Flexible three-dimensional gas detection over long distances using unmanned vehicles

Abstract

System for three-dimensional gas imaging, which includes: a remote vehicle (102) with a reflective material (104) on an external surface; a positioning table (140) with multidimensional movement to track the remote vehicle (102); a light head (150) to reflect light at the remote vehicle (102); and a control unit (170) to analyze received light from the remote vehicle (102) in order to determine the gas content, wherein the remote vehicle (102) is configured to track and follow a light beam (160).

Description

INFORMATION OF THE RELATED APPLICATION

[0001] This application claims priority to provisional application 62 / 246 821, filed on October 27, 2015. BACKGROUNDTechnical field

[0002] The present invention relates to gas sensing and, more particularly, to long-range gas sensing using remote reflection systems. Description of the state of the art

[0003] Trace gas detection plays a role in many industrial and environmental applications. Gas concentration levels around a factory can inform the owner whether the factory's tools and machinery are functioning properly. Gas concentration level information can also assist in preventing environmental damage by indicating that changes need to be made before gas concentrations reach harmful or dangerous levels. Under certain conditions (such as the handling of hazardous chemicals or volcanoes), the detection site may be too inaccessible or dangerous for humans to install gas detection equipment. This makes gas detection particularly difficult.

[0004] US 2013 / 0 176 570 A1 discloses a system, apparatus, and method for remotely measuring atmospheric species using a long-path differential absorption technique. In one embodiment, a source and a detector are arranged side by side, and a retroreflector is mounted on a vehicle at the other end of the absorption path. The source generates an outgoing laser beam, which is directed to the retroreflector and reflected as an incoming laser beam to the detector. The detector receives the incoming laser beam reflected by the retroreflector. SUMMARY

[0005] The invention is defined by the independent claims. Dependent claims describe embodiments of the invention.

[0006] According to one aspect of the present principles, a system for three-dimensional gas imaging includes a remote vehicle having a reflective material on an outer surface; a positioning stage having multi-dimensional motion to track the remote vehicle; a light head to reflect light at the remote vehicle; and a controller to analyze received light from the remote vehicle to determine gas content.

[0007] According to another aspect of the present principles, a method for three-dimensional gas mapping includes transmitting a light beam through air to make a measurement regarding constituents of the air; tracking a position of a remote vehicle with a tracking source that reflects the light beam off the remote vehicle; receiving the light beam reflected off the remote vehicle; processing the received light beam and combining it with tracking information to generate a three-dimensional gas map.

[0008] These and other features and advantages will become apparent from the following detailed description of illustrative embodiments, which should be read in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The disclosure provides details of preferred embodiments in the following description with reference to the following figures; they show: Fig. 1 is a block diagram illustrating a high-level system for a three-dimensional gas imaging system according to the present principles; Fig. 2 is a block diagram illustrating a system for a three-dimensional gas imaging system according to the present principles; Fig. 3 is a flow diagram illustrating a method for generating a three-dimensional gas map according to the present principles; Fig. 4 is a block diagram illustrating a control unit for a three-dimensional gas imaging system according to the present principles; Fig. 5A is a graph of a methane gas concentration map, where the x-axis is latitude in degrees and the y-axis is longitude in degrees; and Fig. Figure 5B is a graph of a methane gas concentration map where the x-axis is elevation in feet and the y-axis is longitude in degrees. DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0010] According to the present principles, systems and methods are provided for using a remote reflection system for flexible, long-range gas sensing. The present embodiments provide spatial mapping of gas concentration over a large area and three-dimensional (3D) measurement in a relatively short period of time. In one embodiment, both horizontal and vertical sensing results can be provided via the maneuverability of the remote reflection system. In another embodiment, the remote reflection system may comprise an unmanned aerial vehicle (UAV). The remote reflection system may also comprise an unmanned ground vehicle (UGV), a projectile, a manned vehicle, a balloon, a drone, a robot, or other movable and controllable reflective surface.

