WASHING MACHINE AND CONTROL METHOD THEREOF

摘要

The present invention provides a cleaning robot and a control method thereof having an improved wheel structure for allowing an escape from a stuck state in various driving conditions. Optimal friction with a floor surface is provided by current control of a motor when escaping from a stuck state to allow the cleaning robot to escape from a door sill or an obstacle in a natural motion to allow stable driving regardless of a condition of the floor surface. Also, a current flowing in the motor is controlled until a drive wheel returns to a normal mode after escaping from the stuck state to allow stable driving without rattling. Damage to a wheel mechanism such as a gear by an external impact (a fall of a pet or an object) or an impact by vibration of the cleaning robot while driving over an obstacle can be prevented.