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

Claim 26:
27. A tangible, non-transitory, machine-readable medium storing instructions that when executed by one or more processors effectuate operations comprising:
obtaining inspection path information indicating a path for a robot to travel, and a plurality of locations along the path to inspect, wherein each location of the plurality of locations is associated with orientation information indicating an orientation that an OGI camera coupled to the robot 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 memory, an indication that the gas leak exists at the first location.