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Title: Mobile autonomous robotic apparatus for radiologic characterization

Abstract

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 onmore » computer monitors at a central command console.« less

Inventors:
 [1];  [2];  [2];  [3];  [4];  [5];  [6]
  1. Dearborn, MI
  2. Aiken, SC
  3. Cowichan Bay, CA
  4. North Augusta, SC
  5. Blackville, SC
  6. Pleasanton, CA
Issue Date:
Research Org.:
Savannah River Site (SRS), Aiken, SC (United States)
OSTI Identifier:
872443
Patent Number(s):
5936240
Assignee:
United States of America as represented by United States (Washington, DC)
Patent Classifications (CPCs):
G - PHYSICS G01 - MEASURING G01T - MEASUREMENT OF NUCLEAR OR X-RADIATION
G - PHYSICS G01 - MEASURING G01V - GEOPHYSICS
DOE Contract Number:  
AC09-89SR18035
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
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; /250/

Citation Formats

Dudar, Aed M, Ward, Clyde R, Jones, Joel D, Mallet, William R, Harpring, Larry J, Collins, Montenius X, and Anderson, Erin K. Mobile autonomous robotic apparatus for radiologic characterization. United States: N. p., 1999. Web.
Dudar, Aed M, Ward, Clyde R, Jones, Joel D, Mallet, William R, Harpring, Larry J, Collins, Montenius X, & Anderson, Erin K. Mobile autonomous robotic apparatus for radiologic characterization. United States.
Dudar, Aed M, Ward, Clyde R, Jones, Joel D, Mallet, William R, Harpring, Larry J, Collins, Montenius X, and Anderson, Erin K. Fri . "Mobile autonomous robotic apparatus for radiologic characterization". United States. https://www.osti.gov/servlets/purl/872443.
@article{osti_872443,
title = {Mobile autonomous robotic apparatus for radiologic characterization},
author = {Dudar, Aed M and Ward, Clyde R and Jones, Joel D and Mallet, William R and Harpring, Larry J and Collins, Montenius X and Anderson, Erin K},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {1}
}

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