Pipe inspection device and method for operating same

One embodiment of the present invention provides a pipe inspection device comprising: at least one driving cup for generating a propelling force by using the pressure of a fluid flowing inside a pipe as the circumference thereof changes depending on inner diameters of the pipe; a driver module comprising multiple folding portions which are connected to the driving cup so as to fold or unfold the driving cup; an inspection module for detecting defects of the pipe in a non-destructive manner while being in close contact with the inner surface of the pipe; and a joint module connecting the driver module and the inspection module and changing relative positions of the driver module and the inspection module depending on the contour of the pipe.