System and method for effectively identifying location of gas leak

Abstract

Embodiments of the present disclosure relate to systems and methods for efficiently identifying a gas leak location. The systems and methods for efficiently identifying a gas leak location can include traversing a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm by an investigator and within a search area where a gas leak has been indicated. The systems and methods can also include sampling the environment along the route with a gas detection device carried by the investigator to identify a location of the gas leak.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to systems and methods for efficiently identifying locations of gas leaks. BACKGROUND

[0002] Advanced leak detection systems (ALDS) utilize newly available natural gas (e.g., methane, ethane, mercaptans, or other constituents) detectors mounted on vehicles with very high sensitivity to quickly investigate and detect natural gas leaks in pipeline infrastructure. ALDS investigations typically result in an estimate of the location of the emission, followed by a precision investigation using a handheld detector on foot. While the identification of the general area of a gas leak can occur quickly, the process of the on-foot investigation following the ALDS investigation is significantly more time consuming and costly. Depending on the number of emission indications provided by the vehicle-based detection system, an investigator typically spends 45 minutes to 60 minutes. The time and cost are largely due to the low sensitivity of the handheld precision locating tool and the resulting lack of guidance on where and how to investigate the emission indication. That is, ALDS only provides the on-foot investigator with a search area, and the success of finding the location of the gas leak is largely dependent on the skill and method used by the investigator. Some investigators have a discovery rate as low as 10%, while other investigators can have a discovery rate as high as 90%. Because investigators typically have a sharp increase in discovery rate after training, followed by a decrease over time, the discovery rate also varies greatly depending on how long the investigator has been trained. SUMMARY

[0003] According to one aspect of the present disclosure, a mobile computing device can include circuitry configured to obtain route data indicative of a route along which to travel in a geographic area in which a gas leak was detected and present the route data to a user to guide the user along the route.

[0004] In some embodiments, presenting the route data to the user can include displaying a map of the geographic area with the route superimposed on the map.

[0005] In some embodiments, presenting the route data to the user can include displaying a directional arrow to the user indicative of a direction in which to travel along the route.

[0006] In some embodiments, presenting the route data can include emitting an audible or haptic signal indicative of an instruction to travel along the route.

[0007] In some embodiments, obtaining the route data can include obtaining route data generated based on search area data indicative of a geographic area in which a gas leak was detected.

[0008] In some embodiments, the circuitry can be configured to generate the route data.

[0009] In some embodiments, the circuitry can be configured to obtain route data from a remote computing device.

[0010] In some embodiments, obtaining route data can include obtaining route data generated based on a surge projection algorithm, a surge spiral algorithm, or a raster scan algorithm.

[0011] In some embodiments, obtaining route data can include obtaining route data generated based on a gas plume model.

[0012] In some embodiments, obtaining route data can include obtaining route data that has been adjusted according to environmental conditions.

[0013] In some embodiments, obtaining route data that has been adjusted according to environmental conditions can include obtaining route data in which the route has been rotated based on a wind direction.

[0014] In some embodiments, obtaining route data can include obtaining route data that has been adjusted according to one or more objects present in the environment.

[0015] In some embodiments, obtaining route data that has been adjusted according to one or more objects present in the environment can include obtaining route data that has been adjusted to include at least a portion of a perimeter of a building.

[0016] In some embodiments, obtaining route data that has been adjusted according to one or more objects present in the environment can include obtaining route data in which the route has been adjusted to follow an edge of a street.

[0017] In some embodiments, obtaining route data that has been adjusted according to one or more objects present in the environment can include obtaining route data in which the route has been adjusted to follow at least a portion of a gas pipe or other gas management infrastructure.

[0018] In some embodiments, obtaining route data can include obtaining route data in which the route has been adjusted according to a surge projection algorithm.

[0019] In some embodiments, obtaining route data can include obtaining route data in which the route has been adjusted to pause traversing the route in response to determining that a detected wind speed satisfies a predefined threshold.

[0020] In some embodiments, obtaining route data can include obtaining route data in which the route has been adjusted to pause traversing the route in response to determining that a detected wind speed is less than a predefined speed.

[0021] In some embodiments, the circuitry can be further configured to determine whether the wind speed satisfies a predefined threshold for a predetermined period of time, change the route from the route generated based on the one algorithm to the route generated based on the second algorithm in response to determining that the wind speed satisfies the predefined threshold for the predetermined period of time, and resume traversing the route after changing the route.

[0022] In some embodiments, changing the route can include changing the route from the route generated based on the surge projection algorithm or the surge spiral algorithm to the route generated based on the raster scan algorithm.

[0023] In some embodiments, the circuitry can be further configured to determine one or more changes in the wind direction over a period of time, determine whether the one or more changes in the wind direction are random, and pause traversing the route in response to determining that the one or more changes in the wind direction are random.

[0024] In some embodiments, the circuitry can be further configured to determine whether the change in the wind direction has remained random for at least thirty seconds, and change the route from the route based on the surge projection algorithm or the surge spiral algorithm to the route based on the raster scan algorithm in response to determining that the change in the wind direction has remained random for at least thirty seconds.

[0025] In some embodiments, the circuitry can be further configured to resume traversing the route after the route has been changed to the route based on the raster scan algorithm.

[0026] In some embodiments, the route can be within a search area, and the circuitry can be further configured to determine whether a location of a gas leak has been identified along the route, and expand the route to cover a remaining portion of the search area based on the raster scan algorithm in response to determining that the location of the gas leak has been identified.

[0027] In some embodiments, presenting the route data can include presenting data indicative of a speed at which to travel along the route.

[0028] In some embodiments, obtaining the route data can include obtaining route data in which the route has been adjusted to reverse a direction of a projection perpendicular to the wind in response to not detecting the gas after having traveled a threshold distance.

[0029] According to another aspect of the disclosure, a method can include obtaining, by a mobile computing device, route data indicative of a route to travel along to identify a location of a gas leak, and presenting, by the mobile computing device, the route data to a user to guide the user along the route.

[0030] In some embodiments, presenting route data to the user can include displaying a map of the geographic area, wherein the route is overlaid onto the map.

[0031] In some embodiments, presenting route data to the user can include displaying a direction arrow to the user indicating a direction to travel along the route.

[0032] In some embodiments, presenting route data can include emitting an audible or haptic signal indicating instructions to travel along the route.

[0033] In some embodiments, obtaining route data can include obtaining route data generated based on search area data indicating a geographic area in which a gas leak was detected.

[0034] In some embodiments, obtaining route data can include generating route data using the mobile computing device.

[0035] In some embodiments, obtaining route data can include obtaining route data from a remote computing device.

[0036] In some embodiments, obtaining route data can include obtaining route data generated based on a surge projection algorithm, a surge spiral algorithm, or a raster scan algorithm.

[0037] In some embodiments, obtaining route data can include obtaining route data generated based on a gas plume model.

[0038] In some embodiments, obtaining route data can include obtaining route data that has been adjusted according to environmental conditions.

[0039] In some embodiments, obtaining route data that has been adjusted according to environmental conditions can include obtaining route data in which the route has been rotated based on a wind direction.

[0040] In some embodiments, obtaining route data can include obtaining route data that has been adjusted according to one or more objects present in the environment.

[0041] In some embodiments, obtaining route data that has been adjusted according to one or more objects present in the environment can include obtaining route data that has been adjusted to include at least a portion of a perimeter of a building.

[0042] In some embodiments, obtaining route data that has been adjusted according to one or more objects present in the environment can include obtaining route data in which the route has been adjusted to follow an edge of a street.

[0043] In some embodiments, obtaining route data adjusted according to one or more objects present in the environment can include obtaining route data in which the route has been adjusted to follow at least a portion of a gas pipe or other gas management infrastructure.

[0044] In some embodiments, obtaining route data can include obtaining route data in which the route has been adjusted according to a surge projection algorithm.

[0045] In some embodiments, obtaining route data can include obtaining route data in which the route has been adjusted to pause traversing the route in response to determining that a detected wind speed satisfies a predefined threshold.

[0046] In some embodiments, obtaining route data can include obtaining route data in which the route has been adjusted to pause traversing the route in response to determining that a detected wind speed is less than a predefined speed.

[0047] In some embodiments, the method can further include determining whether a wind speed satisfies a predetermined threshold for a predefined period of time, changing the route from a route generated based on one algorithm to a route generated based on a second algorithm in response to determining that the wind speed satisfies the predefined threshold for the predefined period of time, and resuming traversing the route after changing the route.

