Cleaning robot attitude estimation method and device and cleaning robot

The embodiment of the invention provides a posture estimation method and device of a cleaning robot and the cleaning robot. The method comprises the steps that vertical line detection is conducted on image data collected by the cleaning robot; constructing a vertical line constraint according to the detected vertical line; according to the vertical line constraint and the angular velocity data of the cleaning robot, attitude estimation is carried out on the cleaning robot, so that the problem that the global pitch angle and roll angle are estimated mainly depending on an accelerometer and the estimation error is relatively large in the prior art can be solved; the vertical line detection is performed on the image data acquired by the camera of the cleaning robot, the vertical line constraint is constructed, and the attitude estimation of the sweeper is performed by fusing the angular velocity data of the gyroscope, so that the attitude estimation of the cleaning robot which is high in precision and robustness