The invention relates to a multi-process coupling type pipe tool inner wall bionic cleaning device and a cleaning method thereof. The multi-process coupling type pipe tool inner wall bionic cleaning device comprises a left spray head, a pipe cleaning device, a steel brush, one connector, a right spray head, the other connector and an obstacle cleaning drill bit which are connected sequentially, axially and collinearly. A plurality of support legs are arranged on the outer side wall of each connector annularly at intervals. Rolling wheels are arranged at the ends, far away from the connectors, of the support legs and are in contact connection with the inner wall of a to-be-cleaned pipe tool. The centers of the left spray head, the pipe cleaning device, the steel brush, the connectors and the right spray head are all provided with through holes and form a pipeline sequentially. The left spray head and the right spray head are each provided with a plurality of nozzles. The nozzles in the left spray head is obliquely leftwards. The multi-process coupling type pipe tool inner wall bionic cleaning device and the cleaning method thereof integrate high-pressure jet flow cleaning and propulsion of the left spray head, scraping of the pipe cleaning device, scraping of the steel brush, high-pressure jet flow full cross-section cleaning of the right spray head and obstacle cleaning of the obstacle cleaning drill bit to achieve multi-process coupling type cleaning, and the significant advantages that high efficiency, environmental protection, low consumption, high flexibility and adaptability and an omnibearing effect are achieved, dead angles are avoided, and dirt difficult to remove through a conventional method can be removed are achieved.