[0048] In some embodiments, changing the route can include changing the route from a route generated based on a surge projection algorithm or a surge spiral algorithm to a route generated based on a raster scan algorithm.

[0049] In some embodiments, the method can further include determining one or more changes in a wind direction over a period of time, determining whether the one or more changes in the wind direction are random, and pausing traversing the route in response to determining that the one or more changes in the wind direction are random.

[0050] In some embodiments, the method can further include determining whether a change in the wind direction has remained random for at least thirty seconds, and changing the route from a route based on a surge projection algorithm or a surge spiral algorithm to a route based on a raster scan algorithm in response to determining that the change in the wind direction has remained random for at least thirty seconds.

[0051] In some embodiments, the method can further include resuming traversing the route after the route has been changed to a route based on a raster scan algorithm.

[0052] In some embodiments, the route can be within a search area, and the method can further include: determining whether a location of a gas leak has been identified along the route; and in response to determining that the location of the gas has been identified, increasing the route to cover a remainder of the search area based on a raster scan algorithm.

[0053] In some embodiments, presenting the route data can include presenting data indicative of a speed at which to travel along the route.

[0054] In some embodiments, obtaining the route data can include obtaining route data in which the route has been adjusted to reverse a direction of projection perpendicular to the wind in response to not detecting the gas after having traveled a threshold distance.

[0055] According to yet another aspect of the disclosure, one or more machine- readable storage media can include a plurality of instructions stored thereon that, in response to being executed, result in a mobile computing device obtaining route data indicative of a route to travel along in a geographic area to identify a location of a gas leak and presenting the route data to a user to guide the user along the route.

[0056] In some embodiments, presenting the route data to the user can include displaying a map of the geographic area with the route superimposed onto the map.

[0057] In some embodiments, presenting the route data to the user can include displaying a directional arrow to the user indicative of a direction to travel along the route.

[0058] In some embodiments, presenting the route data can include emitting an audible or haptic signal indicative of instructions to travel along the route.

[0059] In some embodiments, obtaining the route data can include obtaining route data generated based on search area data indicative of a geographic area in which a gas leak was detected.

[0060] In some embodiments, the mobile computing device can be configured to generate the route data.

[0061] In some embodiments, the mobile computing device can be configured to obtain the route data from a remote computing device.

[0062] In some embodiments, obtaining the route data can include obtaining route data generated based on a surge projection algorithm, a surge spiral algorithm, or a raster scan algorithm.

[0063] In some embodiments, obtaining the route data can include obtaining route data generated based on a gas plume model.

[0064] In some embodiments, obtaining route data can include obtaining route data that has been adjusted according to environmental conditions.

[0065] In some embodiments, obtaining route data that has been adjusted according to environmental conditions can include obtaining route data in which the route has been rotated based on a wind direction.

[0066] In some embodiments, obtaining route data can include obtaining route data that has been adjusted according to one or more objects present in the environment.

[0067] In some embodiments, obtaining route data that has been adjusted according to one or more objects present in the environment can include obtaining route data that has been adjusted to include at least a portion of a perimeter of a building.

[0068] In some embodiments, obtaining route data that has been adjusted according to one or more objects present in the environment can include obtaining route data in which the route has been adjusted to follow an edge of a street.

[0069] In some embodiments, obtaining route data that has been adjusted according to one or more objects present in the environment can include obtaining route data in which the route has been adjusted to follow at least a portion of a gas pipe or other gas management infrastructure.

[0070] In some embodiments, obtaining route data can include obtaining route data in which the route has been adjusted according to a surge projection algorithm.

[0071] In some embodiments, obtaining route data can include obtaining route data in which the route has been adjusted to pause traversing the route in response to determining that a detected wind speed satisfies a predefined threshold.

[0072] In some embodiments, obtaining route data can include obtaining route data in which the route has been adjusted to pause traversing the route in response to determining that a detected wind speed is less than a predefined speed.

[0073] In some embodiments, the plurality of instructions, when executed, can further cause the mobile computing device to determine whether the wind speed satisfies the predetermined threshold for a predefined period of time; change the route from a route generated based on one algorithm to a route generated based on a second algorithm in response to determining that the wind speed satisfies the predefined threshold for the predefined period of time; and resume traversing the route after changing the route.

[0074] In some embodiments, changing the route can include changing the route from a route generated based on a surge projection algorithm or a surge spiral algorithm to a route generated based on a raster scan algorithm.

[0075] In some embodiments, the plurality of instructions, when executed, can further cause the mobile computing device to determine that one or more changes in wind direction over a period of time, determine whether the one or more changes in wind direction are random, and in response to determining that the one or more changes in wind direction are random, pause traversing the route.

[0076] In some embodiments, the plurality of instructions, when executed, can further cause the mobile computing device to determine whether the change in wind direction has remained random for at least thirty seconds, and in response to determining that the change in wind direction has remained random for at least thirty seconds, change the route from a route based on the surge projection algorithm or the surge spiral algorithm to a route based on the raster scan algorithm.

[0077] In some embodiments, the plurality of instructions, when executed, can further cause the mobile computing device to resume traversing the route after the route has been changed to a route based on the raster scan algorithm.

[0078] In some embodiments, the route can be within a search area, and the plurality of instructions, when executed, can further cause the mobile computing device to determine whether a location of a gas leak has been identified along the route; and in response to determining that the location of the gas has been identified, increase the route to cover a remainder of the search area based on the raster scan algorithm.

[0079] In some embodiments, presenting the route data can include presenting data indicative of a speed at which to travel along the route.

[0080] In some embodiments, obtaining the route data can include obtaining route data in which the route has been adjusted to reverse a direction of projection perpendicular to the wind in response to not detecting the gas after having traveled a threshold distance.

[0081] According to yet another aspect of the disclosure, a method can include traversing, by an investigator and within a search area in which a possible gas leak has been indicated, a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm, and sampling an environment along the route with a gas detection device carried by the investigator to identify a location of a gas leak.

[0082] In some embodiments, traversing the route can include traveling on a path that includes movement perpendicular to a wind direction until a presence of a target gas is detected, and in response to detecting the presence of the target gas, traveling against the wind until (i) a location of a gas leak is identified, (ii) a predefined distance has been traveled, or (iii) an amount of the detected target gas has decreased by a predefined amount or percentage.

[0083] In some embodiments, the method can further include, in response to determining that the predefined distance has been traveled without identifying a location of the gas leak, traveling along the route to a previous location.

[0084] In some embodiments, the method can further include, in response to determining that the detected amount of gas has decreased by a predefined amount or percentage, traveling along a path that includes movement perpendicular to the wind direction.

[0085] In some embodiments, traversing the route can include traveling in a spiral pattern until the presence of the target gas is detected; and in response to detecting the presence of the target gas, traveling against the wind until (i) a location of the gas leak is identified, (ii) a predefined distance has been traveled, or (iii) the detected amount of target gas has decreased by a predefined amount or percentage.

[0086] In some embodiments, the method can further include, in response to determining that the predefined distance has been traveled without identifying a location of the gas leak, traveling along the route to a previous location.

[0087] In some embodiments, the method can further include, in response to determining that the detected amount of gas has decreased by a predefined amount or percentage, traveling in a spiral pattern.

[0088] In some embodiments, the method can further include adjusting the route based on a gas plume model and traversing the adjusted route.

[0089] In some embodiments, traversing the route can include traveling in a first direction that includes movement perpendicular to the wind direction, determining whether a predefined distance has been traveled in the first direction without detecting a predefined amount of the target gas, in response to determining that the predefined distance has been traveled without detecting the predefined target gas, traveling in a second direction that is opposite the first direction and that includes movement perpendicular to the wind direction.

[0090] In some embodiments, the method can further include adjusting the route according to environmental conditions.

[0091] In some embodiments, the method can further include rotating the route based on a wind direction.

[0092] In some embodiments, the method can further include adjusting the route according to one or more objects present in the environment.

[0093] In some embodiments, adjusting the route can include adjusting the route to include at least a portion of a perimeter of a building.

[0094] In some embodiments, adjusting the route can include adjusting the route to follow an edge of a street.

[0095] In some embodiments, adjusting the route can include adjusting the route to follow at least a portion of a gas pipe or other gas management infrastructure.

