Method and apparatus of re-cleaning, cleaning robot, and storage medium

A method of re-cleaning, comprising:

• Obtaining, by at least one processer, a grid map of a target area, wherein the grid map comprises at least one primary cleaning partition;
• determining, by the at least one processer, whether primary cleaning partitions meeting the re-cleaning condition is present, in response to the primary cleaning partitions meeting the re-cleaning condition being present, designating the primary cleaning partition meeting the re-cleaning condition as a re-cleaning partition, so as to obtain at least one re-cleaning partition, wherein the re-cleaning condition is that the primary cleaning partition is provided with an along-wall mark and is not filled up by a cleaning mark;
• determining, by the at least one processer, whether re-cleaning partitions that a cleaning robot can reach are present in the at least one re-cleaning partition according to a preset obstacle information database, wherein the obstacle information database is configured to record real-time obstacle information identified during cleaning process;
• and
• navigating, by the at least one processer, to a target partition for cleaning in response to the re-cleaning partition that the cleaning robot can reach being present, wherein the target partition is the re-cleaning partition that the cleaning robot can reach with the shortest distance, wherein;
• the process of navigating to a target partition for cleaning in response to the re-cleaning partition that the cleaning robot can reach being present wherein the target partition is the re-cleaning partition that the cleaning robot can reach with the shortest distance comprises:
• navigating to the target partition in response to the re-cleaning partition that the cleaning robot can reach being present;
• determining whether navigation is successful when the navigation ends, wherein the navigation is successful means that the cleaning robot reaches an end of a planned navigation route;
• controlling, in response to the navigation being successful, the cleaning robot to clean the target partition;
• and
• determining, in response to the navigation being unsuccessful, whether the cleaning robot is located in the target partition, in response to the cleaning robot being located in the target partition, controlling the cleaning robot to clean the target partition, and in response to the cleaning robot being not located in the target partition, selecting a target partition again or ending cleaning.