GB2586045A

GB2586045A - Surveying and dismantling system

Info

Publication number: GB2586045A
Application number: GB1910919.8A
Authority: GB
Inventors: Paul Davis-Johnston Adrian; Antony Bowen Robert; Howard Singleton Trevor
Original assignee: Soletanche Freyssinet SA
Current assignee: Soletanche Freyssinet SA
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2021-02-03
Anticipated expiration: 2039-07-31
Also published as: GB201910919D0; GB2586045B

Abstract

A system 1 for surveying and/or dismantling an object or structure 2. The system includes an outer containment structure 4 for surrounding an object or structure and a gantry 6 arranged within or attached to the outer containment structure. A remotely controlled tool 10 is mounted to the gantry 6 for surveying and/or manipulating the object or structure. The outer containment structure may be modular and comprise electrical power, windows, lighting, filtration and ventilation systems. The gantry may comprise legs and cross beams wherein the tool is movably mounted to one or more of the cross beams, with the gantry extending across the interior of the containment structure. The tool may be moved in three dimensions and have a driven arm with manipulating components comprising a grabbing tool, a plasma cutter, a camera, or detectors. There may be further floor mounted remotely controllable tools (44, Fig 2).

Description

Surveying and Dismantling System The present invention relates to a system for surveying and/or dismantling objects or structures, in particular to a system for use in the surveying and/or dismantling of objects or structures that are contaminated with toxic or hazardous materials.

Many industries need to contain or control the release of toxic or hazardous materials during industrial processes, such as those involving radioactive materials, toxic chemicals, asbestos, biologically active materials and hazardous waste. This is particularly so during dismantling operations, where extra precautions may be required. The nature of dismantling operations, particularly when they involve toxic or hazardous materials, may mean that it is dangerous for human operators to be present.

Containment systems, such as the Applicant's ModuCon (TM) system, as described in GB 2 376 701 A, provide a space inside which dismantling operations may be performed. This prevents the spread of toxic or hazardous materials that may be released during dismantling operations.

However, even when using such a containment system, the dismantling operations (e.g. for nuclear decommissioning) are often slow, labour intensive and thus expensive. This is because, when dealing with highly toxic or hazardous materials, an initial assessment (e.g. survey) of the nature of the structures and materials may need to be made, following which human operators may then be required to enter the containment system (e.g. in air fed protective suits that reduce their dexterity) to perform the dismantling operations.

The aim of the invention is to provide an improved system for surveying and/or dismantling objects or structures that may be contaminated while preventing the uncontrolled release of the hazard.

When viewed from a first aspect the invention provides a system for surveying and/or dismantling an object or structure, the system comprising: an outer containment structure for surrounding an object or structure to be surveyed and/or dismantled; a gantry arranged within or attached to the outer containment structure, wherein the gantry is positioned above an area within the outer containment structure for the object or structure to be surveyed and/or dismantled; and a remotely controlled tool mounted to the gantry for surveying and/or manipulating the object or structure to be surveyed and/or dismantled at least from above the object or structure.

The present invention provides a surveying and/or dismantling system that is arranged for the dismantling of an object or structure. The system includes an outer containment structure that is to surround the object or structure to be surveyed and/or dismantled. The containment structure thus defines a volume within which an object or structure is to be surveyed and/or dismantled.

The system also includes a gantry that is either attached to, or otherwise arranged within, the containment structure. The gantry is positioned in the containment structure above an area for locating the object or structure to be surveyed and/or dismantled. A remotely controlled surveying and/or manipulating tool is mounted to the gantry, such that it is able to survey and/or manipulate the object or structure.

The positioning of the gantry and the mounting of the tool on the gantry are arranged such that the surveying and/or manipulating tool is able to survey and/or manipulate the object or structure from at least above the object or structure to be surveyed and/or dismantled.

Thus it will be appreciated that by providing a remotely controlled surveying and/or manipulating tool that is mounted on an overhead gantry, above an area that an object or structure is located, such that the surveying and/or manipulating tool may be used to survey and/or manipulate the object or structure from above (at least), the system of the present invention allows the object or structure to be both assessed and dismantled within the containment structure. This "top down" approach allows objects and structures which may be contaminated with toxic or hazardous materials, and need to be surveyed and/or dismantled, to be handled more safely, quickly and predictably, and thus less inexpensively, than with conventional systems.

