Method and robotic vehicle for automatically mapping radiation in part of building

Abstract

The invention relates to a method for automatically rendering radiation in a part of a building (7) and / or a part of a transport object using a robotic vehicle (1). Said part of the building and / or said part of the transport object comprises a plurality of surfaces (9, 10), the method comprising: acquiring (1010) a 3D map (42) of a part of the building (7) and / or of a part of the transport object, where the 3D map (42) comprises a plurality of segments (44), each segment representing a surface (9, 10) of the building and / or of the transport object; applying, to each segment, a plurality of segments forming a coordinate grid of the segment, each segment having a boundary; physically marking, by the robotic vehicle, at least a portion of the boundary of each segment (46) on the corresponding surface (9, 10) with a coating; and rendering radiation of one or more sections (46) by scanning each of the one or more sections with a radiation sensor (28) by the robotic vehicle to measure radioactive radiation within the section, wherein the method further comprises: rendering at least one 3D image based on at least a portion of the 3D map; sending the rendered at least one 3D image to at least one screen (62, 66) of a virtual reality system arranged remotely from the robotic vehicle; detecting a command from a command device (64) of the virtual reality system (60); transmitting the command to the robotic vehicle; and operating the robotic vehicle in response to the command.

Description

Technical Field

[0001] This invention relates to a method for automatically mapping radiation in a portion of a building using a robotic vehicle.

[0002] Furthermore, the present invention relates to a robotic vehicle for automatically mapping radiation in a portion of a building. Background Technology

[0003] When a nuclear power plant is decommissioned, radiation levels in the walls and equipment of all rooms must be measured and mapped. Sometimes, multiple measurements of the walls and equipment are necessary. This was previously done by humans. However, for such a task, the risk of exposure to radiation and contamination can increase.

[0004] CN110231642A discloses a method for constructing a radiation field map. For this purpose, video images of radiation are captured. Furthermore, localization mapping is performed. This information is then fused to obtain a radiation field map.

[0005] US5,936,240 discloses a mobile robotic system for conducting radioactive surveys to map alpha, beta, and gamma radiation on surfaces. For this purpose, the robot includes a LIDAR system for navigation. Radiation data is collected and mapped to provide real-time printing of floor contamination maps.

[0006] EP542561A1 discloses a radiation mapping system using a mobile robotic vehicle. The radiation mapping system includes a radiation detector system attached to an L-shaped structure that can be moved using a motor. Summary of the Invention

[0007] The purpose of this invention is to improve existing systems, and in particular to provide a system and method that can provide reliable and verifiable results.

[0008] According to one aspect, a method for automatically mapping radiation in a portion of a building and / or a portion of a transport object using a robotic vehicle, the portion of the building and / or the portion of the transport object comprising a plurality of surfaces, the method comprising:

[0009] Acquire a 3D map of a portion of a building and / or a portion of a transported object, wherein the 3D map comprises multiple segments, each segment representing a surface of the building and / or the transported object;

[0010] For each segment, apply multiple segments to form a coordinate grid of the segment, each segment having a boundary;

[0011] The boundary of each segment is physically marked on the corresponding surface by the coating used by the robot vehicle; and

[0012] The radiation of the one or more segments is mapped by scanning each segment of the one or more segments with radiation sensors using the robotic vehicle to measure the radioactive radiation within that segment.

[0013] The method further includes:

[0014] Render at least one 3D image based on at least a portion of the 3D map;

[0015] The rendered at least one 3D image is sent to at least one screen of a virtual reality system located away from the robotic vehicle.

[0016] Detect commands from the command device of the virtual reality system;

[0017] Transmit the command to the robotic vehicle; and

[0018] The robot vehicle is operated in response to the command.

[0019] Other implementations may involve one or more of the following features that can be combined in any technically feasible combination:

[0020] • The at least one screen is inside or projected onto the goggles;

[0021] • The robotic vehicle includes the radiation sensor for measuring radioactive radiation and multiple cameras and / or second sensors, one or more of the second sensors being adapted to provide data capable of determining the position of the robotic vehicle within the building and / or determining the distance to objects within the building, wherein acquiring a 3D map of a portion of the building includes:

[0022] Data is acquired from the plurality of cameras and / or the second sensor;

[0023] The 3D map of the building portion is generated based on the acquired data;

[0024] • Images acquired by the at least one camera are integrated into the 3D map, in particular by coloring the segments of the 3D map and / or the point cloud used to generate the segments using visible light or color information derived from the images acquired by the at least one camera.

[0025] • The robot vehicle includes a manipulator arm having a proximal end and a distal end, the proximal end being fixed to the body of the robot vehicle, wherein a sensor support device is fixed to the distal end of the manipulator arm, and a radiation sensor for measuring radioactive radiation is fixed to the sensor support device.

[0026] • The method also includes the manipulator arm that operates the robotic vehicle in response to the command;

[0027] • The plurality of cameras and / or second sensors are arranged on the main body and / or the sensor support device;

[0028] • The method further includes: acquiring at least one image of the surface by the robotic vehicle; determining the boundary of the segment on the surface based on the acquired image; and moving the robotic vehicle and / or the manipulator arm of the robotic vehicle based on the determined boundary during scanning with the radiation sensor;

[0029] • The method further includes: for one or more segments, the robotic vehicle scans each segment with a radiation sensor to measure the radioactive radiation within that segment;

[0030] • Automatically plot the radiation of one or more segments;

[0031] • The method also includes physically marking the point with the highest measured radiation within the corresponding section of each scanning segment on the surface using a coating;

[0032] • The method also includes digitally marking the coordinate grids of the segment in the 3D map;

[0033] • The method further includes determining whether the radiation exceeds a predetermined radiation dose, and if the radiation exceeds the predetermined radiation dose, physically marking the segment on the surface by applying a coating to the surface.

[0034] • The robotic vehicle uses paint to mark each segment on the surface with an identifier;

[0035] • The method also includes displaying the measured radioactive radiation on the 3D map;

[0036] • The method further includes sampling the surface by the robotic vehicle in at least one section, particularly at the point in the at least one section where the highest measured radiation is observed;

[0037] • Physical marking is performed by spraying paint onto the surface.

