WO2014189155A1 - Dispositif de nettoyage de vitre et procédé de commande pour ce dernier - Google Patents

Dispositif de nettoyage de vitre et procédé de commande pour ce dernier Download PDF

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Publication number
WO2014189155A1
WO2014189155A1 PCT/KR2013/004402 KR2013004402W WO2014189155A1 WO 2014189155 A1 WO2014189155 A1 WO 2014189155A1 KR 2013004402 W KR2013004402 W KR 2013004402W WO 2014189155 A1 WO2014189155 A1 WO 2014189155A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
window
module
unit
magnetic
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PCT/KR2013/004402
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English (en)
Korean (ko)
Inventor
유만현
김동규
Original Assignee
인텔렉추얼디스커버리 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 인텔렉추얼디스커버리 주식회사 filed Critical 인텔렉추얼디스커버리 주식회사
Priority to KR1020157024016A priority Critical patent/KR20160008498A/ko
Priority to PCT/KR2013/004402 priority patent/WO2014189155A1/fr
Publication of WO2014189155A1 publication Critical patent/WO2014189155A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously

Definitions

  • the present invention relates to a device for cleaning a window.
  • the glass windows installed on the wall of the building is easily contaminated by external dust, pollution, etc., so it is easy to damage the aesthetics or deteriorate the skylight. Therefore, it is desirable to frequently clean the windows installed on the outer wall of the building.
  • An object of the present invention is to provide a window cleaning apparatus and a control method thereof, which can improve the efficiency and stability of the cleaning operation.
  • the window cleaning apparatus of this embodiment comprises a first cleaning unit and a second cleaning unit which are attached to both surfaces of the window and move by magnetic force, and include a first magnetic module included in the first cleaning unit; A second magnetic module included in the second cleaning unit; A cleaning module provided in at least one of the first and second cleaning units; A pressure sensing unit measuring a pressure applied to the cleaning module; And a controller controlling the position of the cleaning module based on the pressure measured by the pressure sensing unit.
  • control method of the window cleaning apparatus comprises the steps of measuring the pressure applied to the cleaning module; And controlling the position of the cleaning module based on the pressure measured by the pressure sensing unit.
  • control method of the window cleaning apparatus may be implemented as a computer-readable recording medium recording a program for execution in a computer.
  • the window cleaning apparatus attached to both sides of the glass window and moving while cleaning by magnetic force, by controlling the position of the cleaning module based on the pressure applied to the cleaning module including a cleaning pad, cleaning,
  • the increase or decrease of the friction force between the module and the windshield can prevent the device from being difficult to move or the cleaning effect is reduced.
  • FIG. 1 is a perspective view briefly showing the configuration of a window cleaning apparatus.
  • FIG. 2 is a plan view showing an embodiment of the configuration of the first cleaning unit disposed inside the glass window.
  • FIG 3 is a plan view showing an embodiment of the configuration of the second cleaning unit disposed on the outside of the glass window.
  • Figure 4 is a block diagram briefly showing the configuration of the magnetic force control device provided in the window cleaning apparatus according to an embodiment of the present invention.
  • FIG. 5 is a view for explaining the configuration of the magnetic modules according to an embodiment of the present invention.
  • FIG. 6 is a flowchart illustrating a first embodiment of a method of controlling the operation of the window cleaning apparatus.
  • FIG. 7 is a block diagram schematically showing the configuration of the window cleaning apparatus according to the first embodiment of the present invention.
  • FIG. 8 is a flowchart showing a second embodiment of a method of controlling the operation of the window cleaning apparatus.
  • FIG. 9 is a block diagram schematically showing the configuration of a window cleaning apparatus according to a second embodiment of the present invention.
  • FIG. 10 is a flowchart illustrating a third embodiment of a method of controlling the operation of the window cleaning apparatus.
  • FIG. 11 is a view showing an embodiment of a partial configuration for controlling the position of the cleaning module of the window cleaning apparatus according to the present invention.
  • FIG. 12 is a flowchart showing a fourth embodiment of a method of controlling the operation of the window cleaning apparatus.
  • FIG 13 and 14 are views for explaining an embodiment of the initialization process of the window cleaning apparatus.
  • 15 is a view for explaining an embodiment of a method for setting the offset of the window cleaning apparatus.
  • 16 is a view showing an embodiment of a movement path of the window cleaning apparatus.
  • FIG. 1 is a perspective view showing a simplified configuration of a window cleaning apparatus according to an embodiment of the present invention, the window cleaning apparatus shown includes two cleaning units (100, 200) disposed on both sides of the glass window, respectively.
  • the first cleaning unit 100 may be disposed on an inner side surface of the glass window, and the second cleaning unit 200 may be disposed on an outer side surface of the glass window to move the first cleaning unit 100. As the second cleaning unit 200 is moved, 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.