The arrangement of the present invention also helps to reduce the reliance on human operatives to enter the containment structure to handle the object or structure directly, because the surveying and/or manipulating (e.g. dismantling) operations may be controlled remotely using the remotely controlled surveying and/or manipulating tool. Using a containment structure in which to perform the surveying and/or manipulating operations, helps to retain all the potentially toxic and hazardous material within the containment structure, until the object or structure has been dismantled to a state in which it is safe to remove from the containment structure (e.g. in a sealed container).

Embodiments of the present invention may therefore allow objects or structures (and therefore sites) that previously have been considered to be too complex, dangerous or expensive to handle, to be tackled. For example, such sites may include those that have not been entered for a number of years owing to the hazardous conditions of these facilities.

The system may be used for surveying and/or dismantling any suitable and desired type of object or structure. In one embodiment the object or structure that is to be surveyed and/or dismantled is an object or structure that is, or may have the potential of being, contaminated, e.g. owing to it having been present in an industrial facility that handles or handled toxic or hazardous materials. The object or structure may have been contaminated by and type of contaminant. Thus, for example, the object or structure may be contaminated with one or more of: radioactive materials, toxic chemicals, asbestos, biologically active materials and hazardous waste.

The outer containment structure may be any suitable and desired structure for surrounding the object or structure to be surveyed and/or dismantled. The outer containment structure preferably completely surrounds the object or structure, e.g. such that the containment structure fully contains (e.g. seals in) any contaminant (e.g. toxic or hazardous material) that may be released from the dismantling of the object or structure. Thus preferably the containment structure is arranged as (and thus forms) a shell around the object or structure to be surveyed and/or dismantled.

Preferably the outer containment structure comprises one or more walls and a roof. The outer containment structure may be erected or built, and then the object or structure to be surveyed and/or dismantled may be placed within the outer containment structure. However, preferably the outer containment structure is erected or built around the object or structure to be surveyed and/or dismantled.

This allows an object or structure in an industrial environment that has been contaminated to be surveyed and/or dismantled in situ, which helps to reduce the risk of toxic or hazardous material being uncontrollably from the site, structure or object.

In one embodiment the outer containment structure comprises a modular structure, e.g. such as the Applicant's ModuCon (TM) system, as described in GB 2 376 701 A. Such a modular structure helps to provide a versatile, easily transportable and simple to use system that may allow an outer containment structure of any suitable and desired size to be assembled quickly and easily.

Thus preferably the outer containment structure comprises prefabricated components (e.g. walls and a roof), which are then joined together (e.g. around the object or structure to be surveyed and/or dismantled) to form the containment structure. Such a modular structure may then allow the containment structure to be surveyed and/or dismantled itself, e.g. once the object or structure has been surveyed and/or dismantled.

Preferably the (e.g. components of the) outer containment structure comprise (e.g. fire retardant) glass reinforced plastic. Preferably the components of the containment structure are sealed together to prevent the escape of any contaminants from inside the containment structure. In one embodiment (e.g. when the system is used to survey and/or dismantle the object or structure) the outer containment structure comprises shielding (e.g. for radioactivity). This helps to contain all toxic or hazardous materials and emissions within the containment structure.

In one embodiment the containment structure comprises one or more (e.g. all) of: windows, one or more power supplies, lighting, ventilation and filtration systems.

The ventilation and/or filtration systems help to contain any toxic or hazardous materials within the containment structure, e.g. by trapping such materials in the ventilation and/or filtration systems.

The gantry may be arranged within, or attached to, the outer containment structure in any suitable and desired way. In one embodiment the gantry comprises a structure that is substantially independent of the outer containment structure. Thus the gantry may be self-supporting or self-standing. For example, the gantry may comprise one or more legs (e.g. arranged substantially vertically) and one or more cross beams (e.g. arranged substantially horizontally) extending between (and supported by) the one or more legs. Preferably the remotely controlled surveying and/or manipulating tool is (e.g. movably) mounted to the one or more cross beams of the gantry.

In another embodiment the gantry is attached to the outer containment structure.