[0096] In some embodiments, the method can further include pausing traversing the route in response to determining that the detected wind speed satisfies the predefined threshold.

[0097] In some embodiments, the method can further include determining whether the wind speed satisfies the predefined threshold for a predefined period of time, and changing at least a portion of the route to follow a raster scan pattern in response to determining that the wind speed satisfies the predefined threshold for the predefined period of time.

[0098] In some embodiments, the method can further include determining one or more changes in wind direction over a period of time, determining whether the one or more changes in wind direction are random, and pausing traversing the route in response to determining that the one or more changes in wind direction are random.

[0099] In some embodiments, the method can further include determining whether the change in wind direction has remained random for at least thirty seconds, and changing at least a portion of the route to follow a raster scan pattern in response to determining that the change in wind direction has remained random for at least thirty seconds.

[0100] In some embodiments, the method can further include determining whether a location of a gas leak has been identified along the route, expanding the route to cover a remaining portion of the search area based on a raster scan algorithm in response to determining that a location of a gas leak has been identified, and traversing the expanded route while sampling the environment along the expanded route to locate additional gas leaks.

[0101] According to another aspect of the disclosure, a system can include a gas detection device carried by an investigator and circuitry configured to direct the investigator to traverse a route within a search area where a possible gas leak has been indicated, the route defined according to at least one of a surge cast algorithm or a surge spiral algorithm, and to sample the environment along the route using the gas detection device to identify a location of a gas leak.

[0102] In some embodiments, the circuitry can direct the investigator to traverse a path including movement perpendicular to a wind direction until a presence of a target gas is detected, and to travel against the wind in response to detecting the presence of the target gas until (i) a location of a gas leak is identified, (ii) a predefined distance has been traveled, or (iii) an amount of the detected target gas has been reduced by a predefined amount or percentage.

[0103] In some embodiments, the circuitry can direct the investigator to travel to a previous location along the route in response to determining that a predefined distance has been traveled without identifying a location of a gas leak.

[0104] In some embodiments, the circuitry can direct the investigator to travel in a spiral pattern in response to determining that the detected amount of gas has decreased by a predefined amount or percentage along a path that includes movement perpendicular to the wind direction.

[0105] In some embodiments, the circuitry can direct the investigator to travel in a spiral pattern until the presence of the target gas is detected; and in response to detecting the presence of the target gas, travel against the wind until (i) a location of a gas leak is identified, (ii) a predefined distance has been traveled, or (iii) the detected amount of the target gas has decreased by a predefined amount or percentage.

[0106] In some embodiments, the circuitry can direct the investigator to travel to a previous location along the route in response to determining that a predefined distance has been traveled without identifying a location of a gas leak.

[0107] In some embodiments, the circuitry can direct the investigator to travel in a spiral pattern in response to determining that the detected amount of gas has decreased by a predefined amount or percentage.

[0108] In some embodiments, the circuitry can adjust the route based on a gas plume model, and the circuitry can direct the investigator to traverse the adjusted route.

[0109] In some embodiments, the circuitry can direct the investigator to travel in a first direction that includes movement perpendicular to a wind direction. The circuitry can determine whether a predefined distance has been traveled in the first direction without detecting a predefined amount of the target gas, and in response to determining that the predefined distance has been traveled without detecting the predefined target gas, travel in a second direction that is opposite the first direction and that includes movement perpendicular to the wind direction.

[0110] In some embodiments, the circuitry can adjust the route according to environmental conditions.

[0111] In some embodiments, the circuitry can rotate the route based on a wind direction.

[0112] In some embodiments, the circuitry can adjust the route according to one or more objects present in the environment.

[0113] In some embodiments, the circuitry can adjust the route to include at least a portion of a perimeter of a building.

[0114] In some embodiments, the circuitry can adjust the route to follow an edge of a street.

[0115] In some embodiments, the circuitry can adjust the route to follow at least a portion of a gas pipe or other gas management infrastructure.

[0116] In some embodiments, the circuitry can direct the investigator to pause traversing the route in response to determining that the detected wind speed satisfies a predefined threshold.

[0117] In some embodiments, the circuitry can also determine whether the wind speed satisfies a predefined threshold for a predefined period of time and change at least a portion of the route to follow a raster scan pattern in response to determining that the wind speed satisfies the predefined threshold for the predefined period of time.

[0118] In some embodiments, the circuitry can also determine that one or more of the wind directions have changed over a period of time. The circuitry can determine whether the one or more changes in the wind direction are random. The circuitry can direct the investigator to pause traversing the route in response to determining that the one or more changes in the wind direction are random.

[0119] In some embodiments, the circuitry can also determine whether the changes in the wind direction have remained random for at least thirty seconds and change at least a portion of the route to follow a raster scan pattern in response to determining that the changes in the wind direction have remained random for at least thirty seconds.

[0120] In some embodiments, the circuitry can also determine whether a location of a gas leak has been identified along the route. The circuitry can expand the route to cover a remainder of the search area based on a raster scan algorithm in response to determining that a location of a gas leak has been identified. The circuitry can direct the investigator to traverse the expanded route while sampling the environment along the expanded route to locate additional gas leaks.

[0121] According to yet another aspect of the disclosure, one or more machine- readable storage media can include a plurality of instructions stored thereon that, in response to execution, cause an investigator to traverse a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a possible gas leak has been indicated and sample the environment along the route with a gas detection device carried by the investigator to identify a location of a gas leak.

[0122] In some embodiments, the plurality of instructions, when executed, can cause the investigator to travel a path comprising movement perpendicular to a wind direction until a presence of a target gas is detected and, in response to detecting the presence of the target gas, travel against the wind until (i) a location of a gas leak is identified, (ii) a predefined distance has been traveled, or (iii) an amount of the detected target gas has decreased by a predefined amount or percentage.

[0123] In some embodiments, the plurality of instructions, when executed, can cause the investigator to travel to a previous location along the route in response to determining that a predefined distance has been traveled without identifying a location of a gas leak.

[0124] In some embodiments, the plurality of instructions, when executed, can cause the investigator to travel in a spiral pattern in response to determining that the detected amount of gas has decreased by a predefined amount or percentage along a path that includes movement perpendicular to the wind direction.

[0125] In some embodiments, the plurality of instructions, when executed, can cause the investigator to travel in a spiral pattern until a presence of a target gas is detected; and in response to detecting the presence of the target gas, travel against the wind until (i) a location of a gas leak is identified, (ii) a predefined distance has been traveled, or (iii) a detected amount of the target gas has decreased by a predefined amount or percentage.

[0126] In some embodiments, the plurality of instructions, when executed, can cause the investigator to travel to a previous location along the route in response to determining that a predefined distance has been traveled without identifying a location of a gas leak.

[0127] In some embodiments, the plurality of instructions, when executed, can cause the investigator to travel in a spiral pattern in response to determining that the detected amount of gas has decreased by a predefined amount or percentage.

[0128] In some embodiments, the plurality of instructions, when executed, can adjust the route based on a gas plume model and can direct the investigator to traverse the adjusted route.

[0129] In some embodiments, the plurality of instructions, when executed, can direct the investigator to travel in a first direction that includes movement perpendicular to a wind direction. The plurality of instructions, when executed, can determine whether a predefined distance has been traveled in the first direction without detecting a predefined amount of a target gas. The plurality of instructions, when executed, can direct the investigator to travel in a second direction opposite the first direction and including movement perpendicular to the wind direction in response to determining that the predefined distance has been traveled without detecting the predefined target gas.

[0130] In some embodiments, the plurality of instructions, when executed, can adjust the route according to environmental conditions.

[0131] In some embodiments, the plurality of instructions, when executed, can rotate the route based on a wind direction.

[0132] In some embodiments, the plurality of instructions, when executed, can adjust the route according to one or more objects present in the environment.

[0133] In some embodiments, the plurality of instructions, when executed, can adjust the route to include at least a portion of a perimeter of a building.

[0134] In some embodiments, the plurality of instructions, when executed, can adjust the route to follow an edge of a street.

[0135] In some embodiments, the plurality of instructions, when executed, can adjust the route to follow at least a portion of a gas pipe or other gas management infrastructure.

[0136] In some embodiments, the plurality of instructions, when executed, can instruct the investigator to pause traversing the route in response to determining that the detected wind speed satisfies a predefined threshold.

