This paper describes a communication and control infrastructure for mobile robot used for outer inspection of boiler pipeline, which makes use of wireless local area network(WLAN) technology and Internet Protocols(Ips). The message bandwidth available from WLAN interface(11Mbps) and the use of the video jet can make the video and control stream real-time transmission in the same channel. Although TCP communication protocol is robust, serial server is a transparent channel and can't detect error and retransmit the data. In order to improve the reliability of serial communications, a new communication protocol is drawn. The software system is also discussed in this paper.