Movement control method of cleaning robot and cleaning robot

The invention provides a movement control method of a cleaning robot and the cleaning robot. Based on the method, in the moving process of the cleaning robot, three-dimensional information of an obstacle can be obtained through a sensor system; if an obstacle moves into the detection range of the sensor system, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold value; and when the maximum value of the included angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current advancing direction of the cleaning robot is larger than a third preset detection threshold value, the action away from the obstacle is automatically executed. Therefore, the sensor system of the cleaning robot can effectively obtain the three-dimensional information of the obstacle, and the accurate recognition of the obstacle is realized. 本说明书提供了清洁机器人