Underground pipeline surveying and mapping device

The invention relates to the technical field of surveying and mapping devices, and particularly relates to an underground pipeline surveying and mapping device. The underground pipeline surveying and mapping device has the advantages that the movement of the device can be realized, so that a pipeline line can be measured; a sensor can be used for controlling, so that the pipeline line can be automatically drawn, the error is avoided, and the measuring is more accurate; the movement of the device can be realized, so that garbage and the like on the bottom wall of the pipeline can be cleared, the movement measuring in the pipeline is convenient, and the automatic cleaning in the pipeline is realized; the movement of the device can be realized, so that the cleared garbage can be absorbed, the absorbed garbage can be classified, and the final treatment is convenient; the movement of the device can be realized, so that the device can move in the pipeline, and the surveying and mapping are convenient; and the devic