Cleaning robot control method and device and cleaning robot

Abstract

The invention provides a cleaning robot control method and device and a cleaning robot, and relates to the technical field of robots. According to the scheme, target parameters of the environment where the cleaning robot is located are collected, and a target duty ratio correction coefficient is determined based on the target parameters; and controlling the output duty ratio of a rolling brush motor of the cleaning robot to be not greater than the duty ratio corrected by the target duty ratio correction coefficient, thereby dynamically adjusting the current of the motor according to the working site environment, preventing the waste of the electric quantity of a battery, reducing the loss of related devices (such as the motor) of the robot, and prolonging the service life of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a cleaning robot control method, a cleaning robot control device, and a cleaning robot. Background Art

[0002] To improve the power generation efficiency of photovoltaic panels, they need to be cleaned regularly to prevent excessive dust accumulation that affects efficiency. Currently, intelligent photovoltaic cleaning robots are commonly used to clean photovoltaic panels. These robots demonstrate strong cleaning capabilities. However, these robots are powered by a brushless DC motor. The main control board (MCU) directly controls the motor drive circuit or motor drive module via open-loop PWM. During the cleaning process, the motor speed does not automatically adjust based on environmental factors. This means that the brush speed often cannot automatically adjust to the amount of dust during the cleaning process. Regardless of whether the amount of dust on the photovoltaic panels is high or low, the robot's brush speed remains constant. This operating method wastes battery power and causes excessive motor current. This can lead to a series of subsequent problems, such as deteriorating the robot's battery health and shortening the motor life, resulting in a decrease in the robot's cleaning performance. Furthermore, if the robot's cleaning efficiency declines, it will inevitably require significant manpower and time to repair the robot, which will undoubtedly affect the overall progress and efficiency of the cleaning process. Therefore, how to improve the service life of the cleaning robot is one of the technical problems that technical personnel in this field urgently need to solve. Summary of the Invention

[0003] In view of this, an embodiment of the present invention provides a cleaning robot control method, device and cleaning robot to improve the service life of the cleaning robot.

[0004] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0005] A cleaning robot control method, comprising:

[0006] Obtaining target parameters of the environment in which the cleaning robot is located, wherein the target parameters include at least one of dust amount and humidity;

[0007] Obtaining a target duty cycle correction coefficient that matches the target parameter;

[0008] The output duty cycle of the roller brush motor of the cleaning robot is controlled to be no greater than the duty cycle corrected by the target duty cycle correction coefficient.

[0009] Optionally, in the above-mentioned cleaning robot control method, obtaining a target duty cycle correction coefficient that matches the target parameter includes:

[0010] Obtain a target duty cycle correction coefficient that matches the target parameter based on a preset mapping list.

[0011] Optionally, in the above cleaning robot control method, when the target parameter includes the dust amount and humidity, obtaining a target duty cycle correction coefficient that matches the target parameter based on a preset mapping list includes:

[0012] Based on the dust amount and humidity of the environment where the cleaning robot is located, search the preset mapping list to obtain a target duty cycle correction coefficient that matches the dust amount and humidity.

[0013] Optionally, in the above cleaning robot control method, based on the dust amount and humidity of the environment where the cleaning robot is located, searching the preset mapping list to obtain a target duty cycle correction coefficient that matches the dust amount and humidity includes:

[0014] Obtain a dust amount level corresponding to the dust amount of the environment where the cleaning robot is located;

[0015] Obtain a humidity level corresponding to the humidity of the environment where the cleaning robot is located;

[0016] Based on the dust amount level and humidity level, search the preset mapping list to obtain a target duty cycle correction coefficient that matches the dust amount level and humidity level.

[0017] Optionally, in the above cleaning robot control method, obtaining the target parameter of the environment where the cleaning robot is located includes:

[0018] Obtain the dust amount detected by the first dust sensor and the second dust sensor on the cleaning robot;

[0019] Obtain the humidity detected by the first humidity sensor and the second humidity sensor on the cleaning robot;

[0020] Perform a mean calculation on the detection results of the first dust sensor and the second dust sensor to obtain the dust amount of the environment where the cleaning robot is located;

[0021] Perform a mean calculation on the detection results of the first humidity sensor and the second humidity sensor to obtain the humidity of the environment where the cleaning robot is located.

