When the pipe cleaner is conducting internal inspections of pipelines, the presence of weld seams on the pipe wall can lead to collisions between the mileage wheel and the pipe wall. To investigate the causes of errors in the circumferential welding seam of the odometer wheel, a combination of kinematic theory analysis and numerical simulation was used to analyze the motion process of the circumferential welding seam, and a corresponding mathematical model was established. Kinematic simulation of the circumferential welding seam process of the odometer wheel was conducted using ADAMS multi body dynamics software. The results showed that increasing the translational speed, radius, width, and weld size of the odometer wheel would increase the measurement error; When the mileage wheel speed is low, the recorded mileage is greater than the actual mileage, while when the mileage wheel speed is high, the recorded mileage is less than the actual mileage. In practical engineering applications, the operating speed of the intelligent pig can be appropriately reduced to reduce the radial runout of the mileage wheel when passing through the weld seam, reduce the variation of angular velocity, and thus reduce the measurement error of the mileage wheel when passing through the weld seam.