WO2015083850A1

WO2015083850A1 - Window cleaning device and method for controlling movement thereof

Info

Publication number: WO2015083850A1
Application number: PCT/KR2013/011185
Authority: WO
Inventors: 류만현; 김동규
Original assignee: 주식회사 일심글로발
Priority date: 2013-12-05
Filing date: 2013-12-05
Publication date: 2015-06-11
Also published as: KR20150065238A

Abstract

The present invention relates to a window cleaning device and a method for controlling the movement thereof, and the method comprises the steps of: controlling the window cleaning device comprising first and second cleaning units that move while being respectively attached to both surfaces of a window by magnetic force, and detecting an inclined angle of the window to which the window cleaning device is attached; determining a moving angle of the window cleaning device on the basis of the vertical direction according to the detected angle of the window; and cleaning the window while moving the window cleaning device upwards or downwards according to the determined moving angle.

Description

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

In addition, in order to clean curved glass windows, such as automobile windows, the characteristics of the glass windows must be considered.

An object of the present invention is to provide a window cleaning apparatus and a movement control method thereof, which can efficiently clean curved glass windows such as automobile windows.

The movement control method of the window cleaning apparatus of the present embodiment controls a window cleaning apparatus including a first cleaning unit and a second cleaning unit which are attached to both sides of the window and move by magnetic force, and the window cleaning apparatus is attached. Detecting an inclined angle of the; Determining a moving angle of the window cleaning apparatus based on a vertical direction according to the detected angle of the window; And performing cleaning by moving the window cleaning apparatus upward or downward according to the determined moving angle.

Window cleaning apparatus according to an embodiment of the present invention performs the movement control method.

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

According to the embodiment of the present invention, by adjusting the moving angle of the window cleaning apparatus according to the inclination angle of the glass window, it is possible to efficiently clean the curved glass window, such as a car 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.

Figure 4 is a cross-sectional view showing an embodiment of the cross-sectional shape of the window cleaning apparatus.

5 is a view showing an embodiment of the shape of the window cleaning apparatus.

6 is a flowchart illustrating a movement control method of the window cleaning apparatus according to an embodiment of the present invention.

7 and 8 are views for explaining an embodiment of a method for determining the initial attachment position of the window cleaning apparatus.

9 to 12 are views showing embodiments of the movement path of the window cleaning apparatus.

FIG. 13 is a view for explaining an embodiment of a return operation after cleaning of the window cleaning apparatus; FIG.

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

1 is a perspective view showing a simplified configuration of a window cleaning apparatus according to an embodiment of the present invention, the window cleaning apparatus shown includes two cleaning units (100, 200) disposed on both sides of the glass window, respectively.

Referring to FIG. 1, 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.

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

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

Accordingly, the user can attach the cleaning device to the glass window by using two detachable members, that is, two handles, provided in the first and

second cleaning units

100 and 200, respectively, when the glass cleaning device is used. The handles may be used to separate the first and

second cleaning units

100 and 200 from the glass window.

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

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

second cleaning units

100 and 200.

In the present embodiment, a remote controller (not shown) that can be operated in a wireless manner is configured for the convenience of the user. However, the remote controller (not shown) according to the present invention may be used in a manner of operating by wire or manually by a user.

On the other hand, the window cleaning apparatus according to an embodiment of the present invention, more specifically, the first cleaning unit 100 disposed inside the glass window is a sensor that can move along a predetermined movement path, or detect dust or the like (not shown) It is also possible to determine and move the moving path that can be provided to improve the cleaning efficiency.

Hereinafter, specific configurations of each of the first and

second cleaning units

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

FIG. 2 is a plan view showing an embodiment of the configuration of the first cleaning unit 100 and illustrates a configuration of an upper surface of the first cleaning unit 100 in contact with a glass window.

Referring to FIG. 2, the first cleaning unit 100 may include a first frame 110, a plurality of first wheel members 120, and a plurality of first magnetic modules 130.

The first frame 110 forms the body of the first cleaning unit 100, so that the plurality of first wheel members 120 and the plurality of first magnetic modules 130 are coupled to the first frame 110. Can be fixed.

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

Meanwhile, the first cleaning unit 100 may include a plurality of first magnetic modules 130, and the first magnetic module 130 may include the first cleaning unit 100 and the second cleaning unit 200. In addition to the function of generating a magnetic force to be attached to both sides of the glass window, the first magnetic module 130 and the second magnetic module by rotating the first magnetic control unit of the first magnetic module 130 The magnetic force between the 233 can be adjusted.

