[en] Pressure pipe inspection in nuclear power plants is one of the mandatory regulation items. Comparing to manual ultrasonic inspection, automatic inspection has the benefits of more accurate and reliable inspection results and reduction of radiation disposal. final object of this project is to develop an automatic pipeline inspection system of pressure pipe welds in nuclear power plants. We developed a pipeline scanning robot with four magnetic wheels and 2-axis manipulator for controlling ultrasonic transducers, and developed the robot control computer which controls the robot to navigate along inspection path exactly. We expect our system can contribute to reduction of inspection time, performance enhancement, and effective management of inspection results. The system developed by this project can be practically used for inspection works after field tests. (author)