WO2014157760A1

WO2014157760A1 - Window cleaning apparatus and movement control method therefor

Info

Publication number: WO2014157760A1
Application number: PCT/KR2013/002646
Authority: WO
Inventors: 류만현; 김동규
Original assignee: 인텔렉추얼디스커버리 주식회사
Priority date: 2013-03-29
Filing date: 2013-03-29
Publication date: 2014-10-02
Also published as: KR20150141941A

Abstract

The present invention relates to a method of controlling a window cleaning apparatus moved while being attached to a window, the method comprising the steps for: configuring a deceleration interval in which the speed of the window cleaning apparatus decreases before collision between the window cleaning apparatus and a window frame, on the basis of the width of the window; and reconfiguring the deceleration interval when the window cleaning apparatus collides with an obstacle other than the window frame during moving, by a predetermined number of times or more.

Description

[Correction by rule 26.04.2013] 규칙 window cleaning apparatus and its movement control method

The present invention relates to 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 deteriorate the skylight. 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.

In addition, even in the case of vehicle glass, it is not easy to clean except the windshield provided with a vehicle brush.

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

The movement control method of the window cleaning apparatus according to the embodiment of the present invention controls the window cleaning apparatus attached to the window and moves, and based on the width of the window, so that the speed of the window cleaning apparatus before the impact on the window frame is reduced Setting a deceleration section to be performed; And resetting the set deceleration section when the window cleaning apparatus collides with an obstacle other than the window frame for a predetermined number or more during movement.

In addition, the window cleaning apparatus according to an embodiment of the present invention, the first cleaning unit and the second cleaning unit which is attached to the inner surface and the outer surface of the glass window and moved respectively by magnetic force; And a control unit controlling a movement of at least one of the first and second cleaning units, wherein the control unit sets a deceleration section for reducing the speed of the window cleaning apparatus before colliding with the window frame based on the width of the window. If the window cleaning apparatus collides with an obstacle other than the window frame for a predetermined number or more during movement, the set deceleration section is reset.

On the other hand, the movement control method may be implemented as a computer-readable recording medium recording a program for execution in a computer.

According to an embodiment of the present invention, by determining the moving path of the window cleaning apparatus based on the width of the window, it is possible to efficiently clean the windows of various widths.

According to another embodiment of the present invention, 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.

According to another embodiment of the present invention, by adjusting the speed of the window cleaning apparatus according to the width measured in advance, it is possible to prevent damage that may occur due to the impact of the frame or obstacle of the window.

1 is a perspective view briefly showing the configuration of a window cleaning apparatus.

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.

4 is a flowchart illustrating a method of controlling the movement of the window cleaning apparatus.

5 is a view for explaining an example of the movement path of the window cleaning apparatus.

6 is a block diagram briefly illustrating a configuration of a movement control device provided in the window cleaning apparatus according to the embodiment of the present invention.

7 and 8 are views showing an embodiment of a method for measuring the width of the glass window.

9 is a view showing an embodiment of a method for adjusting the moving speed of the window cleaning apparatus.

10 to 15 are views for explaining the movement control method of the window cleaning apparatus according to an embodiment of the present invention.

Hereinafter, a window cleaning apparatus and a movement control method thereof according to an embodiment of the present invention will be described with reference to the accompanying drawings. 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) respectively disposed on both sides of the glass window Can be configured.

Referring to FIG. 1, 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. On the other hand, if necessary, 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.

In addition, when the first cleaning unit 100 moves in a state of being attached to the inner surface of the glass window by an external or self power source, 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. In addition, 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.

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 can be used to separate the first and

second cleaning units

100, 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) to enable a user to control the operation of the first, second cleaning units (100, 200). have.

As described above, 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.

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 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.

Hereinafter, specific configurations of each of the first and

second cleaning units

100 and 200 shown 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.

