Aiming at the problem of low cost and real-time shape-follow cleaning of large freeform surface workpiece in engineering application, a robotic laser cleaning control system was designed with STM32 as the main control chip. A two-dimensional scanning laser cleaning head is installed at the end of the robot to realize laser scanning. STM32 communicates with the robot controller through Ethernet, and cooperates with the robot controller by means of a laser rangefinder. The functions of focusing the freeform surface with shape and scanning and cleaning in blocks are completed. Finally, a large freeform surface workpiece is scanned and cleaned according to a S-path planning strategy, and the laser cleaning test is carried out. The results show that the control system has the characteristics of complete block splicing and good cleaning effect, and the cleaning efficiency can reach 0.396 m2/h.