[0137] In some embodiments, the plurality of instructions, when executed, can also determine whether the wind speed satisfies a predefined threshold for a predefined period of time, and in response to determining that the wind speed satisfies the predefined threshold for the predefined period of time, change at least a portion of the route to follow a raster scan pattern.

[0138] In some embodiments, the plurality of instructions, when executed, can also determine one or more changes in wind direction over a period of time. The plurality of instructions, when executed, can also determine whether the one or more changes in wind direction are random. The plurality of instructions, when executed, can also direct the investigator to pause traversing the route in response to determining that the one or more changes in wind direction are random.

[0139] In some embodiments, the plurality of instructions, when executed, can also determine whether a change in wind direction has remained random for at least thirty seconds, and in response to determining that the change in wind direction has remained random for at least thirty seconds, change at least a portion of the route to follow a raster scan pattern.

[0140] In some embodiments, the plurality of instructions, when executed, can also determine whether a location of a gas leak has been identified along the route. The plurality of instructions, when executed, can in response to determining that a location of a gas leak has been identified, expand the route to cover a remaining portion of the search area based on a raster scan algorithm. The plurality of instructions, when executed, can traverse the expanded route while sampling the environment along the expanded route to locate additional gas leaks. BRIEF DESCRIPTION OF DRAWINGS

[0141] The concepts described herein are illustrated by way of example in the accompanying drawings, in which like references indicate similar elements, and in which:

[0142] Figure 1This is a simplified block diagram of at least one embodiment of a system for generating efficient investigation routes for identifying the location of gas leaks;

[0143] Figure 2 yes Figure 1 A simplified block diagram of at least one embodiment of a mobile computing device of a system;

[0144] Figures 3 to 7 It can be made by Figure 1 A simplified block diagram of at least one embodiment of a method for generating an effective investigation route for identifying the location of a gas leak, executed by the system;

[0145] Figure 8 yes Figure 7 The system generates a simplified map of the survey route based on the surge projection algorithm;

[0146] Figures 9 to 11 yes Figure 1 The system generates a simplified map of the survey route based on a raster scanning algorithm; and

[0147] Figure 12 yes Figure 1 The system can be used to model a simplified diagram of a gas plume model that models the shape of a natural gas plume. Detailed Implementation

[0148] While the concepts of this disclosure are readily adaptable to various modifications and alternatives, specific embodiments thereof have been illustrated by way of example in the accompanying drawings and described in detail herein. However, it should be understood that this disclosure is not intended to limit the concepts to the specific forms disclosed, but rather, it is intended to cover all modifications, equivalents, and alternatives consistent with the contents of this disclosure and the appended claims.

[0149] References to "an embodiment," "an embodiment," "an illustrative embodiment," etc., in the specification indicate that the described embodiment may include a particular feature, structure, or characteristic; however, each embodiment may or may not include that particular feature, structure, or characteristic, which must be included. Furthermore, these phrases do not necessarily refer to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it should be understood that such a feature, structure, or characteristic, relevant to other embodiments, is implemented within the knowledge of those skilled in the art, whether or not it is explicitly described. Additionally, it should be understood that items included in the list in the form of "at least one A, B, and C" may mean (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C). Similarly, items listed in the form of "at least one of A, B, or C" may mean (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C).

[0150] In some cases, the disclosed embodiments can be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments can also be implemented as instructions carried by or stored on a transitory or non-transitory machine-readable or computer- readable storage medium, which can be read and executed by one or more processors. A machine-readable storage medium can be embodied as any storage device, mechanism, or other physical structure for storing or transmitting information in a form readable by a machine, e.g., a volatile or non-volatile memory, media diskette, or other media device.

[0151] In the drawings, some structural or methodical features can be shown in specific arrangements and / or orders. It should be appreciated, however, that such specific arrangements and / or orders can not be required. Instead, in some embodiments, the features can be arranged in a different manner and / or order than shown in the illustrative figures. Additionally, inclusion of a structural or methodical feature in a particular figure does not imply that such feature is needed in all embodiments, and in some embodiments, the feature can not be included or can be combined with other features.

[0152] Reference will now be made to Figure 1 In illustrative embodiments, a system 100 for generating an effective investigation route for identifying a location of a gas leak includes an investigator system 110, a vehicle-based surveyor system 140, and a cloud data center 150 having one or more computing devices 152. In operation, the vehicle-based surveyor system 140, which can be embodied as an advanced leak detection system (ALDS), traverses a path through a geographic area 170, such as a street 190, and determines that a target gas (e.g., natural gas or other gas to be detected) is present in the atmosphere at a threshold level (e.g., a density, such as a defined parts per million or parts per billion) that indicates that a gas leak (e.g., a natural gas leak) is present. In response to determining that a gas leak is present, the system 100 (e.g., the vehicle-based surveyor system 140) defines a geographic area for which the investigator system 110 should be used to pinpoint a location of the gas leak.

[0153] In illustrative embodiments, the investigator system 110 is carried by, installed into, or integrated into an investigator (e.g., a person or another user, such as a robot, an autonomous vehicle, etc.) assigned to traverse a route based on a defined geographic area to identify locations of gas leaks, and includes a mobile computing device 120 in communication (e.g., wired or wireless communication) with one or more gas detection devices 130. The gas detection devices 130 can be embodied as any one or more devices capable of detecting the presence of a target gas (e.g., natural gas or another gas to be detected) in an environment. In illustrative embodiments, the gas detection devices 130 include a handheld sampling device (e.g., a “wand”) configured to take an air sample in the vicinity of a user (e.g., the investigator) and provide the sample to a gas analysis device (e.g., a spectroscopy analysis device carried on the back of the investigator and connected to the handheld sampling device by a tube) to detect the presence and quantity (e.g., parts per million, parts per billion, etc.) of one or more particular gases (e.g., methane, ethane, etc.) in the sample. The vehicle-based surveyor system 140 can have one or more gas detection devices similar to the one or more gas detection devices 130, but can differ in physical size, air sampling capability, sensitivity, and / or other aspects due to being designed for use with a vehicle (e.g., an automobile) rather than being carried by a person.

[0154] In operation, the mobile computing device 120 presents (e.g., visually, aurally, haptically, electronically, etc.) directions (e.g., for walking or otherwise traveling) for traversing a route to the user (e.g., an investigator) to efficiently determine a location of a gas leak. In some embodiments, the mobile computing device 120 can determine the route locally (e.g., based on a defined geographic area resulting from gas leak detection by a vehicle-based surveyor system 140) or can obtain the route from the cloud data center 150. The route is determined according to one or more algorithms such as a flood projection algorithm, a flood spiral algorithm, a raster scan algorithm, and / or a gas plume modeling algorithm known to reduce an amount of time needed to identify a location of a gas leak. Still further, the route can be adjusted (e.g., by the cloud data center 150 and / or locally by the mobile computing device 120) based on conditions and / or objects present in the environment such as wind direction and speed, structures such as buildings and streets, known locations of gas pipelines or other gas management infrastructure (e.g., from a database having data indicative of locations of gas pipelines, compression stations, storage tanks, or other gas management infrastructure), and gas detections in the environment (e.g., from one or more gas detection devices 130) while traversing the route. The system 100 also includes fail-safes to reduce a likelihood that a user will lose a gas plume once it is initially detected. For example, if it is determined that a wind direction is random (e.g., has a random probability distribution or pattern that can be statistically analyzed but not precisely predicted) or if a wind speed is relatively low (e.g., less than a predefined speed), the system 100 can pause traversing the route; and if the wind direction remains random and / or if the wind speed remains relatively low for a predefined amount of time (e.g., 30 seconds), resume traversing the route in a raster scan mode. Additionally, the system 100 can expand the route to cover remaining unexplored segments of the search route after a leak source is located to identify potential additional leaks (e.g., using a raster scan mode or a semi-raster scan mode). As such, the system 100 improves consistency, increases survey speed, and improves a success rate in finding gas leaks as compared to typical systems in which determining a location of a gas leak is time-consuming and highly dependent on an individual investigator assigned to determine the location of the gas leak.

[0155] Reference is now made to the following drawings in which Figure 2The illustrative mobile computing device 120 includes a computing engine 210, an input / output (I / O) subsystem 216, communication circuitry 218, a data storage subsystem 222, and one or more interface devices 224. Of course, in other embodiments, the mobile computing device 120 can include other or additional components, such as components commonly found in a computer (e.g., a mouse, a keyboard, etc.). Additionally, in some embodiments, one or more of the illustrative components can be incorporated in, or otherwise form a portion of, another component. For example, the data storage subsystem 222 could be incorporated in the computing engine 210.