[0011] On the remote reflection system side, one embodiment may use lightweight diamond-grade reflective tape to provide signal reflection and enhance signal strength. In other embodiments, the remote reflection system may use retroreflectors to provide signal reflection and enhance signal strength. The remote reflection system may use reflective surfaces to provide signal reflection and enhance signal strength. In another embodiment, the remote reflection system may support retroreflector assemblies. The body of the remote reflection system may be covered with diamond-grade retroreflective tape to form a larger reflector.

[0012] The body of the remote reflection system may include a reflection surface. There is no need for an active sensing component on the remote reflection system. Instead, the reflection capabilities may be purely passive, although active maneuvering of the reflection surface on the remote device is also contemplated. All active components for the gas sensing process, including the sensor head, light sources, and detector for the gas sensing system, are separate from the remote reflection system.

[0013] In useful embodiments, as the remote reflection system moves within the 3D / 2D pattern, a sensor head tracks the location of the remote reflection system using optical feedback and transmits the light signal to the remote reflection system. In another embodiment, as the remote reflection system moves within the 3D / 2D pattern, the sensor head tracks the location of the remote reflection system using global positioning system (GPS) data and transmits the signal light to the remote reflection system. The gas imaging system and method allow for highly flexible optical detection with various optical path configurations in real time. Both horizontal and vertical detection can be performed. Consequently, 3D imaging of the gas concentration over a large area can be achieved in a short period of time.Remote access to hazardous locations can be provided. Furthermore, the payload of the remote reflection system can be kept very low, allowing the remote reflection system to encompass many commercially available UAV / UGV systems and enable longer UAV / UGV operating times, allowing the UAV / UGV to move farther and higher.

[0014] Embodiments may include a computer program product accessible from a computer-usable or computer-readable medium that provides program code for use by or in connection with a computer or any instruction execution system. A computer-usable or computer-readable medium may include any device that stores, transmits, propagates, or transports the program for use by or in connection with the instruction execution system, the instruction execution device, or the instruction execution apparatus. The medium may be a magnetic, optical, electronic, electromagnetic, infrared, or semiconductor system (or device or apparatus) or a propagation medium. The medium may be a computer-readable storage medium, such asa semiconductor or solid-state memory, a magnetic tape, a removable computer diskette, a random access memory (RAM), a read-only memory (ROM), a rigid magnetic disk, and an optical disk, etc.

[0015] Each computer program may be specifically stored in machine-readable storage media or a storage device (e.g., program memory or magnetic disk) readable by a programmable general-purpose or special-purpose computer, for configuring and controlling the operation of a computer when the storage media or storage device is read by the computer to perform the procedures described herein. The inventive system may also be considered to be embodied in a computer-readable storage medium configured with a computer program, the storage medium so configured causing a computer to operate in a specific and predefined manner to perform the functions described herein.

[0016] A data processing system capable of storing and / or executing program code may include at least one processor coupled directly or indirectly to memory elements through a system bus. The memory elements may include local memory used during actual execution of the program code, mass storage, and cache memory that provides temporary storage of at least some program code to reduce the number of times the code is retrieved from mass storage during execution. Input / output or I / O devices (including, but not limited to, keyboards, displays, pointing devices, etc.) may be coupled to the system either directly or through intermediate I / O controllers.

[0017] Network adapters can also be coupled to the system to enable the data processing system to connect to other data processing systems or remote printers or storage devices through intermediate private or public networks. Modems, cable modems, and Ethernet cards are just a few of the types of network adapters currently available.

[0018] With reference now in detail to the figures in which like characters represent the same or similar elements, and initially to Fig. 1, a three-dimensional gas imaging system 100 is illustratively shown. The gas imaging system 100 includes a remote vehicle 102. In one embodiment, the remote vehicle 102 may include an unmanned aerial vehicle (UAV). The UAV enables the three-dimensional gas imaging system 100 to measure gas concentration levels over physically distinct areas at many different elevations. In another embodiment, the remote vehicle 102 may include an unmanned ground vehicle (UGV), a projectile, a manned vehicle, a balloon, a drone, a robot, or any combination of these and other elements.