  • 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.
  • the second cleaning unit 200 may be provided on the second cleaning unit 200, the removable member (not shown) to facilitate the detachable.
  • 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.
  • the window cleaning apparatus 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.
  • a remote controller remote controller, not shown
  • 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.
  • a remote controller (not shown) that can be operated in a wireless manner is configured for the convenience of the user.
  • the remote controller (not shown) according to the present invention may be used in a manner of operating by wire or manually by a user.
  • the window cleaning apparatus according to an embodiment of the present invention, more specifically, the first cleaning unit 100 disposed inside the glass window is a sensor that can move along a 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.
  • FIG. 2 is a plan view showing an embodiment of the configuration of the first cleaning unit 100 and illustrates a configuration of an upper surface of the first cleaning unit 100 in contact with a glass window.
  • the first cleaning unit 100 may include a first frame 110, a plurality of first wheel members 120, and a plurality of first magnetic modules 130.
  • the first frame 110 forms the body of the first cleaning unit 100, so that the plurality of first wheel members 120 and the plurality of first magnetic modules 130 are coupled to the first frame 110. Can be fixed.
  • 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.
  • the first cleaning unit 100 may change a movement path.
  • the first cleaning unit 100 may include a plurality of first magnetic modules 130
  • the first magnetic module 130 may include the first cleaning unit 100 and the second cleaning unit 200.
  • the first magnetic module 130 and the second magnetic module by rotating the first magnetic control of the first magnetic module 130) ( 233) the magnetic force between the liver can be adjusted.
  • 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. .
  • 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.
  • the magnetic modules 130 and 233 may be configured using an electromagnet in addition to the permanent magnet, or may be provided with a permanent magnet and an electromagnet as another embodiment.
  • the window cleaning apparatus is not limited to the magnetic modules 130 and 233 as described above, and the first and second cleaning units 100 and 200 are attached to each other by the magnetic force with the glass window interposed therebetween. Various configurations that may be moved may be possible.
  • any one of the first and second cleaning units 100 and 200 may include a magnetic material such as a permanent magnet or an electromagnet, and the other may include a metal body which may be attracted by the magnetic force of the magnetic material. It may be.
  • 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.
  • 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.
  • 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.
  • the first wheel member 120 may be rotated by a driving unit (not shown) such as a motor installed in the first frame 110.
  • the first cleaning unit 100 may be moved in a predetermined direction as the first wheel member 120 rotates in a state of being attached to the glass window.
  • the first cleaning unit 100 may be capable of moving in a curved direction, that is, changing the moving direction, as well as in the linear direction.
  • the rotation axis of the first wheel member 120 is changed, or the two first wheel members 120 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.
  • 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.
  • 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.
  • FIG 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.
  • the second cleaning unit 200 may include a second frame 210, a plurality of second wheel members 220, and a plurality of cleaning modules 230.
  • the second frame 210 forms the body of the second cleaning unit 200 and has a shape corresponding to the first frame 110 of the first cleaning unit 100 as described above, for example, a rectangular cross section. It may be configured as a plate structure.
  • a plurality of second wheel members 220 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.
  • the second wheel member 220 is not connected to a driving unit such as a motor, and the second cleaning member ( It may be provided in a state that is axially connected to the second frame 210 to naturally rotate as the movement of the 200.
  • the second wheel member 220 may rotate to perform a function similar to a bearing.
  • the second wheel member 220 has a cylindrical shape, but the present invention is not limited thereto.
  • the second wheel member 220 may be configured using a spherical member such as a ball bearing.
  • the cleaning module 230 may be formed to be exposed to the lower surface of the second frame 210 to clean one surface of the glass window, for example, an outer surface on which the second cleaning unit 200 is disposed.
  • the cleaning module 230 may include a plurality of modules, for example, a cleaning pad 231 and a detergent injection hole 232.
  • 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).
  • 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.
  • the pad 231 may be made of a material of a micro hair structure or a porous structure.
  • the cleaning module 230 may include a detergent inlet 232 for injecting detergent, for example, the detergent inlet 232 is a detergent storage container (not shown) built in the second cleaning unit 200. And a pump (not shown) and the like may be connected by a separate flow path to receive detergent. Accordingly, when cleaning the glass window cleaning module 230 may perform a cleaning operation while spraying the detergent to the glass window using the detergent injection port 232.
  • the second magnetic module 233 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.
  • a continuous force acts on the cleaning module 230 in the glass window direction by the magnetic force between the first and second magnetic modules 130 and 233, thereby increasing the frictional force with the glass window when the cleaning module 230 rotates.
  • the cleaning performance can be improved.
  • the second cleaning unit 200 may include a plurality of auxiliary cleaning modules 240 formed at corner portions. 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.