[0038] According to another aspect, a system is provided for a robotic vehicle for automatically mapping radiation in a portion of a building and / or a portion of a transport object, the portion of the building and / or the portion of the transport object comprising a plurality of surfaces, the robotic vehicle comprising:

[0039] main body;

[0040] A mobile device adapted to move the robotic vehicle on a rough surface, the rough surface including steps;

[0041] Radiation sensors used to measure radioactive radiation;

[0042] nozzle;

[0043] The system further includes a remote controller and command device positioned remotely from the robotic vehicle, wherein the remote controller and / or the robotic vehicle are adapted to acquire a 3D map of a portion of the building, wherein the 3D map comprises multiple segments, each segment representing the surface of the building and / or the transport object;

[0044] The system is adapted to apply multiple segments to each segment, forming a coordinate grid of segments, each segment having a boundary;

[0045] The robotic vehicle is adapted to physically mark at least a portion of the boundary of each segment on the corresponding surface with paint;

[0046] in:

[0047] The remote controller is adapted to render a 3D image based on a portion of the 3D map to be displayed on at least one screen, and to send the rendered 3D image to the at least one screen;

[0048] The command device is adapted to send commands to the remote controller, the remote controller is adapted to transmit the commands to the robotic vehicle, and the robotic vehicle is adapted to operate in response to the commands.

[0049] Other implementations may involve one or more of the following features that can be combined in any technically feasible combination:

[0050] • The robotic vehicle also includes a plurality of cameras and / or second sensors, one or more of the second sensors being adapted to provide data capable of determining the position of the robotic vehicle within the building and / or determining the distance to objects within the building, wherein the remote controller and / or the internal controller of the robotic vehicle is adapted to acquire the data from the plurality of cameras and / or second sensors and generate a 3D map of a portion of the building based on the acquired data;

[0051] • The robotic vehicle also includes at least one manipulator arm having multiple segments connected to adjacent segments via rotatable joints having one or more joint motors. The manipulator arm has a proximal end and a distal end, wherein a sensor support is fixed to the distal end of the manipulator arm, the radiation sensor is used to measure radioactive radiation, and the nozzle is fixed to the sensor support.

[0052] • The plurality of cameras and / or second sensors are arranged on the main body and / or the sensor support device;

[0053] • The robotic vehicle is adapted to move the manipulator arm in response to the command;

[0054] •The command device is a handheld device or an operator;

[0055] • The mobile device has at least two legs and / or wheels;

[0056] • The distal end of the manipulator arm has six or more degrees of freedom;

[0057] • The nozzle is fluidly connected to the pressurized paint tank;

[0058] • The robotic vehicle includes at least one distance control device adapted to control the distance between the radiation sensor and the surface to be measured, particularly the distance between the radiation sensor and the surface to be measured of the building and / or the transport object;

[0059] • The distance control device includes at least three stops that are fixed relative to the radiation sensor and / or the nozzle, the distal ends of the at least three stops spanning a plane at a predetermined distance from the radiation sensor, wherein, in particular, the sensor measurement direction is perpendicular to the plane, and wherein, in particular, each stop has a roller or caster at its distal end.

[0060] • The distance control device includes at least one distance sensor and / or at least one internal controller, the at least one distance sensor being located at the sensor support, and the at least one internal controller being adapted to estimate the distance between the radiation sensor and the surface based on data from the one or more joint motors and / or sensors of the manipulator arm, combined with the distance between the robot vehicle and the surface determined by the plurality of cameras and / or sensors; and / or

[0061] • The robotic vehicle is adapted to acquire at least one image of a surface via the plurality of cameras and / or sensors, determine the boundary of a segment on the surface based on the acquired image, and move the robotic vehicle and / or the manipulator arm of the robotic vehicle based on the determined boundary during scanning with the radiation sensor.

[0062] Further advantages, features, aspects and details will be apparent from the dependent claims, the specification and the drawings. Attached Figure Description

[0063] The accompanying drawings illustrate embodiments of the invention and are described below:

[0064] Figure 1 A robotic vehicle according to an embodiment is shown;

[0065] Figure 2 The system according to an embodiment is illustrated schematically;

[0066] Figure 3 The manipulator arm of the robotic vehicle is shown;

[0067] Figure 4 The distal end of the manipulator arm of the robotic vehicle is shown schematically.

[0068] Figure 5 A front view of the distal end of the manipulator arm of the robotic vehicle is shown.

[0069] Figure 6 This illustration schematically shows a marking system used by a robotic vehicle;

[0070] Figure 7 The diagram illustrates the created virtual map;

[0071] Figure 8 The wall and floor are shown with the applied coordinate grid;

[0072] Figure 9 A flowchart of the method according to an embodiment is shown;

[0073] Figure 10 This illustration schematically shows a system for automatically mapping radiation in a section of a building using a robotic vehicle;

[0074] Figure 11 A virtual reality system is illustrated schematically; and

[0075] Figure 12 A flowchart illustrating an embodiment of the method according to the present invention is shown schematically. Detailed Implementation

[0076] Figure 1A robotic vehicle 1 is shown. The robotic vehicle 1 includes a body 3. Multiple cameras and / or sensors 5 are arranged on the body 3. The cameras and sensors 5 are used to acquire a 3D map of a portion of a building 7. For example, the multiple cameras and / or sensors 5 are scanning the environment of the robotic vehicle 1. This portion of the building 7 includes building surfaces 9, 10, particularly substantially flat building surfaces. Building surfaces 9, 10 may include a floor 9 and / or one or more walls 10.

[0077] Multiple cameras and / or sensors 5 are arranged on the main body 3, enabling them to acquire near and far environments of the robotic vehicle 1.

[0078] In some implementations, building 7 is a building of a nuclear power plant.

[0079] In some embodiments, as an alternative to or supplement to building 7, the transport object (not shown) is mapped by a robotic vehicle to obtain a 3D map. The transport object is an object in which contaminated material can be transported. For example, the transport object has a transport volume of several cubic meters, such as at least 15 cubic meters, particularly at least 30 cubic meters. An example of a transport object is a 20-foot shipping container. For example, the transport object has multiple substantially flat surfaces. Therefore, the following description applies not only to a portion of the building and the corresponding building surfaces, but also to the transport object and its corresponding surfaces.

