US 5,324,948 A · Autonomous mobile robot for radiologic surveys

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.

Claims18

Dependent claims

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.

3 more elements

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.

4 more elements

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.

6 more elements

Dependencies are inferred from the claim text.

Autonomous mobile robot for radiologic surveys

Life of this patent

Autonomous mobile robot for radiologic surveys

Life of this patent

Abstract

Claims18