The invention discloses an autonomic barrier-crossing system for a wheel-track transformer station inspection robot and a control method thereof. The system includes a chassis and a control system. The chassis includes a robot control box body, a crawler belt running unit, a wheel running unit, a barrier-crossing supporting arm unit, and a drive motor set. The crawler belt running unit includes a left running crawler belt and a right running crawler belt. The left running crawler belt and the right running crawler belt are fixed at the two sides of the control box body respectively, and are separately connected to drive motors. The wheel running unit includes a left running wheel and a right running wheel. The running wheels are connected to supporting arm drive motors. The left running wheel and the right running wheel are fixed at the two sides of the control box body respectively. The control system includes an industrial control computer and a sensor set connected therewith. The industrial control computer is connected to multiple motor drivers, and each motor driver is connected to one corresponding drive motor. The autonomic barrier-crossing system can be automatically switched to a wheel type running mode or a crawler belt type running mode on the basis of needs, thereby satisfying inspection demands of a transformer station in different road conditions.