[0080] Multiple cameras and / or sensors 5 are used to determine the position of the robotic vehicle within the building 7 and / or to determine distances to or around objects within or around the building 7 or the transported object. According to an embodiment, the cameras and / or sensors 5 are adapted to provide data capable of determining the position of the robotic vehicle 1, particularly within the building 7, for example, relative to the building surface or the surface of one or more transported objects within the building 7.

[0081] For example, at least one of the multiple cameras and / or sensors 5 is a LIDAR (Stimulated Errata Detection and Ranging) sensor. The output of the LIDAR sensor can be used to calculate the distance between itself (robot vehicle 1) and the surfaces 9, 10 of surrounding buildings (particularly wall 10) and / or the surface of the transported object. In some embodiments, other cameras among the multiple cameras and / or sensors 5 are taking photographs of the near-environment of the robot vehicle 1. The cameras can also be used to determine distances, for example, by also taking into account the distance traveled by the robot vehicle 1.

[0082] Furthermore, the robotic vehicle 1 includes a mobile device 12. The mobile device 12 is provided for moving the robotic vehicle through the building 7 and / or transporting objects. The mobile device 12 is adapted to move the robotic vehicle 1 around an area including steps. The steps may have a height of at least 10 cm, particularly at least 15 cm.

[0083] The mobile device 12 has at least two legs and / or wheels. Figure 1 In the illustrated embodiment, the mobile device has four legs. In some embodiments, each leg may have at least one wheel, particularly two wheels. The wheels can be propelled.

[0084] However, other forms are also possible. For example, the mobile device 12 may be equipped with front and rear outriggers that have two wheels respectively.

[0085] Mobile devices enable the robotic vehicle 1 to move autonomously through the portion of building 7. In some embodiments, a remote controller is used to control the movement of the robotic vehicle 1.

[0086] Furthermore, the manipulator arm 14 is connected to the main body 3. The manipulator arm 14 includes multiple segments, which are particularly rectangular. Each segment is connected to an adjacent segment via a rotatable joint having one or more joint motors. Each segment may also have at least one end that is rotatable about the longitudinal axis of the corresponding segment. In addition, the manipulator arm 14 may include one or more sensors for detecting movement and / or positioning of the different segments (particularly relative to each other).

[0087] The manipulator arm 14 has a proximal end 16 and a distal end 18. The proximal end 16 is rotatably fixed to the body 3, particularly about an axis perpendicular to the upper surface of the body 3. For example, the proximal end can rotate -150 degrees to 180 degrees relative to the body.

[0088] In other words, the manipulator arm 14 can rotate its distal end 18 with six or more degrees of freedom.

[0089] Figure 2 A system including a remote controller 20 and a robotic vehicle 1 is shown. The robotic vehicle 1 includes at least one internal controller 22 and a wireless communication device 24. The at least one internal controller 22 is adapted to control the movement of the robotic vehicle 1 and the manipulator arm 14.

[0090] The remote controller 20 is, for example, a computer with wireless communication capabilities. The remote controller 20 may include a display for showing the environment of the robotic vehicle 1. For example, at least one internal controller 22 is adapted to transmit information acquired by multiple cameras and / or sensors 5 to the remote controller 20.

[0091] In addition, at least one internal controller 22 and / or remote controller 20 is adapted to create a 3D (3D) map of at least a portion of the building 7 and / or the transport object using data provided by multiple cameras and / or sensors 5, and in particular mobile device 12.

[0092] For example, while the robotic vehicle 1 moves through a building or part of building 7, multiple cameras and / or sensors 5 scan a part (or the entire building 7) and / or the transported object, which will be explained later.

[0093] exist Figure 1 and Figure 3 As can be seen, the sensor support 26 is fixed to the distal end 18 of the manipulator arm 14. The sensor support 26 is adapted to move via the manipulator arm 14 toward (particularly toward) the building surfaces 9, 10 (particularly the walls 10 and / or floor 9 of the building 7) and / or the surface of the transported object.

[0094] like Figures 3 to 5 As shown, a radiation sensor 28 and a nozzle 30 for measuring radioactive radiation are fixed to a sensor support 26. The radiation measured by the radiation sensor 28 is, for example, alpha, beta, and gamma radiation.

[0095] In some embodiments, the radiation sensor 28 is connected to a signal processing circuit (not shown) fixed to the body 3 of the robotic vehicle. The signal processing circuit is adapted to provide measurement signals to at least one internal controller 22 and / or a remote controller 20.

[0096] According to embodiments that can be combined with other embodiments disclosed herein, a plurality of stops 32 are secured to the sensor support 26. The stops 32 are in a fixed relationship relative to the radiation sensor 28 and / or the nozzle 30. In some embodiments, the stops 32 may be provided with rollers or casters at their distal ends. Figure 5 The diagram shows four stops 32. However, three or more stops 32 may also be used. The stops 32, particularly the distal ends of the stops, span a plane at a predetermined distance from the radiation sensor 28. For example, the sensor measurement direction X of the radiation sensor 28 is perpendicular to the plane spanned by the stops.

[0097] Stoppers 32 are disposed on each lateral side of the sensor support 26 relative to the measurement direction X of the radiation sensor 28. In some embodiments, the stops 32 are spaced at least 5 cm apart, particularly at least 10 cm.

[0098] When the sensor support 26 is pressed against the surface of the building and / or the surface of the transported object (e.g., wall 10 or floor 9) by the manipulator arm 14, the stop 32 abuts against the corresponding surface 9, 10, so that the radiation sensor 28 is in a defined relationship with respect to the corresponding surface 9, 10 to be measured, in particular at a predetermined distance.

[0099] Therefore, the stop 32 forms a distance control device, which enables the robot vehicle to position the radiation sensor 28 at a predetermined distance from the building surfaces 9 and 10.

[0100] Alternatively or additionally, at least one distance sensor, particularly a non-contact or mechanical distance sensor, may be used. The distance sensor may be inductive, capacitive, laser, microwave, or other types of sensors capable of measuring distances of several centimeters with sub-millimeter accuracy. For example, each distance sensor provides its measurement results to at least one internal controller 22. In some embodiments that can be combined with other embodiments disclosed herein, two, three, or more distance sensors are used. For example, in this case, the distance between the distance sensors is at least 5 cm, particularly at least 10 cm.

