CPC B25J 13/087 (2013.01) [B25J 9/1664 (2013.01); B25J 9/1674 (2013.01); B25J 9/1697 (2013.01); B25J 19/023 (2013.01); G05D 1/0094 (2013.01); G06F 16/532 (2019.01); G06F 16/95 (2019.01); G06N 3/08 (2013.01)] | 20 Claims |
1. A robot system for patrolling a facility and detecting gas leaks, the robot system comprising:
a sensor system attached to a robot, the sensor system comprising:
a cooling system;
an optical gas imaging (OGI) camera comprising a sensor and a refrigeration system configured to cool the sensor;
a red green blue (RGB) camera; and
the robot comprising one or more processors and computer program instructions that, when executed, cause the robot to perform operations comprising:
receiving inspection path information indicating a path for the robot to travel, and a plurality of locations along the path to inspect with the sensor system;
determining, based on information received via a location sensor, that a distance between a location of the robot and a first location of the plurality of locations is greater than a threshold distance;
in response to determining that the distance is greater than the threshold distance, sending a first command to the sensor system, wherein the first command causes the refrigeration system of the OGI camera to decrease cooling;
moving along the path;
in response to determining that the robot is within a threshold distance of a first location of the plurality of locations, sending a second command to the sensor system, wherein the second command causes the refrigeration system of the OGI camera to increase cooling and remove thermal energy from the sensor;
causing the sensor system to record a first video with the OGI camera and a second video with the RGB camera; and
causing the sensor system to store the first video and the second video in memory.
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