Supported by the Zhuhai Collaborative Innovation Project, we develop a Road-Rail Precision Cleaning Vehicle for the rail of the first modern tramway based on the Tram Wave system in China, which has been built in Zhuhai City. Development scheme of overall mechanical structure, electrical control and condition monitoring system and man-machine interface system has been realized. We also designed a target recognition algorithm based on OpenCV to control actuators like solenoid valve, electromagnetic clutch and air pressure regulating valve and so on.