Pipe processing device and pipe processing method

A pipe processing device provided with an subject insertion body, which is inserted into a pipe from an opening portion of the pipe, to be movable by a movement mechanism in an axial direction along a center axis of the subject insertion body, a radial direction perpendicular to the center axis, a rotation direction of rotating about the center axis, and an oblique direction oblique with respect to the center axis, the pipe processing device comprising:

• an insertion end portion that is provided on a front side of the subject insertion body to be inserted into the pipe and is formed in a smaller outer diameter than an inner diameter of the pipe;
• an axial ultrasonic sensor that transmits and receives a sonic wave in an insertion direction with respect to a front end of the insertion end portion;
• a radial ultrasonic sensor that transmits and receives a sonic wave in a direction perpendicular to the center axis at a side portion of the insertion end portion;
• and
• a control unit that controls the movement mechanism according to detection results of the axial ultrasonic sensor and the radial ultrasonic sensor.