Meanwhile, shock absorbing members 140 to 143 may be formed on the edge of the first frame 110 to minimize the impact when the glass frame cleaning device collides with the protruding structure such as the window frame of the glass window. In addition, when an impact is detected by a sensor (not shown) connected to each of the buffer members 140 to 143, the first cleaning unit 100 may change the movement path.

For example, as illustrated in FIG. 2, the buffer members 140 to 143 may be provided at four corner portions of the first cleaning unit 100, respectively, and may be connected to each other using a sensor (not shown) connected thereto. By detecting the impact, it may be recognized that the first cleaning unit 100 has collided with the window frame of the glass window.

More specifically, when the shock is detected in the two shock absorbing members (140, 141) provided on one side of the first cleaning unit 100 during the movement of the window cleaning apparatus, the outer portion of the first cleaning unit 100 It can be recognized that one side of the

buffer member

140, 141 provided with the impact on the window frame of the glass window.

In the present embodiment, 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.

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. It generates a magnetic force to be attached to both sides of the window.

For example, 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.

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 sides 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 or the like that may be attracted by the magnetic force of the magnetic material. It may be.

As shown in FIG. 2, 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.

In addition, two or more 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.

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 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 can be generated during rotation, so that the first wheel member 120 does not spin when rotated. The first cleaning unit 100 can be easily moved along the inner surface of the glass window. In addition, 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.

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 attached to the opposite side, that is, the outer surface of the glass window, also by the magnetic force of the first cleaning unit According to the movement of the 100, 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.

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 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.

According to an 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, 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).

Meanwhile, 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). In addition, 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 friction when rotating. 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 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.

For example, 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.

Accordingly, 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. In addition to being attached to the installation, it may be possible to move the first cleaning unit 100 and the second cleaning unit 200 integrally.

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.

3, 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.

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, 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.

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 faces both sides of the glass window. You may want to clean it.

According to the exemplary embodiment of the present invention, 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.

4 is a flowchart illustrating a movement control method of the window cleaning apparatus according to an exemplary embodiment of the present invention, wherein the movement control method is one of the first cleaning unit 100 and the second cleaning unit 200 of the window cleaning apparatus. It may be performed by at least one.

For example, a control unit (not shown) provided in the first cleaning unit 100 disposed on the inner side of the glass window among the first and

second cleaning units

100 and 200 and responsible for the movement of the window cleaning apparatus is illustrated in FIG. 4. The movement control method as shown in FIG.

Referring to FIG. 4, the control unit provided in the window cleaning apparatus measures the width of the glass window (step S1), and determines a movement path of the window cleaning apparatus based on the measured width of the glass window (step S2).

For example, the control unit may measure the width of the glass window to be cleaned by moving the window cleaning device left and right from the position attached by the user, and the movement path of the window cleaning device different from each other according to the measured glass window You can decide.

When the movement path of the window cleaning apparatus is determined as described above, the controller moves the window cleaning apparatus according to the determined movement path (step S3).

That is, the window cleaning apparatus according to the embodiment of the present invention can perform cleaning while moving along the movement path determined based on the width of the window as described above.

Figure 5 shows an embodiment of the movement path of the window cleaning apparatus.

Referring to FIG. 5, the window cleaning apparatus 10 includes a first section for performing a cleaning while moving from one end of the glass window 400 to the other end and a second cleaning while moving from the other end to the one end. The section can be repeated.

For example, the movement path of the window cleaning apparatus 10 is a right-down section 510 that moves downward in the right direction from the left end to the right end and a left-down section that moves downward in the left direction from the right end to the left end. 520, and the right-down section 510 and the left-down section 520 may be alternately repeated as shown in FIG. 5.

Meanwhile, the angle at which the window cleaning apparatus 10 moves downward in the right-down section 510 and the left-down section 520 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.

For example, when it is desired to increase the vertical distance (d) of the movement path, 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.

On the contrary, when it is desired to reduce the vertical gap d of the moving path, 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 the window cleaning is performed. It can be done with less detail.

In addition, 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.

