Along with the development of science and technology, an intelligent robots have gradually become an important part of our life. In practical applications, the intelligent robot can be operated under the command of human operators or in pre-programmed programs, and can act according to principles set out by the artificial intelligence technology as well. This type of robot can be used indoors or outdoors, and can be used in industry or household. For example, the robot can be used to replace security guards to perform patrol, or replace people to clean the surface. The robot can also be used to accompany family members or assist in doing office work.
With a cleaning robot as an example, in order to improve the cleaning efficiency, it is ideal to automatically adjust a pose of the cleaning robot such that the robot moves along a principal direction before the cleaning robot performs cleaning operations. Wherein, the principal direction for example may be a direction formed by a wall, that is, the robot moves along a direction which is vertical to or in parallel with the wall, and then performs cleaning operations, so that regions for additional cleaning can be reduced as far as possible during cleaning, and the cleaning efficiency can be improved. Therefore, It is a key factor of improving the cleaning efficiency that how to adjust a pose of the robot accurately such that the robot can move along a principal direction.