  • 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.
  • the structure of the window cleaning apparatus according to an exemplary embodiment of the present invention has been described with reference to FIGS. 1 to 3, in which the window cleaning apparatus cleans only one surface, for example, an outer surface of the glass window. Since only one embodiment, the present invention is not limited thereto.
  • the first cleaning unit 100 may also include a cleaning module 230 as provided in the second cleaning unit 200, so that the window cleaning apparatus according to the present invention simultaneously covers both sides of the glass window. You may want to clean it.
  • the window cleaning apparatus as shown in FIGS. 1 to 3 may provide a magnetic force between the first and second cleaning units 100 and 200 that are attached and moved by magnetic force with the glass window interposed therebetween. And sense the magnetic force to satisfy a preset reference value.
  • 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.
  • the magnetic force control unit 310 may adjust the magnetic force of the magnetic module 130 so that the sensed magnetic force meets a predetermined reference value.
  • the window cleaning apparatus may be stably attached to the window, whereas the first and second cleaning units 100 and 200 and the window The friction between the increase may cause a problem that the movement of the window cleaning device becomes difficult.
  • the reference value of the magnetic force can be set in consideration of the attachment stability and mobility of the window cleaning apparatus as described above, and more specifically, the upper window has a maximum magnetic force that can easily move the window cleaning apparatus, the window cleaning The device can be set to have a minimum magnetic force that can be stably attached to the window as a lower limit.
  • the magnetic force control unit 310 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 cross-sectional view for explaining an embodiment of the magnetic force control method, the magnetic module (130, 233) of the configuration of the first and second cleaning units (100, 200) attached to both sides of the glass window (G), respectively It is briefly shown in the following.
  • the thicknesses of the glass window G cleaned by the window cleaning apparatus according to the embodiment of the present invention may be different from each other.
  • the glass window G of various thicknesses d may be installed according to a building, a location or a desired function of the glass window G installed therein.
  • the magnetic forces of the first and second magnetic modules 130 and 233 provided in each of the first and second cleaning units 100 and 200 are the same, between the first and second magnetic modules 130 and 233
  • the magnetic force may vary depending on the thickness d of the glass window G.
  • the magnetic force between the first and second magnetic modules 130 and 233 increases, and as the thickness d of the glass window G increases, the first and second magnetic modules increase.
  • the magnetic force between 130 and 233 can be reduced.
  • the thickness d1 of the glass window G shown in (a) of FIG. 5 is thinner than the thickness d2 of the glass window G shown in (b), the thickness d1 of FIG. Compared to the case illustrated in (b), the magnetic force between the first and second magnetic modules 130 and 233 may be greater.
  • the first magnetic module 130 mounted in the first cleaning unit may include first to third magnetic bodies 132a and 132b, 132c).
  • the first magnetic body 132a positioned in the center is configured to rotate according to the driving of the motor, and the magnetic force between the first and second magnetic modules 130 and 233 may be adjusted by the rotation of the first magnetic body 132a. Can be.
  • the window cleaning apparatus may not be stably attached to the glass window.
  • the window cleaning apparatus may not be stably attached to the glass window.
  • the magnetic force control unit 310 is a magnetic force.
  • the magnetic force between the first and second magnetic modules 130 and 233 may be adjusted such that the magnetic force sensed by the detector 300 satisfies the reference value.
  • the magnetic force control unit 310 controls the first magnetic module 130 provided in the first cleaning unit 100 to adjust the magnetic force between the first and second magnetic modules 130 and 233 as an example.
  • the magnetic force adjusting method according to the embodiment of the present invention has been described, the present invention is not limited thereto.
  • the magnetic force adjusting unit 310 may control the second magnetic module 130 provided in the second cleaning unit 200 according to the magnetic force detected by the magnetic force sensing unit 300, and further, the first and second The first and second magnetic modules 130 and 233 may be controlled together so that the magnetic force between the magnetic modules 130 and 233 satisfies the reference value.
  • the window cleaning robot As described above, by adjusting the magnetic force between the first and second magnetic modules 130 and 233 to fall within a preset reference value range, the window cleaning robot according to the embodiment of the present invention has a thickness d of various glass windows G. All of them can be attached stably and can be easily moved to perform cleaning.
  • the magnetic force between the first and second magnetic modules 130 and 233 is different according to the thickness d of the glass window G, but the first and second magnetic modules 130 and 233 are described.
  • the magnetic force between) may be varied for other causes, for example, the power supply state, the state of the surface of the glass window (G), the cleaning operation step or the weather condition.
  • the first The first magnetic body 132a of the magnetic module is rotated so that the polarity opposite to the polarity of the second magnetic module 233 is located.
