US Patent 9863891 Vehicle for external inspection of pipes

A vehicle for external inspection of tubing conformed by a body with a magnetic traction arrangement in its lower part and at least one inspection device mounted on the body; In which the magnetic drive arrangement includes two front magnetic wheels, a rear magnetic wheel coupled to two servomotors, one for controlling longitudinal advancement and another rudder servomotor for controlling the spin or rotation of this third wheel, and wherein the magnetic drive arrangement Inspection consists of a laser sensor coupled to a linear actuator.