The invention discloses a cleaning robot and a control method thereof and belongs to the field of smart home. The method comprises: acquiring a marked position of a charging pile in a map, wherein the map is a map drawn by the cleaning robot; controlling the cleaning robot to move to a position in front of the marked position and identifying the charging pile; if the charging pile is not identified, generating a searching path based on the marked position; controlling the cleaning robot to move forward according to the searching path, and identifying the charging pile in a movement process. By adopting the cleaning robot and the control method thereof, the problems that an actual position of the charging pile is different from the marked position in the map and the cleaning robot cannot find the charging pile and cannot perform pile returning action are solved and the effects of improving the intelligent degree of the cleaning robot and reducing manual intervention are realized.