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

More specifically, the first magnetic module 130 provided in the first cleaning unit 100 and the second magnetic module 233 provided in the second cleaning unit may include magnets having opposite polarities to each other. Accordingly, the first and

second cleaning units

100 and 200 disposed on both side surfaces of the glass window may be attached to the glass window and simultaneously moved by attracting each other by magnetic force.

In addition, as another embodiment of the present invention, the

magnetic modules

130 and 233 may be configured using an electromagnet in addition to the permanent magnet, or may be provided with a permanent magnet and an electromagnet as another embodiment.

The window cleaning apparatus according to the embodiment of the present invention is not limited to the

magnetic modules

130 and 233 as described above, and the first and

second cleaning units

100 and 200 are attached to each other by the magnetic force with the glass window interposed therebetween. Various configurations that may be moved may be possible.

For example, any one of the first and

second cleaning units

100 and 200 may include a magnetic material such as a permanent magnet or an electromagnet, and the other may include a metal body which may be attracted by the magnetic force of the magnetic material. It may be.

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

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

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

On the other hand, two or more first wheel member 120 on the left and right of the first cleaning unit 100 so that a portion thereof is exposed in the upper direction of the first frame 110, for example, left as shown in FIG. A total of two may be provided, one on each of the right side, or a total of four, one on each of the corner parts.

For example, the first wheel member 120 may be rotated by a driving unit (not shown) such as a motor installed in the first frame 110. The first cleaning unit 100 may be moved in a predetermined direction as the first wheel member 120 rotates in a state of being attached to the glass window.

On the other hand, the first cleaning unit 100 may be capable of moving in a curved direction, that is, changing the moving direction, as well as in the linear direction. For example, the rotation axis of the first wheel member 120 is changed, or the two first wheel members 120 respectively provided on the left and right sides are rotated at different speeds so that the first cleaning unit 100 may be rotated. The direction of movement can be changed.

The surface of the first wheel member 120 may be configured by using a material such as fiber, rubber or silicon so that a predetermined friction force may occur with the glass window when the wheel is rotated. The first cleaning unit 100 can be easily moved along the inner surface of the glass window without turning. In addition, the surface of the first wheel member 120 may be made of a material that does not cause scratches on the glass window during rotation.

The first cleaning unit 100 is attached to one surface of the glass window by the magnetic force of the first magnetic module 130, so that a reaction force formed in a direction perpendicular to the glass window may act on the first wheel member 120. Accordingly, when the first wheel member 120 is rotated by a driving unit (not shown) having a motor or the like, the first cleaning unit 100 may move along the inner surface of the glass window by the frictional force.

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

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

Referring to FIG. 3, the second cleaning unit 200 may include a second frame 210, a plurality of second wheel members 220, and a plurality of cleaning modules 230.

The second frame 210 forms the body of the second cleaning unit 200 and has a shape corresponding to the first frame 110 of the first cleaning unit 100 as described above, for example, a rectangular cross section. It may be configured as a plate structure.

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

According to one embodiment of the present invention, unlike the first wheel member 120 provided in the first cleaning unit 100, the second wheel member 220 is not connected to a driving unit such as a motor, and the second cleaning member ( It may be provided in a state that is axially connected to the second frame 210 to naturally rotate as the movement of the 200.

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

In FIG. 3, the second wheel member 220 has a cylindrical shape, but the present invention is not limited thereto. For example, the second wheel member 220 may be configured using a spherical member such as a ball bearing.

The cleaning module 230 may be formed to be exposed to the lower surface of the second frame 210 to clean one surface of the glass window, for example, an outer surface on which the second cleaning unit 200 is disposed.

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

Meanwhile, each of the four disk shapes included in the cleaning module 230 may be provided to be rotatable by a driving unit (not shown) such as a motor (not shown). In addition, the cleaning module 230 may be formed to protrude at a predetermined interval from the lower surface of the second frame 210, and thus the cleaning module 230 of the cleaning module 230 is attached to the glass window. By rotating, the cleaning operation may be performed on the outer surface of the glass window using the friction force.

