Path planning method, surface cleaning robot and readable storage medium

The invention discloses a path planning method, a surface cleaning robot and a readable storage medium, and when the inclination angle of a to-be-cleaned surface relative to the ground is smaller than a preset angle, the surface cleaning robot advances to a first boundary of the to-be-cleaned surface and then adjusts the pose. The robot then advances along the first boundary until a second boundary is detected. And after the second boundary is detected, retreating along the first boundary until a third boundary opposite to the second boundary is detected. And then, between the second boundary and the third boundary, the angle detector is used for controlling the surface cleaning robot to stagger the movement tracks of two adjacent times of movement parallel to the first boundary until the to-be-cleaned surface is covered. By the adoption of the scheme, when the surface to be cleaned is a plane, the surface cleaning robot adjusts the pose through the angle detector so that the surface cleaning robot can be sta