Partitioned piezoelectric atomizing device for window-cleaning robot and self-adaptive control method

Abstract

The application discloses a partition type piezoelectric atomization device for window cleaning robots and a self-adaptive control method. The piezoelectric atomization device comprises a plurality of atomization units, each atomization unit comprising a piezoelectric ceramic and a metal vibrating diaphragm, the metal vibrating diaphragm being provided with a spherical convex hull, a non-porous isolation region being arranged in the central region of the spherical convex hull, a microporous atomization region being arranged on at least one side of the non-porous isolation region, and the curvature of the spherical convex hull being used to constrain the spray direction of the mist beam to form a plurality of mist beams with a predetermined spatial distribution; the plurality of atomization units are respectively provided with independent driving circuits; the control method obtains the wind direction and speed, the robot posture and the spatial position of each atomization unit, determines the wind state of each atomization unit, and independently adjusts the driving parameters of the corresponding atomization unit according to the wind degree to compensate for the water mist deviation and loss caused by the lateral wind, and simultaneously adapt to the changes in the robot posture and the working area.

Description

Technical Field

[0001] This invention relates to the field of intelligent cleaning equipment atomized water spraying technology, and more specifically, to a partitioned piezoelectric atomizing device and adaptive control method for a window cleaning robot. Background Technology

[0002] With the development of intelligent cleaning equipment, window cleaning robots are increasingly being used for the automated cleaning of glass surfaces such as glass curtain walls, building exterior windows, and residential windows. During the cleaning process, window cleaning robots typically pre-spray water mist onto the glass surface to reduce dust adhesion and improve cleaning efficiency. Currently, window cleaning robots mainly use diaphragm pumps or piezoelectric microporous atomization for water supply. Piezoelectric microporous atomization, in particular, is characterized by low noise, small size, and minimal water flow, and is therefore increasingly being used in lightweight window cleaning robots.

[0003] Existing piezoelectric micropore atomizing devices typically use a piezoelectric actuator to drive a metal diaphragm to vibrate at high frequency, causing the liquid to atomize and spray through micropores on the diaphragm. However, existing micropores are usually arranged over a large area of ​​the diaphragm's spherical convexity, resulting in differences in vibration amplitude across different regions. When the micropores are concentrated in areas with high vibration energy, it can easily lead to excessively strong atomization output in some areas while insufficient atomization output in others, thus limiting the spray coverage. While using multiple independent atomizing components can expand the spray coverage, it increases the number of atomizing components and the corresponding drive structure.

[0004] Furthermore, window cleaning robots are easily affected by crosswinds when operating outdoors at heights. The water mist deflects and disperses laterally after being sprayed, reducing the effective amount of atomization adhering to the glass surface. Existing technologies typically compensate for this by increasing the overall water volume and adjusting the walking speed. However, the degree of wind disturbance experienced by atomizing units at different locations varies, and uniform adjustment can easily result in insufficient wetting in windward areas and excessive spraying in leeward areas. Simultaneously, existing uniform control methods struggle to independently adjust and compensate for different atomizing units when the robot turns, changes its posture, or when local atomizing units become clogged or weakened.

[0005] Therefore, it is necessary to provide a window cleaning robot atomization device and control scheme to improve the spray distribution and coverage effect of individual atomization units, and to independently adjust each atomization unit according to the wind disturbance state and robot working posture, thereby improving the uniformity of glass wetting and atomization utilization efficiency in complex working environments. Summary of the Invention

[0006] The purpose of this invention is to provide a partitioned piezoelectric atomization device and adaptive control method for a window cleaning robot, so as to solve the above-mentioned problems existing in the prior art.

[0007] The application is as follows: A partitioned piezoelectric atomization device for a window cleaning robot includes multiple atomization units mounted on the robot's body and a controller connected to the atomization units. Each atomization unit includes a piezoelectric actuator, a metal vibrating diaphragm, and a sealed base. The piezoelectric actuator is connected to the metal vibrating diaphragm, which has a spherical convex hull with at least two microporous atomization regions. A non-porous isolation region is formed between adjacent microporous atomization regions. Each microporous atomization region has multiple micropores, and different microporous atomization regions are located at different curvature regions of the spherical convex hull, so that the mist formed by each microporous atomization region is sprayed along a corresponding preset direction. Each atomization unit is electrically connected to the controller via an independent drive circuit. The controller can adjust the drive parameters of each atomization unit to independently control the atomization output of each atomization unit. Furthermore, the spherical convex hull includes a non-porous isolation region located in the central region and a first microporous atomizing region and a second microporous atomizing region located on both sides of the non-porous isolation region, wherein the first microporous atomizing region and the second microporous atomizing region are symmetrically arranged with respect to the central region of the spherical convex hull.

