Integration of an OGI Camera in a Legged Robot for a Fugitive Emission Monitoring
Authors: Campaci Renato , Moro Alberto , Borzone Tommaso , Favaretto Mauro , Vignali Andrea , Fassio Camilla , Corallo Nunzio , Garcia Fernando , Vandekerkhove Brecht , Lapijover Yoann , Aregger Severin , Shetti Sagar 
Published: February 2025

ABSTRACT

OBJECTIVE/SCOPE
Methane emissions in Oil & Gas facilities are a significant concern due to methane's high global warming potential (GWP-100 of 28). Precise detection and quantification of methane emissions are essential for effective mitigation. Traditionally, methane monitoring is performed by operators using hand-held Optical Gas Imaging (OGI) cameras, which are used for hydrocarbon leak detection. However, this method exposes personnel to harsh environments, congested spaces, and potentially explosive atmospheres, and is prone to inefficiencies and errors, leading to unreliable emission estimates and undetected leaks.
Robotic platforms offer a promising solution for more frequent, reliable, and repeatable methane monitoring, reducing personnel exposure to unsafe environments. This paper presents an innovative solution involving a legged robot integrated with an OGI camera. The integration process included both hardware and software adaptations to ensure compatibility and operational efficiency. Field tests demonstrated the robot's ability to perform autonomous inspections and detect methane leaks effectively. This approach aims to enhance operator safety, enable early detection of greenhouse gases, and improve the efficiency of asset integrity management in Oil & Gas facilities.

METHODS, PROCEDURES, PROCESS
Eni and ANYbotics collaborated to integrate an OGI camera into the four-legged robot ANYmal D, developed by ANYbotics, to evaluate its potential for methane emissions monitoring. This robot is designed to perform autonomous missions in complex environments, such as Oil & Gas plants, even in the absence of GNSS signals. It has a good payload capacity and can climb stairs to reach monitoring targets. Additionally, the solution developed is potentially applicable to the ANYmal X robot, which is certified for operations in ATEX Zone 1.

RESULTS, OBSERVATIONS, CONCLUSIONS
The system successfully performed autonomous missions, detecting leaks with the OGI camera. Images were visible on the robot's control panel. Detection capability was not significantly affected by sky backgrounds, but warmer backgrounds provided better detection. The detection rate improved with GEM enabled, and closer focus allowed for the detection of lower flowrate leaks. Focus adjustments had to be done manually. The snapshot functionality missed frames due to the low write speed of the SD card. It is recommended to expose GEM settings in the workforce app and consider using an OGI camera with electromechanical focus.

NOVEL/ADDITIVE INFORMATION
This solution demonstrates the feasibility of using autonomous four-legged robots for methane monitoring in Oil & Gas plants, replacing human personnel. This approach aims to improve operator safety, achieve early detection of greenhouse gases, and enhance the efficiency of asset integrity management.