Integrated apparatus for mapping and characterizing the chemical composition of surfaces
First Claim
1. An apparatus for mapping and characterizing the chemical composition of a surface, which comprises:
- a primary platform upon which is supported an optical vision system which topographically maps surfaces within a target volume by directing a source light beam through the target volume, receiving the reflected source light beam from a point on a surface within the target volume, and analyzing the reflected source light beam to provide a locus for a topographical map, said optical vision system having means for scanning the source light beam through multiple points within the target volume;
a secondary platform upon which is supported a multisensor head and means for manipulating the position of the multisensor head over the mapped surface within the target volume, the multisensor head comprising at least one analytical probe connected to a remote detector which samples portions of the mapped surfaces within the target volume for chemical analysis;
a remote detector which, together with an analytical probe, performs chemical analysis in situ on the sample portions of the mapped surfaces within the target volume; and
one or more workstations with data processing means which;
controls the means for scanning the source light beam through multiple points within the target volume,monitors the position of the multisensor head within the target volume from input by the optical vision system,controls the means for manipulating the position of the multisensor head over the mapped surfaces within the target volume,correlates data from the remote detector and analytical probe with data from the optical vision system, andreports the results of the chemical analysis of the sample portions and the locations of the sample portions on the mapped surfaces.
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Accused Products
Abstract
An apparatus which accurately maps and detects contaminants within interior surfaces is provided. The apparatus finds use in supporting decontamination operations by providing on-site chemical analyses defining the condition of contaminated areas and monitoring the progress of clean-up operations. An optical vision system is used to accurately map the surface to be investigated or treated as a reference. Analytical probes are used to sample the mapped surface to detect inorganic and organic contaminants in situ. Automated controls which manipulate the analytical probes and high speed analytical equipment, such as a high speed gas chromatograph, are optionally used to take large numbers of samples quickly and remotely. The optical vision system tracks the position of the analytical probes, providing an accurate map of the location of the contaminants. The precise positioning of the contaminants and ease of sampling allows for more accurate characterization of the surfaces before, after, and during clean-up operations. The real-time analysis of the inspection sites also eliminates unnecessary and wasteful clean-up activity.
111 Citations
38 Claims
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1. An apparatus for mapping and characterizing the chemical composition of a surface, which comprises:
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a primary platform upon which is supported an optical vision system which topographically maps surfaces within a target volume by directing a source light beam through the target volume, receiving the reflected source light beam from a point on a surface within the target volume, and analyzing the reflected source light beam to provide a locus for a topographical map, said optical vision system having means for scanning the source light beam through multiple points within the target volume; a secondary platform upon which is supported a multisensor head and means for manipulating the position of the multisensor head over the mapped surface within the target volume, the multisensor head comprising at least one analytical probe connected to a remote detector which samples portions of the mapped surfaces within the target volume for chemical analysis; a remote detector which, together with an analytical probe, performs chemical analysis in situ on the sample portions of the mapped surfaces within the target volume; and one or more workstations with data processing means which; controls the means for scanning the source light beam through multiple points within the target volume, monitors the position of the multisensor head within the target volume from input by the optical vision system, controls the means for manipulating the position of the multisensor head over the mapped surfaces within the target volume, correlates data from the remote detector and analytical probe with data from the optical vision system, and reports the results of the chemical analysis of the sample portions and the locations of the sample portions on the mapped surfaces. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An apparatus for mapping and characterizing the chemical composition of a surface, which comprises:
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a primary mobile platform comprising a remotely controlled transport vehicle upon which is supported a frequency-modulated coherent laser radar 3D mapper system to topographically map surfaces within a target volume, said frequency-modulated coherent laser radar 3D mapper system having means for scanning a laser beam through multiple points within the target volume; a secondary mobile platform comprising a remotely controlled transport vehicle upon which is supported a multisensor head and means for manipulating the position of the multisensor head over the mapped surfaces within the target volume, said multisensor head comprising one or more analytical probes connected to a remote detector which samples portions of the mapped surfaces within the target volume for chemical analysis; one or more remote detectors which, together with an analytical probe, perform chemical analysis in situ on the sample portions of the mapped surfaces within the target volume; and one or more workstations with data processing means remote from the primary and secondary platforms, which; controls the transport vehicles of the primary and secondary platforms, controls the means for scanning the laser through multiple points within the target volume, monitors the position of the multisensor head within the target volume from input by the frequency-modulated coherent laser 3D mapper system, controls the means for manipulating the position of the multisensor head over the mapped surfaces within the target volume, correlates data from the one or more remote detectors and analytical probes with data from the frequency-modulated coherent laser radar 3D mapper system, and reports and archives the results of the chemical analysis of the sample portions and the locations of the sample portions on the mapped surfaces. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. An apparatus for mapping and characterizing the chemical composition of a surface, which comprises:
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(a) one or more remotely controlled transport vehicles upon which is supported (i) a scanning coherent laser detection system which topographically maps surfaces within a target volume by scanning a laser beam through the target volume, receiving the reflected laser beam from points on a surface within the target volume, and analyzing the selected laser beam to provide loci for a topographical map; and
(ii) a multisensor head attached to a robotic arm adapted to manipulate the position of the multisensor head over the mapped surfaces within the target volume, wherein the multisensor head comprises multiple analytical probes which sample portions of the mapped surfaces within the target volume for in situ chemical analysis by multiple remote detectors which comprise high speed gas chromatography coupled to a time-of-flight mass spectrometer and molecular vibrational spectrometer; and(b) one or more workstations with data processing means remote from the one or more remotely controlled transport vehicles which; controls the one or more transport vehicles, controls the robotic arm which manipulates the position of the multisensor head over the mapped surfaces within the target volume, monitors the position of the multisensor head within the target volume from input by the light sensor and the scanning coherent laser detection system, correlates data from the one or more remote detectors and analytical probes with data from the scanning coherent laser detection system, and reports the results of the chemical analysis and locations of the sample portions on the mapped surfaces. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38)
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Specification