According to the characteristics of the legwheeled robot,methods of rolling by wheels,walking by legs and switching between legtype and wheeltype were proposed,and according to the specific requirements in the field of reconnaissance and the modular design method,the control system of the legwheeled reconnaissance robot was designed and implemented.The system can remotely control the robot to realize all kinds of basic motions and switching to the other type,respectively in the legtype and wheeltype,and achieve reconnaissance capabilities through the camera sensor to collect and record information on the surrounding environment.Experiments verify the feasibilities of the robot movement methods and the effectiveness of the control system.