Sweeping end condition recognition method and device and sweeping robot

The embodiment of the invention is suitable for the technical field of robots, and discloses a sweeping end condition recognition method and device, a sweeping robot and a computer readable storage medium, and the method comprises the steps: obtaining a blank grid map expanded to a preset grid size after it is detected that a sweeping boundary map does not change in a preset time period; generating a target grid map according to the pre-marked along-wall marking information and the blank grid map; carrying out outer contour search on the target grid map to obtain outer contour information; andobtaining an identification result of the cleaning end condition according to the outer contour information. According to the embodiment of the invention, the cleaning end recognition accuracy and stability are improved, so that the missing scanning probability and repeated scanning probability are reduced. 本申请实施例适用于机器人技术领域，公开了一种清扫结束条件识别方法、装置、扫地机器人及计算机可读存储介质，其中，方法包括：检测到清扫边界地图在预设时间段内无变化后，获取扩张至预设栅格尺寸的空白栅格地图；根据预标记的沿墙标记信息和空白