  • mutual attraction is generated because the second magnetic body 132b and the third magnetic body 132c are still opposite polarities with the second magnetic module 233 facing each other, but the first magnetic body 132a is the second magnetic body 132a. Since the same polarity as the magnetic module 233 faces each other, repulsive force is generated therebetween.
  • the attraction force between the second and third magnetic bodies 132b and 132c and the second magnetic module 233 is somewhat reduced by the repulsive force between the first magnetic body 132a and the second magnetic module 233.
  • the attraction force between the first magnetic module 130 and the second magnetic module 233 may be smaller than that shown in FIG. 5 (b).
  • the first magnetic material 132a also faces the second magnetic module 233 so that the attraction force is opposite. Can be formed.
  • the magnetic force control unit 310 may store information on the magnetic force between the first and second magnetic modules according to the rotation angle of the first magnetic body 132a, and according to the size of the magnetic force required The amount of rotation of the magnetic body 132a is adjusted.
  • FIG. 6 is a flowchart illustrating a control method of the window cleaning apparatus according to an embodiment of the present invention. The control method shown in FIG. 6 will be described with reference to the block diagram shown in FIG. 4.
  • the magnetic force detecting unit 300 provided in the window cleaning apparatus detects the magnetic force between the first and second cleaning units 100 and 200 (S100).
  • the magnetic force between the first and second cleaning units 100 and 200 may include a magnetic sensor (not shown) provided in the magnetic force sensing unit 300 provided in the first and second cleaning units 100 and 200, respectively.
  • the magnetic force between the one and two magnetic units 130 and 233 may be sensed.
  • the magnetic force sensing unit 300 is provided in at least one of the first and second cleaning units 100 and 200, and preferably adjacent to at least one of the first and second magnetic units 130 and 233. Can be arranged.
  • the magnetic force adjusting unit 310 checks whether the detected magnetic force satisfies a preset reference value (step S110), and compares the detected magnetic force with the reference value when the reference value is not satisfied (step S120).
  • the magnetic force adjusting unit 310 reduces the magnetic force between the first and second magnetic modules 130 and 233 (S130).
  • the magnetic force punishing unit 310 stores the rotation direction and the amount of rotation of the first magnetic body 132a of the first magnetic module 130, and currently, the first magnetic body 132a and the second magnetic module 233. Whether the attraction force or repulsive force is generated and the polarity of the first magnetic body 132a facing the second magnetic module 233 is tracked.
  • the polarity of the first magnetic body 132a facing the second magnetic module 233 is made to be the opposite polarity.
  • the magnetic force control unit 310 increases the magnetic force between the first and second magnetic modules (130, 233) (step S130).
  • the reference value is set to include the upper limit value and the lower limit value as described above, when the detected magnetic force is greater than the upper limit value of the reference value, the first and second magnetic modules 130, It can be adjusted to fall within the range of the reference value by reducing the magnetic force between the 233).
  • the magnetic force control unit 310 may be adjusted to fall within the range of the reference value by reducing the magnetic force between the first and second magnetic modules (130, 233).
  • the magnetic force adjustment method as described with reference to Figure 6 is when the window cleaning start using the window cleaning robot, that is, the user to the first, second cleaning units (100, 200) on both sides of the glass window It may be performed at the point of attachment.
  • the magnetic force between the first and second magnetic modules 130 and 233 is set very weakly to a value below the reference value. Accordingly, the user may attach the first and second cleaning units 100 and 200 to both sides of the glass window and then increase the magnetic force between the first and second magnetic modules 130 and 233 using the magnetic force control unit 310. have.
  • the first wheel member 120 provided in the first cleaning unit 100 is driven by the wheel driving unit 121 including a motor and rotated therein, thereby rotating the first cleaning unit (
  • the second cleaning unit 200 is cleaned by the first and second magnetic modules 130 and 233 by the magnetic force of the first and second magnetic modules 130 and 233, respectively.
  • a gap may occur between the positions of the first and second cleaning units 100 and 200.
  • the speed at which the second cleaning unit 100 follows by the magnetic force may not follow the moving speed of the first cleaning unit 100, or may be
  • the second cleaning unit 200 does not move due to an obstacle located on an outer surface, a gap may occur between the positions of the first and second cleaning units 100 and 200, and accordingly, the first and second cleaning units
  • the magnetic force between the fields 100 and 200 may be weakened.
  • a gap may occur at the positions of the first and second cleaning units when the window cleaning apparatus moves.
  • the second cleaning unit 200 may not follow the movement of the first cleaning unit 100 due to various causes such as an obstacle. As a result, a gap may occur between the positions of the first and second cleaning units 100 and 200.
  • the second cleaning unit 200 may not follow the rotation of the first cleaning unit 100 due to various causes such as an obstacle, and thus A gap may occur between the positions of the first and second cleaning units 100 and 200.