[0019] The remote vehicle 102 includes a reflective surface 104. In one embodiment, the reflective surface 104 may be a retroreflector attached to the remote vehicle 102. In another embodiment, the reflective surface 104 may comprise a reflective tape attached to the remote vehicle 102. The reflective surface 104 may comprise the body of the remote vehicle 102 being reflective. The reflective surface 104 may comprise a mirror attached to the remote vehicle 102 or may comprise a reflective metal attached to the remote vehicle 102. The reflective surface 104 may allow an incident light beam 160 to reflect back toward the source of the light beam 160.

[0020] The remote vehicle 102 may include a propulsion system 106. For an airborne embodiment, the propulsion system 106 may include propellers or other engines for flying the remote vehicle. In another embodiment, the propulsion system 106 may include wheels or tracks. In another embodiment, the propulsion system 106 may include a jet engine or Hoover technology. The propulsion system 106 may include one or more motors 108, which may include an internal combustion engine, an electric motor, etc.

[0021] The remote vehicle 102 may include a power source 120. The power source 120 may include or utilize one or more batteries, liquid fuel (e.g., gasoline, alcohol, diesel, etc.), or another energy source. In another embodiment, the power source 120 may include one or more solar cells or one or more fuel cells. In another embodiment, the power source 120 may include combustion gas (e.g., hydrogen).

[0022] The remote vehicle 102 may be equipped with computing capabilities and controls. The remote vehicle 102 may include a processor 114. The remote vehicle 102 may include a transceiver 116. In one embodiment, the transceiver 116 may be coupled to a global positioning system (GPS) 118 to generate and alert the remote vehicle 120 to a position relative to other vehicles and a common coordinate system. The transceiver 116 may be equipped to communicate with a cellular network system. In this manner, the remote vehicle's position may be calculated based on triangulation between cell towers, based on signal strength, or the like. The transceiver 116 may include a Wi-Fi or equivalent wireless system.

[0023] The remote vehicle 102 may include one or more sensors 112 for performing various measurements. The measurements may include pressure, temperature, wind speed, wind direction, velocity, acceleration, etc. The sensor 112 may include an optical sensor, an infrared (IR) sensor, or a camera. The sensor 112 may include an accelerometer or other motion sensor. It should be understood that the various systems of the remote vehicle 120 may be used in combination to capture or perform various measurements necessary for controlling the vehicle 102 or locating the vehicle from the ground using telemetry or other techniques.

[0024] The remote vehicle 102 may include a memory 110. The memory 110 may comprise semiconductor or soft memory and may operate in conjunction with other systems on the vehicle 120 to record data, execute algorithms or programs, control the vehicle, etc. The memory 110 may comprise read-only memory (ROM), random access memory (RAM), or any other type of memory useful for the present applications.

[0025] The remote vehicle 102 can be remotely controlled. To be remotely controlled, the remote vehicle 102 must be controlled by a remote control device over a wireless channel. This allows the user to dynamically position the remote vehicle 102 where a gas concentration reading is required. The remote vehicle 102 can follow a preprogrammed path for routine gas concentration testing. In one embodiment, the preprogrammed path can be programmed into the memory 110 to run on the processor 114 to move the remote vehicle 102 in a path designed by the user. The preprogrammed path can be a three-dimensional path from a fixed starting point, such as a location of a control unit 170 or another location.

[0026] The preprogrammed path would be based on global positioning data using, for example, longitude, latitude, and elevation. In another embodiment, the preprogrammed path may be a closed path. The preprogrammed path may include points in a trajectory, with the remote vehicle 102 moving between the points as efficiently as possible.

[0027] The remote vehicle 102 can track and follow a light beam 160. The remote vehicle 102 can use the sensor 112 to detect the light beam 160 and then be programmed to follow the light beam 160 to ensure that the received signals are in the best position at a desired location or locations. This allows the user to move the remote vehicle 102 by only changing the position of the light beam 160. The user can look at gas concentration readings and observe that a particular area may require a more thorough reading, so the user can keep the remote vehicle 102 in the area by slowly moving the light beam 160 and collecting more readings for a more thorough gas concentration level.

