To provide an intra-
pipe moving
robot capable of moving suitably for different
pipe diameters.SOLUTION: An intra-
pipe moving
robot comprises: a movable body that is configured of a plurality of expansion / contraction units connected to one another via connection means, and is provided inside a pipe, the expansion / contraction unit comprising an outer tube formed of an elastic body, an inner tube provided inside the outer tube, and an end member that is provided at each axial end of the outer and inner tubes and forms a
closed space together with the inner periphery of the outer tube and the outer periphery of the inner tube, and the expansion / contraction unit axially contracting and radially expanding by supplying a fluid into the
closed space, and axially expanding and radially contracting by discharging the fluid from the
closed space; and a
fluid control device that operates the plurality of connected expansion / contraction units so that they imitate peristaltic motions in the pipe to cause the movable body to generate propulsion power. The
fluid control device comprises pipe inner
diameter acquisition means for acquiring the inner
diameter of the pipe, and propulsion control means configured to be capable of changing timing of the peristaltic motions on the basis of the inner
diameter of the pipe.SELECTED DRAWING: Figure 9