  • the first and second cleaning units 100 and 200 are no longer attached to the glass window. If the fall of the second cleaning unit 200 attached to the outer surface of the glass window may cause a great damage to people or objects outside the building.
  • the first and second cleaning units 100 and 200 when the magnetic force between the first and second cleaning units 100 and 200 is out of the normal range, the first and second cleaning units 100 and 200 to prevent the window cleaning apparatus from falling down.
  • the magnetic force between the first and second cleaning units 100 and 200 may be returned to the normal range by correcting the position of at least one of
  • FIG. 7 is a block diagram illustrating a simplified configuration of a window cleaning apparatus according to an embodiment of the present invention
  • the illustrated window cleaning apparatus may include a magnetic force sensing unit 400 and the control unit 410.
  • the magnetic force detecting unit 400 may detect whether the magnetic force between the first and second cleaning units 100 and 200 is in a normal range.
  • the magnetic force detection unit 400 includes a magnetic force sensor for measuring the magnetic force between the first and second cleaning units 100 and 200, or a value or a specific event measured using one or more sensors. Depending on the magnetic force between the first, second cleaning units (100, 200) may be inferred.
  • the controller 410 moves or rotates at least one of the first and second cleaning units 100 and 200 to clean it.
  • the position of the unit can be corrected.
  • the magnetic force sensing unit 400 and the control unit 410 as shown in Figure 7 is attached to the inner side of the glass window provided in the first cleaning unit 100 responsible for the movement of the window cleaning device Can be.
  • the control unit 410 provided in the first cleaning unit 100 is a magnetic force measured by the magnetic force sensing unit 400 by generating a position difference over a predetermined interval between the first and second cleaning units 100 and 200. If it is weaker than the reference value, by moving or rotating the first cleaning unit 100 in a specific direction by controlling the attitude of the first and second cleaning units 100 and 200 to match, the first and second cleaning units Magnetic forces between (100, 200) can be returned to within the normal range.
  • FIG. 8 is a flowchart illustrating a control method of the window cleaning apparatus according to an embodiment of the present invention. The illustrated control method will be described with reference to the block diagram shown in FIG. 7.
  • the magnetic force detecting unit 400 detects whether the magnetic force between the first and second cleaning units 100 and 200 is in a normal range (S500).
  • the magnetic force detecting unit 400 measures the magnetic force between the first and second cleaning units 100 and 200, and when the measured magnetic force is smaller than a preset reference value, the first and second cleaning units ( It may be determined that the magnetic force is reduced due to a position difference over a predetermined interval between 100 and 200).
  • light emitted from the light emitting unit may not be detected by the light receiving unit by using one or more light emitting units and one or more light receiving units provided in each of the first and second cleaning units 100 and 200. If not, it may be determined that a position difference of more than a predetermined interval occurs between the first and second cleaning units 100 and 200.
  • control unit 410 corrects the position of the cleaning unit (step S510).
  • step S510 the controller 410 corrects the position of the cleaning unit by moving at least one of the first and second cleaning units, for example, the first cleaning unit 100 in a direction opposite to the direction in which it was previously moved. can do.
  • the magnetic force detection unit 400 After correcting the position in the step S510 (or during position correction), the magnetic force detection unit 400 periodically detects whether the magnetic force between the first and second cleaning units 100 and 200 is in the normal range (S520). Step), if the magnetic force is not in the normal range, the control unit 410 checks whether or not the preset posture correction time t has elapsed from the initial position correction start time (step S530).
  • the controller 410 repeats steps S510 and S520 until the magnetic force between the first and second cleaning units 100 and 200 is within a normal range. Calibration can be performed.
  • the controller 410 stops the position correction and outputs a user notification (step S540).
  • the window cleaning apparatus when the window cleaning apparatus is moved while the cleaning module 230, more specifically, the cleaning pad 231 provided in the cleaning module 230 is in contact with the glass window, the cleaning pad 231 and If the friction force between the windows is stronger than the normal range, the movement of the window cleaning device may be difficult.
  • the cleaning module including a cleaning pad not only in the second cleaning unit 200 but also in the first cleaning unit 100 responsible for the movement of the window cleaning apparatus. It may be necessary even if it is provided.
  • the window cleaning apparatus controls the position of the cleaning module 230 based on the pressure applied to the cleaning module 230 including the cleaning pad 231 and the like, thereby cleaning the cleaning module 230.
  • the increase or decrease of the friction force between the glass and the window can prevent the device from being difficult to move or the cleaning effect is reduced.
  • the window cleaning apparatus may include a pressure sensing unit 401, a control unit 410 and a cleaning module 230. have.
  • the pressure detector 401 may measure the pressure applied to the cleaning module 230.