[0028] In another embodiment, the remote vehicle 102 can be programmed to stay at a fixed distance from the light source and track its movement, similar to moving along points on a sphere with the light source at the center. The remote vehicle 102 would move to the programmed distance and then follow the light beam 160 while maintaining the programmed distance. This allows the user to obtain gas concentration levels along a dome around the light source. This can be used to detect the gas above the user or can be used to detect the gas in a valley if the user is on a hill adjacent to the valley. This can be used to allow a user to obtain gas concentration levels for gases that are denser than air and accumulate in low areas.

[0029] In yet another embodiment, the remote vehicle 102 may follow the light beam 160 while remaining fixed in a plane, allowing the remote vehicle 102 to move right and left in the plane, as well as up and down. The remote vehicle 102 would be programmed with a line located in the plane, such as a longitude, a latitude, or a vector. The vehicle would then move to the line, and the plane above the line would be the limits of the remote vehicle 102's movements while collecting gas concentration levels. The remote vehicle 102 would follow the light beam 160 while maintaining a position in the plane. This can be used to obtain a gas concentration level above a factory by having the line pass through the factory and the plane be perpendicular to the factory.The user moves the light beam 160 around and the remote vehicle 102 remains over the factory, moving right and left and up and down, maintaining the gas concentration levels over the factory.

[0030] The gas imaging system 100 includes a light head 150. The light head 150 may include a plurality of light sources 152. The plurality of light sources 152 may include different light sources depending on the target gases. In one embodiment, the plurality of light sources 152 may include light-emitting diodes (LEDs), lasers, ultraviolet lamps (UV lamps), etc. The LED may be used for the detection of O2 (oxygen), O3 (ozone), H2O, NO xIn another embodiment, the plurality of light sources 152 may comprise a distributed feedback laser diode (DFP-LD). The distributed feedback laser diode (DFB-LD) may be used for measurements of CO, CO2, N2O (nitrous oxide), NO (nitric oxide), CH4 (methane), HI (hydrogen iodide), HBr (hydrogen bromide), HF (hydrogen fluoride), HCl (hydrogen chloride), C2H2 (acetylene), HCN (hydrogen cyanide), H2S (hydrogen sulfide), NH3 (ammonia), H2CO (formaldehyde) using the appropriate wavelength of light. In another embodiment, the plurality of light sources 152 may comprise a quantum cascade laser (QCL), which may be used for the detection of HBr, HCl, C2H2, C2H6 (ethane), CH4, N2O, NO2, NO, CO2, CO, SO2 (sulfur dioxide), HCN, NH3, H2CO, PH3 (phosphine), O2 using the appropriate wavelength of light.In another embodiment, the plurality of light sources 152 may include UV lamps that may be used for the detection of NOx, SO2, O3.

[0031] In one embodiment, the light head 150 includes one or more sensors 162, which may include an optical detector, an optical sensor, an IR sensor, a camera, etc., to sense and detect reflected light from the vehicle 102. In one embodiment, the light head 150 may include a fiber optic bundle 154 or an optical switch 156. In one embodiment, the light head 150 may include multiple light sources 152 connected to the fiber optic bundle 154 to allow the system to be ready to detect multiple different gases without changing any parts, using the optical switch 156 to select which of the multiple light sources 152 to use to launch a light beam 160 at the remote vehicle 102. Multiple light beams may be processed simultaneously.

[0032] In one embodiment, the light head 150 may also include a mirror 158. The mirror 158 may be used to redirect light to one or more vehicles or other locations on the ground. The mirror 158 may be used as a telescope to both deliver a light beam 160 to the remote vehicle 120 and collect the reflected light beam 160 from the remote vehicle 102. A spherical mirror may be used for the mirror 158 to ensure that the received signals from the optical fiber bundle 154 are a focused beam when the optical fiber bundle 154 is positioned at the focal point of the mirror 158.