The cleaning module 230 may be attached on the exposed surface of the pad 231 made of a material such as fiber or rubber so as to easily remove foreign substances in the glass window by the friction force during rotation. In this case, in order to improve the cleaning performance of the window cleaning apparatus, the pad 231 may be made of a material of a micro hair structure or a porous structure.

In addition, the cleaning module 230 may include a detergent inlet 232 for injecting detergent, for example, the detergent inlet 232 is a detergent storage container (not shown) built in the second cleaning unit 200. And a pump (not shown) and the like may be connected by a separate flow path to receive detergent. Accordingly, when cleaning the glass window cleaning module 230 may perform a cleaning operation while spraying the detergent to the glass window using the detergent injection port 232.

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

second cleaning units

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

The second magnetic module 233 may be made of a magnetic body or a metal body such as a permanent magnet, an electromagnet, etc., so that the first and

second cleaning units

100 and 200 disposed on both sides of the glass window are attracted to each other by magnetic force. By pulling it can be attached to the window and moved simultaneously.

In addition, a continuous force acts on the cleaning module 230 in the glass window direction by the magnetic force between the first and second

magnetic modules

130 and 233, thereby increasing the frictional force with the glass window when the cleaning module 230 rotates. The cleaning performance can be improved.

In the above, an embodiment of the present invention has been described taking the cleaning module 230 provided in the second cleaning unit 200 on the outside of the glass window, but according to another embodiment of the present invention, such as the cleaning module 230 Another cleaning module functioning may be provided in the first cleaning unit 100 inside the glass window. In this case, cleaning may be performed on both the inner and outer surfaces of the glass window.

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

The auxiliary cleaning module 240 may include a roller member (not shown) rotatably installed, and a brush may be formed on an outer circumferential surface of the roller member. Accordingly, when the second cleaning unit 200 moves along the window frame, the auxiliary cleaning modules 240 may remove foreign substances in the window frame part while rotating by the friction force with the window frame.

On the other hand, the auxiliary cleaning modules 240 have the same function as the buffer member 140 provided in the first cleaning unit 100 as described above, that is, minimizes the impact when colliding with the projecting structure, such as a window frame, It can also be used to detect shocks using a built-in sensor.

In the above, the structure of the window cleaning apparatus according to an exemplary embodiment of the present invention has been described with reference to FIGS. 1 to 3, in which the window cleaning apparatus cleans only one surface, for example, an outer surface of the glass window. Since only one embodiment, the present invention is not limited thereto.

For example, the shape or configuration of the window cleaning apparatus according to the embodiment of the present invention can be changed by the use, shape or thickness of the glass window used.

According to one embodiment of the present invention, the window cleaning apparatus may be used for a glass window having a thickness of 10 mm or less, and may be used for a curved vehicle glass or the like.

An automobile windshield, for example, an automobile windshield or rear glass has a curved shape unlike a general glass window, and in particular, an inclination angle is constant in the center portion, but the angle increases or decreases in the vertical direction. .

4 is a cross-sectional view showing an embodiment of the cross-sectional shape of the window cleaning apparatus.

Referring to FIG. 4, the

outermost portions

311 and 312 of the bottom surface of the frame 310 of the window cleaning apparatus contacting the window 300 are spaced apart from the window 300 when the window cleaning apparatus is attached. It may have a cross-sectional shape bent by b).

This is to prevent the outermost part without the driving wheels of the window cleaning apparatus from being rotated by touching the curved glass window 300.

Referring to FIG. 5, the angle b bent at the

outermost portions

311 and 312 of the bottom surface of the window cleaning apparatus may be calculated as in Equation 1 below.

Equation 1

In Equation 1, r2 is the radius of the circle (C2) corresponding to the frame 310 of the window cleaning apparatus, r1 is the radius of the circle (C1) corresponding to the ends of the

drive wheels

320, 321, k Is a constant.

6 is a flowchart illustrating a movement control method of the window cleaning apparatus according to an embodiment of the present invention, and illustrates a method in which a control unit provided in the window cleaning apparatus controls the movement of the window cleaning apparatus.

Referring to Figure 6, the control unit detects the inclination angle of the glass window is attached to the window cleaning apparatus (S500 step).

Window cleaning apparatus according to an embodiment of the present invention may be provided with a sensor for detecting the angle of the glass window, for example, the inclination angle of the glass window is attached to the window cleaning device using a geomagnetic sensor in the z-axis direction Can be detected.

