The invention discloses a pipeline robot with a telescopic travelling device and a control system of the pipeline robot. The pipeline robot comprises a support unit and a travelling device arranged onthe support unit, wherein an electric push rod device is hinged between the travelling device and the support unit, and the electric push rod device drives the travelling device to stretch and retract back and forth along the axial direction of the travelling device; the support unit comprises a main support and a travelling support, wherein the travelling device is arranged on the travelling support; the electric push rod device comprises at least two electric push rods which are independently controlled and arranged in parallel, the bases of the electric push rods are fixed at the main support, and the tops of the electric push rods are hinged to the travelling support; and an infrared laser ranging module is arranged on the main support, and the infrared laser ranging module is electrically connected to the electric push rods. According to the pipeline robot with the telescopic travelling device and the control system of the pipeline robot, the structure is simple, the cost is low,the operation is simple and convenient, the travelling device can be independently controlled, and the pipe wall adaptability is high.