[0008] Furthermore, there are two or more microporous atomizing regions, each of which is distributed on the spherical convex hull according to a preset spatial position, so that the mist streams formed by different microporous atomizing regions have different spray directions, and the spray angle and spray coverage area of ​​each mist stream are jointly defined by the curvature of the spherical convex hull and the setting position of the microporous atomizing regions.

[0009] Furthermore, the plurality of atomizing units include a first atomizing unit and a second atomizing unit disposed on the left and right sides of the front part of the window cleaning robot body, and a third atomizing unit and a fourth atomizing unit disposed on the left and right sides of the rear part of the body. The first atomizing unit and the second atomizing unit are symmetrically arranged about the longitudinal center line of the body, and the third atomizing unit and the fourth atomizing unit are symmetrically arranged about the longitudinal center line of the body.

[0010] Furthermore, each of the independent drive circuits is used to independently adjust at least one of the drive frequency, drive voltage, drive power, vibration amplitude, and drive duty cycle of the corresponding atomizing unit.

[0011] The present invention also provides an adaptive control method for a window cleaning robot using a partitioned piezoelectric atomization device, comprising the following steps: S1. Obtain the body posture, direction of travel, ambient wind direction and wind speed of the window cleaning robot, as well as the position information of multiple atomizing units set at different spatial positions on the body of the window cleaning robot, and establish a body coordinate system based on the body of the window cleaning robot. S2. Based on the fuselage attitude and the ambient wind direction, the ambient wind direction is converted into a relative wind direction relative to the fuselage coordinate system, and based on the relative wind direction and the position information of each atomizing unit in the fuselage coordinate system, the lateral wind action state corresponding to each atomizing unit is determined respectively. S3. Based on the lateral wind action state and wind speed corresponding to each atomizing unit, determine the atomization compensation amount corresponding to each atomizing unit, and determine the target compensation atomizing unit from the plurality of atomizing units based on the atomization compensation amount. S4. By using an independent drive circuit corresponding to the target compensation atomization unit, the drive parameters of the target compensation atomization unit are independently adjusted according to the atomization compensation amount corresponding to the target compensation atomization unit, so as to improve the atomization output of the target compensation atomization unit, while controlling other atomization units that are not identified as target compensation atomization units to maintain the corresponding reference atomization output. S5. Obtain the compensated atomization state of each atomization unit, and update the atomization compensation amount of the target compensated atomization unit according to the difference between the compensated atomization state and the corresponding target atomization state.

[0012] Furthermore, based on the ambient wind speed, the relative wind direction, and the spatial position of each atomizing unit in the fuselage coordinate system, the lateral wind component corresponding to each atomizing unit is determined, and the corresponding atomization compensation amount is determined based on the lateral wind component, wherein the larger the lateral wind component, the larger the corresponding atomization compensation amount.

[0013] Furthermore, when the window cleaning robot is detected to be turning or changing its body posture, the relative wind direction of the ambient wind direction with respect to the body coordinate system is re-determined based on the changed body posture, and the lateral wind action state and atomization compensation amount of each atomizing unit are re-determined based on the re-determined relative wind direction and the spatial position of each atomizing unit.

[0014] Furthermore, the vibration response parameters of each atomizing unit are obtained respectively, and each vibration response parameter is compared with the corresponding reference response parameter. When the difference between the vibration response parameter of any atomizing unit and the corresponding reference response parameter exceeds a preset threshold, the atomizing unit is identified as an abnormal atomizing unit, and the driving parameters of the abnormal atomizing unit are independently adjusted to compensate for the atomization output.

[0015] Furthermore, the output deviation between the actual atomization output and the target atomization output is determined based on the atomization state feedback parameters of each atomization unit, and the driving parameters of the corresponding atomization unit are corrected in a closed loop based on the output deviation.