[0101] As a supplement or alternative to at least one distance sensor, in order to estimate the precise distance between the radiation sensor 28 and the corresponding surface (e.g., building surfaces 9, 10 and / or the surface of the transported object), at least one internal controller 22 may use information provided by sensors from motors (in particular one or more articulated motors) and / or manipulator arms 14, such as calculations and / or operations of the manipulator arms, particularly the distance between the robot vehicle 1 and the building surface determined by using multiple cameras and / or sensors 5.

[0102] In operation, the manipulator arm 14 is controlled such that the radiation sensor 28 is at a predetermined distance from the surface to be measured (e.g., wall 10 and / or floor 9). In this case, at least one distance sensor and / or at least one internal controller 22 form a distance control device.

[0103] Therefore, the distance control device 32 enables the robot vehicle 1 to position the radiation sensor 28 at a predetermined distance from the corresponding surface (e.g., building surfaces 9, 10 and / or the surface of the transported object).

[0104] Figure 6The painting system of the robotic vehicle 1 is described in detail. Nozzle 30 is connected to a pressurized paint tank 34. The pressurized paint tank 34 is pressurized with pressurized air from a compressed air tank 36. The painting system also includes a painting controller 38, which controls valves within the nozzle 30 and a pressure reducer 40 fluidly connected between the compressed air tank 36 and the pressurized paint tank 34. The pressure of the paint leaving the nozzle can be controlled using the controllable pressure reducer 40.

[0105] In other words, the spraying system is suitable for spraying paint droplets onto surfaces, particularly building surfaces 9, 10 and / or the surfaces of transported objects (e.g., walls 10 and / or floors 9). The number and velocity of the droplets can be controlled using a spray controller 38. For example, the droplet velocity is controlled by pressure in the paint tank 34 and adapted to the distance between the building surfaces 9, 10 and the nozzles 30 and / or sensor support 26. The number of droplets depends on the velocity of the nozzles 30 and / or sensor support 26 relative to the building surfaces 9, 10, particularly parallel to the respective surfaces (e.g., the building surfaces and / or the surfaces of transported objects).

[0106] Therefore, a manipulator arm 14 equipped with nozzles 30 can be used to spray detailed patterns (such as lines, dots, characters, etc.) onto a surface (such as wall 10 and / or floor 9).

[0107] The spraying direction of the nozzle 30 is preferably parallel to the measurement direction X of the radiation sensor 28.

[0108] At least one internal controller 22 and / or remote controller 20 is adapted to determine the distance between the nozzle 30 and the surface or target building surface 9, 10, particularly based on sensors in multiple sensors and / or cameras 5 and / or manipulator arms 14 of the robotic vehicle 1. Based on the determined distance, the spray controller 38 controls the pressure in the valves within the nozzle and / or the paint tank 34.

[0109] According to the embodiment, the paint tank 34, the spray controller 38, the pressure reducer 40, and / or the pressurized air tank 36 are fixed to the main body 3 of the robot vehicle 1. Therefore, the weight that the manipulator arm 14 needs to move is reduced.

[0110] In some embodiments, as a supplement to or alternative to the sensor support 26, the sample acquisition device may be fixed to the manipulator arm 14. For example, the sample acquisition device may be a chisel and / or drill bit for generating a scratch sample, wherein the generated dust is collected by a collection device (e.g., a suction device). In some embodiments, the sample acquisition device may include a clamp.

[0111] The operation of the robotic vehicle 1 and the operation of the method according to the embodiments will be explained below. The method can be performed by or using the robotic vehicle 1. In some embodiments, all steps are performed by at least one internal controller 22 of the robotic vehicle; in other embodiments, some steps are performed by at least one internal controller 22, while other steps are performed by one or more remote controllers 20. In other words, the method according to the embodiments disclosed herein is computer-implemented and, in particular, performed on one or more controllers that may be geographically distant from each other.

[0112] In the first step 1010, the robotic vehicle 1 explores at least a portion of the building 7 and scans the building surfaces 9, 10, particularly the floor 9 and / or walls 10, using at least one sensor and / or camera 5. Alternatively or supplementarily, the robotic vehicle 1 explores at least a portion of the transport object and scans the surface of the transport object using at least one sensor and / or camera 5. For example, the data obtained by the multiple sensors and / or cameras 5 is then used to generate a 3D map 42 of the building 7 and / or the transport object. The 3D map 42 includes multiple segments 44. Each segment represents a flat portion of the building surface and / or the surface of the transport object. For example, each segment represents a flat portion of the building surfaces 9, 10, particularly the walls 10 and / or the floor 9. Figure 7 An example of such a virtual 3D map 42 is shown. In other words, in the first step 1010, a 3D map 42 of a portion of building 7 is acquired. For example, SLAM (Simultaneous Localization and Mapping) or CML (Simultaneous Mapping and Localization) algorithms can be used for this purpose.

[0113] In some embodiments, the robotic vehicle 1 can automatically explore at least a portion of the building 7 and / or the transport object. In other embodiments, an operator guides the robotic vehicle 1 through at least a portion of the building 7 and / or the transport object, for example, by using a remote controller 20. For example, acquiring a 3D map 42 of one or more rooms.

[0114] According to the implementation method, the portion of the building and / or transport object is explored at least twice. This allows for the creation of 3D maps with higher accuracy.

[0115] In step 1020, one or more segments 44 of the building 7 and / or the transport object are divided to form coordinate grids of segments, which preferably have the same size. In other words, a coordinate grid of segment 46 is applied to each segment 44. Multiple segments 46 are adjacent to each other. In other words, each segment has at least one adjacent segment 46. The division is performed by a system according to embodiments disclosed herein, particularly by an internal controller 22 and / or a remote controller 20.

