Autonomous path planning and path execution for decontamination of nuclear power plant objects

A decontamination system configured to decontaminate an object removed from a nuclear power plant, the decontamination system comprising:

• a platform;
• an imaging system;
• a robotic arm comprising an end effector configured to discharge a decontamination medium;
• and
• a control system operably coupled to the imaging system and the robotic arm, wherein the control system is configured to:
• scan, by the imaging system, the object based on the object being positioned on the platform;
• generate, by the control system, a three-dimensional model of the object based on the scanned object;
• plan, by the control system, a decontamination path based on the generated three-dimensional model;
• control, by the control system, the robotic arm according to the planned decontamination path;
• and
• discharge, by the end effector, the decontamination medium onto the object at a plurality of positions along the planned decontamination path.

A method of decontaminating an object removed from a nuclear power plant utilizing a decontamination system, wherein the decontamination system comprises a platform, a motion generating system configured to rotate the platform, an imaging system, a robotic arm comprising an end effector configured to discharge a decontamination medium, and a control system operably coupled to the motor, the imaging system, and the robotic arm, the method comprising:

• placing the object on the platform;
• maintaining, by the control system, a position of the imaging system;
• rotating, by the motion generating system, the platform to a plurality of rotated positions relative to the imaging system;
• scanning, by the imaging system, the object at the plurality of rotated positions;
• generating, by the control system, a three-dimensional model of the object based on the scanned object;
• planning, by the control system, a decontamination path based on the generated three-dimensional model;
• controlling, by the control system, a position of the robotic arm according to the planned decontamination path;
• and
• discharging, by the end effector, the decontamination medium onto the object at a plurality of positions along the planned decontamination path.