The present application provides a control method, a device and a system of the robot and a robot using the same. The control method comprises: acquiring at least one image captured during a movement of the robot and identifying characteristic line segments in the at least one image; determining a relative orientation relationship between the robot and a room divider in a physical space according to the identified characteristic line segments; and adjusting a pose of the robot according to the orientation relationship, such that the robot moves along a principal direction constructed based on the room divider in the physical space. Through the technical solution in the preset application, the movement coverage rate of robot can be improved.