Thus the gantry may form part of (e.g. be integral to) the outer containment structure. Preferably the gantry is attached to the roof of the outer containment structure. Thus the gantry may form part of (e.g. be integral to) the roof of the outer containment structure. Thus the roof of the outer containment structure may comprise one or more cross beams (e.g. arranged substantially horizontally) that form the gantry.

The gantry is positioned above an area in which the object or structure is to be surveyed and/or dismantled. Thus preferably the gantry extends across the interior of the outer containment structure.

In one embodiment the gantry comprises a fixed frame, on which the remotely controlled surveying and/or manipulating tool is (e.g. movably) mounted, e.g. to allow the remotely controlled surveying and/or manipulating tool to move along or across the gantry and/or down from the gantry towards the object or structure to be surveyed and/or dismantled.

In one embodiment the gantry comprises a movable (e.g. position controlled) gantry, such as a gantry crane. Thus the position of the gantry may be controlled, e.g. as well as the position of the remotely controlled surveying and/or manipulating tool relative to the gantry, to control the position of the remotely controlled surveying and/or manipulating tool relative to the object or structure to be surveyed and/or dismantled. Thus, for example, the position of the gantry may be controlled in the horizontal direction (e.g. to a particular (x, y) location) and then the remotely controlled surveying and/or manipulating tool (or the gantry crane) is controlled to descend the remotely controlled surveying and/or manipulating tool to a particular (z) height.

In a preferred embodiment the remotely controlled surveying and/or manipulating tool is movably mounted to the gantry. The remotely controlled surveying and/or manipulating tool may be movably mounted to the (e.g. cross beam(s) of the) gantry in any suitable and desired way. In one embodiment the remotely controlled tool is mounted to the gantry such that it is able to be moved in two (e.g. horizontal) or three (e.g. horizontal and vertical) dimensions. This allows the remotely controlled tool to be positioned above a range of different positions over the object or structure to be surveyed and/or dismantled.

In one embodiment, the remotely controlled surveying and/or manipulating tool comprises a (e.g. motor or hydraulically) driven (e.g. robotic) arm, e.g. comprising a plurality of degrees of freedom. Thus preferably the (e.g. motor or hydraulically) driven arm comprises one or more joints that allow bending and/or rotation of parts of the driven arm relative to other parts of the arm.

The remotely controlled tool may be arranged to perform any suitable and desired surveying and/or manipulating function. The tool may be able to perform a plurality of functions, e.g. simultaneously, and thus may comprise multiple components mounted thereto. For example, the remotely controlled surveying and/or manipulating tool may comprise one or more surveying and/or manipulating components that are permanently attached to (e.g. integrally formed as part of) the remotely controlled surveying and/or manipulating tool.

However, in a preferred embodiment the remotely controlled tool comprises an attachment for removably mounting one or more surveying and/or manipulating components thereto. This allows the remotely controlled tool to (removably) attach one or more particular surveying and/or manipulating tool components to it in order to perform one or more particular surveying and/or manipulating functions. The component(s) may then be detached and exchanged for different component(s) such that the tool is then able to perform different function(s). Thus the remotely controlled surveying and/or manipulating tool may select and interchange one or more surveying and/or manipulating components for removably attaching to the remotely controlled surveying and/or manipulating tool.

In a preferred embodiment, the system comprises a plurality of surveying and/or manipulating components for attaching to the (e.g. attachment of the) remotely controlled tool. The system preferably comprises a rack for storing the plurality of surveying and/or manipulating components within the outer containment structure.

Preferably the rack is arranged, and the plurality of surveying and/or manipulating components are stored in the rack, such that the remotely controlled tool is able to select, attach and/or detach (e.g. interchange) one or more of the plurality of surveying and/or manipulating components to and from the remotely controlled tool from the plurality of surveying and/or manipulating components that are stored in the rack. This allows the remotely controlled surveying and/or manipulating tool to perform a number of different surveying and/or manipulating functions, using the different surveying and/or manipulating components that are stored in the rack and/or permanently attached to the remotely controlled surveying and/or manipulating tool.