[0033] The gas imaging system 100 includes a positioning table 140. In one embodiment, the positioning table 140 may include an altazimuth mount to enable both vertical and horizontal movement of the lighthead 150 on the positioning table 140. In one embodiment, the positioning table 140 may include another transceiver 144 to handle communications for remote control of the lighthead 150 and other functions of the positioning table 140.

[0034] In one embodiment, the transceiver 144 can communicate with a local area network (LAN), a cellular system, a Wi-Fi system, etc. The positioning stage 140 can be connected to the control unit 170 wired or wirelessly through a connector 180, and the positioning stage 140 can receive axial adjustment commands from the control unit 170 through the connection 180. The axial commands, along with the vertical and horizontal movements, enable the positioning stage 140 to track or follow the remote vehicle 102 as it moves along the ground or up in the air. In one embodiment, the positioning stage 140 can include a tracking mechanism 142 to provide axial commands that enable the stage to follow an object on the ground or in the air.

[0035] In one embodiment, the tracking mechanism 142 may include a laser tracker. The tracking mechanism 142 allows a user to fly the remote vehicle 102 as high as a measurement is required, and the positioning table 140 autonomously handles the tracking and collection of position information and optical data. In one embodiment, the positioning table 140 may send telemetry data to the control unit 170. The telemetry data may include the position of the remote vehicle 102. The telemetry data may include a location of the remote vehicle 102 in three axes to show where the vehicle 102 was relative to the positioning table 140 and how high above the ground the remote vehicle 102 was traveling. The telemetry data may be used in generating a map of the locations of the remote vehicle 102 where it was positioned during the gas sensing process.

[0036] The gas imaging system 100 includes a control unit 170. In one embodiment, the control unit 170 may include a processor 172 and memory 176 (e.g., disk storage, solid-state memory, ROM, etc.). The control unit 170 may also include a transceiver 174 to communicate with the transceiver 144, etc. The control unit 170 may receive GPS data from the remote vehicle 102 to generate axial adjustments for the positioning table 140. In one embodiment, the control unit 170 may include remote control software and remote control hardware 178 to control the remote vehicle 102 to guide the vehicle 120 during the gas imaging process. The remote control software and remote control hardware 178 may include joysticks for user input and software that accepts input from the joysticks and issues commands for a remotely operated vehicle.The remote control software and hardware 178 may include a wire or antenna for a wireless connection to the remote vehicle 102 and the software to modulate the output commands as a signal along the connection. In one embodiment, the remote control software and hardware 178 may be used to guide the vehicle 120 through user input using the control unit 170. In another embodiment, the remote control software and hardware 178 may send preprogrammed commands to the remote vehicle 102 to guide the vehicle 120 along a predefined path.

[0037] The control unit 170 may use telemetry data from the positioning table 140 to generate a map of the location of the remote vehicle 102 during the gas sensing process. The control unit 170 may use the GPS data from the remote vehicle 102 to generate a map of the location of the remote vehicle 102 during the gas sensing process, or use the preprogrammed path of the remote vehicle 102 to generate a map of the location of the remote vehicle 102 during the gas sensing process. Each map may include a three-axis map to show the position of the remote vehicle as it moves through and over the area where the gas sensing is being processed. These maps may be overlaid on existing satellite or topographical maps of the gas sensing area to better show where the remote vehicle 102 has moved during the gas sensing process.

[0038] In one embodiment, the control unit 170 may receive optical data from the light head 150 based on the reflected light beam 160 from the remote vehicle 102. The control unit 170 may process this optical data to calculate the concentration of detected gases by the remote vehicle 102 using known optical spectroscopic techniques based on the light source 152. One technique may be to take the value of the gas detected at neighboring points to calculate the gas at the current point, since the value of the detected gas is for all the gas found along the entire path of the light beam 160. In one embodiment, the control unit 170 may combine the detected gases with the map to form a three-dimensional gas map of gas concentration levels in the area occupied by the remote vehicle 102 during the gas detection process.The three-dimensional gas map can be colored or textured on a surface area map showing concentrations of a detected gas, or an interactive three-dimensional map that allows a user to rotate the map to see the different gas levels based on the user's control perspective.