[0116] For example, at least two, particularly at least 50%, of sections 46 have predetermined dimensions. For example, a predetermined dimension corresponds to 0.75m on the wall and / or floor. 2 and 1.5m 2 The surfaces between. In some embodiments, only the segments at the boundaries of segment 44 have smaller dimensions than the predetermined dimensions. Typically, segment 46 has a regular or rectangular shape. In some embodiments, the segment 46 of the predetermined dimensions has a square shape. In one embodiment, the size of the square corresponds to 1m × 1m on the surface of the building (here, wall 10 and / or floor 9). In other embodiments, segment 46 may have a hexagonal or triangular shape. Figure 8 An example of building 7 is shown, where the coordinate grid of segment 46 is applied to each segment (here, wall 10 and floor 9).

[0117] Segment 46 is also stored in the 3D map 42 of building 7 and / or transport object. For example, segment 46 may be stored in at least one internal controller 22 or remote controller 20. In one instance, segment 46 may be digitally or virtually marked in the 3D map 42.

[0118] The robotic vehicle 1 then moves past the building 7 and / or the transport object, physically marking the boundaries 48 of each segment 46 on the corresponding surfaces with paint. For example, the robotic vehicle 1 approaches surfaces such as building surfaces 9, 10 and / or the transport object, and uses a nozzle attached to the distal end of the manipulator arm 14 to paint at least the corners 50 of each segment 46. In one instance, a "T," "+," or "L" symbol may be used depending on whether adjacent segments exist. In other words, the boundaries of the segments 46 are physically marked using these symbols. In other words, at least a portion of the boundary is physically marked. The physical marking is completed so that the complete boundary can be extrapolated from the physical marking.

[0119] In some implementations, the complete boundary 48 of segment 46 is marked with paint on the corresponding surface (e.g., building surfaces 9, 10 and / or the surface of the transported object). In other words, a continuous line of paint surrounds each segment 46 to form the boundary 48.

[0120] The paint is applied to the building surfaces 9, 10 and / or the surfaces of the transported objects (e.g., at least one wall 10 and / or floor 9) such that the marked boundaries 48 on the building surfaces 9, 10 and / or the surfaces of the transported objects correspond to the boundaries of the segments 46 in the 3D map 42.

[0121] The marked boundaries 48 of segment 46 enable the robotic vehicle 1 to identify and position each segment 46 with high precision in later steps. For example, the movement of the manipulator arm 14 (particularly the sensor support 26) can be controlled based on the identification of the marked boundaries 48 of segment 46 on the surface of a building and / or the surface of a transported object.

[0122] According to some implementations, each segment 46 is associated with a unique identifier 52, which is also stored in the 3D map and / or associated with a corresponding segment 46 in the 3D map 42. The identifier 52 may have one or more characters. In one implementation, the robotic vehicle 1 also uses paint and nozzles 30 to physically mark each segment 46 with the identifier 52 of each segment 46.

[0123] In step 1030, the robot vehicle 1, the remote controller 20, or the operator selects one or more segments 46 for mapping the radiation of those segments 46. In some embodiments, all segments 46 are selected automatically. The robot vehicle 1 moves close to one of the selected segments 46 and moves the manipulator arm 14 such that the radiation sensor 28 is at a predetermined distance from the surface of the segment 46.

[0124] For example, when the stops 32 are used, the manipulator arm 14 moves toward the building surfaces 9, 10 of the section and / or toward the surface of the transported object in the section until each stop 32 contacts the surface. This can be detected, for example, by determining the force applied to each joint motor of the manipulator arm 14.

[0125] According to the implementation, the robotic vehicle 1 uses the marked boundaries 48 of section 46 to precisely navigate through a portion of building 7 and / or precisely move the manipulator arm 14, particularly for measuring radiation using radiation sensor 28, as explained below. Therefore, the robotic vehicle 1 can precisely navigate through a portion of the transport object.

[0126] Then, in step 1040, the manipulator arm 14 moves the radiation sensor 28 along the entire surface of the corresponding segment 46, and the measured radiation value is recorded by at least one internal controller 22 and / or a remote controller 20. In other words, the radiation sensor 28 scans the entire surface of the corresponding segment 46. During this time, the stop 32 remains on the surface of the corresponding segment 46 such that the radiation sensor 28 maintains the same distance from the surface of the segment 46 being inspected. When using a distance sensor, the movement of the manipulator arm 14 is controlled such that the distance between the radiation sensor 38 and the surface of the segment 46 remains substantially constant.

[0127] For example, the robot vehicle 1 is adapted to acquire at least one image of surfaces 9, 10 (e.g., building surfaces or surfaces of transported objects), determine the boundaries 48 of segments 46 on surfaces 9, 10 based on the acquired images, and move the robot vehicle 1 and / or its manipulator arm 14 based on the determined boundaries 48 during scanning with a radiation sensor 28. For example, multiple sensors and / or cameras 5 may be used to acquire at least one image of the corresponding surface (e.g., building surface or surface of transported object). The image may be an image including depth information, such as an RGB-D image. At least one internal controller 22 and / or a remote controller 20 may then use one or more image recognition algorithms to determine the boundaries 48 of the segments and their positions on and / or relative to the robot vehicle 1 on surfaces 9, 10 (e.g., building surfaces or surfaces of transported objects).

[0128] In some embodiments that can be combined with other embodiments disclosed herein, for example, color codes are used to display the measured radioactive radiation on a 3D map 42.

[0129] In step 1050, after scanning the entire segment 46 with radiation sensor 28, a point 54 with the highest measured radiation within segment 46 is identified. The robotic vehicle 1 is then instructed to mark this point 54 with paint, specifically by using a spray controller 38 and nozzle 30. For example, point 54 can be marked with a dot or rectangle, which specifically defines the boundary of the radiation measurement by radiation sensor 28. In other words, for each segment 46, the point 54 with the highest measured radiation is physically marked. Alternatively, in some embodiments, point 54 is virtually marked in a 3D map 42.

[0130] In an optional step, if the manipulator arm 14 is equipped with a sample acquisition device, the sample is acquired, for example, at point 54 with the highest radiation.

[0131] In some implementations, once the radiation measurement of segment 46 is completed, the robotic vehicle 1 can mark that it has completed the segment. This facilitates subsequent human control and / or human / machine collaboration.

