Aiming at the requirements of flexibility, controllability and wall adaptability for reconnaissance and monitoring of negative pressure wall-climbing robots （NPWCR） in dangerous environments of high-rise buildings, a control system based on STM32 for NPWCR was designed. In this control system, STM32F103RCT6 microcontroller was used as the core processor.The functional design was modular, including the main control module, power supply module, motor drive module, wireless communication module, fan drive module, camera module. The various modules worked together to realize the continuous movement, wireless communication and real-time video monitoring of the robot. By using the control system, the NPWCR can move flexibly on the wall and carry the reconnaissance and monitoring equipment for real-time monitoring. The research results can provide reference for developing control system for the multi-functional NPWCR.