Autonomous mobile robot for radiologic surveys

• US 5,324,948 A
• Filed: 10/27/1992
• Issued: 06/28/1994
• Est. Priority Date: 10/27/1992
• Status: Expired due to Fees

• Current Assignee: United States Department of Energy
• Original Assignee: United States Department of Energy
• Inventors: Wagner, David G., Teese, Gregory D., Dudar, Aed M.
• Primary Examiner(s): Dzierzynski, Paul M.
• Assistant Examiner(s): HANIG, RICHARD E
• Application Number:
  US07/966,925
• Time in Patent Office: 609 Days
• Field of Search: 250/379, 250/253, 250/255, 250/336.1, 250/301, 250/302
• US Class Current: 250/379
• CPC Class Codes: G01N 2035/0489 Self-propelled units
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01V 5/02 specially adapted for surface logging, e.g. from aircraft
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058

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, 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.

Claims

1. An apparatus for performing radiological surveys, said apparatus measuring the level of radiation on a surface and indicating when said surface radiation exceeds a predetermined level, said apparatus comprising:

a vehicle;

means carried by said vehicle for locating objects in the path of said vehicle;

means for detecting radiation, said detecting means carried by said vehicle in spaced relation to said surface so that said detecting means can measure said level, said detecting means producing a first output responsive to said measured level;

means responsive to said detecting means for monitoring said first output, said monitoring means carried by said vehicle and producing a second output when said first output exceeds a preselected limit; and

means responsive to said monitoring means for controlling the movement of said vehicle, said controlling means carried by said vehicle and automatically directing said vehicle to remeasure said surface when said monitoring means produces said second output.

2. The apparatus as recited in claim 1, further comprising an alarm carried by said vehicle and wherein said controlling means activates said alarm when said monitoring means produces said second output after said surface has been remeasured.

3. The apparatus as recited in claim 1, further comprising:

an alarm carried by said vehicle; and

means carried by said vehicle for generating an alarm acknowledgement signal, and wherein said controlling means activates said alarm when said monitoring means produces said second output after said surface has been remeasured and backs said vehicle when said alarm acknowledgment signal is generated.

4. The apparatus as recited in claim 1, wherein said locating means further comprises a plurality of transducers held forward of and away from said vehicle.

5. The apparatus as recited in claim 1, wherein said detecting means comprises:

at least one gas proportional counter, and

a supply of gas in fluid communication with said at least one gas proportional counter,

said controlling means controlling said supply of gas to said at least one gas proportional counter.

6. The apparatus as recited in claim 1, wherein said detecting means comprises:

at least one gas proportional counter;

at least two tanks of gas; and

hoses running from said at least one gas proportional counter to said at least two tanks of gas,

said controlling means controlling supply of said gas to said at least one gas proportional counter from said at least two tanks of gas and switching from one tank of said at least two tanks of gas to another tank of said at least two tanks when said one tank is empty.

7. The apparatus as recited in claim 1, wherein said detecting means further comprises:

at least one first detector facing said surface;

at least one second detector facing away from said surface for detecting background radiation; and

shielding between said at least one first detector and said at least one second detector.

8. An apparatus for performing radiological surveys, said apparatus measuring the level of radiation on a surface and indicating when said surface radiation exceeds a predetermined level, said apparatus comprising:

a vehicle;

means for navigating said vehicle over said surface, said navigating means adapted to direct said vehicle to follow a preselected path;

a plurality of transducers carried by said carried by said vehicle for locating objects in said preselected path;

means for detecting radiation, said detecting means carried by said vehicle in spaced relation to said surface so that said detecting means can measure said level, said detecting means producing a first output responsive to said measured level;

means responsive to said detecting means for monitoring said first output, said monitoring means carried by said vehicle and producing a second output when said first output exceeds a preselected limit; and

means carried by said vehicle in operating connection with said monitoring means, said navigating means and said plurality of transducers for integrating movement of said vehicle by said navigating means with said monitoring means and said plurality of transducers, such that said integrating means directs said detecting means to remeasure said surface in response to receipt of said second output from said monitoring means.

