Bi-directional robotic crawler for transporting a sensor system about a structure

A bi-directional robotic crawler comprising:

• a first drive system including a first drive member, a second drive member and a support member extending therebetween, the first drive member including a first pair of wheels and the second drive member including a second pair of wheels, the first and second pairs of wheels being rotatable to shift the bi-directional robotic crawler along a first axis;
• a second drive system mounted to the first drive system, the second drive system including a third drive member operably coupled to a first side of the support member, and a fourth drive member operably coupled to a second, opposing side of the support member, the third drive member being configured to shift the bi-directional robotic crawler along a second axis that is angled relative to the first axis;
• a linking member connected to the third drive member and the fourth drive member across the support member;
• a motor mounted to the first drive system, a first motor coupled to the third drive member and a second motor coupled to the fourth drive member, the motor being configured to move the bi-directional robotic crawler along the second axis;
• a directional change motor operably connected to the linking member, the directional change motor configured to selectively position the first pair of wheels and the second pair of wheels in contact with a surface;
• and
• a first axle extending between the first and second drive members on the first side of the support member, the first axle having a first end supporting a first gear element and a second end supporting a second gear element, the first gear element being operatively connected to one of the first pair of wheels and the second gear element being operatively connected to one of the second pair of wheels.