For the Pipe Inspection Crawler Camera, the precise kinematics model is the basis for precise motion control. There is little analysis of the kinematics and control theory of single wheel and wheeled mobile robot on the surface of the pipeline. It is necessary to establish a theory about the motion of the Pipe Inspection Crawler Camera.

On the basis of previous research results, Campion et al. analyzed the kinematics and dynamics model of Pipe Inspection Crawler Camera on horizontal leveling road, and summarized four state space models: two-position kinematics model, configuration Kinematic model, pose dynamics model, configuration dynamic model. Karl Iagnemma et al. analyzed the various contact situations between the wheel and the ground when the wheel and the ground were not rigid. When the ground was irregular, the model theory based on the contact characteristics between the wheel and the ground was established. However, the above model assumes that the wheels and the ground are not deformable, and the ground is a regular horizontal road. When the Pipe Inspection Crawler Camera is running in a round pipe, since the environment inside the pipe is a three-dimensional surface environment, the Pipe Inspection Crawler Camera actually runs on a space surface, so the above model cannot be applied to the Pipe Inspection Crawler Camera in the pipe.