnetic force sensing unit 300 is changed, data wireless communication is affected between the first and

second cleaning units

100 and 200 and thus it is difficult to constantly transmit the data signal. Data is not reliable.

Therefore, it is necessary to keep the magnetic force X detected by the magnetic force sensing unit 300 relatively constant, and for this purpose, it is necessary to initialize the sensing magnetic force X.

Next, the sensing magnetic force X is compared with the reference value X ₀ for the set time t, and the sensing magnetic force X is set to the initial value X ₁ (see S3, S4, and S6).

Specifically, the main controller 303 provided in the sensing magnetic force unit 300 receives the sensing magnetic force X, and compares the sensing magnetic force X with a preset reference value X ₀ , which is the reference value X _0. ) Is set in consideration of the assembly state of the product, the surface position of the rotated magnet, the temperature change, and the latitude of the earth.

At this time, the detected magnetic force (X) is there is the judgment meets the reference value (X ₀₎ detect magnetic force (X) is the reference value (X ₀₎ during the set time (t) when it satisfies, which is affected by by other external magnetic To consider.

Therefore, when the sensing magnetic force X satisfies the reference value X ₀ and is maintained for the set time, it is determined that there is no factor affecting the magnetic force mentioned above, and the sensing magnetic force X is set to the initial value (X _1). Will be set to).

On the other hand, if the sensing magnetic force X does not satisfy the reference value X ₀ or if the sensing magnetic force X does not satisfy the reference value X ₀ for the set time t, it notifies the magnetic error. Reference)

At this time, the set time (t) is a stabilization time of the magnetic force measurement, a time for stably measuring the magnetic force between the first and second cleaning units (100, 200).

As described above, it is determined that the sensing magnetic force X does not satisfy the reference value X ₀ is influenced by the factors affecting the magnetic force mentioned above. In addition, it is determined that the sensing magnetic force X does not satisfy the reference value X ₀ continuously during the set time t is affected by an object of metal material or an object having magnetic force at the time of initial driving.

Therefore, the magnetic force (X) measured by the magnetic force sensing unit 300 is difficult to see the actual magnetic force between the first and

second cleaning units

100 and 200, and the user may receive a variety of texts, lamps, warning sounds, and the like. Inform the magnetic errors through the method. The user can then detect the magnetic error and eliminate the cause causing the magnetic error.

Next, the first cleaning unit 100 is operated and senses the magnetic force between the first and

second cleaning units

100 and 200 and transmits data. (See S7 and S8.)

Specifically, both the first and

second cleaning units

100 and 200 are turned on to perform a cleaning operation, and the magnetic force sensing unit 300 is between the first and

second cleaning units

100 and 200 before performing the cleaning operation. The change of the magnetic force (X) of the continuously and the initialization operation for transmitting data from the second cleaning unit 200 to the first cleaning unit 100 is in progress.

For example, the data transmitted during the initialization operation may include a driving battery state, a bumper recognition state, a control state of a driving pump or a driving motor, a magnetic force recognition state, and the like on the second cleaning unit 200.

Next, while transmitting data between the first and

second cleaning units

100 and 200, the initial value X ₁ is compared with the initial value error range X ₁ -x (see S9).

At this time, the initial value error range (X ₁ -x) is set to the error range of the magnetic force that can be measured by the magnetic force detection unit 300 of the second cleaning unit 200 in the state excluding the external influence, it is set in advance It is.

When the first and

second cleaning units

100 and 200 are attached to the thick window at the time of initial operation, or attached to the window while the magnetic force is adjusted, the magnetic force between the first and

second cleaning units

100 and 200 is a reference value ( X ₀ ) may be satisfied, and the sensed magnetic force X thus measured may be set to an initial value X ₁ .

By the way, when the initial value (X ₁ ) is out of the initial value error range (X ₁ -x), the first and second cleaning units (100,200) as the magnetic force initialization proceeded in the state attached to the window, the first cleaning The unit 100 is regarded as separated from the second cleaning unit 200, and the process of resetting the sensing magnetic force X again to the initial value X ₁ is compared with the reference value X ₀ .

7 is a flowchart illustrating a control method for initializing wireless communication of the window cleaning apparatus according to an exemplary embodiment of the present invention, and the control method illustrated in FIG. 7 will be described with reference to the block diagrams shown in FIGS. 4 and 5.

In the embodiments to be described below, a set includes a first and second cleaning units which can be cleaned in a set, and as one of the first and second cleaning units fails, the other first cleaning unit or the other second cleaning unit When the additional or multiple sets of the first and second cleaning units are provided, the first and second cleaning units located in close proximity are automatically set and used as a set.

First, the first and

second cleaning units

100 and 200 are registered with each other in advance so as to be able to communicate with each other (see S1).

The first and

second cleaning units

100 and 200 are manufactured in one set, and at the time of manufacture, only one designated address is set to receive data from each other only between the first and

second cleaning units

100 and 200. . However, even if the other first and

second cleaning units

100 and 200 are added and used, a plurality of public addresses that can receive data from each other may be set.

For example, if the 1,2

cleaning units

100 and 200 are the same product model, a public address is set in addition to the designated address so as to transmit data to each other.

Next, when a part of the first and

second cleaning units

100 and 200 is turned on, the first and

second cleaning units

100 and 200 are searched through the designated address during the set time t during the initial operation. (See S2, S3)

In an embodiment, the first and

second cleaning units

100 and 200 of the A set and the first and

second cleaning units

100 and 200 of the B set are provided, and some of the cleaning

units

100 and 200 are set in time. During (t), it is determined whether to send / receive data to the designated address.