[0016] Compared with the prior art, the embodiments of the present invention achieve the following beneficial effects: This invention improves the micropore arrangement of a metal vibrating diaphragm by setting a non-porous isolation region in the central vibration area of ​​a spherical convex hull and placing micropores in predetermined atomization regions on both sides of the central region. This allows the micropores to avoid areas where vibration energy is concentrated. At the same time, the curvature of different positions on the spherical convex hull is used to constrain the direction of the mist stream, enabling a single atomization unit to form multiple mist streams with a clear spatial distribution. This improves the problems of localized spray concentration and uneven spray coverage in traditional atomization structures. Furthermore, the number and arrangement of atomization regions can be adjusted according to the actual wetting range, improving the effective coverage of the glass surface by a single atomization unit.

[0017] Furthermore, this invention independently controls multiple atomizing units and establishes a correlation between environmental wind disturbances and the robot's motion state and the spatial position of each atomizing unit. This allows atomizing units in different positions to generate differentiated atomization outputs according to their actual working environment. Compared to a uniform adjustment method for the entire machine, this can more effectively compensate for local fog beam deviation and water mist loss caused by high-altitude lateral winds. At the same time, it incorporates changes in the robot's posture into the atomization control process, adjusting the output of each atomizing unit accordingly when the window cleaning robot turns or changes its posture, thereby improving the effective utilization rate of water mist and the glass wetting effect in complex environments. In addition, this invention can also independently diagnose and compensate for individual atomizing units experiencing atomization performance degradation, reducing the impact of local atomization anomalies on the overall cleaning effect and improving the operational stability and fault adaptability of the atomizing device. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the arrangement of multiple atomizing units on the body of a window cleaning robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a single atomizing unit provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a single atomizing unit before improvement, provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the adaptive control method for a window cleaning robot using a partitioned piezoelectric atomization device, provided in an embodiment of the present invention.

[0019] Among them, 1-body, 2-first atomizing unit, 3-second atomizing unit, 4-piezoelectric ceramic ring, 5-metal vibrating diaphragm, 6-spherical convex hull, 7-poreless isolation area, 8-first microporous atomizing area, 9-second microporous atomizing area, 10-micropore. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings.

[0021] Example 1

[0022] This embodiment provides a partitioned piezoelectric atomizing device for a window cleaning robot. The atomizing device is mounted on the robot's body and is used to pre-wet the area to be cleaned during the robot's movement along the glass surface. The atomizing device of this embodiment includes multiple atomizing units and a controller connected to the multiple atomizing units. Each atomizing unit is configured with an independent drive circuit and is electrically connected to the controller through a corresponding drive circuit, enabling the controller to control the working state and atomization drive parameters of each atomizing unit individually.

[0023] like Figure 1-2 As shown, each atomizing unit includes a piezoelectric actuator, a metal vibrating diaphragm 5, and a sealing base. The piezoelectric actuator is connected to the metal vibrating diaphragm 5, which is mounted at the outlet of the atomized liquid flow channel via the sealing base. The sealing base secures the metal vibrating diaphragm 5 and keeps the liquid on the atomizing side corresponding to the metal vibrating diaphragm 5. In this embodiment, a piezoelectric ceramic ring 4 is used as the piezoelectric actuator. In other embodiments, a piezoelectric ceramic sheet or other piezoelectric drive structures capable of generating mechanical vibration under the action of an electrical signal can also be used.

[0024] The central region of the metal diaphragm 5 is provided with an outwardly protruding spherical protrusion 6. The spherical protrusion 6 can be integrally formed with the metal diaphragm 5 by stamping, deep drawing, molding or other forming processes. It is used to form the bearing surface of the atomization area of ​​the micropore 10, and to constrain the direction of the atomized liquid sprayed from the micropore 10 by utilizing the different local curvature directions of the spherical protrusion 6 at different positions.

[0025] In the specific design process, the curvature parameters of the spherical convex hull 6 and the arrangement positions of the micro-orifice 10 atomizing areas on the spherical convex hull 6 can be determined according to the required spray coverage area of ​​the window cleaning robot, so that the mist generated by different micro-orifice 10 atomizing areas is sprayed in a predetermined direction. For example, for a window cleaning robot that needs the mist to diffuse towards different areas on the left and right sides of the glass surface, the micro-orifice 10 atomizing areas can be set on the left and right sides of the central area of ​​the spherical convex hull 6, so that the local curved surface directions corresponding to the micro-orifice 10 atomizing areas on both sides are different, thereby giving the mist formed in the two areas different spray directions. Compared with Figure 3 The undivided spherical convex hull shown can achieve better atomization.