[0132] According to the present invention, radiation measurements of the robotic vehicle 1 can be manually verified. Therefore, radiation measurements performed by the robotic vehicle can be used for margin measurements of part of the building 7 and / or the transported object. In other words, radiation measurements can be used to confirm that residual radioactive radiation does not exceed a predetermined level, particularly before the building and / or the transported object is damaged or otherwise used.

[0133] According to the present invention, the radiation dose to the person performing the measurement is reduced. Furthermore, the use of a robotic vehicle 1 reduces the time required to perform the measurement. Additionally, accuracy is improved because the robotic vehicle can be oriented using markings on the building surface.

[0134] According to some implementation methods, 3D maps with associated radiation measurements can be used to predict radioactive contamination.

[0135] Figure 10 A system for automatically mapping radiation in a portion of a building and / or a transported object using a robotic vehicle 1 is disclosed. The robotic vehicle is adapted to transmit 3D maps and / or sensor data to a remote controller 20. For example, the sensor data is obtained from multiple cameras and / or sensors 5. For example, in the case of LiDAR, the sensor data corresponds to a cloud of points, also known as a point cloud (PC). In one embodiment, the point cloud does not include visible light (e.g., color) or texture information. The 3D map of at least a portion of the building 7 and / or the transported object is generated in the robotic vehicle (e.g., by an internal controller 22) or by the remote controller 20.

[0136] According to embodiments that can be combined with other embodiments disclosed herein, the remote controller 20 is located in a non-contaminated location, such as in another part of a building or in another building.

[0137] As described above, a 3D map 42 is generated, comprising multiple segments 44, each segment representing a substantially flat portion of the building surfaces 9, 10 and / or the surfaces of transported objects. For example, a cloud of points is used to generate the flat segments 44 of the 3D map 42. In the case where the 3D map 42 is generated by the internal controller 22 or a robotic vehicle, it is sent to the remote controller 20. In the case where the 3D map 42 is generated by the remote controller 20, it can be sent to the robotic vehicle. In other words, the 3D map 42 is acquired.

[0138] According to one implementation, the 3D map 42 is enhanced using images acquired by camera 5. For example, images are captured using wavelengths visible to humans. In other words, the images are integrated or merged into the 3D map 42 to improve human visual perception. For example, visible light or color information from the images acquired by camera 5 is used to color each point in the point cloud and / or segment 44 of the 3D map. For example, the point cloud and / or segment 44 then have the correct visible light information in the 3D map. In one implementation, the segments 44 of the 3D map 42 are visualized in a transparent manner. In this case, the points in the cloud still represent the overall 3D map.

[0139] The remote controller 20 is also adapted to render a 3D image based on a portion of the 3D map 42. Rendering generates an image by acquiring information from the 3D map and using geometry, lighting, texture, or other information to create a visual representation of the 3D map. For example, a virtual camera within the 3D map defines the location, orientation, and field of view of the scene to be rendered. The rendered 3D image can be enhanced with additional information, such as measured radiation or room dimensions and / or images captured by camera 5. Alternatively or additionally, the rendered 3D image can be enhanced with restricted areas for human operators, information about identified objects (e.g., identified by machine learning algorithms), object labels or annotations, and / or data from existing BIM (Building Information Modeling). The virtual camera for the rendered 3D image can be positioned at a desired point within the 3D map 42. For example, the virtual camera can be located above a robot vehicle, on a manipulator arm, on the body of the robot vehicle, etc. According to the implementation, the rendered 3D image is a stereoscopic image.

[0140] The remote controller 20 is then adapted to send the rendered 3D image to at least one virtual reality system 60. The virtual reality system 60 is adapted to display the 3D image to at least one person (e.g., an operator).

[0141] According to an implementation that can be combined with other embodiments disclosed herein, the virtual reality system 60 is located in a non-contaminated location, such as in another part of a building or in another building, while the robotic vehicle 1 is located in a potentially contaminated part of the building. Contamination means that part of the building is radioactively contaminated.

[0142] Specifically, the virtual reality system is positioned 60 degrees away from the robotic vehicle.

[0143] Figure 11 An embodiment of the virtual reality system 60 is illustrated. The virtual reality system includes goggles 62 or glasses, on which a 3D image is displayed on at least one screen. Thus, a person can have a 3D impression of the room in which the robotic vehicle 1 is located. Alternatively or additionally, the (rendered) 3D image may be displayed on at least one monitor or at least one screen 66. Alternatively, a video projector may be used.

[0144] In some implementations, the 3D image displayed to a person may also depend on the orientation of the goggles and / or the person's movement, particularly head movement. Thus, a person wearing goggles 62 will perceive whether they are within a section of the building where the robotic vehicle is located. Furthermore, the person is adapted to virtually walk through sections of the building where the robot is located. For this purpose, the goggles or glasses may include sensors to detect the position of the goggles. Additionally, the location or room where the virtual reality system 60 is installed may include sensors to detect the person's movement. In other words, the position and orientation of the virtual camera used to render the 3D image depend on the orientation and position of the goggles and / or the person.

[0145] The virtual reality system 60 also includes at least one command device 64. Therefore, the command device is also located away from the robotic vehicle. The command device 64 is located in a non-contaminated location, such as in another part of the building or in another building, while the robotic vehicle 1 is located in a potentially contaminated part of the building.

[0146] For example, the command device 64 may be a handheld device. The command device 64 may sense its orientation and / or position within the room. In other embodiments, the position or orientation of the command device 64 is sensed by a fixed sensing device.

[0147] In some embodiments, the command device 64 may include a button. The command device is located in the same position as at least one screen 62, 66. For example, a person can use the command device 64 to command the manipulator arm 14. In embodiments, a person can control the robotic vehicle 1 and the manipulator arm 14 using the sensor support device 28 and / or another device or tool (e.g., a sample acquisition device) mounted to the manipulator arm 14 to perform special tasks not on the autonomous stack of the robotic vehicle 1 (e.g., handling complex objects, making special observations). In some embodiments, the measurement task for radiometric measurements is fully autonomous, and only the first access of the robotic vehicle to an unknown building section or transport device section can be guided by a person or operator and / or the definition of the job or task can be completed by a person or operator. In embodiments, job or task creation must be initialized by a person or operator.

