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Through the analysis of needs of the flat surface cleaning, based on cleaning characteristics of smooth surface and the controlling method of the robot, a pneumatic flat surface cleaning robot based on PLC control is presented. The control system is mainly studied here. Firstly, the whole structure and running process of the robot is introduced. Secondly, the hardware part of the control system is introduced, including pneumatic system and electrical control system. Finally, software design anddoi:10.2174/1874444301507011971 fatcat:4wmwioibrbcktdvpethtyxksge