Robotic source detection device and method

A system for detecting a source of a gas leak, comprising:

• a robotic vehicle for detecting a source of a gas leak, said robotic vehicle including:
• (a) an extendable and retractable mast assembly mounted to the robotic vehicle, the mast assembly including a mast base and a mast;
• (b) a gas detection sensor positioned at an upper end of the mast;
• and
• (c) a central computer secured within the robotic vehicle for controlling autonomous operation of the vehicle, said central computer including at least one processor for executing programming tasks and at least one memory element for storing data, the programming tasks including:
• maneuvering the robotic vehicle according to predetermined path in a search mode;
• and
• operating the robotic vehicle according to an exploration mode for determining whether a set of goal conditions are met;
• an external network gateway communicating with the central computer to facilitate flow of data between communication networks associated with the vehicle;
• a first software application integral with said central computer for receiving data and for executing commands to control the vehicle through a processor of said central computer, said data including navigational data, sensor data, environmental data, and user defined data;
• an external network gateway communicating with the central computer to facilitate flow of data between one or more communication networks associated with the vehicle;
• a second software application communicating with said robotic vehicle to receive data, display data, and to selectively transfer data to one or more remote computing or communication devices within a communications network of said one more communication networks, said second software application comprising a plurality of user interfaces for displaying said data associated with operational functions of said robotic vehicle including recorded data for detected gas concentrations and locations where said gas concentrations were detected;
• and
• at least one of a mobile communication device or remote computer that runs said second software application wherein the remote display device is incorporated in said mobile communication device or remote computer and wherein at least one user interface is generated on the remote display device that displays said recorded data for detected gas concentrations and said locations where said gas concentrations were detected.

A method for detecting a source of a gas leak, comprising:

• providing a robotic vehicle including:
• an extendable and retractable mast assembly mounted to the robotic vehicle, a gas detection sensor positioned at an upper end of the mast, and a central computer secured within the robotic vehicle for controlling autonomous operation of the vehicle, said central computer including at least one processor for executing programming tasks and at least one memory element for storing data;
• positioning the robotic vehicle at a jobsite where a gas leak is suspected;
• generating commands for the robot to commence movement at the jobsite, said commands being processed by said central computer to actuate electric motors of said robotic to move said vehicle toward a detected leak, said commands being generated from a source detection algorithm based on a gradient descent model, wherein said commands continually refine a position of the robotic vehicle so that it moves to an area of high probability of increased gas concentration;
• predetermining a path of travel for said robotic vehicle based on initial gas concentrations detected by said gas detection sensor;
• moving said robotic vehicle along said predetermined path in a first search mode;
• selectively raising and lowering said mast assembly to obtain sensor readings at different heights as said robotic vehicle travels and when said robotic vehicle comes to a stop;
• determining, by said central computer, whether said sensor readings satisfy one or more conditions indicating a likelihood of a detected leak near or at a present location of the robotic vehicle where sensor readings are taken;
• determining, by said central computer, when said conditions are satisfied to then operate said robotic vehicle in an exploration mode;
• operating said vehicle in said exploration mode to determine when goal conditions are met, said goal conditions defined as data recorded in an area where said gradient descent model indicates the presence of a higher concentration of gas;
• and
• confirming the source of the leak is found by iterative executions of said gradient descent model that are stable.