A sensor information acquiring device includes a sensor and a control section configured to determine that a position of a target object does not change even if a relative relation between the sensor and the target object changes and control an information acquisition direction of the sensor on the basis of information concerning displacement of a displacement section to which the sensor is attached. Even when a position, a direction, and the like of the sensor are changed by influence of work and the like, the sensor information acquiring device can always acquire effective sensor information concerning a desired target object.