[0022] Optionally, in the above cleaning robot control method, before obtaining a target duty cycle correction coefficient that matches the target parameter, it further includes:

[0023] Obtain the cleaning difficulty level of the cleaning object of the cleaning robot;

[0024] Increase or decrease the target duty cycle correction coefficient in the preset mapping list based on the cleaning difficulty level.

[0025] Optionally, in the above cleaning robot control method, the obtaining of the cleaning difficulty level of the cleaning object of the cleaning robot includes:

[0026] Obtain the type of the cleaning object of the cleaning robot;

[0027] Determine the cleaning difficulty level based on the type of the cleaning object.

[0028] A cleaning robot control device includes:

[0029] An environmental parameter acquisition unit for obtaining target parameters of the environment where the cleaning robot is located, where the target parameters include at least one of the dust amount and humidity;

[0030] A correction coefficient acquisition unit for obtaining a target duty cycle correction coefficient matching the target parameters;

[0031] A duty cycle control unit for controlling the output duty cycle of the rolling brush motor of the cleaning robot to be not greater than the duty cycle corrected by the target duty cycle correction coefficient.

[0032] A cleaning robot includes: at least one processing device and a storage device connected to the processing device, where:

[0033] The storage device is used to store a computer program;

[0034] The processing device is used to execute the computer program so that the cleaning robot can implement any of the above cleaning robot control methods.

[0035] Optionally, the cleaning robot is a photovoltaic panel cleaning robot.

[0036] Based on the above technical solutions, in the above solution provided by the embodiments of the present invention, by collecting the target parameters of the environment where the cleaning robot is located, determining the target duty cycle correction coefficient based on the target parameters, and controlling the output duty cycle of the rolling brush motor of the cleaning robot to be not greater than the duty cycle corrected by the target duty cycle correction coefficient, thereby, the motor current can be dynamically adjusted according to the working site environment, preventing waste of battery power, reducing the loss of robot-related components (such as motors), and improving the service life of the robot. Description of the Drawings

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0038] Figure 1 Schematic flowchart of the cleaning robot control method disclosed in the embodiments of the present application;

[0039] Figure 2 Schematic flowchart of the PID control algorithm for the cleaning robot;

[0040] Figure 3 Schematic structural diagram of the cleaning robot control device disclosed in the embodiments of the present application;

[0041] Figure 4 Schematic diagram of the internal module structure of the cleaning robot provided in the embodiments of the present application;

[0042] Figure 5 Schematic structural diagram of the cleaning robot disclosed in another embodiment of the present application;

[0043] Figure 6 Schematic structural diagram of a photovoltaic panel cleaning robot disclosed in the embodiments of the present application. Detailed implementation manners

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0045] The present application discloses a cleaning robot control method. This method obtains the target parameters of the environment where the cleaning robot is located, and based on the target parameters, controls the output duty ratio of the rolling brush motor of the robot, so that the rotation speed of the rolling brush motor changes following the target parameters, reducing the motor current, thereby reducing the loss of related components (such as motors) of the robot and improving the service life of the robot.

[0046] See Figure 1 , the cleaning robot control method disclosed in the embodiments of the present application includes:

[0047] Step S101: Obtain the target parameters of the environment where the cleaning robot is located, and the target parameters include at least one of the dust amount and humidity.

[0048] In this embodiment, a sensor for collecting environmental parameters is configured on the cleaning robot. The environmental parameters refer to the target parameters obtained by sampling and analyzing the air in the working environment of the cleaning robot. The target parameters refer to the relevant data that affect cleaning. The type of the target parameters can be selected according to design requirements. For example, it can include at least one of the dust amount and humidity, or other parameters. Among them, the dust amount refers to the amount of dust in the air, and the humidity refers to the air humidity.

[0049] Step S102: Obtain a target duty cycle correction coefficient that matches the target parameter.

