Active steering in-pipe moving device and moving method thereof

The invention discloses an active steering in-pipe moving device and a moving method thereof. The device comprises a direct moving transmission component, a steering transmission component, a shell component and a control system, wherein the direct moving transmission component and the steering transmission component are respectively mounted on the shell component; the control system is connected with the direct moving transmission component and the steering transmission component, and controls working states of the direct moving transmission component and the steering transmission component; when a pipe is a straight pipe, the direct moving transmission component is controlled to work; and when the pipe is a manifold, the steering transmission component is controlled to work. The method comprises the following steps: in the straight pipe, the direct moving transmission component drives the in-pipe moving device to advance in the pipe; in the manifold, the steering transmission component drives the in-pipe moving device to rotate in a preset direction; and when the in-pipe moving device rotates to the preset direction, the direct moving transmission component drives the in-pipe moving device to advance in the pipe. The device and the method are suitable for active steering of a three-way pipe or a multi-branch pipe containing the manifold.