Mobile autonomous robotic apparatus for radiologic characterization

Patent · Fri Jan 01 00:00:00 EST 1999

OSTI ID:872443

Dudar, Aed M ^[1]; Ward, Clyde R ^[2]; Jones, Joel D ^[2]; Mallet, William R ^[3]; Harpring, Larry J ^[4]; Collins, Montenius X ^[5]; Anderson, Erin K ^[6]

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1. Dearborn, MI
2. Aiken, SC
3. Cowichan Bay, CA
4. North Augusta, SC
5. Blackville, SC
6. Pleasanton, CA

A mobile robotic system that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console.

• Research Organization: Savannah River Site (SRS), Aiken, SC (United States)
• DOE Contract Number: AC09-89SR18035
• Assignee: United States of America as represented by United States (Washington, DC)
• Patent Number(s): US 5936240
• OSTI ID: 872443
• Country of Publication: United States
• Language: English

Related Subjects

mobile
autonomous
robotic
apparatus
radiologic
characterization
conducts
radiological
surveys
map
alpha
beta
gamma
radiation
surfaces
relatively
level
containing
obstacles
stored
containers
hallways
equipment
walls
support
columns
incorporates
improved
monitoring
methods
multiple
scintillation
detectors
laser
scanners
maneuvering
ultrasound
pulse
generators
receptors
collision
avoidance
limited
space
trigger
visible
alarms
detected
transmit
location
data
real-time
reporting
mapping
locations
computer
monitors
host
station
multitude
performance
detect
on-board
controls
direction
speed
robot
due
pre-programmed
paths
operators
revise
preselected
movements
ethernet
communications
remonitor
avoid
capable
floor
survey
speeds
2-inch
30
inches
processor
collects
stores
transmits
information
intensity
display
central
command
console
radiation intensity
support column
monitoring method
scintillation detector
pulse generator
gamma radiation
radiation monitor
collision avoidance
mobile robot
improved radiation
support columns
laser scanner
limited space
laser scan
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