There are dead angles such as rifling and concave and convex grooves on the inner wall of the non-flat pipeline, and ordinary laser cleaning equipment cannot remove the dead corners. After the robot laser is emitted from the reflective part 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, so as to clean the side wall of the groove, which can effectively clean the rust and other pollutants in the dead corner. The equipment can meet the customized cleaning requirements of different types of straight pipes with an inner diameter of 100-1000mm and unlimited length, which is a complete and upgraded technical means of laser cleaning of the original inner wall of pipes in the industry.