Patent ID: 11858122
Assignee: MFE ENTERPRISES, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A robot system for patrolling a facility and detecting gas leaks, the robot system comprising:
a robot; and
a plurality of sensors attached to the robot, the plurality of sensors comprising:
an optical gas imaging (OGI) camera; and
a red green blue (RGB) camera, wherein the RGB camera is located such that a field of view of the RGB camera comprises at least part of a field of view of the OGI camera; and
one or more processors and memory storing computer program instructions that, when executed, cause the one or more processors to perform operations comprising:
obtaining inspection path information indicating a path for the robot to travel, and a plurality of locations along the path to inspect with the plurality of sensors, wherein each location of the plurality of locations is associated with orientation information indicating an orientation that the OGI camera is to be placed in to record images;
causing the robot to move along the path;
determining that the robot is at a first location of the plurality of locations;
causing the robot to adjust the OGI camera based on first orientation information associated with the first location;
recording a first plurality of images with the OGI camera;

determining, based on the first plurality of images, that a gas leak exists at the first location, wherein determining that the gas leak exists at the first location comprises:
determining a reference image associated with the first location;
generating a subtracted image by subtracting a first image of the first plurality of images from the reference image; and
determining, based on the subtracted image, that the gas leak exists at the first location; and
storing, in the memory, an indication that the gas leak exists at the first location.