[0156] The computing engine 210 can be embodied as any type of device or collection of devices capable of performing various computing functions described below. In some embodiments, the computing engine 210 can be embodied as a single device, such as an integrated circuit, an embedded system, a field-programmable gate array (FPGA), a system on a chip (SOC), or other integrated system or device. Additionally, in some embodiments, the computing engine 210 includes or is embodied as a processor 212 and a memory 214. The processor 212 can be embodied as any type of processor capable of performing the functions described herein. For example, the processor 212 can be embodied as one or more single core or multicore processors, microcontrollers, or other processors or processing / controlling circuitry. In some embodiments, the processor 212 can be embodied as, include, or be coupled to an FPGA, an application-specific integrated circuit (ASIC), reconfigurable hardware or hardware circuitry, or other specialized hardware to facilitate performance of the functions described herein.

[0157] The main memory 214 can be embodied as any type of volatile memory (e.g., dynamic random access memory (DRAM), etc.) or non-volatile storage or data storage capable of performing the functions described herein. Volatile memory can be a storage medium that requires power to maintain the data state stored on the medium. In some embodiments, all or portions of the main memory 214 can be integrated into the processor 212. In operation, the main memory 214 can store various software and data used during operation, such as route data indicative of a route to be followed by an investigator using the mobile computing device 120, one or more route determination algorithms, wind data indicative of wind direction and wind speed, data indicative of the location of objects in a geographic area, such as the location of streets, buildings, and / or gas pipelines, gas detection data indicative of whether a predefined quantity of a target gas (e.g., natural gas or another gas to be detected) has been detected by one or more gas detection devices (e.g., one or more gas detection devices 130) in communication with the mobile computing device 120, applications, programs, libraries, and drivers.

[0158] The computing engine 210 is communicatively coupled to other components of the mobile computing device 120 via the I / O subsystem 216, which can be embodied as circuitry and / or components to facilitate input / output operations with the computing engine 210 (e.g., with the processor 212 and the main memory 214) and other components of the mobile computing device 120. For example, the I / O subsystem 216 can be embodied as, or otherwise include, memory controller hubs, input / output control hubs, integrated sensor hubs, firmware devices, communication links (e.g., point-to-point links, bus links, wires, cables, light guides, printed circuit board traces, etc.) and / or other components and subsystems to facilitate the input / output operations. In some embodiments, the I / O subsystem 216 can form a portion of a system on a chip (SoC) and be integrated on the same die with the processor 212, the main memory 214, and one or more of the other components of the mobile computing device 120 as the computing engine 210.

[0159] The communication circuitry 218 can be embodied as any communication circuit, device, or collection thereof, capable of carrying out communications over a network between the mobile computing device 120 and another device (e.g., one or more gas detection devices 130, one or more computing devices 152 of the cloud datacenter 150, the vehicle-based surveyor system 140, etc.). The communication circuitry 218 can be configured to carry out such communications using any one or more communication technology (e.g., wired or wireless communications) and associated protocols (e.g., Ethernet, Bluetooth®, Wi-Fi, ZigBee®, NFC, LTE, 5G, etc.). The communication circuitry 218 can be embodied as any communication circuit, device, or collection thereof, capable of carrying out communications over a network between the mobile computing device 120 and another device (e.g., one or more gas detection devices 130, one or more computing devices 152 of the cloud datacenter 150, the vehicle-based surveyor system 140, etc.). The communication circuitry 218 can be configured to carry out such communications using any one or more communication technology (e.g., wired or wireless communications) and associated protocols (e.g., Ethernet, Bluetooth®, Wi-Fi, ZigBee®, NFC, LTE, 5G, etc.).

[0160] The illustrative communication circuitry 218 includes a network interface controller (NIC) 220. The NIC 220 can be embodied as one or more add-in boards, daughterboards, network interface cards, controller chips, chipsets, or other devices that can be used by the mobile computing device 120 to connect with another computing device (e.g., one or more gas detection devices 130, one or more computing devices 152 of the cloud datacenter 150, the vehicle-based surveyor system 140, etc.). In some embodiments, the NIC 220 can be embodied as part of a system on a chip (SoC) that includes one or more processors, or included on a multi-chip package that also contains one or more processors. In some embodiments, the NIC 220 can include a local processor (not shown) and / or a local memory (not shown) that are both local to the NIC 220. In such embodiments, the local processor of the NIC 220 can be capable of performing one or more of the functions of the computing engine 210 described herein. Additionally or alternatively, in such embodiments, the local memory of the NIC 220 can be integrated at a board level, a slot level, a chip level, and / or other level into one or more components of the mobile computing device 120.

[0161] Each data storage device 222 can be embodied as any type of device configured to store data for short or long periods of time, such as, for example, a memory device and circuitry, a memory card, a hard drive, a solid state drive, or other data storage device. Each data storage device 222 can include a system partition that stores data and firmware code of the data storage device 222 and one or more operating system partitions that store data files and executable files of an operating system. The one or more interface devices 224 can be embodied as any device configured to enable the mobile computing device 120 to provide information to and / or obtain information from a user and / or environment of the mobile computing device 120. In illustrative embodiments, the one or more interface devices 224 include one or more devices for providing visual information, such as a graphical display (e.g., a liquid crystal display (LCD), a light emitting diode (LED) display, etc.) or one or more lights positioned on the mobile computing device (e.g., LEDs arranged around the mobile computing device 120 that can illuminate to indicate a direction of travel). The one or more interface devices 224 can additionally include one or more devices configured to output audible information, such as a speaker that can output speech (e.g., audible verbal instructions to guide a user along a route) or other noise (e.g., a sound with a frequency indicative of a corresponding instruction to guide a user along a route). The one or more interface devices 224 can also include input devices, such as a microphone, a camera, a touch screen, one or more buttons, and / or other devices capable of obtaining information and providing it to the computing engine 210.

[0162] The vehicle-based surveyor system 140, the one or more computing devices 152, and the gas detection device 130 can have similar components to those described with respect to the mobile computing device 120. Figure 2 The components described with respect to the mobile computing device 120 are similarly applicable to the components of the vehicle-based surveyor system 140, the one or more computing devices 152, and the one or more gas detection devices 130. Further, it should be appreciated that any of the devices 120, 140, 152, 130 can include other components, subcomponents, and devices common in computing devices that are not discussed above with respect to the mobile computing device 120 and are not discussed herein for clarity of the description. Still further, in some embodiments, the mobile computing device 120 and the one or more gas detection devices 130 can be combined into a single unit.

[0163] In illustrative embodiments, the investigator system 110, the vehicle-based surveyor system 140, and the cloud data center 150 communicate via a network 160, which can be embodied as any type of wired or wireless communication network, including a global network (e.g., the Internet), a cellular network (e.g., Global System for Mobile Communications (GSM), Long-Term Evolution (LTE), Worldwide Interoperability for Microwave Access (WiMAX), 3G, 4G, 5G, etc.), a radio local area network (RAN), a local area network (LAN) or wide area network (WAN), a digital subscriber line (DSL) network, a cable network (e.g., coaxial network, fiber-optic network, etc.), or any combination thereof.

[0164] Reference is now made to the following drawings in which Figure 3 In illustrative embodiments, the system 100 (e.g., the mobile computing device 120 of the investigator system 110) can perform a method 300 for generating an effective survey route for identifying a location of a gas leak. The method 300 begins at block 302, where the system 100 (e.g., the mobile computing device 120) determines whether to generate an effective route (i.e., a survey route) for identifying a location of a gas leak. In illustrative embodiments, the mobile computing device 120 can determine to generate an effective route in response to a request to do so (e.g., from a user of the mobile computing device 120 or from another computer, such as a computing device 152 of the cloud data center 150), in response to determining that a configuration setting (e.g., in a configuration file in the data store 222) indicates to enable generation of an effective route, and / or based on other factors. Regardless, in response to determining to generate an effective route, the method 300 proceeds to block 304, where the system 100 (e.g., the mobile computing device 120) obtains route data indicative of a route to travel along to identify a location of a gas leak. In doing so and as indicated by block 306, the mobile computing device 120 can obtain search area data indicative of a geographic area in which a gas leak (e.g., detected by the vehicle-based surveyor system 140) was detected. The mobile computing device 120 can obtain the search area data from the cloud data center 150 (which can have received it from the vehicle-based surveyor system 140) or can obtain the search area data directly from the vehicle-based surveyor system.

