By combining pipe cleaning unit, propulsion module, valves and control with modularization method, the general scheme of a novel sewer cleaning inspection robot was designed. The peristaltic walking program based on hydraulic oil circuit of the robot was given, and its peristaltic walking processes were analyzed. United control scheme of the system between host and lower computer was introduced. At the same time, the lower computer function in control system and its corresponding program flow were described. Upon this basis, a sewer cleaning inspection robot was developed and it was verified by testing experiments. The results show that the performances of robot have a good agreement with design aim in the scheme, and inspecting effect is good, which can reduce strength of worker.