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本文针对瓷砖、玻璃等壁画设计了专用清洗机器人。文中阐述了该机器人设计中的几个关键技术，并着重介绍了控制系统的设计。
In this paper, ceramic tile, glass and other murals designed for cleaning robot. In this paper, several key technologies in the robot design are elaborated, and the design of the control system is emphatically introduced.