Cleaning control method and apparatus, cleaning robot and storage medium

A cleaning control method, executed when cleaning an unknown space to be cleaned by a cleaning robot, wherein the cleaning robot is used in conjunction with a base station, the base station is a cleaning device used by the cleaning robot, the space to be cleaned comprises an entrance/exit, and the base station or the entrance/exit is configured as a reference object, wherein the cleaning control method comprises:

• S1:
• acquiring a map of the space to be cleaned as a first space map, wherein the first space map is configured to indicate the space to be cleaned or a subspace to be cleaned in the space to be cleaned, and the subspace to be cleaned is an uncleaned area in the space to be cleaned;
• S2:
• based on the first space map, dividing the space to be cleaned into at least one cleaning area, wherein an entrance/exit is provided between two adjacent and connected cleaning areas;
• S3:
• setting a cleaning sequence for the at least one cleaning area, wherein the cleaning sequence satisfies that any path from an entrance/exit of any cleaning area to the reference object is not allowed to pass through other cleaning area that has been cleaned;
• and
• S4:
• sequentially performing cleaning operations on the at least one cleaning area of the space to be cleaned according to the cleaning sequence in unit of a cleaning area.