  • the controller 410 may control the position of the cleaning module 230 based on the pressure measured by the pressure detector 401.
  • the controller 410 checks whether the pressure measured by the pressure detector 401 is in a preset normal range, and when the pressure is not in the normal range, moves the cleaning module 230 upward or downward. Direction so that the pressure applied to the cleaning module 230 is within the normal range.
  • FIG. 10 is a flowchart illustrating a third embodiment of a method of controlling the operation of the window cleaning apparatus, and the control method shown in FIG. 10 will be described with reference to the block diagram shown in FIG. 9.
  • the pressure detector 401 measures the pressure applied to the cleaning module 230 (step S600), and the controller 410 checks whether the measured pressure is in a normal range (step S610). ).
  • controller 410 adjusts the position of the cleaning module 230 according to the check result in step S610 (step S620).
  • the window cleaning apparatus may include a driving module (not shown) for moving the cleaning module 230 up and down under the control of the controller 410.
  • the control unit 410 continuously measures the pressure applied to the cleaning module 230 through the pressure sensing unit 401 while adjusting the position of the cleaning module 230 so that the pressure applied to the cleaning module 230 is increased. Can be controlled to be in the normal range.
  • the performance of the cleaning operation may be reduced, so that the cleaning module 230, more specifically, the cleaning pad 231 is closer to the glass window.
  • the pressure applied to the cleaning module 230 can be increased by moving in the direction (eg, downward direction).
  • the pressure applied to the cleaning module 230 is greater than the normal range, the movement of the window cleaning apparatus may become difficult, so that the cleaning pad 231 is moved further away from the window (for example, upward direction), thereby cleaning Pressure applied to module 230 may be reduced.
  • the friction force between the cleaning pad 231 and the glass window may be reduced, thereby making it easier to move the window cleaning apparatus.
  • FIG. 11 is a view illustrating an embodiment of some components for controlling the position of the cleaning module of the window cleaning apparatus according to the present invention.
  • the cleaning module among the first cleaning unit 100 and the second cleaning unit 200 may include a driving module 411 and a pressure sensing module ( 402).
  • the driving module 411 may move the position of the cleaning pad 231 up and down under the control of the controller 410.
  • the pressure sensing module 402 measures the pressure applied to the cleaning pad 231 and may be positioned between the cleaning pad 231 and the driving module 411 for that purpose.
  • the cleaning module 230 may further include a pad attaching portion 235 attached to the cleaning pad 231, and the pad attaching portion 235 may be attached to the cleaning pad 231.
  • Velcro may be used to facilitate this.
  • moving support structures 421 and 422 may be provided to support the cleaning pad 231 attached to the pad attaching portion 235.
  • the moving support structures 421 and 422 may include the cleaning pad 231.
  • upper ends of the driving module 411 and the moving support structures 421 and 422 may be a part of at least one of the first cleaning unit 100 and the second cleaning unit 200 provided with the cleaning module 230. It can be fixed to.
  • the driving module 411 may move the cleaning pad 231 up and down based on the bottom surface a of at least one of the first and second cleaning units 100 and 200.
  • the driving module 411 may move the position of the cleaning pad 231 up and down between the bottom surface a and the window surface b of the cleaning unit under the control of the controller 410.
  • the drive module 411 cleans the pad 231 until the pressure is in a normal range even when the cleaning pad 231 is in contact with the glass window. ) Can be moved downward.
  • FIG. 12 is a flow chart illustrating another embodiment of a method of controlling the operation of the window cleaning apparatus based on pressure, and the control method shown in FIG. 12 is combined with some components of the window cleaning apparatus shown in FIG. Let's explain.
  • an initialization step is performed to allow the window cleaning apparatus to normally perform the cleaning operation (S700). step).
  • the control unit 410 checks whether the current state of the window cleaning apparatus is moving in one of up, down, left and right directions (S710).
  • the window cleaning apparatus moves in one of the up, down, left, and right directions, or in an oblique direction having a predetermined angle instead of up, down, left, or right, and then, the window cleaning apparatus must be rotated by the corresponding angle and then moved in one of the up, down, left, and right directions.
  • the pressure is applied to the cleaning pad 231 by being in close contact with the glass window, and as the cleaning pad 231 is raised, the pressure is applied to the cleaning pad 231 by being less in close contact with the glass window. It is assumed that the pressure decreases.
  • the controller 410 moves the pressure sensing module 402 while lowering the cleaning pad 231 downward through the driving module 411 (step S720). Check whether the pressure applied to the cleaning pad 231 to be measured is in the normal range (step S730).
  • control unit 410 stops the lowering of the cleaning pad 231 (step S740) and cleans the glass window. Control to start the cleaning operation of the device (step S750).