9. The apparatus as recited in claim 8, wherein said integrating means directs said vehicle to back up and said detecting means to remeasure said surface in response to receipt to said second output from said monitoring means.

10. The apparatus as recited in claim 8, further comprising an alarm carried by said vehicle and wherein said integrating means directs said vehicle to back up and remeasure said surface in response to receipt to said second output, said integrating means activating said alarm in response to receipt of said second output from said monitoring means after said detecting means has remeasured said surface.

11. The apparatus as recited in claim 8, further comprising:

an alarm carried by said vehicle; and

means carried by said vehicle for generating an alarm acknowledgment signal,

said integrating means directing said vehicle to back up and remeasure said surface in response to receipt to said second output and activating said alarm in response to receipt of said second output from said monitoring means after said detecting means has remeasured said surface, said integrating means directing said vehicle to back up a second time in response to receipt of said alarm acknowledgment signal.

12. The apparatus as recited in claim 8, wherein said detecting means comprises:

at least one gas proportional counter;

at least two tanks of gas; and

hoses running from said at least one gas proportional counter to said at least two tanks of gas,

said integrating means controlling supply of said gas to said at least one gas proportional counter from said at least two tanks of gas and switching from one tank of said at least two tanks of gas to another tank of said at least two tanks when said one tank is empty.

13. The apparatus as recited in claim 8, wherein said detecting means further comprises:

at least one first detector facing said surface;

at least one second detector facing away from said surface for detecting background radiation; and

shielding between said at least one first detector and said at least one second detector.

14. The apparatus as recited in claim 8, wherein said detecting means comprises:

a first gas proportional counter facing said surface;

a second gas proportional counter facing away from said surface;

shielding between said first and said second gas proportional counters

at least two tanks of gas; and

hoses running from said first and said second gas proportional counters to said at least two tanks of gas,

said integrating means controlling supply of said gas to said first and said second gas proportional counters from said at least two tanks of gas and switching from one tank of said at least two tanks of gas to another tank of said at least two tanks when said one tank is empty.

15. The apparatus as recited in claim 8, wherein said plurality of transducers is held forward of and away from said vehicle.

16. The apparatus as recited in claim 8, further comprising means for identifying via synthesized speech the type of radiation detected by said detecting means.

17. An apparatus for performing radiological surveys, said apparatus measuring the level of radiation on a surface and indicating when said surface radiation exceeds a predetermined level, said apparatus comprising:

a vehicle;

a battery for powering said vehicle;

means for navigating said vehicle over said surface, said navigating means including a first plurality of transducers carried by said vehicle adapted to direct said vehicle to follow a preselected path;

a second plurality of transducers carried by said vehicle for locating objects;

means for detecting radiation, said detecting means carried by said vehicle in spaced relation to said surface so that said detecting means can measure said level, said detecting means producing a first output responsive to said measured level;

means responsive to said detecting means for monitoring said first output, said monitoring means carried by said vehicle and producing a second output when said first output exceeds a preselected limit;

an alarm carried by said vehicle; and

means carried by said vehicle in operating connection with said monitoring means, said navigating means and said second plurality of transducers for integrating movement of said vehicle by said navigating means in response to said output of said monitoring means and said second plurality of transducers, said integrating means directing said detecting means to remeasure said surface in response to receipt of said second output and activating said alarm if said monitoring means produces said second output after said remeasuring.

18. The apparatus as recited in claim 17, wherein said detecting means comprises:

a first gas proportional counter facing said surface;

a second gas proportional counter facing away from said surface;

shielding between said first and said second gas proportional counters

at least two tanks of gas; and

hoses running from said first and said second gas proportional counters to said at least two tanks of gas,

said integrating means controlling supply of said gas to said first and said second gas proportional counters from said at least two tanks of gas and switching from one tank of said at least two tanks of gas to another tank of said at least two tanks when said one tank is empty.