[0165] As shown in block 308, in illustrative embodiments, the mobile computing device 120 obtains route data based on the search area data. The route data can embody any data indicative of a route to be followed (e.g., by an investigator using the investigator system 110) to identify a leak source (e.g., in a search area defined by the search area data). In some embodiments, the route can extend outside of the search area and / or the search area can change over time. As shown in block 310, the mobile computing device 120 can obtain the route data from a remote computing device (e.g., via the network 160) such as a computing device 152 of the cloud data center 150. In other embodiments, as shown in block 312, the mobile computing device 120 can determine the route data locally (e.g., by computing the route data using the computing engine 210 executing a route determination algorithm). In obtaining data indicative of a route, the mobile computing device 120 can obtain data indicative of a portion of the route and subsequently obtain (e.g., from a remote computing device or by computing locally) one or more additional portions of the route. As shown in block 314, the mobile computing device 120 can obtain the route data based on a plume projection algorithm, a plume spiral algorithm, a raster scan algorithm, and / or a gas plume model.

[0166] In the plume projection algorithm, the route proceeds perpendicular to the direction of the wind ("projected") until the presence of a target gas (e.g., natural gas or another gas) is detected (e.g., by one or more gas detection devices 130), at which point the route turns and proceeds ("plumes") into the wind until a location of a gas leak is identified or until a threshold distance has been traveled or the amount of detected gas decreases by a predefined amount or percentage. If a location of a gas leak is not identified as a result of the plume, the route again turns and proceeds perpendicular to the wind ("projected") or returns to a previous location in the route (e.g., a location in the route prior to the plume). If the projection (e.g., according to a determined route) proceeds a predefined distance without detecting gas, the route can then project in an opposite direction (e.g., 180 degrees from an earlier direction). The plume projection algorithm is based on insect odor tracking behavior, which has been empirically shown to greatly reduce the time needed to identify a location of a gas leak compared to other methods. Figure 8 A diagram of a route 800 based on a search projection algorithm is shown in FIG. 8. In the plume spiral algorithm, when gas is detected, the route plumes into the wind, otherwise it proceeds in a spiral shape rather than being projected perpendicular to the wind. In the raster scan algorithm, the route proceeds along evenly spaced (e.g., spaced based on a radius of an area in which gas can be detected by the one or more gas detection devices 130) line segments covering a search area defined in the search area data (e.g., from block 308). Figure 9 A path 900 based on a raster scan algorithm for a conical search area is shown in FIG. 9, whileFigure 10 A route 1000 based on a raster scan algorithm for an elliptical search region is shown in FIG. 10. As shown, the route 1000 is based on a raster scan algorithm for an elliptical search region 1002, but is adjusted to account for the location of an object (e.g., a building 1004) in the environment. That is, the route 1000 is adjusted to reduce the length of the line segment between the building 1004 and the end of the route 1000, as the building 1004 presents an obstacle to the investigator. Further, as shown, the route 1000 is adjusted to reduce the length of the line segment between the building 1004 and the end of the route 1000, as the building 1004 presents an obstacle to the investigator. Figure 11 Another route 1100 based on a raster scan algorithm for a conical search region 1102 is shown in FIG. 11, but adjusted to account for the location of objects (e.g., buildings 1104, 1106) in the environment. That is, the route 1100 is adjusted to reduce the length of the line segment between the two buildings 1104, 1106, as these buildings 1104, 1106 present obstacles to the investigator. Further, as shown, the route 1100 is adjusted to reduce the length of the line segment between the building 1104 and the end of the route 1100, as the building 1104 presents an obstacle to the investigator. Figure 12 A gas plume model 1200 describing the shape of a gas plume is represented in FIG. 12. In the gas plume model 1200, the source expands conically, the cross-section is Gaussian, and the gas concentration decreases with distance and wind speed.

[0167] As shown in block 316, the mobile computing device 120 can obtain (e.g., receive from the remote computing device 152 or compute locally) route data that has been adjusted according to (e.g., based on) one or more environmental conditions. For example and as shown in block 318, the mobile computing device 120 can obtain route data that has been adjusted according to wind data (e.g., data indicating a wind direction present in the environment). As shown in block 320, the mobile computing device 120 can obtain route data in which a determined route is rotated based on a wind direction indicated in the wind data (e.g., so that a surge is into the wind and so that a projection is directed perpendicular to the wind direction).

[0168] Referring now to FIG. 13, a flowchart of a method 1300 for adjusting a route based on environmental conditions is shown and described. The method 1300 can be performed by the mobile computing device 120, the remote computing device 152, or a combination thereof. Figure 4 As shown in block 322, the mobile computing device 120 can obtain route data that has been adjusted according to a change in wind speed or wind direction. For example and as shown in block 324, the mobile computing device 120 can determine whether a wind speed is less than a predefined speed (e.g., one mile per hour). Additionally or alternatively, as shown in block 326, the mobile computing device 120 can determine whether a change in wind direction (e.g., over a particular time period, such as thirty seconds) is random (e.g., has a random probability distribution or pattern that can be statistically analyzed but cannot be precisely predicted). As shown in block 328, the mobile computing device 120 can obtain route data in which the route has been adjusted to pause traversing the route if the wind speed is less than the predefined speed, or if the change in wind direction is determined to be random. Further and as shown in block 330, the mobile computing device 120 can obtain adjusted route data in which the route has been changed to resume traversing the route based on a raster scan algorithm (e.g., possibly switching from another algorithm, such as a surge projection algorithm or a surge spiral algorithm) if the wind speed is less than the predefined speed for a predefined amount of time (e.g., at least thirty seconds), and / or if the wind direction remains random for a predefined amount of time (e.g., at least thirty seconds).

[0169] As represented by block 332, the mobile computing device 120 can obtain route data that is adjusted (e.g., the original route is modified, lengthened, shortened, etc.) according to objects present in the environment (e.g., in the geographic region associated with the search region data from block 306). In so doing, the mobile computing device 120 can obtain route data based on the type of object, the geometry of the object (e.g., size, shape, etc.), and / or other factors. In so doing, as represented by block 334, the mobile computing device 120 can obtain route data that is adjusted to include at least a portion of the perimeter of a building (e.g., route around the building). As represented by block 336, the mobile computing device 120 can obtain route data that is adjusted to follow (e.g., include) the edge of a street, as gas emissions from a leak in a gas pipe under the street will typically transfer to the edge of the street before rising into the atmosphere. In some embodiments, as represented by block 338, the mobile computing device 120 can obtain route data that is adjusted to follow at least a portion of a gas pipe or other gas management infrastructure indicated in gas infrastructure data (e.g., gas pipe data from a database indicating the location of gas pipes and other gas management infrastructure within a geographic region).

[0170] Reference is now made to the following figures: Figure 5And as shown in block 340, the mobile computing device 120 can obtain route data that is adjusted (e.g., modified, lengthened, shortened, etc.) according to whether the target gas (e.g., natural gas or another gas to be detected) has been detected (e.g., by one or more gas detection devices 130) along the route (e.g., by obtaining adjusted route data from another computing device 152, such as a cloud data center 150, or by generating adjusted route data locally on the mobile computing device 120). In doing so and as shown in block 342, the mobile computing device 120 can obtain route data that is adjusted to upwind (i.e., headwind) a surge in response to detection of the gas (e.g., as part of a surge cast route or a surge spiral route). Conversely, as shown in block 344, the mobile computing device 120 can obtain route data that indicates to discontinue (e.g., stop) the surge in response to not detecting the gas after having traveled a threshold distance (e.g., a predefined distance) (e.g., in the surge). In doing so and as shown in block 346, the mobile computing device 120 can obtain route data in which the route has been adjusted to cast perpendicular to the wind. Alternatively and as shown in block 348, the mobile computing device 120 can obtain route data in which the route has been adjusted to spiral (e.g., follow a spiral pattern). In some embodiments, as shown in block 350, the mobile computing device 120 can obtain route data in which the route has been adjusted to return to a previous location (e.g., a location prior to the surge) along the route. As shown in block 352, in some embodiments, the mobile computing device 120 can obtain route data in which the route has been adjusted to reverse the cast direction (e.g., advance 180 degrees from an earlier direction) in response to not having detected the gas after having traveled a predefined threshold distance (e.g., in a cast perpendicular to the wind). In some embodiments, as shown in block 354, the mobile computing device 120 can obtain route data in which the route has been adjusted according to a gas plume model (e.g., a gas plume model 1200 of Figure 12 to direct the investigator to the location of the source of the gas leak according to the gas plume model. Subsequently, the method 300 proceeds to Figure 6 block 356 of the method 300, the mobile computing device 120 presents the route data to a user (e.g., a human investigator holding the mobile computing device 120 or a non-human investigator equipped with the mobile computing device 120, such as a robot or an autonomous vehicle, etc.) to guide the user along the route.

