Aiming at the detection requirements of the outer contour wear of the complex boiler water wall with the anti-wear beam on the surface, a new type of water wall detection scheme of rope traction robot is proposed, and the control system of the detection robot is developed. According to the modular design idea, an airborne controller based on bus technology is developed with STM32F407 as the control core. The single-chip computer program is designed according to the finite state machine method. The PI control algorithm is used to realize the attitude control, up and down motion speed control and horizontal position control of the robot platform, and the sound and light alarm and communication functions are realized. The upper computer is based on the LabVIEW integrated environment development program, communicates with the lower computer through the wireless serial port, obtains the acquisition of the outer contour of the water wall of the laser profilometer through Ethernet, and develops the monitoring interface of the robot. The experimental test shows that the system can stably control the movement of the robot and accurately collect sensor information. The maximum load is 100 kg, the weight of the platform itself is 60 kg, and the maximum operating distance is 200 meters, which meets the application requirements of complex water wall wear detection.