[0026] In this embodiment, the central region of the spherical convex hull 6 is set as a non-porous isolation region 7, that is, no micropores 10 are provided in the central region of the spherical convex hull 6. This can reduce the situation where the local atomization output is too concentrated due to the concentrated setting of micropores 10 in the central region of the spherical convex hull 6. A first micropore atomization region 8 and a second micropore atomization region 9 are respectively provided on both sides of the non-porous isolation region 7. The first micropore atomization region 8 and the second micropore atomization region 9 are respectively provided with multiple micropores 10, so that the atomized liquid is output from different micropore regions.

[0027] The first micropore atomizing region 8 and the second micropore atomizing region 9 are preferably symmetrically arranged with respect to the central region of the spherical convex hull 6, so that the two micropore atomizing regions 10 have similar structural conditions and atomization output capabilities.

[0028] In this embodiment, the micropores 10 preferably adopt a microconical pore structure. The pore diameter, pore spacing, number of pores, and area of ​​the micropore atomization region can be determined according to the required atomization amount, droplet characteristics, and spray coverage range.

[0029] When the piezoelectric ceramic ring 4 is working, it generates high-frequency mechanical vibration, which drives the metal vibrating diaphragm 5 to vibrate. Under the action of vibration, the liquid forms a liquid film at the micropore 10 and breaks down, forming a first mist stream through the first micropore atomization region 8 and a second mist stream through the second micropore atomization region 9. Since the first micropore atomization region 8 and the second micropore atomization region 9 are located at different curvature positions of the spherical convex hull 6, the two mist streams are sprayed in different directions, thus enabling a single atomization unit to form multiple spatially distributed spray areas.

[0030] It should be noted that the spherical convex hull 6 in this embodiment is not limited to having only two micro-hole 10 atomization regions. In other embodiments, the spherical convex hull 6 can be divided into three, four, or more micro-hole 10 atomization regions according to the target spray coverage area, with a non-porous isolation region 7 between adjacent micro-hole 10 atomization regions, and multiple micro-holes 10 arranged in each micro-hole 10 atomization region. Each micro-hole 10 atomization region can form different local curvature directions according to its location on the spherical surface, so that the mist generated by different micro-hole 10 atomization regions points in different directions, thereby realizing multi-directional spraying of a single atomization unit.

[0031] In this embodiment, each atomizing unit is configured with an independent drive circuit. The controller outputs corresponding control signals to the drive circuits of different atomizing units, enabling each atomizing unit to independently perform start-stop control and atomization drive parameter adjustment.

[0032] The atomization driving parameters may include one or more of the following: driving voltage, driving frequency, driving amplitude, and pulse duty cycle. For example, when it is necessary to increase the atomization output of a certain atomization unit, the controller can increase the driving voltage or driving amplitude of that atomization unit; in other embodiments, the driving frequency or pulse duty cycle can also be adjusted according to the working characteristics of the piezoelectric atomizing sheet.

[0033] This embodiment of the window cleaning robot employs a cleaning method that involves reciprocating along the glass surface. A first atomizing unit 2 and a second atomizing unit 3 are respectively located on the left and right sides of the front end of the robot body 1, and a third atomizing unit and a fourth atomizing unit are respectively located on the left and right sides of the rear end of the robot body 1. The first atomizing unit 2 and the second atomizing unit 3 are symmetrically arranged with respect to the longitudinal center line of the robot body 1, and the third and fourth atomizing units are also symmetrically arranged with respect to the longitudinal center line of the robot body 1, thus forming a symmetrical four-point atomization layout.

[0034] When the window cleaning robot moves in the first direction, the controller controls the first atomizing unit 2 and the second atomizing unit 3 at the front end to work and pre-wet the area to be cleaned in front of the robot; when the window cleaning robot moves in the opposite direction, the controller controls the third atomizing unit and the fourth atomizing unit at the rear end to work and pre-wet the area to be cleaned in the opposite direction of movement.

