Control method of moving mechanism, moving mechanism and window cleaning robot

The invention discloses a control method and device of a moving mechanism, and aims at improving the flexibility of the movement mode of the moving mechanism and enabling the movement direction of the moving mechanism to better meet the requirements of users. The method comprises the following steps: acquiring attitude information of a moving mechanism, wherein the attitude information is used for indicating the head orientation of the moving mechanism; obtaining target motion information, wherein the target motion information is used for indicating a target direction of motion of the moving mechanism; determining a rotation direction and a rotation angle of the moving mechanism according to the head orientation and the target direction; according to the rotating direction and the rotating angle, the moving mechanism is controlled to rotate, and the head orientation of the moving mechanism is consistent with the target direction through rotation, or the tail orientation of the moving mechanism is consistent w