[0171] Now, reference is made to Figure 6As represented by block 358, in presenting the route data, the mobile computing device 120 can display a map of the geographic area (e.g., the geographic area associated with the search area data from block 306) with the route overlaid onto the map. Additionally or alternatively, the mobile computing device 120 can display one or more directional arrows indicating the direction in which to travel along the route. Thus, as represented by block 360, as the user travels along the route, the displayed arrow can change direction (e.g., to indicate that the user should change direction to continue following the route). In some embodiments, the directional arrow can be a graphic presented on the display (e.g., on a graphical display). In other embodiments, the directional arrow can be a light (e.g., shaped as a corresponding arrow) selectively illuminated by the mobile computing device 120 to indicate the direction of travel. The mobile computing device 120 can additionally display data indicating the length of travel in a particular direction (e.g., text indicating the number of feet, yards, or meters to travel). Additionally or as an alternative to the visual cue, as represented by block 362, the mobile computing device 120 can emit one or more sounds indicating the instruction to travel along the route (e.g., such that the investigator follows the determined route). In doing so and as represented by block 364, the mobile computing device 120 can emit a sound having a frequency (e.g., a tone, a frequency of a beep, etc.) indicative of the corresponding direction of travel. In other embodiments, as represented by block 366, the mobile computing device 120 can emit audible verbal instructions for traveling along the route (e.g., "turn right," "turn left," "go ten meters," etc.). Additionally or alternatively, the mobile computing device 120 can present instructions for guiding the investigator along the route through tactile signals (e.g., vibrations having different frequencies, amplitudes, and / or locations on the mobile computing device 120 indicative of the instructions). In addition to presenting information indicative of the direction of travel, as represented by block 368, the mobile computing device 120 can also present data (e.g., visually, aurally, haptically, etc.) indicative of the speed at which to travel along the route. In doing so, the mobile computing device 120 can present an instruction to pause traversing the route (e.g., by indicating that the speed should be zero), as represented by block 370, or can present an instruction to resume traversing the route (e.g., by indicating a non-zero speed), as represented by block 372. In embodiments in which the user is not human (e.g., a robot, a vehicle, or other machine), the route data can be provided to the user in a machine-compatible format (e.g., electrical signals, such as digital information, voltages indicative of the corresponding data, etc.).

[0172] As shown in box 374, in an illustrative embodiment, mobile computing device 120 collects gas detection data indicating whether gas has been detected when a route is traversed (e.g., along the video recording). In doing so, and as shown in box 376, mobile computing device 120 collects gas detection data from a gas detection device (e.g., gas detection device 130, such as a spectrometer-based device communicating with mobile computing device 120 via wired (e.g., Universal Serial Bus (USB)) or wireless (e.g., Bluetooth) communication). As shown in box 378, in an illustrative embodiment, mobile computing device 120 collects gas detection data from a gas detection device traveling along a route with mobile computing device 120. Specifically, in an illustrative embodiment, as shown in box 380, mobile computing device 120 collects gas detection data from a gas detection device carried (e.g., in a backpack, in a box, attached to the user, etc.) by a user (e.g., an investigator) traveling along the route. Subsequently, in box 382, ​​mobile computing device 120 determines subsequent actions based on (e.g., based on) whether gas is detected (e.g., at the investigator's current location). If not, method 300 loops back to... Figure 3 Box 304, in which the mobile computing device 120 can obtain additional route data (e.g., an adjusted route based on wind changes, an adjusted route due to interrupted surges, etc.).

[0173] Otherwise (e.g., if gas is detected at the investigator's current location), method 300 proceeds to... Figure 7 In box 384, the mobile computing device 120 determines subsequent actions based on whether a gas leak location has been identified (e.g., whether an investigator has identified a gas leak at the current location along a route). The mobile computing device 120 can receive instructions from the investigator regarding whether a leak location has been identified via interface device 224 (e.g., by a user pressing a physical button or a graphical user interface element indicating that a leak location has been found, by a user verbally declaring that a leak location has been found (e.g., detected by a microphone), by a user taking a photograph of the leak location (e.g., using a camera), etc.). In some embodiments, the mobile computing device 120 can base its actions on the detection of a target gas (e.g., natural gas or another gas to be detected) reaching a predefined level (e.g., as reported by one or more gas detection devices 130).

[0174] Now, for reference Figure 7 If the leak location has not yet been identified, method 300 loops back to... Figure 3of block 304, where mobile computing device 120 again obtains route data (e.g., indicating an updated / adjusted route). Otherwise, if a gas leak location has been identified, method 300 proceeds to block 386, where mobile computing device 120 records leak location data (e.g., writes it to data store 222) indicating the location of the gas leak. In doing so and as shown in block 388, mobile computing device 120 can provide the leak location data to another computing device (e.g., one or more computing devices 152 of cloud data center 150). As shown in block 390, in providing the leak location data to the other computing device, mobile computing device 120 can provide data indicating the route traveled by the investigator to the location of the gas leak. In some embodiments, the data indicating the route can include timing data, such as data indicating the total amount of time taken by the investigator to travel along the route, locations along the route, and corresponding timestamps of when the investigator was at each of these locations, etc.

[0175] As shown in block 392, mobile computing device 120 can provide note data to another computing device (e.g., one or more computing devices 152 of cloud data center 150) indicating notes from the user (e.g., investigator) regarding the leak. The note data can include written (e.g., typed using a physical keyboard or onscreen keyboard, handwritten on a touchscreen using a stylus, entered through another electronic interface, etc.) or spoken (e.g., recorded speech) descriptions of the leak, images of the leak (e.g., obtained using a camera), or other data indicating the notes provided by the investigator regarding the leak. In some embodiments, mobile computing device 120 can provide user data to the other computing device (e.g., computing devices 152 of cloud data center 150), which can be embodied as any data (e.g., a name, a numeric identifier, an alphanumeric identifier, etc.) indicating the user (e.g., investigator) that identified the location of the gas leak, as shown in block 394. Thereafter, in block 396, mobile computing device 120 determines a subsequent course of action based on whether there are one or more unexplored segments of the search area (e.g., whether the investigator traversed the entire search area).

[0176] If there are no unexplored segments, in illustrative embodiments, method 300 loops back to block 302, where mobile computing device 120 again obtains route data (e.g., indicating an updated / adjusted route). Otherwise, if a gas leak location has been identified, method 300 proceeds to block 386, where mobile computing device 120 records leak location data (e.g., writes it to data store 222) indicating the location of the gas leak. In doing so and as shown in block 388, mobile computing device 120 can provide the leak location data to another computing device (e.g., one or more computing devices 152 of cloud data center 150). As shown in block 390, in providing the leak location data to the other computing device, mobile computing device 120 can provide data indicating the route traveled by the investigator to the location of the gas leak. In some embodiments, the data indicating the route can include timing data, such as data indicating the total amount of time taken by the investigator to travel along the route, locations along the route, and corresponding timestamps of when the investigator was at each of these locations, etc. Figure 3of block 302 to determine whether to continue producing a valid route. Otherwise, if one or more unexplored segments of the search area exist, the method 300 proceeds to block 398, where the mobile computing device 120 expands the route to cover the remaining portion of the search area (e.g., the one or more unexplored segments). In expanding the route, the mobile computing device 120 can locally determine the expansion to the route, or can add to the existing route using data received from another computing device (e.g., the computing device 152) that defines the expanded route. As shown in block 400, the mobile computing device 120 can expand the route to cover the remaining portion of the search area based on a raster scan algorithm. In doing so and as shown in block 402, the mobile computing device 102 can expand the route to cover the remaining portion of the search area based on a semi-raster scan algorithm. That is, the mobile computing device 120 can expand the route to follow a raster scan pattern of the downwind portion of the search area in order to facilitate finding additional gas leaks that can exist in the downwind portion of the search area (e.g., by an investigator sampling for possible leak sources such as manhole covers, gas meters, and pipes). The method 300 then loops back to block 356 of Figure 6 the method 300 proceeds to block 356 of

[0177] While certain example embodiments have been described in detail in the drawings and foregoing description, such examples and description are to be considered illustrative and not restrictive in character, it being understood that only illustrative embodiments have been shown and described and that all changes and modifications that come within the spirit of the disclosure are desired to be protected. The various advantages of the disclosure arise from various features of the devices, systems, and methods described herein. It should be noted that alternative embodiments of the devices, systems, and methods of the disclosure can not include all of the features described, but can still benefit from at least some of the features. One of ordinary skill in the art can readily devise their own implementations of devices, systems, and methods that incorporate one or more of the features of the disclosure without departing from the spirit of the disclosure.