On the other hand, while the window cleaning device 10 is moved in the right direction or the left direction, it can slide 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.

In addition, 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 400.

That is, as the width w of the window 400 increases, 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.

For example, as the width w of the glass window 400 increases, the free fall distance of the window cleaning apparatus 10 due to gravity increases, thereby increasing the vertical gap d of the movement path.

When the vertical space (d) of the movement path is changed as described above, for example, when the vertical space (d) of the movement path is increased, there is a problem that the glass window 400 is not cleaned as fine as desired by the user. Can be.

According to the embodiment of the present invention, the movement path of the window cleaning apparatus 10 may be determined according to the width w of the window 400 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.

In this case, the first cleaning unit 100 attached to the inner side of the glass window 400 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 glass window 400 may be moved by magnetic force according to the movement of the first cleaning unit 100.

6 is a block diagram illustrating a simplified configuration of a movement control apparatus provided in the window cleaning apparatus according to an embodiment of the present invention, wherein the movement control apparatus includes a direction sensor 300, a controller 310, and a collision detection unit ( 320).

Referring to FIG. 6, the direction detection sensor 300 may detect a direction that the window cleaning apparatus faces.

The sensor detects a change in an external physical environment and converts an electrical signal. The sensor detects and converts physical values such as an inclination and an acceleration of an object into a corresponding electrical signal.

For example, the direction sensor 300 may be implemented by using an acceleration sensor for measuring the acceleration generated in the object by an electrical signal, the acceleration sensor is a sensor using a piezo-resistor and electrostatic It can be classified as a sensor using capacitance.

More specifically, in the capacitive acceleration sensor, the position of the internal mass included in the acceleration sensor is changed during the acceleration movement, and the area where the mass and the sensing electrode overlap by the displacement of the internal mass changes. Acceleration can be measured by measuring the degree of change in capacitance between electrodes as the area changes.

The direction detecting sensor 300 implemented by using the acceleration sensor as described above is based on the preset reference axes (for example, the x axis in the horizontal direction and the y axis in the vertical direction) based on the embodiment of the present invention. It is possible to recognize the direction that the window cleaning apparatus according to the direction.

Meanwhile, the direction detection sensor 300 may be provided in at least one of the first and

second cleaning units

100 and 200 as described with reference to FIGS. 1 to 3, and according to an embodiment of the present invention The first and

second cleaning units

100 and 200 may be attached to the inner side of the glass window and provided to the first cleaning unit 100 that is responsible for the movement of the glass window cleaning device.

In this case, the direction detection sensor 300 provided in the first cleaning unit 100 may detect a direction that the first cleaning unit 100 faces by using the acceleration sensor as described above.

In the above, the wind sensor cleaning apparatus according to an embodiment of the present invention has been described using the direction detecting sensor 300 to detect the direction of the window cleaning apparatus using an acceleration sensor as an example, but the present invention is not limited thereto. In addition to the sensor, various sensors capable of recognizing the direction of the window cleaning apparatus may be used.

In addition, the controller 310 may control the movement of the window cleaning apparatus according to the embodiment of the present invention based on the direction of the window cleaning apparatus detected by the direction sensor 300.

For example, the controller 310 may be provided in the first cleaning unit 100 to control the rotation of the plurality of first wheel members 120 as described with reference to FIG. A driving unit (not shown) for driving the motors connected to the wheel members 120 may be included.

More specifically, the controller 310 adjusts the voltage (or current) supplied to the motors respectively connected to the first wheel members 120 so that the first cleaning unit 100 moves in a desired direction and speed. It may be controlled, the movement direction of the first cleaning unit 100 may be controlled in accordance with the direction of the window cleaning apparatus detected by the direction sensor 300.

That is, the controller 310 compares the direction to be moved with the current direction of the window cleaning apparatus detected by the direction detection sensor 300, so that the direction of the window cleaning apparatus is closer to the direction to be moved. The direction of movement of the device 100 may be changed and moved, and the controller 310 may periodically check the direction detected by the direction sensor 300.