[0035] Near the window frame, the controller can also adjust the output of the atomizing unit on the side closest to the window frame based on the distance between the body 1 and the window frame detected by the position sensor, so as to reduce the water mist spraying onto the window frame or wall.

[0036] The above four atomizing units are only one specific layout in this embodiment. In other embodiments, two, three, four or more atomizing units can be set according to the structure of the window cleaning robot body 1 and the size of the area to be cleaned.

[0037] Example 2

[0038] This embodiment describes the adaptive atomization control process of a window cleaning robot when it is subjected to lateral wind disturbance in a high-altitude window environment, based on the atomization device described in Embodiment 1.

[0039] The control system in this embodiment includes a controller, a wind direction and speed sensor, a body posture sensor, a position sensor, and independent drive circuits corresponding to each atomizing unit. The wind direction and speed sensor is used to obtain the ambient wind speed and direction at the location of the window cleaning robot; the body posture sensor is used to obtain the body posture of the window cleaning robot and posture change information; the position sensor is used to obtain the position of the window cleaning robot relative to the glass surface and window frame.

[0040] like Figure 4As shown, the control method in this embodiment includes the following steps.

[0041] S1. Obtain operating parameters and establish the fuselage coordinate system The controller establishes the body coordinate system using a preset reference point on the body 1 of the window cleaning robot as the origin. The X-axis is set along the longitudinal direction of the window cleaning robot body 1, the Y-axis is set along the transverse direction of the body 1, and the Z-axis is set along the direction perpendicular to the glass surface.

[0042] Let the first i The spatial positions of each atomizing unit in the fuselage coordinate system are:

[0043] in, , N Indicates the number of atomizing units.

[0044] For the four atomizing unit structure in this embodiment, the spatial positions of the first atomizing unit 2, the second atomizing unit 3, the third atomizing unit, and the fourth atomizing unit can be obtained respectively. Since the position of each atomizing unit relative to the body 1 is basically fixed after installation, the spatial position parameters of each atomizing unit can be pre-stored in the controller.

[0045] By establishing the spatial correspondence between each atomizing unit and the fuselage coordinate system, the controller can further determine the differences in environmental wind disturbance experienced by atomizing units at different spatial locations.

[0046] The wind direction and speed sensor acquires the ambient wind speed vector in real time, denoted as:

[0047] in, This represents the wind speed vector in the environmental coordinate system.

[0048] The robot's posture sensor acquires its current posture and determines the coordinate transformation matrix between the environmental coordinate system and the robot's coordinate system based on the current posture. R The ambient wind speed vector is transformed to the fuselage coordinate system to obtain the relative wind speed vector in the fuselage coordinate system. :

[0049] Through the above coordinate transformation, even if the window cleaning robot turns or its body posture changes, the controller can still obtain the real-time wind direction and wind speed relative to the robot's current body direction 1.

[0050] S2. Determine the lateral wind action status of each atomizing unit. The controller uses the relative wind speed vector in the fuselage coordinate system. Determine the lateral wind component. In this embodiment, considering the lateral wind disturbance of fuselage 1 that mainly affects the fogging coverage of the glass surface, the lateral wind speed component of fuselage 1 is taken as the lateral wind component. The calculation method is as follows:

[0051] in, Relative wind speed vector The component in the lateral direction of fuselage 1.

[0052] when When the value is small, it indicates that the current ambient wind has little impact on the lateral displacement of the fog beam; when When the value increases, it indicates that the current lateral wind disturbance is strengthening, and it is necessary to increase the degree of fogging compensation in the corresponding wind-affected area.

[0053] In other embodiments, the lateral wind effect can also be calculated based on the lateral and vertical wind speed components in the fuselage coordinate system, for example:

[0054] The specific calculation method can be selected based on the actual working environment of the window cleaning robot.

[0055] S3. Determine the atomization compensation amount and target compensation atomization unit. The controller determines the wind conditions of each atomizing unit based on the relative wind speed vector and the spatial position of each atomizing unit. Taking the lateral direction of the fuselage as the main wind direction as an example, the controller can determine the wind conditions of each atomizing unit based on the lateral component of the relative wind speed. Direction and lateral position of the atomizing unit Determine whether the atomizing unit is located on the windward or leeward side. For example: when When this happens, the corresponding atomizing unit can be identified as the atomizing unit on the windward side; when When this is the case, the corresponding atomizing unit can be identified as a non-primary windward atomizing unit.