Thereafter, the controller determines a moving angle of the window cleaning apparatus based on the vertical direction according to the detected tilt angle of the window (S510).

For example, the control unit may be set to increase the moving angle of the window cleaning apparatus based on the vertical direction as the inclination angle of the glass window increases in the vertical direction.

The control unit performs the cleaning by moving the window cleaning apparatus to the upper side or the lower side according to the determined moving angle (step S520).

The process of determining the moving angle of the window cleaning apparatus according to the angle of the window as described above may be performed periodically at a predetermined time during the movement of the window cleaning apparatus.

For example, during the cleaning operation while the window cleaning apparatus is moving, the moving angle may be adjusted according to the inclination angle of the window every 1 second.

Hereinafter, embodiments of a method of controlling the movement of the window cleaning apparatus will be described in more detail with reference to FIGS. 7 to 13.

When the window cleaning apparatus 10 is attached to the window 300, the control unit moves the window cleaning apparatus 10 in a left or right direction for a predetermined time t to determine whether the window cleaning apparatus 10 collides with an obstacle within a predetermined time t. Accordingly, the initial attachment position of the window cleaning apparatus 10 can be determined.

The window cleaning apparatus 10 attached to the window 300 moves for a predetermined time t in the left direction, and the predetermined time t is a maximum position that a person can attach to the window 300 using both arms. It may be set in consideration of.

Referring to FIG. 7, when the window cleaning apparatus 10 is attached to the left side of the window 300, the window cleaning apparatus 10 moving in the left direction after the attachment may be an obstacle (for example, within a predetermined time t). On the end frame of the window).

Therefore, when the window cleaning apparatus 10 collides with an obstacle within a predetermined time t, it may be determined that the initial attachment position of the window cleaning apparatus 10 is on the left side.

Referring to FIG. 8, when the window cleaning apparatus 10 is attached to the right side of the window 300, the window cleaning apparatus 10 moving in the left direction after the attachment may be an obstacle (for example, Does not hit the window frame).

Therefore, when the window cleaning apparatus 10 does not collide with the obstacle for a predetermined time t, it may be determined that the initial attachment position of the window cleaning apparatus 10 is the right side.

9 to 12 illustrate embodiments of the movement path of the window cleaning apparatus.

Referring to FIG. 9, since an obstacle such as a room mirror 330 or a high pass terminal 331 is attached to the front windshield of the vehicle, the window cleaning apparatus 10 moves up and down at a predetermined angle with respect to the vertical direction. It is preferable to carry out the cleaning while being made.

However, as shown in FIG. 10, when the window cleaning apparatus 10 is vertically moved at the same angle, the moving path of the window cleaning apparatus 10 is increased as the angle of inclination at the outer portion of the window 300 increases. Problems may arise that are concentrated on the central upper portion of the glass window (300).

Therefore, the window cleaning apparatus 10 according to an embodiment of the present invention is evenly cleaned for the entire area of the window 300 by adjusting the moving angle of the window cleaning apparatus 10 according to the inclination angle of the window 300. Can be performed.

Referring to FIG. 11, the moving angles of the window cleaning apparatus 10 may be differently determined depending on whether the current position of the window cleaning apparatus 10 is the upper end T or the lower end B of the window 300. have.

In general, in the case of the vehicle front or rear glass, the inclination angles at the upper end portion T and the lower end portion B in the central region C of the glass window 300 remain almost similar.

Accordingly, as shown in FIG. 11, in the center region C of the window 300, the window cleaning apparatus 10 is vertically up and down while maintaining the same moving angle θ3 at the upper end portion T and the lower end portion B. FIG. You can go to

On the other hand, in the left region L or the right region R of the glass window 300, the glass window 300 gathers toward the center portion of the vehicle toward the outer portion, and the upper portion T of the upper portion T of the vertical glass window 300 is formed. The inclination angle may be greater than the inclination angle of the lower portion B. FIG.

Accordingly, in the left region L or the right region R of the glass window 300, the window cleaning apparatus 10 moves with a small movement angle θ1 at the lower end portion B, but more at the upper end portion T. It can move with a large moving angle θ2.

For example, the moving angle of the window cleaning apparatus 10 based on the vertical direction is the moving angle (theta) 1 in the lower end part B of the left area | region L or the right area | region R, and the center area | region C It may be set to increase in order of the moving angle θ3 at, the left region L, or the moving angle θ2 at the upper end portion C of the right region R.

