CCTV pipeline inspection robot is an integrated system of machinery, electricity, and instruments that can automatically walk along the inside or outside of pipelines, carry various sensors and operating machinery, and perform a series of pipeline operations under manual remote control or computer automatic control. During the inspection process, the slope curve of the pipeline can be obtained in real time to determine the sedimentation inside the pipeline, quickly capture defect images, and store high-definition inspection videos. It has become a hot research topic both domestically and internationally due to its advantages of fast movement, flexible manipulation, accurate judgment, and low cost.