This paper describes a new mechanism, communication system, and vision system of an internal pipe inspection robot. To date, inspection robots have had such limitations as their ability to turn in a T-shaped pipe or move in a plug valve. The new mechanism based on our dual magnetic wheels, resembling a crawler, not only overcomes the limitation but enables the robot to climb over sharp obstacles like sleeve and dresser joints. Another drawback of earlier robots is that the friction between the pipe and the cables for communication and power supply makes it difficult to move a long distance. A fiber optic communication system can reduce the friction. The new vision system has been significantly miniaturized, enabling it to clearly view and inspect the welded section underneath the robot while gazing ahead for navigation. An experimental inspection robot has been successfully made to confirm the efficiency of the approach.