The remotely controlled tool may comprise and/or be able to attach thereto any suitable and desired type of surveying and/or manipulating component. In one embodiment the one or more surveying and/or manipulating components comprise one or more (e.g. all) of: a grabbing tool, a lifting tool, a pair of shears, a pair of (e.g. hot and/or cold) cutters, a laser cutter, a plasma cutter, a photogrammetry scanner, a reciprocating saw, a circular saw, a drill, a welding tool, a camera, a chemical detector, a radiation detector and a laser scanner.

In one embodiment the containment structure comprises a floor mounted remotely controlled surveying and/or manipulating tool mounted on the floor of the containment structure. This provides a further surveying and/or manipulating tool that may be arranged to perform (e.g. cutting and/or sorting) operations on items that have been removed from the contaminated object or structure that is being dismantled. The floor mounted remotely controlled tool may comprise one or more (e.g. all) of the components outlined above for the gantry mounted remotely controlled tool. In particular, preferably the floor mounted remotely controlled tool comprises a plasma cutter.

Preferably the floor mounted remotely controlled tool is arranged to perform one or more (e.g. all) of the following tasks: cut items from the contaminated object or structure into smaller pieces, sort items from the contaminated object or structure into different levels of toxicity and/or hazard (e.g. according to radiation levels), loading items from the contaminated object or structure into waste containers and/or onto a trolley or bogie (e.g. as outlined below) for removal from the containment structure.

In one embodiment the containment structure comprises a (e.g. raised) surface (such as a table) for performing surveying and/or manipulating operations on (e.g. items removed from) the contaminated object or structure, e.g. using the floor mounted remotely controlled tool. Thus preferably the surface allows cutting and sorting operations to be performed on items removed from the contaminated object or structure.

The containment structure may comprise one or more cameras (or other sensors) mounted within the containment structure for capturing (e.g. video) image (or other sensor) data of the interior of the containment structure, e.g. in addition to or instead of camera(s) mounted on the remotely controlled tool(s). This allows images of the interior of the containment structure (e.g. including the contaminated object or structure and/or the remotely controlled tool(s)) to be captured that may be used for controlling the operations of the remotely controlled tool(s).

The containment structure may comprise one or more entrances and/or exits into and/or out of the containment structure. This helps to allow items that have been dismantled from the contaminated object or structure to be removed from the containment structure, e.g. for disposal. In a preferred embodiment the containment structure comprises a porch comprising a (e.g. closable) entrance between the exterior of the containment structure and the porch, and a (e.g. closable) entrance between the porch and the interior of the (e.g. main body of the) containment structure. The porch helps to provide an interlock between the (e.g. main body of the) containment structure and the exterior, thus helping to separate the working environment in the interior of the main body of the containment structure (which may contain high levels of contaminants owing to the dismantling operations being performed) and the external environment.

Preferably the containment structure comprises a trolley (e.g. a bogie) for transporting items (e.g. removed from the contaminated object or structure) into and out of the containment structure, e.g. through the one or more entrances and/or exits (e.g. via the porch). Preferably the containment structure comprises a track (e.g. air cushioned or comprising a pair of rails) extending from the interior (e.g. to the exterior) of the containment structure, e.g. through the one or more entrances and/or exits (e.g. into (and preferably through) the porch). Thus preferably the trolley or bogie is arranged to run along the track, e.g. to move items into and out of the containment structure (e.g. into and out of the porch).

In a preferred embodiment the (e.g. porch of the) containment structure comprises a decontamination facility, e.g. for performing surface decontamination of (e.g. items removed from) the contaminated object or structure. Advantageously this is performed in the porch of the containment structure, to help ensure that items are substantially free from contamination before they are removed from the porch to the exterior of the containment structure.

In one embodiment one or both of the remotely controlled tools (where provided) are arranged to load items (e.g. parts) removed from the contaminated object or structure into waste containers. Preferably the waste containers are sealed (e.g. by the remotely controlled tool(s)) before the waste containers are removed from the (e.g. main body of the) containment structure (e.g. to the porch). In another embodiment, the waste containers are sealed in the porch. This allows dismantled parts of the contaminated object or structure to be packaged up and removed from the containment structure in discrete (and preferably sealed) units. Preferably the decontamination facility (e.g. in the porch of the containment structure) is arranged to perform surface decontamination of the waste containers, e.g. as they are brought into and taken out of the (e.g. porch of the) containment structure.