At this time, when the first and

second cleaning units

100 and 200 of the A set are turned on in proximity to each other, the first and

second cleaning units

100 and 200 of the A set transmit / receive data to each other at a designated address. When the first and

second cleaning units

100 and 200 of the B sets are turned on in close proximity, the first and

second cleaning units

100 and 200 of the B sets transmit / receive data to a designated address.

Therefore, when data is sent / received to the designated address, the cleaning unit that can be linked to the set is searched.

However, if the first and

second cleaning units

100 and 200 are not searched through the designated address, the first and

second cleaning units

100 and 200 are searched through the common address (see S4 and S5).

At this time, the first cleaning unit 100 of the A set is turned on in a position close to the second cleaning unit 200 of the B set, or the second cleaning unit 200 of the A set of the first cleaning unit 100 of the B set When the switch is turned on in the vicinity of), data cannot be transmitted / received to the designated address, but data is transmitted / received to the public address.

Therefore, when data is transmitted / received to the common address, different sets of the first and

second cleaning units

100 and 200 are searched as interlockable cleaning units.

In this way, the radio frequency signal strength between the first and

second cleaning units

100 and 200 searched by the set of interlockable cleaning units is measured and compared with a reference value.

Wireless communication is performed in order to transmit data between the first and

second cleaning units

100 and 200, and the radio frequency signal strength between the first and

second cleaning units

100 and 200 is the first and second cleaning units 100. , 200, distance between the data, data transmission loss, and the like.

Although the data can be transmitted by setting the radio frequency signal strength to the maximum value that satisfies the radio authentication standard value, the power consumed by the data transmission can be increased, so it is necessary to adjust it properly.

Therefore, the reference value for comparing the radio frequency signal strength is set lower than the maximum value of the wireless authentication reference value, but higher than the lowest value that can eliminate the data transmission loss, the reference value is that the radio frequency signal can reach up to about 3 ~ 4mm It can be set in a range that can reduce power consumption and at the same time prevent data loss.

At this time, if the radio frequency signal strength between the first and

second cleaning units

100 and 200 does not satisfy the reference value, the radio frequency output is adjusted and the data output is adjusted to provide an optimal wireless communication environment. See S8)

On the other hand, if the radio frequency signal strength between the first and

second cleaning units

100 and 200 satisfies the reference value, the cleaning operation may be performed by automatically setting the set of interlockable cleaning units. (See S9)

Claims

A control method of 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,

A first step of driving at least one of the first and second cleaning units;

A second step of sensing magnetic force (X) between the first and second magnetic modules respectively provided in the first and second cleaning units;

A third step of comparing the sensing magnetic force (X) with a preset reference value (X 0 ); And

And a fourth step of setting an initial value (X 1 ) according to a result of comparing the detected magnetic force (X) or informing a magnetic error.
The method of claim 1,

The third step,

Comparing the sensing magnetic force (X) with the reference value (X 0 ),

And comparing the sensing magnetic force (X) with the reference value (X 0 ) during a set time (t).
The method of claim 2,

The fourth step,

The detected magnetic force (X) wherein when the detected magnetic force (X) while satisfying the reference value (X 0), and sets the time (t) satisfies the reference value (X 0), wherein the detected magnetic force (X) Initial value (X 1 ) A control method of a window cleaning apparatus comprising the step of setting.
The method of claim 2,

The fourth step,

If the sensing magnetic force (X) does not satisfy the reference value (X 0 ), the control method of the window cleaning apparatus comprising the step of notifying the magnetic error.
The method of claim 2,

The fourth step,

If the sensing magnetic force (X) does not satisfy the reference value (X 0 ) during the set time (t), the control method of the window cleaning apparatus for notifying the magnetic error.
The method according to any one of claims 1 to 5,

After the initial value (X 1 ) is set to measure the sensing magnetic force changes between the first and second magnetic modules, and the data is transmitted between the first and second cleaning units when the first and second cleaning units are operated. The control method of the window cleaning apparatus further comprising a fifth step.
The method of claim 6,

When the initial value X 1 is out of the initial value error range X 1 -x, the changing sensing magnetic force X is compared with the reference value X 0 according to the comparison result to initialize the initial value X 1 ) resetting, or the control method of the window cleaning apparatus further comprises a sixth step of notifying the magnetic error.
A control method of a window cleaning apparatus including at least one or more first cleaning units and at least one or more second cleaning units which are attached to both surfaces of the window and moved by magnetic force,

A first step of registering the first and second cleaning units with each other in advance to enable communication;

Searching for the first and second cleaning units registered during the initial operation of the first and second cleaning units;

Measuring a radio frequency signal strength between the retrieved first and second cleaning units; And

And a fourth step of setting the searched first and second cleaning units into a set that can be interlocked according to the radio frequency signal strength.
The method of claim 8,

The first step,

And a process of registering a designated address and a public address for transmitting data to the first and second cleaning units.
The method of claim 9,

The second step,

Searching for the first and second cleaning units capable of transmitting data to the designated address;

And searching for the first and second cleaning units capable of transmitting data to the public address when data transmission to the designated address is not possible.
The method of claim 8,

The fourth step,

Setting the searched first and second cleaning units to a set that can be interlocked when the radio frequency signal strength is satisfied;

And controlling the radio frequency signal strength between the retrieved first and second cleaning units when the radio frequency signal strength is out of a reference value.
The method of claim 11,

The reference value is a control method of the glass window cleaning device is a range in which the radio frequency signal reaches up to 3 ~ 4m position.