Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i?1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i?1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i?1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.

Abstract: A method for navigating a robot through a limited space includes: obtaining a planned first path for the robot to reach a target position; calculating curvature and/or normal vectors of points in the first path; according to the curvature and a preset curvature threshold, and/or according to the normal vectors and a preset normal vector change threshold, obtaining a first straight path for the robot outside the limited space by curve fitting; determining an intersection of a centerline of the limited space and the first straight path, and determining a second straight path for the robot to move through the limited space according to the centerline and the intersection; and generating a second path for the robot to move through the limited space based on the first straight path and the second straight path, and navigating the robot to move through the limited space according to the second path.

Abstract: A cleaning method of a cleaning robot, a chip, and a cleaning robot. The cleaning method of the cleaning robot includes: moving forward and along a first lateral direction to form a first cleaning path; moving backward to form a second cleaning path; moving forward and along a second lateral direction to form a third cleaning path, where the second lateral direction is opposite to the first lateral direction; and repeatedly performing the first cleaning path, the second cleaning path, and the third cleaning path in turn. The cleaning method of the cleaning robot improves the cleaning effect by repeatedly performing a three-segment series of paths.

Abstract: A cleaning method of a cleaning robot, a chip, and a cleaning robot. The cleaning method of the cleaning robot includes: moving forward and along a first lateral direction to form a first cleaning path; moving backward to form a second cleaning path; moving forward and along a second lateral direction to form a third cleaning path, where the second lateral direction is opposite to the first lateral direction; and repeatedly performing the first cleaning path, the second cleaning path, and the third cleaning path in turn. The cleaning method of the cleaning robot improves the cleaning effect by repeatedly performing a three-segment series of paths.