This paper presents the design and testing of a scale proof-of-concept prototype robotic end-effector system for autonomous robotic shotcrete application and radiation surveying in underground uranium mining environments. The system presented consists of two functionally distinct prototype tools that achieve the independent tasks of autonomous robotic spray pattern control and surface radiation surveying. The first prototype tool presented is a novel, robotic shotcrete spraying tool that is capable of autonomously maintaining and adjusting its circular spray pattern diameter on target surfaces in response to changes in target surface distance. Control algorithms are presented that give the robotic shotcrete spraying tool the capability to produce advanced figure eight and spiral spraying patterns for surface preparation applications that involve spot filling deep surface cracks and pockets. Physical testing of the prototype tool empirically verified its ability to maintain circular spray pattern diameters at various target distances and demonstrated the application potential of the advanced figure eight and spiral spraying patterns. The second prototype tool presented is a Geiger–Müller tube-based radiation detection tool that uses lead shielding and a single-hole collimator in combination with precise robotic positioning to capture localized radiation measurements of surfaces within radiation-rich environments. Physical testing of the prototype tool demonstrated its ability to create radiation survey profiles that distinctly characterized the radiological profile of test target surfaces embedded with various radioactive sources.
Operation and maintenance manual for the common video end effector system (CVEE) system 6260
