A cleaning robot comprising: a body; a driving portion configured to move the body; at least one front light emitting portion configured to emit light forward from the cleaning robot; at least one side light emitting portion configured to emit light sideward from the cleaning robot; and at least one upper light emitting portion configured to emit light upward from the cleaning robot; the cleaning robot being characterized by further comprising: a) one light receiving module comprising a reflecting mirror, an image sensor, and an optical lens, b) the light receiving module being configured to obtain an image signal of an obstacle by receiving the light emitted from at least one of the front light emitting portion, the side light emitting portion, and the upper light emitting portion that is reflected by the obstacle, c) wherein the light receiving module is configured to obtain the image signal on the image sensor so that: c1) the light emitted from the front light emitting portion and the side light emitting portion is reflected by the reflecting mirror, the corresponding image signal being obtained in a first area of the image sensor, c2) the light emitted from the upper light emitting portion is not reflected by the reflecting mirror and the corresponding image signal being obtained in a second area of the image sensor not corresponding to the reflecting mirror, and c3) wherein the first area is different from the second area. a body; a driving portion configured to move the body; at least one front light emitting portion configured to emit light forward from the cleaning robot; at least one side light emitting portion configured to emit light sideward from the cleaning robot; and at least one upper light emitting portion configured to emit light upward from the cleaning robot; the cleaning robot being characterized by further comprising: a) one light receiving module comprising a reflecting mirror, an image sensor, and an optical lens, b) the light receiving module being configured to obtain an image signal of an obstacle by receiving the light emitted from at least one of the front light emitting portion, the side light emitting portion, and the upper light emitting portion that is reflected by the obstacle, c) wherein the light receiving module is configured to obtain the image signal on the image sensor so that: c1) the light emitted from the front light emitting portion and the side light emitting portion is reflected by the reflecting mirror, the corresponding image signal being obtained in a first area of the image sensor, c2) the light emitted from the upper light emitting portion is not reflected by the reflecting mirror and the corresponding image signal being obtained in a second area of the image sensor not corresponding to the reflecting mirror, and c3) wherein the first area is different from the second area. a) one light receiving module comprising a reflecting mirror, an image sensor, and an optical lens, b) the light receiving module being configured to obtain an image signal of an obstacle by receiving the light emitted from at least one of the front light emitting portion, the side light emitting portion, and the upper light emitting portion that is reflected by the obstacle, c) wherein the light receiving module is configured to obtain the image signal on the image sensor so that: c1) the light emitted from the front light emitting portion and the side light emitting portion is reflected by the reflecting mirror, the corresponding image signal being obtained in a first area of the image sensor, c2) the light emitted from the upper light emitting portion is not reflected by the reflecting mirror and the corresponding image signal being obtained in a second area of the image sensor not corresponding to the reflecting mirror, and c3) wherein the first area is different from the second area. c1) the light emitted from the front light emitting portion and the side light emitting portion is reflected by the reflecting mirror, the corresponding image signal being obtained in a first area of the image sensor, c2) the light emitted from the upper light emitting portion is not reflected by the reflecting mirror and the corresponding image signal being obtained in a second area of the image sensor not corresponding to the reflecting mirror, and c3) wherein the first area is different from the second area.