A home robot and control method thereof; the home robot comprises: a casing (100); a plurality of ultrasonic transmitters (200) and a plurality of ultrasonic receivers (300) provided on the casing (100) arranged at intervals; and a controller (400) connected to the plurality of ultrasonic transmitters (200) and the plurality of ultrasonic receivers (300) respectively, the controller (400) being used to control the plurality of ultrasonic transmitters (200) to transmit first ultrasonic wave signals according to a preset period and to detect a front obstacle according to signals received by the plurality of ultrasonic receivers (300). The home robot can detect the direction of an obstacle, and is not affected by a material of the obstacle, thus enabling the home robot to perform an avoidance method according to the detected direction of the obstacle, avoiding a collision between the home robot and the obstacle, increasing a cleaning coverage rate and improving a user experience.