The invention provides a method for judging the
pollution of a dust sensor, a wiping
system and a cleaning
robot thereof. The dust sensor comprises a pair of optical
signal elements, wherein the pair of optical
signal elements are arranged at both sides of a dust passage and respectively used for transmitting and receiving optical signals; and one sides of the optical
signal elements, which are close to the dust passage, are respectively provided with a transparent plate used for keeping dust out and protecting the dust sensor. The method for judging the
pollution of the dust sensor comprises the following steps of: carrying out analog /
digital conversion on a
real signal received by the dust sensor, and then solving an arithmetic mean value; and when the obtained arithmetic mean value is less than a certain preset value, judging that the transparent plates of the dust sensor need to be wiped. Thus the
pollution degree of the transparent plates of the dust sensor is judged in real time, a wiping mechanism of the wiping
system of the dust sensor is automatically started in time to wipe the transparent plates, therefore the accurate judgment of the dust sensor on dust quantity is effectively ensured, and the intelligent cleaning
robot can normally work all the time.