[0039] With reference to Fig. 2, a three-dimensional gas imaging system 200 is illustratively shown in accordance with one embodiment of the present principles. The three-dimensional gas imaging system 200 may include a UAV 202 with a diamond-grade reflective tape 204 attached to the UAV body and some or all of the following: a telescope 230 with a mirror 158, an optical fiber bundle 154 with a light source 152, a control unit 170, a positioning table 140, and a remote control device 210. The UAV 202 may fly over the source 220 of the gas to be measured. The gas source may include a factory, a farm, a power plant, a methane recovery site, a city, or any location where gas concentration levels are useful. The UAV 202 is controlled by the remote control device 210. The remote control device 210 gives the user the ability to move the UAV 202 to the locations where the gas needs to be measured.The UAV 202 makes it possible to obtain measurements at ground level or hundreds of feet in the air, and it also allows for easy movement around the site. The light source 152 sends light through the fiber optic bundle 154 into the telescope 230. The light reflects off the mirror 158, creating a light beam 160 that shines onto the UAV 202. The diamond-grade reflective tape 204 reflects the light beam 160 back to the fiber optic bundle 154 through the telescope 230. The optical data from the light beam 160 is sent to the control unit 170 for analysis.

[0040] The control unit 170 determines the detected gas based on the light source 152 using optical spectroscopic techniques (e.g., differential optical absorption spectroscopy (DOAS)) or attenuation data (e.g., wavelength modulation spectroscopy (WMS)). The control unit 170 receives GPS data from the UAV 202 while receiving the optical data to create a map. The map would be a three-axis map to show the position of the remote vehicle as it moves through the area where the gas detection is being processed. This map can be overlaid on existing satellite maps to show where the vehicle detected gas along all three axes—longitude, latitude, and elevation—during the process. The control unit 170 combines the gas concentration data with the map to create a three-dimensional gas map of the area, showing detected gas levels.

[0041] With reference to Fig. 3 is a flowchart for a method for generating a three-dimensional gas map 300, illustratively shown in accordance with the present principles. The methods for generating a three-dimensional gas map 300 may include propagating a light beam through air to make a measurement regarding constituents of the air, at block 305. The light source and the wavelength of the light may vary depending on the gas to be measured. In one embodiment, propagating a light beam through air at block 305 may include generating the light beam at block 307. The methods for generating a three-dimensional gas map 300 may include tracking a remote vehicle with a tracking source that collects tracking information, at block 310. The tracking information may be used to guide the light beam as the remote vehicle moves.In one embodiment, the remote vehicle is tracked at block 310, which may include starting the remote vehicle at block 312. In another embodiment, tracking the remote vehicle at block 310 may include generating axial commands with a control system at block 134. The axial commands may be generated to guide the light beam toward the remote vehicle.

[0042] In yet another embodiment, tracking the remote vehicle at block 310 may include receiving axial commands at block 316 from a control system. The axial commands may be used to guide the light beam to the remote vehicle. The method to generate a three-dimensional gas map 300 may include receiving a light beam reflected off the remote vehicle at block 320. In one embodiment, receiving the light beam at block 320 may include transmitting a light beam to the remote vehicle at block 322. Transmitting a light beam uses the tracking information to aim the light beam at the remote vehicle.

[0043] Generating a three-dimensional gas map 300 may include processing the received light beam and tracking information to generate a three-dimensional gas map at block 330. The received light beam is processed for detected gas along the light beam between the light source and the remote vehicle. The detected gas is plotted according to the tracking information to generate a map of the detected gases around the remote vehicle when the gas sensing process is complete. This map of detected gas may be overlaid on a satellite or topographic map to show the gas concentration levels relative to the physical world represented by the satellite or topographic maps, including the elevation at which the gas concentration exists.In one embodiment, the processing in block 330 may include sending optical data to a control system in block 332. In one embodiment, the processing in block 330 may include receiving optical data with a control system in block 334. The gas detection processing and map processing may be completed in a control system.

