A control method of a cleaning robot using a rotational force of a plurality of rotation members as a motive power source for driving the cleaning robot, the control method of a cleaning robot comprising:
- driving the cleaning robot by rotating at least one of a first rotation member performing a rotational motion around a first rotation axis and a second rotation member performing a rotational motion around a second rotation axis;
- determining whether the cleaning robot reaches a wall surface during the driving;
- and
- driving the cleaning robot along the wall surface by rotating at least one of the first and second rotation members while maintaining one side surface of the cleaning robot to be in close contact with the wall surface when it is determined that the cleaning robot reaches the wall surface,
- wherein the driving of the cleaning robot along the wall surface includes driving the cleaning robot while generating a pushing force between the cleaning robot and the wall surface by rotating at least one of the first rotation member and the second rotation member to maintain the cleaning robot to be in close contact with the wall surface,
- wherein the driving of the cleaning robot along the wall surface further includes rotating the cleaning robot in such a manner that a straight line connecting the first rotation axis and the second rotation axis to each other forms an acute angle with a direction in which the cleaning robot is scheduled to be driven in a state in which the cleaning robot is parallel to a floor surface on which the cleaning robot is driven, before the driving of the cleaning robot while generating the pushing force, and
- in the driving of the cleaning robot while generating the pushing force, a rotational speed of at least one of the first rotation member and the second rotation member is controlled to generate the pushing force by allowing the cleaning robot to be driven along the wall surface while maintaining the acute angle,
- wherein the cleaning robot includes at least one distance detection unit, and
- in the driving of the cleaning robot while generating the pushing force, the rotational speed is controlled based on a distance between the distance detection unit and the wall surface obtained through the distance detection unit to maintain the acute angle, and
- wherein the distance detection unit includes a first distance detection unit and a second distance detection unit respectively disposed on left and right sides of a body of the cleaning robot, and
- in the driving of the cleaning robot while generating the pushing force, the rotational speed is controlled to maintain the acute angle in such a manner that a predetermined first reference value is maintained as a value of a difference in the distance between the distance detection unit and the wall surface obtained through the first distance detection unit and that obtained through the second distance detection unit.