The (e.g. porch of the) containment structure may comprise one or more contaminant (e.g. chemical and/or radiation) detectors arranged to scan items in (e.g. passing through) the (e.g. porch of the) containment structure for the presence of (e.g. chemical and/or radiation) contamination. This allows items that are in the (e.g. porch of the) containment structure to be checked for the presence of contamination before they enter or are removed from the (e.g. porch of the) containment structure. This may be to check that the items have been decontaminated successfully and/or to categorise the items (e.g. in the waste containers), e.g. as to the level of their (e.g. radiation) contamination, before they are taken away (e.g. for disposal).

It will be seen from the above that the system, e.g. using the remotely controlled surveying and/or manipulating tool(s), is able to survey and dismantle a contaminated object or structure. Operation of the system, according to embodiments of the invention will now be described. In one embodiment the system comprises a control room (e.g. remote from the containment structure) for controlling operation of the remotely controlled surveying and/or manipulating tool(s) (and, e.g., the movable gantry, the one or more surveying and/or manipulating components, the trolley and/or the decontamination facility) in the containment structure. This allows (e.g. human) operators to perform surveying and/or manipulating operations (using the remotely controlled surveying and/or manipulating tool(s)) from outside the containment structure, thus helping them to avoid exposing themselves to the contaminated object or structure being surveyed and/or dismantled.

The control room may be located in any suitable and desired location, relative to the containment structure. In one embodiment the control room is located adjacent to the containment structure. Thus, for example, the containment structure and the control room may each comprise one or more windows that allow the interior of the containment structure to be viewed from the control room. This helps to allow the operator(s) in the control room to see and control the remotely controlled tool(s) (and, e.g., the movable gantry) to perform surveying and/or manipulation operations on the object or structure to be surveyed and/or dismantled, as appropriate.

In one embodiment the control room is located remote (i.e. in a different location) from the containment structure. This may be in a different room, a different building, at a different site, in a different geographical location (e.g. city or country), etc..

Preferably the control room comprises control apparatus for controlling the remotely controlled tool(s) (and, e.g., other items) in the containment structure. The control apparatus may include readout apparatus, e.g. display screen(s) (e.g. for showing images captured by camera(s) in the containment structure) and/or sensor display(s) (e.g. for showing the measurements captured by sensor(s) in the containment structure. This helps to allow the operator(s) in the control room to see and control the remotely controlled tool(s) to perform surveying and/or manipulation operations on the object or structure to be surveyed and/or dismantled, as appropriate.

The control apparatus may include one or more input control devices, e.g. for actively controlling (e.g. manipulating) the remotely controlled tool(s) (and, e.g., other items) in the containment structure. For example, the input control devices may include a joystick (or similar operating device, such as a haptic controller) for controlling the (e.g. movement of the) remotely controlled tool(s), the movable gantry, the one or more surveying and/or manipulating components, the trolley and/or the decontamination facility.

Thus preferably the control room is in data communication with the containment structure (and, e.g., one or more (e.g. all) of the items in the containment structure), e.g. the control room is arranged to receive data signals from (e.g. one or more (e.g. all) of the items in) the containment structure and to transmit data signals to (e.g. one or more (e.g. all) of the items in) the containment structure. This includes, but is not limited to, the movable (position controlled) gantry, the remotely controlled tool(s), the one or more surveying and/or manipulating components, the trolley and the decontamination facility. Thus, preferably the control room and/or the containment structure (e.g. each) comprise one or more (e.g. wired or wireless) data transmitters and/or receivers, as appropriate.

The items (e.g. the remotely controlled tool(s), the movable gantry, the one or more surveying and/or manipulating components, the trolley and/or the decontamination facility) in the containment structure may be controlled actively and directly by operator(s) in the control room all the time, e.g. the operator(s) in the control room may have full control of everything in the containment structure. However, in one embodiment, the object or structure to be surveyed and/or dismantled (and, e.g., other parts of the containment structure, as appropriate) are first surveyed. This allows the object or structure to be surveyed and/or dismantled (and, e.g., its environment in the containment structure) to be characterised. The object or structure may then be dismantled, using the information gathered from its characterisation. This may allow the dismantling operations to be at least partly automated.