[0050] When the values of the target parameters are different, the influence on the cleaning process of the robot is different. Moreover, in the case of different combinations of target parameters, the influence direction on the cleaning process (such as increasing the cleaning difficulty or reducing the cleaning difficulty) is different. Some numerical combinations are conducive to cleaning, while some combinations are not conducive to cleaning. Therefore, in this solution, the cleaning process can be analyzed in advance under each target parameter to determine the difficulty level of cleaning under each target parameter, and then the corresponding target duty cycle correction coefficient can be configured according to the difficulty level.

[0051] Step S103: Control the output duty cycle of the brush roller motor of the cleaning robot to be not greater than the duty cycle corrected by the target duty cycle correction coefficient.

[0052] After determining the target duty cycle correction coefficient, the target duty cycle correction coefficient is used to correct the duty cycle PWM(k) of the brush roller motor calculated by PID to obtain the target duty cycle. The target duty cycle is used as the constraint condition for the output duty cycle of the brush roller motor, so that the output duty cycle of the brush roller motor of the cleaning robot is not greater than the duty cycle corrected by the target duty cycle correction coefficient.

[0053] During the working process of the cleaning robot, the controller (MCU) of the cleaning robot processes the motor current in real time through Figure 2 the PID algorithm shown, while controlling the PWM output to reach the control speed and preventing the motor from overcurrent.

[0054] PID algorithm: PWM(k) = Kp·e(k) + Ki·T·Σe(j) + Kd·[e(k) - e(k - 1)] / T;

[0055] Among them, Σe(j) is the accumulation of errors from the initial moment to the Kth moment, where j is the sampling moment index, from the initial moment to the current moment k, and T is the sampling period; e(k) = min(I_max(k), I_target) - I_actual(k), I_max(k) is the upper limit of the dynamic current, which is determined by the current PWM duty cycle, I_max = I_rated * P, P is the current duty cycle, I_rated is the rated current of the motor, such as 10A, I_target is the target current, which is related to the motor characteristics and can be dynamically set according to the motor load characteristics and speed requirements; I_actual ≤ min(I_max(k), I_thermal_limit), I_actual(k) is the actual current, and I_thermal_limit is the thermal limit current, which is related to the motor characteristics.

[0056] After calculating the output duty cycle PWM(k) required by the roller brush motor at the Kth moment based on the above PID algorithm, the output duty cycle PWM(k) is corrected by the target duty cycle correction coefficient, and finally the output duty cycle PWM actually output by the roller brush motor is not greater than PWM(k) * α, where α is the target duty cycle correction coefficient.

[0057] As can be seen from the above solution, this solution collects the target parameters of the environment where the cleaning robot is located, determines the target duty cycle correction coefficient based on the target parameters, and controls the output duty cycle of the roller brush motor of the cleaning robot to be not greater than the duty cycle corrected by the target duty cycle correction coefficient. Thus, the motor current can be dynamically adjusted according to the working site environment, preventing waste of battery power, reducing the loss of robot-related components, and improving the service life of the robot.

[0058] In this embodiment, the mapping relationship between the target parameters and the target duty cycle correction coefficient can be established in advance and stored in a preset mapping list. After determining the target parameters, the preset mapping table can be looked up based on the target parameters to obtain the target duty cycle correction coefficient matching the target parameters. Specifically, when the target parameters include the dust amount and humidity, obtaining the target duty cycle correction coefficient matching the target parameters based on the preset mapping list includes: looking up the preset mapping list based on the dust amount and humidity of the environment where the cleaning robot is located to obtain the target duty cycle correction coefficient matching the dust amount and humidity.