Claims

1. A method comprising: generating a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a possible gas leak has been indicated; traversing the route by an investigator; suspending traversing the route in response to determining that a detected wind speed satisfies a predefined threshold; determining that the detected wind speed satisfies the predefined threshold for a predefined period of time; in response to determining that the detected wind speed satisfies the predefined threshold for the predefined period of time, changing at least a portion of the route to follow a raster scan pattern; and sampling the environment along the route with a gas detection device carried by the investigator to identify a location of a gas leak.

2. The method of claim 1, wherein traversing the route comprises: traveling on a path comprising movement perpendicular to a wind direction until a presence of a target gas is detected; and in response to the detection of the presence of the target gas, traveling against the wind until (i) the location of the gas leak is identified, (ii) a predefined distance has been traveled, or (iii) a detected amount of the target gas has decreased by a predefined amount or percentage.

3. The method of claim 2, further comprising: in response to determining that the predefined distance has been traveled without identifying the location of the gas leak, traveling to a previous location along the route.

4. The method of claim 2, further comprising: in response to determining that the detected amount of the target gas has decreased by the predefined amount or percentage, traveling on a path comprising movement perpendicular to the wind direction.

5. The method of claim 1, wherein traversing the route comprises: traveling in a spiral pattern until a presence of a target gas is detected; and in response to the detection of the presence of the target gas, traveling against the wind until (i) the location of the gas leak is identified, (ii) a predefined distance has been traveled, or (iii) a detected amount of the target gas has decreased by a predefined amount or percentage.

6. The method of claim 5, further comprising: in response to determining that the predefined distance has been traveled without identifying the location of the gas leak, traveling to a previous location along the route.

7. The method of claim 5, further comprising: in response to determining that the detected amount of the target gas has decreased by the predefined amount or percentage, traveling in a spiral pattern.

8. The method of claim 1, further comprising: adjusting the route based on a gas plume model; and traversing the adjusted route.

9. The method of claim 1, wherein traversing the route comprises: traveling in a first direction comprising movement perpendicular to a wind direction; determining whether a predefined distance has been traveled in the first direction without detecting a predefined amount of a target gas; and in response to determining that the predefined distance has been traveled without the detection of the predefined target gas, traveling in a second direction opposite the first direction and comprising movement perpendicular to the wind direction.

10. The method of claim 1, further comprising: adjusting the route according to environmental conditions.

11. The method of claim 10, further comprising: rotating the route based on a wind direction.

12. The method of claim 1, further comprising: adjusting the route according to one or more objects present in the environment.

13. The method of claim 12, wherein adjusting the route comprises: adjusting the route to include at least a portion of a perimeter of a building.

14. The method of claim 12, wherein adjusting the route comprises: adjusting the route to follow an edge of a street.

15. The method of claim 12, wherein adjusting the route comprises: adjusting the route to follow at least a portion of a gas pipeline or other gas management infrastructure.

16. A system comprising: a gas detection device carried by an investigator; and circuitry configured to: generate a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a possible gas leak has been indicated; direct the investigator to follow the route; direct the investigator to pause traversing the route in response to determining that a detected wind speed satisfies a predefined threshold; determine whether the detected wind speed satisfies the predefined threshold for a predefined period of time; in response to determining that the detected wind speed satisfies the predefined threshold for the predefined period of time, change at least a portion of the route to follow a raster scan pattern; and sample the environment along the route with the gas detection device to identify a location of a gas leak.

17. One or more non-transitory machine-readable storage media comprising a plurality of instructions stored thereon that, in response to execution by a system, cause the system to: generate a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a possible gas leak has been indicated; direct an investigator to follow the route; direct the investigator to pause traversing the route in response to determining that a detected wind speed satisfies a predefined threshold; determine whether the detected wind speed satisfies the predefined threshold for a predefined period of time; in response to determining that the detected wind speed satisfies the predefined threshold for the predefined period of time, change at least a portion of the route to follow a raster scan pattern; and sample the environment along the route with a gas detection device carried by the investigator to identify a location of a gas leak.

18. A method comprising: generating a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a possible gas leak has been indicated; traversing the route by an investigator; determining one or more changes in wind direction over a period of time; determining that the one or more changes in wind direction are random; in response to determining that the one or more changes in wind direction are random, pausing traversing the route; determining that changes in wind direction have remained random for at least thirty seconds; in response to determining that changes in wind direction have remained random for at least thirty seconds, changing at least a portion of the route to follow a raster scan pattern; and sampling the environment along the route with a gas detection device carried by the investigator to identify a location of a gas leak.

19. A system comprising: a gas detection device carried by an investigator; and circuitry configured to: generate a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a possible gas leak has been indicated; direct the investigator to follow the route; determine one or more changes in wind direction over a period of time; determine whether the one or more changes in the wind direction are random; in response to determining that the one or more changes in the wind direction are random, direct the investigator to pause traversing the route; determine whether changes in the wind direction have remained random for at least thirty seconds; in response to determining that changes in the wind direction have remained random for at least thirty seconds, change at least a portion of the route to follow a raster scan pattern; and sample the environment along the route with the gas detection device to identify a location of a gas leak.

20. One or more non-transitory machine-readable storage media comprising a plurality of instructions stored thereon that, in response to execution by a system, cause the system to: generate a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a possible gas leak has been indicated; direct an investigator to traverse the route; determine one or more changes in a wind direction over a period of time; determine whether the one or more changes in the wind direction are random; in response to determining that the one or more changes in the wind direction are random, direct the investigator to pause traversing the route; determine whether changes in the wind direction have remained random for at least thirty seconds; in response to determining that changes in the wind direction have remained random for at least thirty seconds, change at least a portion of the route to follow a raster scan pattern; and sample the environment along the route with the detection device carried by the investigator to identify a location of a gas leak.

21. A method comprising: generating a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a possible gas leak has been indicated; traversing the route by an investigator; sampling the environment along the route with a gas detection device carried by the investigator to identify a location of a gas leak; determining that the location of the gas leak has been identified along the route; in response to determining that the location of the gas leak has been identified along the route, expanding the route to cover a remaining portion of the search area based on a raster scan pattern; and traversing the expanded route while sampling the environment along the expanded route to locate additional gas leaks.

22. A system comprising: a gas detection device carried by an investigator; and circuitry configured to: generate a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a possible gas leak has been indicated; direct an investigator to traverse the route; sample the environment along the route with the gas detection device to identify a location of a gas leak; determine that the location of the gas leak has been identified along the route; in response to determining that the location of the gas leak has been identified along the route, expand the route to cover a remaining portion of the search area based on a raster scan pattern; and direct the investigator to traverse the expanded route while sampling the environment along the expanded route to locate additional gas leaks. ​ 23. One or more non-transitory machine-readable storage media comprising a plurality of instructions stored thereon that, in response to execution by a system, cause the system to: generate a route defined according to at least one of a surge projection algorithm or a surge spiral algorithm within a search area in which a potential gas leak has been indicated; direct an investigator to traverse the route; sample an environment along the route with a gas detection device carried by the investigator to identify a location of a gas leak; determine that the location of the gas leak has been identified along the route; in response to determining that the location of the gas leak has been identified along the route, expand the route based on a raster scan pattern to cover a remaining portion of the search area; and direct the investigator to traverse the expanded route while sampling the environment along the expanded route to locate additional gas leaks.

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