A robot is developed which is able to climb on a perpendicular branched piping and moves on the ceiling in the piping with the radio control. This inspection robot adheres to the piping using the magnetic adhesive force of a magnetic crawler and moves in piping. Therefore, the crawler should be composed of magnets that have optimal adhesive force. In order to design the crawler, the magnetic adhesive force is analyzed, and the design method of the inspection robot in the piping is shown. The robot mounts the radio control unit and the compact radio camera so as to inspect inside of piping. To validate it, a compact crawler type radio robot is made, and traveling performance or inspection performance in the piping are examined.