The surveying of the object or structure to be surveyed and/or dismantled may comprise capturing image and/or position data of the object or structure (and, e.g., its surroundings in the containment structure), e.g. using one or more cameras and position (e.g. depth) sensors (such as laser scanners). The surveying of the object or structure to be surveyed and/or dismantled may comprise capturing contaminant (e.g. radiation, chemical, toxicity, environmental, laser induced breakdown spectroscopy) data of the object or structure (and, e.g., its surroundings in the containment structure), e.g. using one or more sensors (as appropriate for the contaminant to be detected). Preferably the contaminant data is linked to the position data, such that the location of any contamination may be determined. It will be appreciated that capturing this data helps to obtain information about the object or structure that may then be used in dismantling the object or structure.

In one embodiment a model of the object or structure to be surveyed and/or dismantled is built, using the captured data. The model may comprise a virtual reality (VR) or augmented reality (AR) model, for use in the control room by the operator(s). The model may also be used to control one or more (e.g. all) of the remotely controlled tool(s), the one or more surveying and manipulating components, the trolley and/or the decontamination facility at least partly automatically. For example, if the location, shape and size of the object or structure to be surveyed and/or dismantled (and, e.g., its surroundings in the containment structure) are known, when the remotely controlled tool(s), the movable gantry, the one or more surveying and/or manipulating components, the trolley and/or the decontamination facility are controlled, may move automatically between two positions, e.g. owing to them knowing the location of obstacles in the way between the two positions. This helps to avoid the operator(s) having to exert continuous control over everything in the containment structure.

However, it may be helpful for the operator(s) to exert at least some control over the items in the containment structure and their operation not to be fully automated. Thus preferably the various camera(s), sensor(s), detector(s), etc., may be arranged to capture their respective data and transmit it to the control room for use by the operator(s) in controlling the operation of items in the containment structure.

Certain preferred embodiments for the invention will now be described, by way of example only, with reference to the accompanying drawings in which: Figure 1 shows schematically a system in accordance with an embodiment of the present invention; and Figures 2a and 2b show schematically side and plan views of a system in accordance with an embodiment of the present invention.

Many industries need to contain or control the release of toxic or hazardous materials during industrial processes, such as those involving radioactive materials, toxic chemicals, asbestos, biologically active materials and hazardous waste.

Embodiments of a system for surveying and dismantling a structure that is contaminated with toxic or hazardous material will now be described.

Figure 1 shows schematically a system 1 in accordance with an embodiment of the present invention. The system 1 is designed to survey and dismantle a contaminated structure 2 that needs to be removed from an industrial facility. The system 1 includes an outer containment structure 4 that is erected to surround the contaminated structure 2.

The outer containment structure 4 may be the Applicant's ModuCon (TM) system, as described in GB 2 376 701 A. This is a modular structure that is easily erected around the contaminated structure 2 to be surveyed and dismantled. The outer containment structure 4 provides a sealed space inside which surveying and dismantling operations may be performed without risk of toxic and hazardous materials being leaked outside of the containment structure 4.

Inside the outer containment structure 4 a self-supporting gantry 6 is erected close to the roof of the containment structure 4, above the contaminated structure 2. A remotely controlled robotic arm 8 is movably mounted on the gantry 6 (which may be position controlled itself), such that the robotic arm 8 can be moved over the contaminated structure 2. A surveying or manipulating tool 10 is removably attached to the end of the robotic arm 8 for surveying or manipulating the contaminated structure 2.

Video cameras 12, for capturing video image data of the interior of the outer containment structure 4 (including of the contaminated structure 2 and the robotic arm 8), are attached to the gantry 6.

The system 1 also includes a control room 14 that is remote from the containment structure 4. The control room 14 includes control apparatus 16 for viewing the video image data captured by the video cameras 12 (which is transmitted from the containment structure 4 to the control room 14) and for controlling the robotic arm 8, the gantry 6 and the tool 10 attached to the robotic arm 8. Thus the control room 14 and the containment structure 4 are in data communication with each other.

The containment structure 4 also includes a porch 18 for transferring items into and out of the containment structure 4. The porch 18 may include a facility for washing items that have been removed from the interior of the main body of the containment structure 4, before they are removed from the porch 18.

