Process for autonomously locating and retrieving toxic heavy metal and radioactive contaminants

Abstract

A process is described which will autonomously map an area, autonomously rch for concentrations of depleted uranium, automatically record the intensity of radiation, and record the exact map location in real time.

What is claimed is: 
     
       1. A process for locating, marking and retrieving depleted uranium rounds from contaminated proving ground areas which steps include: outfitting a trailer with a base console having the electronic capability of reading a generic map and developing therefrom a search map plot for establishing the boundaries and topological features of said contaminated area to be autonomously searched;   providing a mobile platform carried by said trailer for autonomously operating in said contaminated area on remotely transmitted instruction of said base console;   providing a mobile generator for supplying the electric power for said base console;   surveying the accurate location of a fixed multi-channel global positioning receiver for use by operators stationed at said base console;   outfitting said mobile platform with a mobile second multichannel global positioning receiver that is slaved to said fixed global positioning receiver for accurately determining the distance of said mobile receiver to said fixed receiver;   outfitting said mobile platform with a plurality of low level radiation detection cameras for sensing the location of said depleted uranium rounds and for transmitting their initial position to said base console;   remotely instructing the movement of said mobile platform, by teleoperation from said base console, to begin searching the contaminated area for depleted uranium rounds along inertial specifically computerized map paths having boundary nodal point limits generated by said base console and remotely instructing said mobile platform to return to said trailer.   
     
     
       2. A process as recited in claim 1 wherein the step of outfitting a trailer with a base console includes: installing a map table for electronically reading said generic map;   electrically coupling an x-y plotter to said map table for generating x,y map coordinates for said search map plot; and   electrically coupling a map editor monitor for viewing said search map plot.   
     
     
       3. A process as recited in claim 2 wherein said step of outfitting said trailer includes programming a path planning computer to receive x,y coordinate data from said x-y plotter and said map table and for generating map boundary nodes and inertial path guidance data for said mobile platform during its autonomous searching. 
     
     
       4. A process as recited in claim 3 wherein said step of outfitting said trailer includes electrically coupling a teleoperation video monitor to said mobile platform for allowing base console operations to observe the field of search of said mobile platform. 
     
     
       5. A process as recited in claim 4 wherein said step of outfitting said trailer includes electrically coupling an icon plot map console for receiving data from said mobile platform as it searches the area and for displaying it on an icon plot map monitor. 
     
     
       6. A process as recited in claim 5 wherein said step for autonomously operating said mobile platform includes: operatively positioning a global positioning system on said mobile platform;   installing a communication system on said mobile platform for receiving navigational data from said base console and for transmitting positional data to said base console;   mounting a video camera on said mobile platform for transmitting data for teleoperation;   positioning electrical data storage equipment on said mobile platform for recording data on contaminants found;   operatively mounting data compression equipment for reducing R.F. bandwidth requirements;   installing a plurality of sensors for collision avoidance between said mobile platform and ground obstacles; and   operatively positioning an integrated gamma ray sensor system.   
     
     
       7. A process as recited in claim 6 wherein said steps include positioning two low level radiation cameras on said mobile platform so that their zone of coverage is ahead of the platform. 
     
     
       8. A process as recited in claim 7 wherein said steps include mounting said radiation cameras six feet apart with each having a field of view of seven feet by seven feet such that each sweep of the mobile platform would look at an area that is approximately thirteen feet wide.