Provided is a cleaning robot system and a method of controlling the same for economically cleaning, with high workability, plate-shaped members, such as solar cell panels and reflecting mirrors used in photovoltaic power generation and solar thermal power generation systems. The results are adapted and combined to provide a result set R\u2032. The key sent from the soft switch device may be in clear text or be encrypted. The system can be combined with hydraulically sized, or scheduled, system piping and sprinkler heads. The invention may advantageously be used to improve decoding of frames containing short control messages with fill bits, e.