  • control unit 410 raises the cleaning pad 231 upward through the drive module 411 (step S760), and controls the window cleaning apparatus to be rotated (S770). step).
  • the controller 410 is a bottom surface of at least one of the first and second cleaning units 100 and 200 provided with the cleaning pad 231 ('a' position shown in FIG. 11). After raising to), the first cleaning unit 100 may be rotated.
  • control unit 410 of the cleaning module 230 by using the method described with reference to FIGS. 10 to 12 every predetermined period during the initialization step or cleaning operation as described above. You can control the position.
  • control method as described with reference to FIGS. 10 to 12 may be more effective when the cleaning module is provided in each of the first and second cleaning units to clean both sides of the glass window.
  • FIG 13 and 14 are views for explaining an embodiment of the initialization process of the window cleaning apparatus.
  • a window frame 41 for fixing the glass window 40 may be provided at an outer region of the glass window 40, whereby the window cleaning device moves to one end of the glass window 40.
  • the window frame 41 may be contacted by hitting.
  • the window cleaning apparatus when the user attaches the window cleaning apparatus 10 to the window 40 and requests the start of the cleaning operation, the window cleaning apparatus, more specifically, attaches to the inner surface of the window 40.
  • the first cleaning unit 100 moves upward from the attachment position.
  • the first cleaning unit 100 may vertically move up from the attachment position to move to the upper end of the glass window, and the buffer member provided in the first cleaning unit 100 may contact the upper window frame 41 by contacting it. In this case, it may be determined that the first cleaning unit 100 has moved to the upper end of the glass window.
  • the first cleaning unit 100 moves upward. You can end the move.
  • 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.
  • the first cleaning unit 100 may move horizontally in the left direction and move to the right end of the glass window.
  • the shock absorbing member provided in the first cleaning unit 100 collides with the window frame 41 on the right side, the first cleaning unit 100 moves horizontally. It may be determined that the first cleaning unit 100 has moved to the right end of the glass window.
  • the first cleaning unit 100 moves to the left direction. The movement of can be terminated.
  • the first cleaning unit 100 may be moved to the left end of the top end of the glass window 40 after being attached by the user.
  • the first moving distance m1 may be measured while the first cleaning unit 100 is horizontally moved to the left, for example, the first cleaning unit 100 may be provided with a first cleaning unit 100.
  • the first moving distance m1 may be measured by the amount of rotation of the first wheel members 120.
  • the first cleaning unit 100 may move horizontally from the left end of the uppermost end of the glass window 40 to the right end of the glass window 40 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 is in contact with the window frame 41 on the right side, it may be determined that the first cleaning unit 100 has moved to the right end of the glass window.
  • the first cleaning unit 100 is in the right direction The movement of can be terminated.
  • the second moving distance m2 may be measured while the first cleaning unit 100 moves from the left end to the right end of the top end of the window 40, for example, the first cleaning unit.
  • the second moving distance m2 may be measured by the amount of rotation of the first wheel members 120 provided in the unit 100.
  • the first and second moving distances m1 and m2 are compared to compare the window cleaning apparatus.
  • the initial attachment position can be detected.
  • the initial attachment position of the window cleaning apparatus is set to the window 40. It may be determined to be the right side.
  • the window cleaning apparatus more specifically, the first cleaning unit 100 moves to the right end of the window to stand by, and thus the user moves the first and second cleaning units 100 and 200 to the window pane. 40) can be easily separated.
  • the first cleaning unit 100 rises vertically from the initial attachment position, and then first moves by the third moving distance m3 to the right end of the window and again from the right end of the window. It may be moved to the end and may be moved by the fourth moving distance m4.
  • the initial attachment position of the window cleaning apparatus may be determined to be the left side of the window 400.
  • 15 is a view for explaining an embodiment of a method for setting the direction offset of the window cleaning apparatus.
  • the horizontal reference axis x 'and the vertical direction reference axis y' set in the direction detection sensor are the actual horizontal / vertical axes ( x, y) may not coincide with each other, and the setting error of the direction offset as described above may be caused by a model deviation of the direction sensor, a mechanical assembly deviation, or a change in internal or external temperature.
  • the control unit 310 intends to move the window cleaning apparatus in the right horizontal direction (x-axis direction)
  • the actual moving direction of the window cleaning apparatus is It is oriented slightly above the horizontal direction (x 'axis direction).
  • the direction offset of the direction sensor is set correctly (that is, the reference of the horizontal / vertical direction shown in FIG. 15). To match the axes (x ', y') and the actual horizontal / vertical axes (x, y)).
  • the window cleaning apparatus may further include an offset setting unit for setting a direction offset of the direction sensor.
  • the offset setting unit may reset the direction offset of the direction detection sensor by receiving a signal from the collision detection unit when the window cleaning device, more specifically, the first cleaning unit 100 collides with the window frame of the window. .