[0148] In other embodiments that can be combined with any of the embodiments disclosed herein, the fixed sensing device can sense the position and posture of a person or a part of a person (e.g., a person's head and / or hand). The person or operator then corresponds to a command device.

[0149] In response to movement of the command device and / or actuation of a button, the command device 64 is adapted to send a command to the remote controller 20. The remote controller 20 then transmits the received command from the command device 64 to the robot vehicle 1. Upon receiving a command, the robot vehicle 1 operates in response to the received command. For example, the manipulator arm and / or sensor support 28 may move in response to the received command.

[0150] Figure 12 A flowchart illustrating an embodiment of the method according to the invention is shown. In the first step 1100, a 3D map 42 of a portion of building 7 and / or a portion of the transport object is provided, wherein the 3D map 42 comprises a plurality of segments 44, each segment representing a substantially flat building surface.

[0151] In the next step 1110, multiple segments forming a coordinate grid are applied to each segment. Each segment has a boundary 48. Furthermore, the robot vehicle 1 physically marks the boundary of each segment on the corresponding building surface and / or the surface of the transported object using paint.

[0152] Then, in step 1120, the radiation of one or more segments is mapped (particularly automatically) by scanning each segment with radiation sensors by a robotic vehicle to measure the radioactive radiation within that segment.

[0153] Then, in step 1130, at least one 3D image based on at least a portion of the 3D map is rendered and sent to at least one screen located away from the robotic vehicle 1. "Away from" means, for example, that the screen of the virtual reality system 60 is located in a non-contaminated location, such as in another part of a building or another building, while the robotic vehicle 1 is located in a potentially contaminated part of the building.

[0154] In step 1140, a command is detected, for example, by the remote controller 20 from the command device 64 of the virtual reality system 60 and transmitted to the robotic vehicle 1. For example, the command device is adapted to send its position, orientation, or button activation to the remote controller 20. Alternatively or additionally, a fixed sensing device sends the position and / or orientation of the command device 64 to the remote controller 20. The robotic vehicle 1 (particularly the manipulator arm 14) then operates in response to the command. This facilitates control of the robotic vehicle when needed, as the robotic vehicle is controlled by the movement of the main body.

[0155] This invention discloses a robot configured to automatically map radiation in buildings, particularly buildings in nuclear power plants and / or buildings transporting objects. The robot includes: multiple sensors and cameras configured to acquire a 3D map of the area; a radiation sensor configured to measure radiation in the entire area under consideration; and a computing device configured to display the radiation measurements on a 3D map to obtain the radiation level in the area under consideration.

[0156] List of reference numerals in the attached diagram:

[0157] 1. Robotic Vehicles

[0158] 3. Main Body

[0159] 5. Cameras and / or sensors

[0160] 7 buildings

[0161] 9. Building surfaces and floors

[0162] 10. The surface and walls of a building.

[0163] 12 Mobile Devices

[0164] 14. Manipulator arm

[0165] 16 Proximal end

[0166] 18. Distal end

[0167] 20 Remote Controllers

[0168] 22 Internal Controller

[0169] 24 Communication devices

[0170] 26 Sensor support device

[0171] 28 Radiation Sensors

[0172] 30 nozzles

[0173] 32 Stopping components

[0174] 34 Paint Box

[0175] 36 Air Box

[0176] 38 Spraying Controller

[0177] 40 Pressure Reducer

[0178] 42 3D Maps

[0179] 44 segments

[0180] 46 sections

[0181] 48 Boundaries

[0182] 50 Corner

[0183] 52 Identifiers

[0184] 54 points

[0185] 60 Virtual Reality Systems

[0186] 62. Safety goggles

[0187] 64 Command Device

[0188] 66 screens

[0189] X Measurement Direction

Claims

1. A method for automatically mapping radiation in a portion of a building (7) and / or a portion of a transport object using a robotic vehicle (1), the portion of the building and / or the portion of the transport object comprising a plurality of surfaces (9, 10), the method comprising: Obtain a 3D map (42) of a portion of the building (7) and / or a portion of the transport object (1010), wherein the 3D map (42) comprises multiple segments (44), each segment representing a surface (9, 10) of the building and / or the transport object. For each segment, apply multiple segments to form a coordinate grid of the segment, each segment having a boundary; At least a portion of the boundary of each segment (46) is physically marked on the corresponding surfaces (9, 10) by the coating used by the robot vehicle; and The radiation of the one or more segments is mapped by scanning each segment of the one or more segments (46) with radiation sensors (28) of the robotic vehicle to measure the radioactive radiation within that segment. The method is characterized in that it further includes: Render at least one 3D image based on at least a portion of the 3D map; The rendered at least one 3D image is sent to at least one screen (62, 66) of a virtual reality system located remotely from the robot vehicle. Detect commands from the command device (64) of the virtual reality system (60); Transmit the command to the robotic vehicle; and The robot vehicle is operated in response to the command.

2. The method according to any one of the preceding claims, wherein the at least one screen is in the goggles or projected onto the goggles.

3. The method according to any one of the preceding claims, wherein the robotic vehicle includes the radiation sensor (28) for measuring radioactive radiation and a plurality of cameras and / or second sensors (5), one or more of the second sensors being adapted to provide data capable of determining the position of the robotic vehicle (1) within the building and / or determining the distance to objects within the building, wherein acquiring a 3D map of a portion of the building includes: Data is acquired from the plurality of cameras and / or the second sensor (5); The 3D map of the building portion is generated based on the acquired data.

4. The method according to any one of the preceding claims, wherein the images acquired by the at least one camera are integrated into the 3D map, in particular, each point in the segment (44) of the 3D map and / or the point cloud used to generate the segment (44) is colored by using visible light information or color information derived from the images acquired by the at least one camera (5).

5. The method according to any one of the preceding claims, wherein the robot vehicle includes a manipulator arm (14) having a proximal end (16) and a distal end (18), the proximal end (16) being fixed to the body of the robot vehicle, wherein a sensor support device (26) is fixed to the distal end of the manipulator arm (14), and the radiation sensor (28) for measuring radioactive radiation is fixed to the sensor support device.

6. The method of claim 5, further comprising the manipulator arm of the robotic vehicle operating in response to the command.

7. The method according to any one of claims 5 or 6, wherein the plurality of cameras and / or the second sensor (5) are arranged on the body and / or the sensor support device.

