Automatic cleaning devices, control method and storage medium

A method for controlling an automatic cleaning apparatus, comprising:

• emitting, via a light emitting assembly provided on a bottom surface of a mobile platform of the automatic cleaning apparatus, light signals within a predetermined angle range towards a direction of an operation surface;
• receiving, via a light receiving assembly, light signals reflected from the operation surface and generating spectral information based on the operation surface;
• and
• determining, via a control system, at least one of a material or a stain category of the operation surface based on the spectral information, and controlling, based on at least one of the material or stain category of the operation surface, a cleaning module to clean the operation surface.

A non-transitory computer-readable storage medium storing computer program instructions therein, wherein when the computer program instructions are invoked and executed by a control system of an automatic cleaning apparatus, the automatic cleaning apparatus is caused to perform steps:

• emitting light signals within a predetermined angle range towards a direction of an operation surface;
• receiving light signals reflected from the operation surface and generating spectral information based on the operation surface;
• and
• determining at least one of a material or a stain category of the operation surface based on the spectral information, and controlling, based on at least one of the material or stain category of the operation surface, a cleaning module to clean the operation surface.