There are dead corners such as wall lines and concave and convex grooves on the inner wall of the uneven pipe, and ordinary laser cleaning equipment cannot clean the dead corners. After the robot laser comes out from the reflective component of the cleaning head, the laser will form a set angle with the side wall of the groove on the inner wall of the pipe, thereby cleaning the side wall of the groove, which can effectively clean rust and other pollutants in the dead corner. The equipment can meet the customized cleaning needs of different types of pipes with an inner diameter of 100-1000mm and unlimited length, which is an improvement and upgrade of the original laser cleaning technology for the inner wall of the pipe in the industry.