The invention provides a control system and a control method of a wall-climbing robot, and belongs to the technical field of robots. The wall-climbing robot comprises a left front magnetic wheel, a right front magnetic wheel, a left rear magnetic wheel, a right rear magnetic wheel and a robot body, permanent magnets capable of being adsorbed on the wall surface of steel are respectively embedded in the left front magnetic wheel, the right front magnetic wheel, the left rear magnetic wheel and the right rear magnetic wheel, the left front magnetic wheel, the right front magnetic wheel, the leftrear magnetic wheel and the right rear magnetic wheel are connected with the robot body through driving motors, and the control system comprises an initialization module, a communication module, a parameter input module, a state display module, a robot motion control module and an alarm and emergency stop module. Each magnetic wheel of the wall-climbing robot is driven by a single motor so as toensure enough driving force, and each magnetic wheel of the wall-climbing robot can be stably adsorbed on a steel wall surface under the action of the permanent magnets, so the wall-climbing robot canwalk to a required position under the control system and the corresponding control method, and the automation of operation is realized.