Aiming at the problem that the movement of the traditional inspection robot is limited to the two-dimensional plane and cannot be engaged in complex terrain inspection work， a system that adopts the structure of the hexapod robot controlled by the steering gear is designed， and the way of controlling the hexapod robot by the STM32 single-chip microcomputer， the control and debugging principle of the controller， the structure， hardware construction and software control of the hexapod robot are studied. In order to enable the hexapod robot to have the functions of obstacle avoidance， tracking， and automatic object identification， ultrasonic ranging technology， Bluetooth， WiFi wireless transmission technology， and camera control technology have been used， and relevant experimental debugging has been completed. The debugging results show that the control range for the inspection hexapod robot is more than 40 m， the ultrasonic ranging accuracy is 3mm， and the control accuracy of the steering gear is 0.24°. It can well complete tasks such as obstacle avoidance and tracking， and has the advantages of high stability and strong adaptability. It has achieved good results in practical application and has broad development prospects.