The controller 310 may include a circuit unit (not shown) configured to function as described above, and the circuit unit may be implemented in the form of a printed circuit board (PCB).

Meanwhile, the collision detection unit 320 may detect a collision of the window cleaning apparatus, and may include a plurality of impact detection sensors (not shown) capable of detecting an impact therefor.

For example, the collision detection unit 320 may be provided in the first cleaning unit 100 to detect that the first cleaning unit 100 collides with the window frame of the glass window during movement.

For this purpose, the collision detection unit 320 may include a plurality of shock absorbing members 140 to 143 mounted to corner portions of the first cleaning unit 100, respectively, as shown in FIG. The members 140 to 143 may sense shocks applied due to the impact on the window pane by using shock detection sensors.

Meanwhile, the controller 310 controls the moving direction by using the direction of the window cleaning apparatus 10 detected by the direction sensor 300 so that the window cleaning apparatus 10 is previously set as described with reference to FIG. 5. Can be moved according to.

In addition, according to an embodiment of the present invention, the control unit 310 provided in the window cleaning apparatus 10 determines the moving path of the window cleaning apparatus based on the width of the window, and according to the determined moving path window cleaning apparatus 10 may be controlled to move.

Meanwhile, below, the first cleaning unit 100 attached to the inner surface of the glass window 400 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.

7 and 8 illustrate one embodiment of a method of measuring the width of a window pane.

Referring to FIG. 7, a window frame 410 may be provided at an outer region of the glass window 400 to fix the glass window 400, such that the glass cleaning device 10 may be provided to one end of the glass window 400. When moving, the window frame 410 may collide.

According to an embodiment of the present invention, when the user attaches the window cleaning apparatus 10 to the window 400 and requests the start of the cleaning operation, the window cleaning apparatus 10, more specifically, the inside of the window 400. The first cleaning unit 100 attached to the surface moves upward in the attachment position.

For example, the first cleaning unit 100 may vertically rise from the attachment position to move to the upper end of the glass window, and the cushioning member provided in the first cleaning unit 100 may project on the upper window frame 410. In this case, it may be determined that the first cleaning unit 100 has moved to the upper end of the glass window.

More specifically, when the sensor detects that the upper bumper hits the window frame 410 and is pressed by the upper side while the first cleaning unit 100 is vertically raised, the first cleaning unit 100 moves upward. Can be terminated.

Meanwhile, while the first cleaning unit 100 vertically rises as described above, the detergent is sprayed through the detergent injection hole 231 of the second cleaning unit 200 so that the pad 231 provided in the cleaning module 230 is wetted. Can lose.

Thereafter, the first cleaning unit 100 may move horizontally in the left direction and move to the right end of the glass window, and when the buffer member provided in the first cleaning unit 100 collides with the right window frame 410, the first cleaning unit 100 may move. 1 may determine that the cleaning unit 100 has moved to the right end of the glass window.

More specifically, when the sensor is detected that the bumper provided while hitting the window frame 410 and being pressured from the left while the first cleaning unit 100 is moved horizontally to the left, the first cleaning unit 100 is left The movement of the direction can be terminated.

According to the movement as described above, the first cleaning unit 100 may move to the left end of the uppermost end of the glass window 400 after being attached by the user.

Referring to FIG. 8, the first cleaning unit 100 may horizontally move from the left end of the uppermost end of the glass window 400 to the right end of the glass window 400 to move to the right end of the glass window, and the buffer provided in the first cleaning unit 100 may be When the member moves to the window frame 410 on the right side, it may be determined that the first cleaning unit 100 has moved to the right end of the glass window.

More specifically, if the sensor is detected that the bumper provided while the first cleaning unit 100 is horizontally moved to the right and hit the window frame 410 and receives pressure from the right, the first cleaning unit 100 is the right The movement of the direction can be terminated.

As shown in FIG. 8, the width w of the window 40 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 400, for example, 1 The width w of the window 40 may be measured by the amount of rotation of the first wheel members 120 provided in the cleaning unit 100.

