Method for automatically mapping the radiation in a portion of a building and a robot vehicle
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.
1 . A method for automatically mapping the radiation in a portion of a building using a robot vehicle, the portion of the building comprising a plurality of building surfaces, the method comprising:
acquiring a 3D map of a portion of a building, wherein the 3D map comprises a plurality of segments, each representing a corresponding substantially flat building surface;
applying to each segment a plurality sectors forming a grid of sectors, each sector having a border;
physically marking, by the robot vehicle, the border of each sector with paint on the corresponding building surface; and
for one or more sectors, scanning, by the robot vehicle, with a radiation sensor each sector, to measure a radioactive radiation within that sector.
2 . The method according to claim 1 , further comprising marking physically with paint a point on the building surface within each scanned sector with a highest measured radiation within the respective sector.
3 . The method according to claim 1 , further comprising digitally marking the grid of sectors in the 3D map.
4 . The method according to claim 1 , further determining whether the radiation exceeds a predetermined radiation dose, and in case the radiation exceeds a predetermined radiation dose, marking physically the sector on the building surface by applying paint thereon.
5 . The method according to claim 1 , wherein each sector is marked, by the robot vehicle, on the building surface with an identifier using paint.
6 . The method according to claim 1 , further comprising displaying the measured radioactive radiation on the 3D map.
7 . The method according to claim 1 , further comprising taking, by the robot vehicle, a sample of the building surface in at least one sector.
8 . The method according to claim 7 , wherein a sample of the building is taken in a point with a highest measured radiation within the at least one sector.
9 . The method according to claim 1 , wherein the physically marking is performed by spraying paint on the building surface.
10 . The method according to claim 1 , wherein the robot vehicle comprises a manipulator arm having a proximal end and a distal end and wherein a sensor support device being fixed to the distal end of the manipulator arm, the method further comprising, acquiring by the robot vehicle at least one image of the building surface, determining the borders of the sectors on the building surface based on the acquired image, and moving the robot vehicle and/or the manipulator arm of the robot vehicle based on the determined borders during scanning.