[0044] With reference to Fig. 4, an exemplary control system 400 is shown that includes the control unit 170 ( Fig. 1). The control system 400 includes at least one processor (CPU) 172 operably coupled to other components via a system bus 402. A cache 406, a read-only memory (ROM) 408, a random access memory (RAM) 410, an input / output (IIO) adapter 420, a sound adapter 430, a network adapter 440, a user interface adapter 450, and a display adapter 460 are operably coupled to the system bus 402.

[0045] A first storage device 422 and a second storage device 424 are operably coupled to the system bus 402 through the I / O adapter 420. The storage devices 422 and 424 may be any of a disk storage device (e.g., a magnetic or optical disk storage device), a magnetic semiconductor device, and so on. The storage devices 422 and 424 may be the same type of storage device or different types of storage devices. In one embodiment, the first storage device 422 or the second storage device 424 may include the remote control software 423 to control the remote vehicle. The remote control software 423 may be able to access the hardware required to receive user input and issue a control command to the remote control vehicle, such as a joystick or an antenna.The remote control software 423 may accept user input from an input device such as a joystick and issue a command to control the movement of the remote control vehicle in the direction intended by the user's movement of the joystick.

[0046] In another embodiment, the first storage device 422 or the second storage device 424 may include map generation programs 425. The map generation programs 425 may accept GPS, telemetry, or path information and plot it along a three-dimensional axis to form a map. The map generation programs 425 may accept a generated map and overlay it onto existing satellite or topographic maps to show the traversed locations, collecting the data relative to the physical world.

[0047] In yet another embodiment, the first storage device 422 or the second storage device 424 may include optical data analysis programs. The optical data analysis programs may accept light beam data to calculate the level of gas through which the light beam passed. In yet another embodiment, the first storage device 422 or the second storage device 424 may include path generation programs. The path generation programs may generate a three-dimensional path for a remote vehicle to travel through based on user input coordinates.

[0048] A speaker 432 may be operably coupled to the system bus 402 through the sound adapter 430. The speaker 432 may be used to provide the user with an audible warning of low fuel or low power. A transceiver 174 is operably coupled to the system bus 402 through the power adapter 440. A display device 462 is operably coupled to the system bus 402 through the display adapter 460.

[0049] A first user input device 452, a second user input device 454, and a third user input device 456 are operably coupled to the system bus 402 through the user interface adapter 450. The user input devices 452, 454, and 456 may be any of a keyboard, a mouse, a keypad, a joystick, an image capture device, a motion detection device, a microphone, a device with the functionality of at least two of the foregoing devices, and so on. Other types of input devices may, of course, also be used while maintaining the spirit of the present principles. The user input devices 452, 454, and 456 may be the same type of user input device or different types of user input devices.The user input devices 452, 454 and 456 are used to input and output information to and from the system 400.

[0050] The control system 400 may, of course, include other elements (not shown) as readily contemplated by one of ordinary skill in the art, as well as omit certain elements. Various other input devices and / or output devices, for example, may be included in the control system 400 depending on the particular implementation thereof, as readily understood by one of ordinary skill in the art. Various types of wireless and / or wired input and / or output devices, for example, may be used. Moreover, additional processors, control units, memory, and so forth, in various configurations, may also be used, as readily recognized by one of ordinary skill in the art. These and other variations of the control system 400 are readily contemplated by one of ordinary skill in the art in light of the teachings of the present principles provided herein.

[0051] With reference to Fig. Figure 5A illustrates a graph of a methane gas concentration map. The map shows the concentration of methane (CH4) over an area. The map's axes are longitude (x-axis) and latitude (y-axis), indicating a specific location. The map's legend 510 shows the gas levels represented by varying shades or colors, although a color scale or texture / pattern scale could be used. The map shows a high concentration of methane around latitude 36.2° and longitude -119.5°. The map shows a higher concentration at 520 and a lower concentration at 530. This shows the cumulative methane concentration at this location from ground level upwards. The methane could be at ground level or hundreds of feet above ground level.

