In order to detect the flaws on the wall of steel structures, the control system of the wall-climbing robot is designed, and the fuzzy control effect which is used to realize the function of the robot’s intelligent barrier-avoiding in automatic mode is tested. The robot owning the corresponding structural features was designed based on the design background, the application occasions and the functions. The every composition modules of the robot’s control system were designed and selected, and the controller needed by the automatic barrier-avoiding was designed based on the fuzzy control theory. The designed fuzzy controller was tested by the software of Matlab. The generating look-up tables of the fuzzy control can be used to write the programs of the fuzzy control. The fuzzy control effect needed to realize has been well validated by the testing results.