The pipeline robot is designed to improve the work that the local water conservancy staff detect the problem of the reservoir culvert pipe. The machine substitutions will greatly improve the detection efficiency in outside. The omnidirectional pipeline robot has a cross structure which is the basic framework of the robot. The driving wheel, which is fixed on the top of each driving leg, can be changed adaptively according to the wall of the specific terrain. Pass the plane of the robot is the center of pipeline level, it could maximally avoid silt ponds culvert, and can greatly improve the pipeline dislocation climbing ability.