[0059] In the technical solution disclosed in the embodiments of the present application, it is possible to configure a corresponding target duty cycle correction coefficient for each dust amount and humidity, which may cause the target duty cycle correction coefficient to change at all times, resulting in the controller of the robot repeatedly performing analysis and calculations. This process will occupy a large amount of computing resources of the controller. Therefore, in this embodiment, the dust amount and humidity can be pre-divided into multiple levels, and each level covers a certain continuous range of dust amount and humidity. After determining the dust amount and humidity, determine the level to which the dust amount belongs, and determine the corresponding target duty cycle correction coefficient based on the level to which the dust amount belongs and the level to which the humidity belongs. At this time, the preset mapping list stores the mapping relationship between the dust amount level, the humidity level, and the target duty cycle correction coefficient. That is, based on the dust amount and humidity of the environment where the cleaning robot is located, search the preset mapping list to obtain the target duty cycle correction coefficient that matches the dust amount and humidity, including: obtaining the dust amount level corresponding to the dust amount of the environment where the cleaning robot is located; obtaining the humidity level corresponding to the humidity of the environment where the cleaning robot is located; based on the dust amount level and the humidity level, search the preset mapping list to obtain the target duty cycle correction coefficient that matches the dust amount level and the humidity level. At this time, the mapping table constructed between the dust amount level, the humidity level, and the target duty cycle correction coefficient can be shown in Table 1.

[0060]

[0061]

[0062] In another example of the present application, the user can also adjust the duty cycle PWM(actual) actually output under some working conditions based on the actual cleaning situation, so that the cleaning result of the cleaning robot meets the requirements. At this time, the user can correct the target duty cycle correction coefficient corresponding to these working conditions. At this time, the user can pre-configure respective correction amounts for these working conditions. At this time, under these working conditions, controlling the output duty cycle of the rolling brush motor of the cleaning robot to be not greater than the duty cycle after being corrected by the target duty cycle correction coefficient is specifically: controlling the output duty cycle of the rolling brush motor of the cleaning robot to be not greater than the duty cycle after being corrected by the final target duty cycle correction coefficient. The final target duty cycle correction coefficient refers to the target duty cycle correction coefficient after being corrected by the correction amount. Table 2 provides a mapping table between the dust amount level, the humidity level, and the corrected target duty cycle correction coefficient. The "+10%", "+20%" in Table 2 refer to the correction amounts, and "70% + 10%", "80% + 20%" are the target duty cycle correction coefficients after being corrected by the correction amounts. The size of the correction amount can be set according to actual needs.

[0063]

[0064]

[0065] In this embodiment, in order to ensure the reliability of the measured dust amount and humidity, in this solution, one dust sensor and one humidity sensor are respectively arranged on both sides of the cleaning robot, which are respectively denoted as the first dust sensor, the second dust sensor, the first humidity sensor, and the second humidity sensor. At this time, the target parameters of the environment where the cleaning robot is located are obtained, including: obtaining the dust amounts detected by the first dust sensor and the second dust sensor on the cleaning robot; obtaining the humidity detected by the first humidity sensor and the second humidity sensor on the cleaning robot; calculating the average value of the detection results of the first dust sensor and the second dust sensor to obtain the dust amount of the environment where the cleaning robot is located; calculating the average value of the detection results of the first humidity sensor and the second humidity sensor to obtain the humidity of the environment where the cleaning robot is located. At this time, the dust amount and humidity value obtained by the average value calculation are used as the target parameters of the environment where the cleaning robot is located.

[0066] In this embodiment, the types of the working objects of the cleaning robot are diverse. For example, the cleaning object of some cleaning robots is the tile surface, and the cleaning object of some cleaning robots is the glass surface. The cleaning difficulty levels of different cleaning objects are different. At this time, using the same configured target duty cycle correction coefficient for different cleaning objects will cause some cleaning objects to be difficult to clean effectively. Therefore, in this embodiment, the target duty cycle correction coefficient can also be adjusted based on the cleaning difficulty level of the cleaning object. At this time, before obtaining the target duty cycle correction coefficient matching the target parameters, it further includes: obtaining the cleaning difficulty level of the cleaning object of the cleaning robot; increasing or decreasing the target duty cycle correction coefficient in the preset mapping list based on the cleaning difficulty level. In this solution, when obtaining the cleaning difficulty level of the cleaning object, the cleaning difficulty level of the cleaning object can be determined based on the surface type of the cleaning object. This application can pre-configure different cleaning difficulty levels for the surface types of the cleaning objects. For example, the cleaning difficulty level of the metal surface is A, the cleaning difficulty level of the glass surface is B, and the cleaning difficulty level of the wooden surface is C. Thus, in this solution, the output duty cycle of the brush motor of the cleaning robot can also be adjusted based on the cleaning difficulty level of the surface type of the cleaning object.

