Novel modularized ultra-long pipeline inner surface polishing and cleaning device

The invention provides a novel modularized ultra-long pipeline inner surface polishing and cleaning device. According to the device, hovering and advancing and retreating actions of the pipeline polishing device in the inner wall of a pipeline are achieved through the hovering traction device, polishing waste is collected through the dust collecting device and discharged out of the pipeline, and polishing, cleaning and walking are integrated. According to the pipeline robot with the cleaning function and the high dredging capacity, the cleaning function on the inner wall of a pipeline is achieved through the cleaning mechanism, and compared with an existing cleaning mechanism, the cleaning mechanism is more ingenious in structure, easy to control, small, exquisite, flexible, capable of being used in a combined mode, wider in adaptive pipeline type and higher in practicability. Machine vision is integrated, the pipeline grinding quality is detected, and repeated grinding can be conducted according to the feedb