Precise positioning method of automatic pipeline inspection robot and implementation device

The invention provides an accurate positioning method of an automatic pipeline inspection robot and an implementation device, and relates to the field of buried pipeline detection. According to the method, magnetic induction intensity signals are preliminarily sampled through the magnetic induction intensity signal preliminary sampling circuit, collected data are processed and then sent to the analog-to-digital conversion module integrated in the microprocessor, magnetic induction intensity above the ground is detected, processing is conducted through a normal line patrol positioning method, and therefore the relative position of a pipeline is judged; and determining whether to enter a defect positioning mode. If a defect positioning mode is entered, a steel chisel is inserted into the ground, is processed by a voltage signal preprocessing circuit and a separation circuit, is input into an analog-to-digital conversion module integrated in a microprocessor, and is processed by a defect positioning method, so t