Cleaning robot control method, cleaning robot and cleaning system

The embodiment of the invention provides a control method of a cleaning robot, the cleaning robot and a cleaning system. The method comprises the steps that in the process that the cleaning robot executes a cleaning task, information of dirt in front is determined; according to the information of the dirt and the current first cleaning mode of the cleaning robot, the cleaning type of the dirt is determined, wherein the cleaning categories of the dirt comprise a first category capable of cleaning in the first cleaning mode, a second category capable of cleaning in the first cleaning mode and capable of cleaning in other cleaning modes, and a third category in which the cleaning robot cannot clean all the time; and according to the first cleaning mode and the determined cleaning category of the dirt, determining a treatment strategy for the dirt, and controlling the cleaning robot to execute the treatment strategy. According to the scheme, the adverse effect on the robot or the cleaning environment due to the f