| 摘要 |
The present invention relates to an unmanned ground vehicle (UGV) for inspecting infrastructure. The UGV includes a navigation system including one or more sensors for sensing the infrastructure, and for navigating the UGV relative to the sensed infrastructure. An inspection system is also provided for inspecting the infrastructure. Advantageously, the UGV may navigate along and inspect all sizes of culverts. The UGV may be accurately and repeatedly navigated relative to the sensed culverts during inspection using the localized onboard sensors, and preferably need not rely on GPS signals which are often unreliable in confined locations and less accurate than the sensors. Preferably, the navigation is automated thereby improving inspection accuracy and repeatability. Equal Distance 104- 114 112'<0 Figure Ia 126 116 120, <104 / 127 :1 Equal Distance 122 128 <124 /Equal Distance Figure lb |
