In order to solve the problem of lacking effective cable pipeline examining method,apipeline-robot is designed to inspect the pipeline and clean wastes inside.By analyzing the robot motion,established a mathematical model of the robot and accordingly the relevant motor selection.The robot uses fuzzy control to correct body posture and pattern recognition algorithms to distinguish wastes and make proper clean inside pipes.Video ripple caused by the robot motion is also discussed in the paper.Experimental results show that the robot c...