  • the setting method can be performed.
  • the vertical direction offset of the direction sensor is reset, and the horizontal direction offset of the direction sensor is based on the reset vertical direction offset. Can be reset.
  • the horizontal offset is adjusted by adjusting the horizontal reference axis x 'of the direction sensor as shown in FIG. 15 to coincide with the actual horizontal direction axis x.
  • the vertical direction offset of the direction sensor can be reset.
  • the horizontal direction offset of the direction sensor may be reset.
  • the horizontal direction offset of the direction sensor is reset, and the vertical direction of the direction sensor 300 is based on the reset horizontal direction offset.
  • the offset can be reset.
  • FIG. 16 illustrates an embodiment of a movement path of the window cleaning apparatus, and illustrates a path of the window cleaning apparatus being moved during the window cleaning operation.
  • the first cleaning unit 100 is moved to the uppermost right end (or left end) of the glass window 400, and the first cleaning unit 100 is moved to a preset movement path from the upper right end.
  • the cleaning can be performed while moving along.
  • the first cleaning unit 100 is moved to the leftmost end of the window 40, and then downwardly moved to the right end of the window 40 in the right direction, and left to the left end of the window 40 again. Is moved downward in the direction.
  • the movement path of the first cleaning unit 100 may alternately repeat the right-down section M1 moved downward in the right direction and the left-down section M2 moved downward in the left direction.
  • the horizontal direction offset of the direction sensor 300 may be reset at a time point C1 when the first cleaning unit 100 moving downward in the left direction collides with the left vertical frame of the window frame 41.
  • the horizontal direction offset of the direction sensor 300 may be reset at a time point C2 when the first cleaning unit 100 moving downward in the right direction collides with the right vertical frame of the window frame 41.
  • the resetting of the horizontal offset is performed whenever the first cleaning unit 100 collides with the window frame 41 while the first cleaning unit 100 is moved according to the movement path shown in FIG. 16, or is performed based on a preset period T. May be
  • the offset setting unit counts a time from the time when the direction offset of the direction sensor is reset, and when the counted time reaches 100 seconds Thereafter, the horizontal direction offset of the direction detection sensor may be reset at the time of the window frame collision of the first cleaning unit 100, which occurs first.
  • the movement path of the window cleaning apparatus as shown in FIG. 16 may be determined based on the width of the window 40.
  • control unit 310 measures the width of the glass window 40 to be cleaned by moving left and right at the position where the window cleaning device is attached by the user, and the movement path of the window cleaning device according to the measured width of the window Can be determined differently from each other.
  • control method of the window cleaning apparatus according to the present invention described above may be stored in a computer-readable recording medium produced as a program to be executed in a computer
  • examples of the computer-readable recording medium are ROM, RAM CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like, and also include those implemented in the form of carrier waves (eg, transmission over the Internet).
  • the computer readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.
  • functional programs, codes, and code segments for implementing the control method can be easily inferred by programmers in the art to which the present invention belongs.
  • the invention has applicability in the industry related to window cleaning and mobile robots.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Window Of Vehicle (AREA)
  • Human Computer Interaction (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

Dans le présent mode de réalisation, un dispositif de nettoyage de vitre comprend essentiellement une première unité de nettoyage et une seconde unité de nettoyage, qui sont fixées respectivement à deux surfaces d'une vitre et se déplacent sur ces dernières au moyen d'une force magnétique, et comprend : un premier module magnétique compris dans la première unité de nettoyage ; un second module magnétique compris dans la seconde unité de nettoyage ; un module de nettoyeur (modules) situé dans au moins une des première et seconde unités de nettoyage ; une unité de détection de pression pour mesurer la pression appliquée au ou aux module(s) de nettoyeur ; et une unité de commande pour commander la position du module de nettoyeur sur la base de la pression mesurée par l'unité de détection de pression.
PCT/KR2013/004402 2013-05-20 2013-05-20 Dispositif de nettoyage de vitre et procédé de commande pour ce dernier WO2014189155A1 (fr)

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KR1020157024016A KR20160008498A (ko) 2013-05-20 2013-05-20 유리창 청소 장치 및 그의 제어 방법
PCT/KR2013/004402 WO2014189155A1 (fr) 2013-05-20 2013-05-20 Dispositif de nettoyage de vitre et procédé de commande pour ce dernier

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KR102168080B1 (ko) 2019-06-14 2020-10-20 진호권 판유리의 청소장치
KR102162310B1 (ko) 2019-06-14 2020-10-06 진호권 판유리의 청소장치

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CN111839341B (zh) * 2020-07-21 2021-07-02 枣庄学院 通过调节电磁强度使机器人在竖直玻璃上自由运动的方法

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