According to an embodiment of the present invention, after the width w of the window 400 is measured as described above, the window cleaning apparatus 10, more specifically, the first cleaning unit, is based on the measured width w. The movement path of 100 may be determined.

For example, when the measured width w of the glass window 400 is less than or equal to a preset reference value, the path as shown in FIG. 5, that is, the right-down section 510 and the left-down section 520 are alternated. The movement path may be set to repeat repeatedly.

In addition, when the measured width (w) of the glass window 400 exceeds the reference value, 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.

In the above, an embodiment of the present invention has been described with reference to FIGS. 7 and 8 by measuring the width w of the window 400 by moving the window cleaning apparatus 10, but the present invention is not limited thereto. No, the width w of the glass window 400 may be input by the user.

According to another embodiment of the present invention, the initial attachment position of the window cleaning apparatus 10 may be detected through the measurement process of the window width as described with reference to FIGS. 7 and 8.

Referring to FIG. 7, the first moving distance m1 may be measured while the first cleaning unit 100 moves horizontally to the left, for example, the first wheel member provided in the first cleaning unit 100. The first moving distance m1 may be measured by the amount of rotation of the field 120.

Also, referring to FIG. 8, 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 end of the window 400, for example, the first The second moving distance m2 may be measured by the amount of rotation of the first wheel members 120 provided in the cleaning unit 100.

According to an embodiment of the present invention, after the first moving distance m1 and the second moving distance m2 are measured as described above, the window cleaning apparatus by comparing the first and second moving distances m1 and m2. The initial attachment position of can be detected.

7 and 8, since the first moving distance m1 is greater than 1/2 of the second moving distance m2, the initial attachment position of the window cleaning apparatus is set to the window 400. It may be determined to be the right side.

Accordingly, after the end of the cleaning, 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. 400 can be easily separated.

On the contrary, when the first moving distance m1 is smaller than 1/2 of the second moving distance m2, 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.

According to another embodiment of the present invention, when the window cleaning apparatus 10 is close to the window frame 410 of the window 400 or less than a predetermined interval, the movement speed of the window cleaning apparatus 10 may be reduced, Therefore, it is possible to minimize damage and impact noise of the window cleaning device 10 that may occur due to the collision with the window frame 410.

Figure 9 illustrates one embodiment of a method for adjusting the moving speed of the window cleaning apparatus.

Referring to FIG. 9, when the first cleaning unit 100 passes a position spaced apart from the right frame of the glass window 400 by a predetermined distance while moving in the right direction, the first cleaning unit 100 moves. The speed can be reduced to a preset value.

For example, the first cleaning unit 100 moves from the left end of the glass window 400 to the right direction at the speed of v1 and reaches a position 5 cm away from the left end of the glass window 400 to move the speed to the v1. It can be reduced to v2 (for example, 1/2 of the v1) to move to the right end of the glass window 400.

On the other hand, in order to measure the distance to the window frame 410 of the glass window 400, the first cleaning unit 100 may be provided with a distance sensor (not shown), otherwise provided in the first cleaning unit 100 The distance to the window frame 410 may be determined based on the moving distance measured by the rotation amount of the first wheel members 120.

In order to more accurately measure the distance to the window frame 410, the horizontal cleaning position 10 of the window cleaning apparatus 10 may be reset when the first cleaning unit 100 collides with the window frame 410.

For example, when the first cleaning unit 100 collides with the left frame of the window 400, the horizontal position X of the window cleaning apparatus 10 is initialized to '0', and the window 400 is closed. At the point of impact on the right frame, the horizontal position X of the window cleaning apparatus 10 may be reset to the width w of the window 400.

In addition, the first cleaning unit 100 moves from the right end of the glass window 400 to the left direction at a speed of v1, and when the position reaches 5 cm from the right end of the glass window 400, the moving speed is increased from v1 to v2. It can be reduced to move to the left end of the glass window 400.