[0067] As can be seen from the above technical solutions, compared with the traditional technical solution of directly controlling the duty cycle of the rolling brush motor based on open-loop PWM for a cleaning robot, the cleaning robot control method disclosed in this application can adjust the output duty cycle of the rolling brush motor in real time according to the target parameters of the environment where the cleaning robot is located, realize the dynamic coupling control of the rotation speed of the rolling brush motor, reduce the loss of the cleaning robot, extend the service life of the relevant components of the cleaning robot, and reduce the cost of maintenance and repair.

[0068] In this embodiment, a cleaning robot control device is disclosed. For the specific working content of each unit in the device, please refer to the content of the above method embodiment.

[0069] Next, the cleaning robot control device provided by the embodiment of the present invention will be described. The cleaning robot control device described below can be correspondingly referred to the cleaning robot control method described above.

[0070] An embodiment of this application discloses a cleaning robot control device. Refer to Figure 3 and the device may include:

[0071] An environmental parameter acquisition unit 10, configured to acquire target parameters of the environment where the cleaning robot is located, and the target parameters include at least one of the amount of dust and humidity;

[0072] A correction coefficient acquisition unit 20, configured to acquire a target duty cycle correction coefficient matching the target parameters;

[0073] A duty cycle control unit 30, configured to control the output duty cycle of the rolling brush motor of the cleaning robot not to be greater than the duty cycle corrected by the target duty cycle correction coefficient.

[0074] Corresponding to the above method, the above device may further include: a coefficient correction unit, configured to acquire the cleaning difficulty level of the cleaning object of the cleaning robot; and increase or decrease the target duty cycle correction coefficient in the preset mapping list based on the cleaning difficulty level.

[0075] An embodiment of this application also provides a cleaning robot. A processing device and a storage device connected to the processing device, wherein:

[0076] The storage device is configured to store a computer program;

[0077] The processing device is configured to execute the computer program so that the cleaning robot can implement any one of the above cleaning robot control methods.

[0078] Refer to Figure 4 shown, which shows a schematic structural diagram of a cleaning robot suitable for implementing the cleaning robot in the embodiment of this application. Figure 4The cleaning robot shown is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present application.

[0079] As Figure 4 shown, the cleaning robot may include a processing device (such as a central processing unit) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. When the cleaning robot is powered on, various programs and data required for the operation of the cleaning robot are also stored in the RAM 603. The processing device 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0080] Generally, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touchpad, a keyboard, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a memory card, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the cleaning robot to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 a cleaning robot with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. More or fewer devices may be alternatively implemented or had.

[0081] See Figure 5 and Figure 6 , the cleaning robot may include a dust sensor, a humidity sensor, and a sampling resistor. The dust sensor, the humidity sensor, and the sampling resistor are connected to the controller 5 of the cleaning robot, and the motor 6 is controlled through the controller. Among them, each module shown in Figure 4 may be integrated into the controller 5.

[0082] The cleaning robot is a photovoltaic panel cleaning robot. See Figure 6 , the photovoltaic panel cleaning robot is provided with a first dust sensor 1, a second dust sensor 2, a first humidity sensor 3, and a second humidity sensor 4. Among them, the first dust sensor 1 and the second dust sensor 2 are respectively arranged on both sides of the photovoltaic panel cleaning robot, and the first humidity sensor 3 and the second humidity sensor 4 are respectively arranged on both sides of the photovoltaic panel cleaning robot.

[0083] An embodiment of the present application also provides a computer program product, including computer-readable instructions. When the computer-readable instructions run on a cleaning robot, the cleaning robot is enabled to implement any one of the above-mentioned cleaning robot control methods provided by the embodiments of the present application.

[0084] An embodiment of the present application also provides a computer-readable storage medium, which carries one or more computer programs. When the one or more computer programs are executed by a cleaning robot, the cleaning robot is enabled to implement any one of the cleaning robot control methods provided by the embodiments of the present application.

