Pipeline detection method and device, storage medium and robot

The invention discloses a pipeline detection method which comprises the following steps: S1) providing a pipeline defect feature classification data model which comprises a plurality of groups of pipeline feature attribute vectors M in one-to-one correspondence with a plurality of pipeline defect types; s2) collecting a pipeline image, and extracting a defect feature vector N of the target area; and S3) respectively carrying out convolution on the defect feature vector N and the plurality of groups of pipeline feature attribute vectors M, wherein the pipeline defect type corresponding to the maximum convolution value is the pipeline defect type of the target area. Learning training is performed on the defect feature and pipeline defect type division relationship of the pipeline sample images through the pipeline defect feature classification data model so that the defect type of the pipeline target area can be rapidly identified, and defect detection efficiency and accuracy of the pipeline crawling robot can