[0056] In a further embodiment, the wind load of the atomizing unit can be determined based on its lateral distance from the centerline of the fuselage 1. :

[0057] in, This represents the maximum absolute value of the lateral position of all atomizing units.

[0058] Based on this, the first can be defined i The overall wind resistance corresponding to each atomizing unit This indicates the degree of lateral wind disturbance experienced by the corresponding atomizing unit.

[0059] The controller further adjusts the overall airflow level based on the atomizing unit. Determine the corresponding atomization compensation amount. Let the first... i The baseline atomization drive parameters for each atomizing unit under the current cleaning conditions are: The compensation amount is .

[0060] In one specific implementation, the following approach may be adopted:

[0061] in, The wind disturbance compensation coefficient can be obtained through prior experimental calibration.

[0062] To limit the driving parameters to within the allowable operating range of the atomizing unit, the maximum compensation amount can be further set. ,but:

[0063] Therefore, the compensated atomization drive parameters are obtained:

[0064] The above formula is only one compensation calculation method used in this embodiment. In other embodiments, a preset graded compensation table, a piecewise function, or other methods that determine the atomization compensation amount based on the degree of wind exposure can also be used.

[0065] S4. Implement unit-level differentiated wind disturbance compensation The controller uses the compensated atomization drive parameters corresponding to each atomizing unit. Each atomizing unit is controlled by a corresponding independent drive circuit. When a strong crosswind is detected on the left side of the robot, the controller increases the atomizing drive parameters of the atomizing unit on the windward side, thereby increasing the atomization output of the corresponding mist stream to compensate for the water mist shift and decrease in effective adhesion caused by the crosswind. At the same time, the atomizing unit on the leeward side maintains its corresponding baseline atomizing drive parameters, or adjusts them by a smaller compensation amount.

[0066] Therefore, under the same ambient wind conditions, atomizing units at different spatial locations can employ different atomization drive parameters, thereby achieving unit-level asymmetric wind disturbance compensation. Compared to the control method of uniformly increasing the water spray volume across the entire unit, this embodiment avoids simultaneously increasing atomization output in areas with low wind intensity, thus reducing unnecessary water mist consumption.

[0067] S5, Feedback Detection and Compensation Update After acquiring the compensated atomization state of each atomization unit, the controller updates the atomization compensation amount of the target compensated atomization unit based on the difference between the compensated atomization state and the corresponding target atomization state.

[0068] Let the first i The target atomization state of each atomizing unit is: The actual atomization state obtained by testing is Then, the atomization state deviation can be defined. .

[0069] The atomization state can be characterized by the amount of atomization, the coverage of the atomization area, or other parameters that can reflect the actual atomization output state.

[0070] In one implementation, the atomization state deviation can be considered. The wind disturbance compensation results were corrected as follows:

[0071] in, This represents the initial compensation amount calculated based on environmental wind disturbance. This is the atomization state feedback coefficient. This is the corrected compensation amount.

[0072] Finally, the corrected atomization drive parameters were obtained. The controller controls the operation of the corresponding atomizing unit based on the corrected atomization drive parameters.

[0073] When the actual atomization state is lower than the target atomization state, the driving parameters of the corresponding atomization unit are increased; when the actual atomization state is higher than the target atomization state, the driving parameters of the corresponding atomization unit are decreased, so that the actual atomization state of the corresponding area gradually approaches the target atomization state.

[0074] It should be noted that when the actual product is not equipped with a sensor that directly detects the amount of atomization or the coverage of the spray, the feedback control in this embodiment may not be a necessary control step, and the compensation amount may be determined by wind direction and wind speed and pre-calibrated parameters.

[0075] In one implementation, when the window cleaning robot turns, moves diagonally, or changes its body posture while moving on the glass surface, the body posture sensor acquires the posture information of the window cleaning robot in real time. When a change in body posture is detected and exceeds a preset posture change threshold, the controller updates the coordinate transformation relationship between the current body coordinate system and the environment coordinate system.

[0076] At this point, the ambient wind speed vector is re-transformed to the current fuselage coordinate system:

[0077] in, This is the attitude transformation matrix corresponding to the current moment.