According to another embodiment of the present invention, the moving angle of the window cleaning apparatus 10 as described above may be determined differently depending on the initial attachment position of the window cleaning apparatus 10.

Referring to FIG. 12, the distance g1 of the movement path of the window cleaning apparatus 10 having the initial attachment position to the left is set larger than the distance g2 of the movement path of the window cleaning apparatus 10 having the initial attachment position to the right. Can be.

For example, the interval g1 of the movement path of the window cleaning apparatus 10 with the initial attachment position to the left may be set to twice the interval g2 of the movement path of the window cleaning apparatus 10 with the initial attachment position to the right. Can be.

This is because, as shown in FIG. 13, after the end of cleaning, the window cleaning apparatus 10 returns to the left side of the window cleaning apparatus 10 and stops in consideration of the position of the wiper.

That is, when the window cleaning apparatus 10 is attached to the left side, the window g is cleaned while moving from left to right by setting a large distance g1 of the movement path, and again, while returning from right to left. 300) will be cleaned.

When the window cleaning apparatus 10 is attached to the right side, the window g 300 is cleaned at a time while moving from the right side to the left side by setting a small distance g2 of the movement path.

The distance of the movement path is proportional to the movement angle of the window cleaning apparatus 10.

That is, the moving angle of the window cleaning apparatus 10 whose initial attachment position is the left side may be set smaller than the moving angle of the window cleaning apparatus 10 whose initial attachment position is the right side.

In addition, the control method of the window cleaning apparatus according to the present invention described above can be stored in a computer-readable recording medium produced as a program to be executed in a computer, examples of the computer-readable recording medium is ROM, RAM CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like, and also include those implemented in the form of carrier waves (eg, transmission over the Internet).

The computer readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. 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. Those skilled in the art to which the present invention pertains 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.

The invention has applicability in the industry related to window cleaning and mobile robots.

Claims

In the method for controlling a window cleaning apparatus comprising a first cleaning unit and a second cleaning unit which is attached to both sides of the glass window by a magnetic force, respectively,

Detecting an inclination angle of the glass window to which the glass cleaning device is attached;

Determining a moving angle of the window cleaning apparatus based on a vertical direction according to the detected angle of the window; And

And moving the window cleaning apparatus upward or downward according to the determined moving angle to perform cleaning.
The method of claim 1, wherein the determining of the moving angle

Movement control method of the window cleaning apparatus is performed periodically at a predetermined time during the movement of the window cleaning apparatus.
The method of claim 1, wherein the determining of the moving angle

The movement control method of the window cleaning apparatus which increases the moving angle of the said window cleaning apparatus as the angle of the said glass window based on the vertical direction becomes large.
The method of claim 1, wherein the determining of the moving angle

Comparing the angle of the window with a reference value;

Determining the position of the window cleaning apparatus as one of upper and lower end portions according to the comparison result; And

And determining the moving angle of the window cleaning apparatus based on the determined position of the window cleaning apparatus.
The method of claim 1,

When the window cleaning apparatus is located in the center area of the glass window, the movement angle of the window cleaning apparatus is maintained at the same upper and lower ends of the glass window cleaning device movement control method.
The method of claim 1,

When the window cleaning apparatus is located in the left or right region of the glass window, the movement angle of the window cleaning apparatus is set to move larger than the lower end of the glass window cleaning apparatus.
According to claim 1, wherein the moving angle of the window cleaning apparatus

The movement control method of the window cleaning apparatus is set larger than the center area of the glass window on the left or right upper portion of the glass window, and smaller than the center area of the glass window on the left or right lower portion of the glass window.
The method of claim 1,

Determining the initial attachment position of the window cleaning apparatus;

The movement angle of the window cleaning apparatus is differently determined depending on whether the initial attachment position is left or right.
9. The method of claim 8, wherein the initial attachment position determination step

Moving the window cleaning apparatus attached to the window in a left or right direction for a predetermined time; And

And determining the initial attachment position according to whether or not an obstacle hits an obstacle during the movement for the predetermined time.
A window cleaning apparatus for carrying out the method according to any one of claims 1 to 9.
The method of claim 10,

And a geomagnetic sensor in a z-axis direction for detecting an inclination angle of the window.
The method of claim 10,

The outermost part of the bottom contacting the glass window is bent by a certain angle so as to be spaced apart from the glass window when the window cleaning device is attached.