The moving speed adjusting method of the window cleaning apparatus 10 as described above is applicable to the case where the first cleaning unit 100 moves in the vertical direction to approach the upper or lower frame of the glass window 400.

According to one embodiment of the present invention, as described above with reference to Figure 9, the window cleaning apparatus in such that the speed of the window cleaning device before the impact on the window frame 410 of the window 400 based on the width of the window 400 is reduced, When a collision with an object other than the window frame 410 (for example, an obstacle) occurs a predetermined number or more during the movement, the previously set deceleration section may be reset.

On the other hand, whether the window cleaning device has hit the obstacle, it may be determined whether the collision with any object occurred before moving by a distance corresponding to the width (W) of the previously measured glass window.

For example, when the first cleaning unit 100 starts to move from the left end of the window 400 and until a collision occurs, the first cleaning unit is smaller than the width W of the previously measured window pane. It may be determined that the 100 has collided with the obstacle.

On the other hand, whether the difference between the movement distance before the collision of the window cleaning apparatus and the width (W) of the window as described above can be determined with a certain error range, that is, the movement distance before the impact than the width (W) of the window If it is small within the error range, it may be determined that the impact on the window frame 410 of the glass window 400 is not an obstacle.

When it is determined that the window cleaning apparatus has collided with the obstacle, the deceleration section may be changed and reset so as to decelerate before the window cleaning apparatus collides with the obstacle based on the distance from one end of the glass window 400 to the obstacle.

Hereinafter, the movement control method of the window cleaning apparatus according to an embodiment of the present invention will be described in detail with reference to FIGS. 10 to 15.

Referring to FIG. 10, while the first cleaning unit 100 of the window cleaning apparatus moves with the initially set deceleration section a1, the window cleaning apparatus may not move by a distance corresponding to the width W of the window (that is, the window frame ( Before hitting 410).

When collision of the obstacles 440 is detected by the collision detecting unit 320, the controller 310 moves the first cleaning unit 100 to the left end of the opposite side of the glass window until it collides with the object again. You can move it in the right direction.

In this case, when a collision occurs after the first cleaning unit 100 moves by the width W of the window 400 in the right direction, the controller 310 does not determine that the window cleaning device has collided with an obstacle. The previously set deceleration section can be maintained.

On the contrary, when the collision occurs again before the first cleaning unit 100 moves by the width W of the window 400 in the right direction as shown in FIG. 11, the controller 310 controls the window cleaning apparatus. Determines that the vehicle has hit the obstacle, and resets the previously set deceleration section.

On the other hand, to reset the deceleration section, the control unit 310 to measure the distance (W ') until the impact on the object again while moving the first cleaning unit 100 in the right direction from one end opposite to the glass window. The measured distance W ′ may be used as a distance from an end of the glass window 400 to the obstacle.

In the above, when the window cleaning apparatus collides twice with an object other than the window frame 410 (that is, the object is twice or more before the first cleaning unit 100 moves by the width W of the window 400 in the right direction). When the windshield cleaning device has been described as an example that is determined to have hit the obstacle, but described the embodiment of the present invention, the invention is not limited to this, an object other than the window frame 410 once or three or more times If the window cleaning device is collided, it may be determined that the collision with the obstacle.

As shown in FIG. 12, when it is determined that the window cleaning apparatus has collided with the obstacle, the controller 310 sets the deceleration section to a new value so that the first cleaning unit 100 is reduced before it collides with the obstacle 440. can be reset to a2).

Referring to FIG. 13, while the first cleaning unit 100 moves downward from side to side according to the reset deceleration section a2, the first cleaning unit 100 moves out of an area where the obstacle 440 is positioned, and is a window frame. May collide with 410.

In this case, as shown in FIG. 14, the control unit 310 may move the first cleaning unit 100 to the left end of the opposite side of the glass window and then move to the right until it hits the object again. have.