8. The method according to any one of the preceding claims, further comprising: The robot vehicle (1) acquires at least one image of the surface (9, 10); determines the boundary (48) of the segment (46) on the surface (9, 10) based on the acquired image; and moves the robot vehicle (1) and / or the manipulator arm (14) of the robot vehicle (1) based on the determined boundary (48) during scanning with the radiation sensor (28).

9. The method according to any one of the preceding claims, further comprising: For one or more sections, the robotic vehicle scans each section (46) with a radiation sensor to measure the radioactive radiation within that section.

10. The method according to any one of the preceding claims, wherein radiation of one or more segments is automatically plotted.

11. The method of claim 1, further comprising physically marking the point (54) with the highest measured radiation within the corresponding segment (46) of each scanning segment (46) on the surface with a coating.

12. The method according to any one of the preceding claims, further comprising digitally marking the coordinate grid of the segment (46) in the 3D map (42).

13. The method according to any one of the preceding claims further includes determining whether the radiation exceeds a predetermined radiation dose, and if the radiation exceeds the predetermined radiation dose, physically marking the segment (46) on the surface by applying a coating to the surface.

14. The method according to any one of the preceding claims, wherein each segment (46) is marked with an identifier (52) on the surface (9, 10) by the robot vehicle (1) using a coating.

15. The method according to any one of the preceding claims, further comprising displaying the measured radioactive radiation on the 3D map (42).

16. The method according to any one of the preceding claims further includes sampling the surface (9, 10) by the robotic vehicle (1) in at least one segment (46), particularly at the point in the at least one segment (46) where the highest measured radiation is observed.

17. The method according to any one of the preceding claims, wherein physical marking is performed by spraying paint onto the surfaces (9, 10).

18. A system comprising: A robotic vehicle (1) for automatically mapping radiations in a portion of a building and / or a portion of a transport object, the portion of the building and / or the portion of the transport object comprising multiple surfaces (9, 10), the robotic vehicle comprising: Main body (3); A mobile device (12) adapted to move the robot vehicle on a rough surface, the rough surface including steps; Radiation sensor used to measure radioactive radiation (28); Nozzle (30); The system further includes a remote controller (20) and a command device (64) positioned remotely from the robotic vehicle, wherein the remote controller (20) and / or the robotic vehicle (1) are adapted to acquire a 3D map of a portion of the building (7), wherein the 3D map comprises multiple segments, each segment representing the surface of the building and / or the transport object; The system is adapted to apply multiple segments to each segment, forming a coordinate grid of segments, each segment having a boundary; The robotic vehicle (1) is adapted to physically mark at least a portion of the boundary of each segment on the corresponding surface with paint; Its features are: The remote controller (20) is adapted to render the 3D image based on a portion of the 3D map to be displayed on at least one screen and to send the rendered 3D image to the at least one screen (62, 66). The command device is adapted to send commands to the remote controller, wherein the remote controller (20) is adapted to transmit the commands to the robot vehicle, wherein the robot vehicle (1) is adapted to operate in response to the commands.

19. The system of claim 18, wherein the robotic vehicle further comprises a plurality of cameras and / or second sensors (5), one or more of the second sensors being adapted to provide data capable of determining the position of the robotic vehicle (1) within the building and / or determining the distance to objects within the building, wherein the remote controller (20) and / or the internal controller (22) of the robotic vehicle (1) are adapted to acquire the data from the plurality of cameras and / or second sensors and generate a 3D map of a portion of the building based on the acquired data.

20. The system of claim 18 or 19, wherein the robotic vehicle further comprises at least one manipulator arm having a plurality of segments connected to adjacent segments by rotatable joints having one or more joint motors, the manipulator arm having a proximal end and a distal end, wherein a sensor support (28) is fixed to the distal end of the manipulator arm, the radiation sensor is used to measure radioactive radiation and the nozzle (30) is fixed to the sensor support.

21. The system according to any one of claims 18 to 20, wherein the plurality of cameras and / or second sensors are arranged on the main body (3) and / or the sensor support device (28).

22. The system according to any one of claims 20 to 21, wherein the robotic vehicle is adapted to move the manipulator arm in response to the command.

23. The system according to any one of claims 18 to 22, wherein the command device is a handheld device or an operator.

24. The system according to any one of claims 18 to 23, wherein the mobile device (12) has at least two legs and / or wheels.

25. The system according to any one of claims 20 to 24, wherein the distal end of the manipulator arm (14) has six or more degrees of freedom.

26. The system according to any one of claims 18 to 25, wherein the nozzle (30) is fluidly connected to the pressurized coating tank (34).

27. The system according to any one of claims 18 to 26, wherein the robotic vehicle includes at least one distance control device (32) adapted to control the distance between the radiation sensor (28) and the surface (9, 10) to be measured, particularly the distance between the building and / or the surface (9, 10) to be measured of the transport object.

28. The system of claim 27, wherein the distance control device comprises at least three stops (32) in a fixed relationship with respect to the radiation sensor (28) and / or the nozzle (30), the distal ends of the at least three stops (32) spanning a plane at a predetermined distance from the radiation sensor (28), wherein, Specifically, the sensor measurement direction is perpendicular to the plane, wherein, in particular, each stop (32) has a roller or caster at its distal end.

29. The system of claim 27, wherein the distance control device comprises at least one distance sensor and / or at least one internal controller (22), the at least one distance sensor being located at the sensor support (26), and the at least one internal controller (22) being adapted to estimate the distance between the radiation sensor (28) and the surface (9, 10) based on data from the one or more joint motors and / or sensors of the manipulator arm (14) in combination with the distance between the robot vehicle (1) and the surface determined by the plurality of cameras and / or sensors (5).

30. The system according to any one of claims 18 to 29, wherein the robot vehicle (1) is adapted to acquire at least one image of a surface (9, 10) by means of the plurality of cameras and / or sensors (5), to determine the boundary (48) of a segment (46) on the surface (9, 10) based on the acquired image, and to move the robot vehicle (1) and / or the manipulator arm (14) of the robot vehicle (1) based on the determined boundary (48) during scanning with the radiation sensor (28).

Images