[0078] Subsequently, the controller adjusts the relative wind speed vector accordingly. and the spatial position of each atomizing unit in the body coordinate system. The lateral wind component and wind intensity corresponding to each atomizing unit were redefined:

[0079] Therefore, when the robot turns, even if the ambient wind speed and direction remain basically unchanged, the spatial relationship between each atomizing unit and the ambient wind changes due to the change in the robot's posture, and thus the corresponding wind exposure also changes.

[0080] The controller recalculates the compensation amount for each atomizing unit based on the updated wind conditions:

[0081] And according to:

[0082] Determine the current atomization drive parameters for each atomization unit.

[0083] Therefore, the robot can redetermine the wind disturbance state of different atomizing units based on the current body posture when moving in a straight line, diagonally, or turning, without having to use a fixed left-right compensation relationship.

[0084] Furthermore, in order to detect the working status of each atomizing unit, this embodiment utilizes the electromechanical coupling characteristics of the piezoelectric ceramic ring 4 to obtain the vibration response signal during the working process of the atomizing unit.

[0085] Each piezoelectric ceramic ring 4 of the atomizing unit can generate a corresponding vibration response during operation. The controller obtains the vibration response parameters of the atomizing unit through the piezoelectric ceramic ring 4 or the vibration detection structure corresponding to the metal vibrating diaphragm 5. Let the first... i The vibration response parameters of each atomizing unit under its current operating state are as follows: The corresponding reference response parameters under normal operating conditions are: .

[0086] The reference response parameters can be obtained by pre-calibration under normal conditions after the atomization unit is assembled, or by obtaining them through multiple consecutive sampling cycles after the window cleaning robot is started and enters a stable atomization state.

[0087] To characterize the degree of change in the current vibration response relative to the normal state, the current anomaly level can be defined. :

[0088] when At that time, the controller will... i One atomizing unit was identified as an abnormal atomizing unit, among which This is a preset threshold for anomaly detection.

[0089] The abnormal atomization state can be caused by partial blockage of the micropores 10, crystal adhesion, changes in the membrane state, or other factors affecting atomization performance. When an atomization unit is determined to be in an abnormal state, the controller adjusts its driving parameters through the independent driving circuit corresponding to that atomization unit to improve the atomization output of that atomization unit.

[0090] Specifically, the fault compensation amount can first be determined based on the current degree of anomaly. ,in, This is the fault compensation coefficient.

[0091] Further considering the maximum driving range allowed by the atomizing unit, it can be set to... Thus, the drive parameters after fault compensation are obtained:

[0092] in, These are the driving parameters of the atomizing unit after wind disturbance compensation in the current environment.

[0093] Using the above method, targeted compensation can be performed only on abnormal atomizing units without increasing the output of other normal atomizing units. When the abnormal atomizing unit returns to the preset normal operating range after compensation, the controller maintains the current compensation parameters; when it still cannot return to the preset normal operating range after compensation, a fault message is generated for the corresponding atomizing unit to prompt the user to clean or maintain the corresponding atomizing unit.

[0094] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0095] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. Any of the claimed embodiments can be used in any combination.

Claims

1. A partitioned piezoelectric atomization device for a window cleaning robot, comprising a plurality of atomization units disposed on the body of the window cleaning robot and a controller connected to the plurality of atomization units, each atomization unit comprising a piezoelectric drive, a metal vibrating diaphragm and a sealed fixing base, wherein the piezoelectric drive is connected to the metal vibrating diaphragm, and the metal vibrating diaphragm is provided with a spherical protrusion, characterized in that, The spherical convex hull is provided with at least two microporous atomizing regions, and a non-porous isolation region is formed between adjacent microporous atomizing regions. Each microporous atomizing region is provided with multiple micropores, and different microporous atomizing regions are located in different curvature regions of the spherical convex hull, so that the mist formed by each microporous atomizing region is sprayed along a corresponding preset direction. The multiple atomizing units are electrically connected to the controller through independent drive circuits. The controller can adjust the drive parameters of each atomizing unit to independently control the atomization output of each atomizing unit.

2. The partitioned piezoelectric atomization device for a window cleaning robot according to claim 1, characterized in that, The spherical convex hull includes a non-porous isolation region located in the central region and a first microporous atomizing region and a second microporous atomizing region located on both sides of the non-porous isolation region, wherein the first microporous atomizing region and the second microporous atomizing region are symmetrically arranged with respect to the central region of the spherical convex hull.