A further embodiment of the invention will now be described, with reference to Figures 2a and 2b, to outline additional features of the system.

Figures 2a and 2b show schematically side and plan views of a system 21 in accordance with an embodiment of the present invention. The system 21 shown in Figures 2a and 2b also includes a control room (e.g. as shown in Figure 1), but this is not shown in Figures 2a and 2b for the purposes of clarity.

The system 21 shown in Figures 2a and 2b is similar to that shown in Figure 1 in that it includes an outer containment structure 24 that has been erected to surround a contaminated structure 22 to be surveyed and dismantled. A gantry 26 is erected inside the containment structure 24, with a remotely controlled robotic arm 28 movably mounted to hang from the gantry 24. A surveying or manipulating tool 30 is attached to the end of the robotic arm 28 for surveying or manipulating the contaminated structure 22.

Video cameras 32 are attached to the legs of the gantry 26. The containment structure 24 also includes a porch 38 for transferring items into and out of the containment structure 24.

In addition to the features in common with the system 1 shown in Figure 1, the system shown in Figures 2a and 2b also includes a rack 40 inside the containment structure 24 for storing surveying and manipulation tools 30 for use on the robotic arm 28. The robotic arm 28 has an attachment for removably mounting tools 30 thereto. Thus the robotic arm 28 is able to select and attach a tool 30 to use from the rack 40, and then interchange the tool 30 for a different tool 30 from the rack 40. The tools 30 may include one or more (e.g. all) of: a grabbing tool, a lifting tool, a pair of shears, a pair of (e.g. hot and/or cold) cutters, a welding tool, a camera, a chemical detector, a radiation detector and a laser scanner.

The containment structure 24 also includes a sorting and cutting table 42, and a floor mounted robot 44 that is positioned and arranged to work on the sorting and cutting table 42. The sorting and cutting table 42 allows items that have been removed from the contaminated structure 22 to be cut up and sorted on the sorting and cutting table 42 by the floor mounted robot 44, before they are moved into the porch 38 for removal from the containment structure 24.

As can be seen from the plan view shown in Figure 2b, the containment structure 24 also includes a track 46 that runs from inside the containment structure 24, through the porch 38 to the exterior of the containment structure 24. A trolley 48 is mounted on the rails of the track 46 such that the trolley 48 can run along the track 46 to transport items from the interior to the exterior of the containment structure 24, via the porch 38.

Operation of the systems 1, 21 shown in Figures 1, 2a and 2b will now be described.

For an object or structure 2, 22 that is contaminated and needs to be surveyed and dismantled, a containment structure 4, 24 is built around the object or structure 2, 22. The cameras 12, 32 and one or more tools 10, 30 (attached to and moved by the robotic arm 8, 28) are used to perform a survey of the object or structure 2, 22. The survey may, for example, include a scan of the position of the object or structure 2, 22 (e.g. using the cameras 12, 32 and a laser scanner) and any contaminants that are on the object or structure 2, 22 (e.g. using an appropriate sensor). The appropriate tools 10, 30 to perform the survey are retrieved from the rack 40 and attached to the robotic arm 8, 28. The survey may be performed automatically or may be controlled from the control room 14.

Using the position and/or contaminant data captured during the survey, a model of the object or structure 2, 22 and its surroundings (i.e. the interior of the containment structure 4, 24) is built. The model is then used in subsequent control of the robotic arm 8, 28 and the tool(s) 10, 30 attached thereto. Using the model (e.g. as part of a VR or AR system being used on the control apparatus 16 in the control room 14), the object or structure 2, 22 is then dismantled.

As parts of the object or structure 2, 22 are removed by the tool(s) 10, 30 on the robotic arm 8, 28 (controlled by the control apparatus 16 in the control room 14, e.g. using images captured from the cameras 12, 32), they are moved to the sorting and cutting table 42 where they are operated on by the floor mounted robot 44. The floor mounted robot 44 cuts the parts of the object or structure 2, 22 into smaller parts and sorts these parts according to the level of their contamination (e.g. highly contaminated, moderately contaminated and lowly contaminated).

The sorted parts of the object or structure 2, 22 are loaded into waste containers, according to the level of their contamination. The waste containers are then loaded onto the trolley 48 and transported along the track 46 into the porch 48. In the porch, the outside of the waste containers are decontaminated before they are moved along the track 46 to the exterior of the porch 38 and the containment structure 4, 24 for transporting off site.

