The plan is based on the diameter, bending degree, and slope undulation of the on-site pipeline in the pipeline gallery, and the reasonable layout of the base station to provide full coverage of the pipeline gallery. The inspection robot moves between multiple base stations, establishing links first and then transmitting data, prioritizing efficient and stable link transmission. Low latency and efficient links can ensure real-time robot control and video data transmission. The solution adopts BodaCOM industrial grade 5.8G wireless devices to cope with complex and ever-changing pipeline on-site environments. This product adopts a private protocol, with strong anti-interference ability, high bandwidth, and no pressure to complete the tasks of robot inspection control and video data transmission inside the pipeline.