US Patent 11340618 Drone based inspection system at railroad crossings

In the present invention, a transformable robot has been developed that can both drive and fly in the air to detect the different safety conditions and is referred to as a hybrid UAV/UGV. The invention relates to a transformable robot capable of flying and driving for survey of humps, visual sight lines, gates, lights, grades, rail deformations, culverts, drainage pipes, or signs at railroad crossings that comprise a ground locomotion system, an air locomotion system, controls, and a sensor that is necessary to do the survey of the different safety related conditions.