It will be seen from the above that in at least preferred embodiments the present invention provides a system that is able to survey and dismantle an object or structure using a "top down" approach that enables objects and structure that are contaminated with toxic or hazardous materials, and need to be surveyed and/or dismantled, to be handled more safely, quickly and predictably, and thus less inexpensively, than with conventional systems.

Claims

Claims 1. A system for surveying and/or dismantling an object or structure, the system comprising: an outer containment structure for surrounding an object or structure to be surveyed and/or dismantled; a gantry arranged within or attached to the outer containment structure, wherein the gantry is positioned above an area within the outer containment structure for the object or structure to be surveyed and/or dismantled; and a remotely controlled tool mounted to the gantry for surveying and/or manipulating the object or structure to be surveyed and/or dismantled at least from above the object or structure.
2. The system as claimed in claim 1, wherein the outer containment structure comprises one or more walls and a roof.
3. The system as claimed in claim 1 or 2, wherein the outer containment structure comprises a modular structure.
4. The system as claimed in claim 1, 2 or 3, wherein the containment structure comprises one or more of: windows, electrical power, lighting, ventilation and filtration systems.
5. The system as claimed in any one of the preceding claims, wherein the gantry comprises one or more legs and one or more cross beams extending between the one or more legs, wherein the remotely controlled surveying and/or manipulating tool is movably mounted to the one or more cross beams of the gantry.
6. The system as claimed in any one of the preceding claims, wherein the gantry extends across the interior of the outer containment structure.
7. The system as claimed in any one of the preceding claims, wherein the remotely controlled tool is mounted to the gantry such that it is able to be moved in two or three dimensions.
8. The system as claimed in any one of the preceding claims, wherein the remotely controlled surveying and/or manipulating tool comprises a motor or hydraulically driven arm.
9. The system as claimed in any one of the preceding claims, wherein the remotely controlled tool comprises an attachment for removably mounting one or more surveying and/or manipulating components thereto.
10. The system as claimed in claim 9, wherein the system comprises a rack for storing the plurality of surveying and/or manipulating components within the outer containment structure.
11. The system as claimed in claim 9 or 10, wherein the one or more surveying and/or manipulating components comprise one or more of: a grabbing tool, a lifting tool, a pair of shears, a pair of cutters, a laser cutter, a plasma cutter, a photogrammetry scanner, a reciprocating saw, a circular saw, a drill, a welding tool, a camera, a chemical detector, a radiation detector and a laser scanner.
12. The system as claimed in any one of the preceding claims, wherein the containment structure comprises a floor mounted remotely controlled surveying and/or manipulating tool mounted on the floor of the containment structure.
13. The system as claimed in claim 12, wherein the floor mounted remotely controlled tool comprises a plasma cutter.
14. The system as claimed in any one of the preceding claims, wherein the containment structure comprises a surface for performing surveying and/or manipulating operations on the contaminated object or structure.
15. The system as claimed in any one of the preceding claims, wherein the containment structure comprises one or more cameras mounted within the containment structure for capturing image data of the interior of the containment structure.
16. The system as claimed in any one of the preceding claims, wherein the containment structure comprises one or more entrances and/or exits into and/or out of the containment structure.
17. The system as claimed in any one of the preceding claims, wherein the containment structure comprises a porch comprising an entrance between the exterior of the containment structure and the porch, and an entrance between the porch and the interior of the containment structure.
18. The system as claimed in any one of the preceding claims, wherein the containment structure comprises a trolley or transporting items into and out of the containment structure.
19. The system as claimed in any one of the preceding claims, wherein the containment structure comprises a track extending from the interior of the containment structure.
20. The system as claimed in any one of the preceding claims, wherein the containment structure comprises a decontamination facility for performing surface decontamination of the contaminated object or structure.
21. The system as claimed in any one of the preceding claims, wherein the remotely controlled tool and/or a floor mounted tool are arranged to load items removed from the contaminated object or structure into waste containers.
22. The system as claimed in any one of the preceding claims, wherein the system comprises a control room for controlling operation of the remotely controlled tool in the containment structure.