Abstract: The present application discloses a method for cleaning along an edge, and a cleaning robot. The method includes ensuring that an object to be followed is found, rotating along a direction in which a tracking transducer gradually approaches the object to be followed and recording a plurality of values from the tracking transducer, determining an extreme value from the tracking transducer according to the plurality of values from the tracking transducer, stopping rotating if a current value from the tracking transducer and the extreme value from the tracking transducer satisfy a preset relationship, moving along a contour edge of the object to be followed in a current orientation.

Abstract: A restraint device of the disclosure restricts a robot to carry out a task in a predetermined area. The restraint device includes a portable housing, a first signal receiver and a first signal transmitter. The first signal receiver receives signals transmitted from the robot. The first signal transmitter is electrically connected to the first signal receiver, and is configured for communicating with the robot. The first signal receiver includes a plurality of signal receiving units positioned toward a front wall of the portable housing, and the plurality of signal receiving units receive the signals from the robot at a predetermined position and within a predetermined angle range. The first signal transmitter responses to signal received states of the plurality of signal receiving units to communicate with the robot. The disclosure also offers a restraint system and a restraint method thereof.

Abstract: A restraint device of the disclosure restricts a robot to carry out a task in a predetermined area. The restraint device includes a portable housing, a first signal receiver and a first signal transmitter. The first signal receiver receives signals transmitted from the robot. The first signal transmitter is electrically connected to the first signal receiver, and is configured for communicating with the robot. The first signal receiver includes a plurality of signal receiving units positioned toward a front wall of the portable housing, and the plurality of signal receiving units receive the signals from the robot at a predetermined position and within a predetermined angle range. The first signal transmitter responses to signal received states of the plurality of signal receiving units to communicate with the robot. The disclosure also offers a restraint system and a restraint method thereof.