3. The partitioned piezoelectric atomization device for a window cleaning robot according to claim 1, characterized in that, The microporous atomizing region is two or more, and each microporous atomizing region is distributed on the spherical convex hull according to a preset spatial position, so that the mist streams formed by different microporous atomizing regions have different spray directions. The spray angle and spray coverage area of ​​each mist stream are defined by the curvature of the spherical convex hull and the setting position of the microporous atomizing region.

4. The partitioned piezoelectric atomization device for a window cleaning robot according to claim 1, characterized in that, The plurality of atomizing units include a first atomizing unit and a second atomizing unit disposed on the left and right sides of the front part of the window cleaning robot body, and a third atomizing unit and a fourth atomizing unit disposed on the left and right sides of the rear part of the body. The first atomizing unit and the second atomizing unit are symmetrically arranged about the longitudinal center line of the body, and the third atomizing unit and the fourth atomizing unit are symmetrically arranged about the longitudinal center line of the body.

5. The partitioned piezoelectric atomization device for a window cleaning robot according to claim 1, characterized in that, Each of the independent drive circuits is used to independently adjust at least one of the drive frequency, drive voltage, drive power, vibration amplitude, and drive duty cycle of the corresponding atomizing unit.

6. An adaptive control method for a window cleaning robot using a zoned piezoelectric atomization device, characterized in that, Includes the following steps: S1. Obtain the body posture, direction of travel, ambient wind direction and wind speed of the window cleaning robot, as well as the position information of multiple atomizing units set at different spatial positions on the body of the window cleaning robot, and establish a body coordinate system based on the body of the window cleaning robot. S2. Based on the fuselage attitude and the ambient wind direction, the ambient wind direction is converted into a relative wind direction relative to the fuselage coordinate system, and based on the relative wind direction and the position information of each atomizing unit in the fuselage coordinate system, the lateral wind action state corresponding to each atomizing unit is determined respectively. S3. Based on the lateral wind action state and wind speed corresponding to each atomizing unit, determine the atomization compensation amount corresponding to each atomizing unit, and determine the target compensation atomizing unit from the plurality of atomizing units based on the atomization compensation amount. S4. By using an independent drive circuit corresponding to the target compensation atomization unit, the drive parameters of the target compensation atomization unit are independently adjusted according to the atomization compensation amount corresponding to the target compensation atomization unit, so as to improve the atomization output of the target compensation atomization unit, while controlling other atomization units that are not identified as target compensation atomization units to maintain the corresponding reference atomization output. S5. Obtain the compensated atomization state of each atomization unit, and update the atomization compensation amount of the target compensated atomization unit according to the difference between the compensated atomization state and the corresponding target atomization state.

7. The adaptive control method for a window cleaning robot according to claim 6, characterized in that, Based on the ambient wind speed, the relative wind direction, and the spatial position of each atomizing unit in the fuselage coordinate system, the lateral wind component corresponding to each atomizing unit is determined, and the corresponding atomization compensation amount is determined based on the lateral wind component. The larger the lateral wind component, the larger the corresponding atomization compensation amount.

8. The adaptive control method for a window cleaning robot according to claim 6, characterized in that, When the window cleaning robot is detected to be turning or changing its body posture, the relative wind direction of the ambient wind direction with respect to the body coordinate system is re-determined based on the changed body posture. Then, the lateral wind action state and atomization compensation amount of each atomizing unit are re-determined based on the re-determined relative wind direction and the spatial position of each atomizing unit.

9. The adaptive control method for a window cleaning robot according to claim 6, characterized in that, The vibration response parameters of each atomizing unit are obtained and compared with the corresponding reference response parameters. When the difference between the vibration response parameter of any atomizing unit and the corresponding reference response parameter exceeds a preset threshold, the atomizing unit is identified as an abnormal atomizing unit, and the driving parameters of the abnormal atomizing unit are independently adjusted to compensate for the atomization output.

10. The adaptive control method for a window cleaning robot according to claim 6, characterized in that, The output deviation between the actual atomization output and the target atomization output is determined based on the atomization state feedback parameters of each atomization unit, and the driving parameters of the corresponding atomization unit are corrected in a closed loop based on the output deviation.

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