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.