The invention discloses an obstacle sensing method, a cleaning
robot, a storage medium and a program product, and the obstacle sensing method comprises the steps: obtaining
sensing data of a sensing sensor of the cleaning
robot; in response to the situation that the cleaning
robot is detected to be in a diving state according to the
sensing data, a distance measuring sensor of the cleaning robot is controlled to emit first emitting light of a first
wavelength, and the diving state is used for representing that the cleaning robot is immersed in water; the distance measuring sensor is controlled to receive first reflected light, the first reflected light is formed by reflecting the first emitted light through a first obstacle, and the first obstacle is immersed in water; and determining a first distance between the first obstacle and the cleaning robot according to the first emitted light and the first reflected light. According to the method, when it is detected that the cleaning robot dives into the water, the first distance of the
underwater first obstacle is sensed based on the light of the first
wavelength emitted by the distance measuring sensor, and the
underwater driving risk of the cleaning robot can be reduced.