Robot Radiation Mapping with 3D Sector Marking for Buildings
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Solution Overview
Problem
Current methods for mapping radiation in decommissioned nuclear power plants are risky for humans due to exposure and contamination, and existing robotic systems lack reliability and verification in providing accurate radiation maps.
Innovation Solution
A robot vehicle equipped with cameras, sensors, and a manipulator arm is used to create a 3D map of a building, dividing it into sectors that are scanned for radiation, with the robot physically marking sectors exceeding safety thresholds and displaying results on the map, reducing human exposure and enhancing accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If human operators manually measure and map radiation in decommissioned nuclear power plants, then the task can be performed with simple equipment, but the risk of exposure to radiation and contamination is elevated
Solution Approach 1:
A robot vehicle serves as an intermediary between the human operators and the hazardous radiation environment. The robot is equipped with a radiation sensor that measures radiation levels in the environment, and a manipulator arm with a marking device that physically marks high-radiation areas. This intermediary device performs the dangerous task of radiation mapping while keeping human operators safe from exposure.
2Reliability
If existing robotic systems are used for radiation mapping, then human exposure is reduced, but the reliability and accuracy of radiation maps cannot be verified
Solution Approach 1:
The system incorporates feedback through physical marking of high-radiation areas. The radiation sensor continuously monitors radiation levels, and when a threshold is exceeded, the manipulator arm marks the location with paint. This physical feedback mechanism provides verifiable, tangible evidence of where high radiation was detected, allowing for verification and validation of the radiation map accuracy.
Solution Approach 2:
The robot acquires a 3D map of the environment before beginning radiation measurement. This preliminary action of creating a spatial model allows the system to plan its measurement path, identify areas requiring marking, and verify its position and orientation throughout the measurement process, thereby improving reliability.
3Measurement precision
If the robot vehicle physically marks sectors with paint, then accurate identification of high-radiation areas is achieved, but the process requires complex manipulator arms and marking devices
Solution Approach 1:
The environment is segmented into discrete sectors or zones using the 3D map data. The robot divides the measurement space into manageable segments, allowing it to systematically measure and mark each sector. This segmentation simplifies the control of the manipulator arm, as it only needs to navigate to and mark specific predefined locations rather than continuously tracking radiation sources.
Solution Approach 2:
The system creates a digital copy or model of the environment through 3D mapping before physical marking occurs. This virtual model is used to plan the marking locations, allowing the robot to transfer the digital information to physical marks with high precision without requiring overly complex real-time control systems.
4Productivity
If radiation mapping is performed manually or with simple systems, then the equipment is easy to operate, but the process is time-consuming and less efficient
Solution Approach 1:
The robot vehicle operates autonomously to perform radiation mapping tasks. It navigates the environment, measures radiation levels, identifies high-radiation areas, and marks them automatically without continuous human intervention. This self-service capability significantly improves productivity compared to manual methods while the automated navigation and decision-making reduce the operational complexity for human operators.
Solution Approach 2:
The robot performs radiation measurement and marking in a continuous, systematic manner using the 3D map to guide its path. Rather than discrete, interrupted measurements, the robot continuously moves through the environment, measuring and marking high-radiation areas without interruption, thereby improving mapping efficiency.
Data Source
AI summary
A method is for automatically mapping the radiation in a portion of a building (7) using a robot vehicle (1). The portion of the building includes a plurality of building surfaces (9, 10). The method includes acquiring (1010) a 3D map (42) of a portion of a building (7). The 3D map (42) includes a plurality of segments (44), each representing a substantially flat building surface. The method further comprises applying (1020) to each segment (44) a plurality sectors forming a grid of sectors (46), each sector (46) having a border (48); physically marking, by the robot vehicle (1), the border (48) of each sector (46) with paint on the corresponding building surface (9, 10); and for one or more sectors (46), scanning, by the robot vehicle (1), with a radiation sensor (28) each sector (46), to measure the radioactive radiation within that sector.