If a collision occurs after the first cleaning unit 100 moves by the width W of the window 400 in the right direction, the controller 310 determines that the window cleaning device has collided with the window frame 410 and decelerates. The section may be returned to the initially set value a1.

Referring to FIG. 15, the control unit 310 may apply the lowest deceleration section a1 to decelerate the first cleaning unit 100 before it collides with the window frame.

In the above, an embodiment of the present invention has been described using an example in which one obstacle 440 is positioned on the glass window 400. However, the method of resetting the deceleration section as described above may be applicable even when two or more obstacles are located.

In addition, not only the case where the moving distance of the window cleaning apparatus is reduced by the obstacle, but also when the width itself of the window 400 is changed according to the position, it is applicable.

According to another embodiment of the present invention, the speed of at least one of the left and right moving section, the up moving section and the down moving section of the window cleaning apparatus may be set differently from the speed of the remaining section.

For example, when the window cleaning apparatus is vertically raised, even if there is a frictional force at the start of the high speed, the window cleaning apparatus may slip, and thus, the movement speed of the first cleaning unit 100 may be reduced by about 50%.

In addition, when the window cleaning apparatus is vertically lowered, downward movement is easy by gravity, and the moving speed of the first cleaning unit 100 may be reduced by about 40% for accurate calculation of the vertical coordinates.

In addition, when the window cleaning apparatus moves left and right, in order to accurately measure the width W of the window 400 during the initial operation, the moving speed of the first cleaning unit 100 may be reduced by about 60%.

In the above description, 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. Although the present invention is not limited thereto, for example, the glass window 400 may be attached to only one of the inner and outer surfaces of the glass window 400 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.

In addition, the movement 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 for execution in a computer, examples of the computer-readable recording medium is a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, and also include those implemented in the form of carrier waves (for example, 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. In addition, 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.

The present invention has been described above with reference to preferred embodiments thereof, which are merely examples and are not intended to limit the present invention, and those skilled in the art do not depart from the essential characteristics of the present invention. It will be appreciated that various modifications and applications are not possible that are not illustrated above. For example, each component shown in detail in the embodiment of the present invention may be modified. And differences relating to such modifications and applications will have to be construed as being included in the scope of the invention defined in the appended claims.

Claims

In the method for controlling a window cleaning apparatus attached to a window and moving,

Setting a deceleration section to reduce the speed of the window cleaning apparatus before impacting the window frame based on the width of the window; And

And resetting the set deceleration section when the window cleaning apparatus collides with an obstacle other than the window frame for a predetermined number of times during the movement of the window cleaning apparatus.
The method of claim 1,

Moving the window cleaning apparatus from side to side to measure the width of the glass window further comprising the movement control method of the window cleaning apparatus.
The method of claim 1,

And when a collision occurs before the window cleaning apparatus moves by a distance corresponding to the width of the window, it is determined that the window cleaning apparatus has hit the obstacle.
The method of claim 3,

And when the difference between the movement distance before the collision of the window cleaning apparatus and the width of the window is within an error range, the movement of the window cleaning apparatus is determined to have collided with the window frame.
The method of claim 1, wherein the resetting step

Measuring a distance from one side of the window frame to the obstacle; And

Based on the measured distance, changing the deceleration section so that the window cleaning apparatus decelerates before impacting the obstacle.
The method of claim 1,

The movement control method of the window cleaning apparatus of the at least one of the left and right moving section, the up and down moving section of the window cleaning apparatus is set differently from the speed of the remaining section.
In the window cleaning apparatus attached to the glass window and moved,

A first cleaning unit and a second cleaning unit attached to and moved to the inner side and the outer side of the window by magnetic force, respectively; And

A control unit controlling a movement of at least one of the first and second cleaning units,

The control unit sets a deceleration section for reducing the speed of the window cleaning apparatus before it hits the window frame based on the width of the window, and when the window cleaning apparatus collides with an obstacle other than the window frame for a predetermined number or more during the movement, Window cleaning device to reset the set deceleration section.