Autonomous mobile robot for radiologic surveys

Dudar, Aed M; Wagner, David G; Teese, Gregory D

Title: Autonomous mobile robot for radiologic surveys

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Abstract

An apparatus for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination,more » « less

Inventors:

Dudar, Aed M ^[1]; Wagner, David G ^[1]; Teese, Gregory D ^[2]

Augusta, GA
Aiken, SC

Issue Date:: 1994-01-01

Research Org.:: Savannah River Site (SRS), Aiken, SC (United States)

OSTI Identifier:: 869373

Patent Number(s):: 5324948

Assignee:: United States of America as represented by United States (Washington, DC)

Patent Classifications (CPCs):: G - PHYSICS G01 - MEASURING G01N - INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES

G - PHYSICS G01 - MEASURING G01V - GEOPHYSICS

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G - PHYSICS G01 - MEASURING G01N - INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
G01N2035/0489 - {Self-propelled units}

G - PHYSICS G01 - MEASURING G01V - GEOPHYSICS
G01V5/02 - specially adapted for surface logging, e.g. from aircraft

G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G05D1/0221 - {involving a learning process}
G05D2201/0207 - Unmanned vehicle for inspecting or visiting an area

G - PHYSICS G01 - MEASURING G01S - RADIO DIRECTION-FINDING
G01S15/931 - of land vehicles

G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G05D1/0276 - {using signals provided by a source external to the vehicle
G05D1/0274 - {using mapping information stored in a memory device
G05D1/0255 - {using acoustic signals, e.g. ultra-sonic singals
G05D1/0242 - {using non-visible light signals, e.g. IR or UV signals}
G05D1/0225 - {involving docking at a fixed facility, e.g. base station or loading bay

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DOE Contract Number:: AC09-89SR18035

Resource Type:: Patent

Country of Publication:: United States

Language:: English

Subject:: autonomous; mobile; robot; radiologic; surveys; apparatus; conducting; comprises; main; capable; following; preprogrammed; path; radiation; monitor; adapted; receive; input; detector; assembly; ultrasonic; transducers; navigation; collision; avoidance; on-board; computer; including; integrator; interfacing; front; rear; bumpers; attached; bumper; mounts; equipped; memory; boards; collection; storage; survey; information; connected; remote; host; via; uhf; radio; link; powered; rechargeable; 24-volt; dc; battery; stored; docking; station; recharging; contains; database; defining; paths; operate; limited; locations; walls; doors; stationary; furniture; equipment; sonic; markers; consisting; series; downloaded; conducts; floor; autonomously; preselected; rate; detects; contamination; resurveys; reduced; speed; resumes; confirmed; stops; sounds; alarm; preprogrammed path; remote host; ultrasonic transducer; apparatus comprises; radiation detector; detector assembly; ultrasonic transducers; radiation monitor; radiation survey; stored data; apparatus comprise; monitor detects; collision avoidance; receive input; mobile robot; host computer; radiologic surveys; dc battery; /250/

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                    Dudar, Aed M, Wagner, David G, and Teese, Gregory D. Autonomous mobile robot for radiologic surveys.  United States: N. p., 1994. 
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                    Dudar, Aed M, Wagner, David G, & Teese, Gregory D. Autonomous mobile robot for radiologic surveys.  United States.

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                    Dudar, Aed M, Wagner, David G, and Teese, Gregory D. Sat .  
        "Autonomous mobile robot for radiologic surveys".  United States.  https://www.osti.gov/servlets/purl/869373.

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@article{osti_869373,

  title        = {Autonomous mobile robot for radiologic surveys},

  author       = {Dudar, Aed M and Wagner, David G and Teese, Gregory D},

  abstractNote = {An apparatus for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {1994},

  month        = {1}

}

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