Along with the rapid growth of oil and gas pipeline mileage, pipeline inspection robot more and more applied to pipeline detection and cleaning, so its walking stability problem has been widely concerned. The status quo of development of differentialpressure type pipeline inspection robot and its speed control technology was analyzed at home and abroad. Aimed at the existing level of larger gap in supply and demand of largescale and practical application，three urgent problems were solved in need. Reference is provided for further study of the high intelligent differential pressure type pipeline inspection robot.