Based on the such technologies as embedded control system, automation, virtual machine, wireless communication, intelligent control and modular design method, an automatic cleaning robot including its wireless control system was developed. Taking some factors into consideration, some device and chips were selected and the on-board Atmega128A MCU motion control system was designed accordingly with the embedded design method. Meanwhile, the communication between the robot and the station controller is 433MHz radio frequency and the MCU code was designed in interrupt ISR structure and embedded method. Some field experiments were conducted and the results show that there is no lost control code in 433MHz RF communication with 4800,8N1 protocol, the control distance is over 200m, the working clean velocity is between 0-12m/min and adjustable smoothly. The robustness of the on-board MCU control system and high-performance of the cleaning robot were tested and indicted in result.