[0085] In addition, it should be noted that the device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the attached drawings of the device embodiments provided in the present application, the connection relationship between modules indicates that they have a communication connection, which can be specifically implemented as one or more communication buses or signal lines.

[0086] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, can also be implemented by means of dedicated hardware, including application-specific integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. Generally, functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structures for implementing the same function can also be various, such as analog circuits, digital circuits or dedicated circuits. However, for the present application, in more cases, software program implementation is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a readable storage medium, such as a floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk or optical disc of a computer, including several instructions for causing a computer device (which can be a personal computer, training device, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0087] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product.

[0088] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (such as coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a training device or a data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

Claims

1. A cleaning robot control method, characterized in that, including: obtaining target parameters of the environment where the cleaning robot is located, the target parameters including at least one of the dust amount and humidity; obtaining a target duty cycle correction coefficient matching the target parameters; controlling the output duty cycle of the rolling brush motor of the cleaning robot to be not greater than the duty cycle corrected by the target duty cycle correction coefficient.

2. The cleaning robot control method according to claim 1, wherein, Obtaining a target duty cycle correction coefficient matching the target parameters includes: obtaining a target duty cycle correction coefficient matching the target parameters based on a preset mapping list.

3. The cleaning robot control method according to claim 2, wherein When the target parameters include the dust amount and humidity, obtaining a target duty cycle correction coefficient matching the target parameters includes: based on the dust amount and humidity of the environment where the cleaning robot is located, searching the preset mapping list to obtain a target duty cycle correction coefficient matching the dust amount and humidity.

4. The cleaning robot control method according to claim 3, wherein Based on the dust amount and humidity of the environment where the cleaning robot is located, searching the preset mapping list to obtain a target duty cycle correction coefficient matching the dust amount and humidity includes: obtaining a dust amount level corresponding to the dust amount of the environment where the cleaning robot is located; obtaining a humidity level corresponding to the humidity of the environment where the cleaning robot is located; based on the dust amount level and humidity level, searching the preset mapping list to obtain a target duty cycle correction coefficient matching the dust amount level and humidity level.

5. The cleaning robot control method according to claim 3, characterized in that, Obtaining target parameters of the environment where the cleaning robot is located includes: obtaining the dust amount detected by the first dust sensor and the second dust sensor on the cleaning robot; obtaining the humidity detected by the first humidity sensor and the second humidity sensor on the cleaning robot; performing an average calculation on the detection results of the first dust sensor and the second dust sensor to obtain the dust amount of the environment where the cleaning robot is located; performing an average calculation on the detection results of the first humidity sensor and the second humidity sensor to obtain the humidity of the environment where the cleaning robot is located.

6. The cleaning robot control method according to claim 3, wherein Before obtaining a target duty cycle correction coefficient matching the target parameters, it further includes: obtaining the cleaning difficulty level of the cleaning object of the cleaning robot; increasing or decreasing the target duty cycle correction coefficient in the preset mapping list based on the cleaning difficulty level.

7. The cleaning robot control method according to claim 6, characterized in that, The obtaining the cleaning difficulty level of the cleaning object of the cleaning robot includes: obtaining the type of the cleaning object of the cleaning robot; determining the cleaning difficulty level based on the type of the cleaning object.

8. A cleaning robot control device, characterized in that, including: an environmental parameter acquisition unit for obtaining target parameters of the environment where the cleaning robot is located, the target parameters including at least one of the dust amount and humidity; a correction coefficient acquisition unit for obtaining a target duty cycle correction coefficient matching the target parameters; a duty cycle control unit for controlling the output duty cycle of the rolling brush motor of the cleaning robot to be not greater than the duty cycle corrected by the target duty cycle correction coefficient.

9. A cleaning robot, characterized in that, including: including at least one processing device and a storage device connected to the processing device, wherein: the storage device is used for storing computer programs; The processing device is used to execute the computer program so that the cleaning robot can implement the cleaning robot control method described in any one of claims 1 to 7.

10. The floor cleaning robot according to claim 9, characterized in that, The cleaning robot is a photovoltaic panel cleaning robot.

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