Cleaning robot and motion control method thereof

A cleaning robot for removing particles, comprising:

• a cleaning element (1), configured to be in contact with a surface to be cleaned and forms at least one chamber (1a) with the surface to be cleaned;
• a suction module (2), in communication with the chamber (1a) and configured to draw air in the chamber (1a) to form negative pressure in the chamber (1a) causing the cleaning element (1) to adhere on the surface to be cleaned;
• a driving module (3) connected with the cleaning element (1) and capable of driving the cleaning element (1) to rotate with an axis perpendicular to the surface to be cleaned:
• a controller (4) coupled to the suction module (2) and the driving module (3);
• a bridge (5) connecting a plurality of cleaning elements (1), wherein at least one of the cleaning elements (1) is configured to be capable of deflecting with respect to the bridge (5) causing the rotation axis corresponding to the cleaning element (1) to be staggered with the rotation axes corresponding to other cleaning elements (1) to form an included angle.