[0052] With reference to Fig. Figure 5B shows a graph of a methane gas concentration map. The map shows the location of the methane concentration along the latitude 36.2° for the same longitude as in Fig. 5A. The map's axes are elevation (x-axis) and longitude (y-axis); elevation is measured above ground level, although it could be measured above sea level. The map's legend 510 shows gas levels, represented by varying shades of gray, although a color scale or texture / pattern scale could be used. The legend 510 is the same as Fig. 5A. The map shows that methane is concentrated between 75 and 150 feet along latitude 36.2°. The map shows a higher concentration at 550, between longitudes of -119.4° and -119.6°, and 100 to 150 feet, and a lower concentration at 560, between longitudes of -119° and -119.2°, and 100 to 150 feet. Fig. 5A and Fig. 5B are two-dimensional representations of the three-dimensional map generated by the three-dimensional mapping process.

[0053] The foregoing is to be construed as illustrative and exemplary in all respects, but not restrictive, and the scope of the invention disclosed herein should be determined not from the detailed description, but rather from the claims as interpreted to the fullest extent permitted by the patent laws. It should be understood that the embodiments shown and described herein are merely illustrative of the principles of the present invention, and those skilled in the art may implement various modifications without departing from the scope and spirit of the invention. Those skilled in the art could implement various other combinations of features without departing from the scope and spirit of the invention.Having thus described aspects of the invention with the detail and particularity required by the patent laws, what is claimed and desired to be protected by the patent is set forth in the appended claims.

Claims

[1] System for three-dimensional gas imaging, comprising: a remote vehicle (102) having a reflective material (104) on an outer surface; a positioning table (140) having a multi-dimensional movement to track the remote vehicle (102); a light head (150) for reflecting light at the remote vehicle (102); and a control unit (170) for analyzing received light from the remote vehicle (102) to determine the gas content, wherein the remote vehicle (102) is configured to track and follow a light beam (160). [2] The system of claim 1, wherein the remote vehicle (102) comprises an unmanned aerial vehicle (UAV). [3] The system of claim 1, wherein the remote vehicle (102) comprises one of a projectile, a manned vehicle, a balloon, a drone, a robot, or an unmanned ground vehicle (UGV). [4] The system of claim 1, wherein the light head (150) comprises a light source (152) having a wavelength corresponding to a gas to be measured. [5] The system of claim 4, wherein the light source (152) comprises light-emitting diodes, ultraviolet lamps, a laser diode and / or a laser. [6] The system of claim 1, wherein the positioning table (140) tracks the remote vehicle (102) using one of a laser tracking system or a global positioning system (GPS). [7] The system of claim 1, wherein the reflective material (104) comprises a diamond-grade reflective tape. [8] The system of claim 1, wherein the control unit (170) receives global positioning system (GPS) data from the remote vehicle (102) and forms axial commands for the positioning table (140) based on the GPS data. [9] A method for three-dimensional gas imaging, comprising: Propagating (305) a light beam (160) through air to perform a measurement of air constituents; Tracking (310) a position of a remote vehicle (102) with a tracking source that reflects the light beam (160) at the remote vehicle (102); Receiving (320) the light beam (160) reflected at the remote vehicle (102); Processing (330) the received light beam (160) and combining it with tracking information to generate a three-dimensional gas map; and Tracking the light beam (160) by the remote vehicle (102) and following the light beam (160) by the remote vehicle (102). [10] The method of claim 9, wherein tracking (310) the remote vehicle (102) comprises using one or more of global positioning information, cellular information, and telemetry information. [11] The method of claim 9, wherein processing (330) the light beam (160) comprises correlating properties of the light beam (160) with positions traversed by the light beam (160) to provide the three-dimensional gas map. [12] The method of claim 11, wherein the properties of the light beam (160) include a wavelength of light correlated with a type of gas being measured. [13] The method of claim 9, wherein the remote vehicle (102) comprises an unmanned aerial vehicle (UAV). [14] The method of claim 9, wherein the remote vehicle (102) comprises one of an unmanned ground vehicle (UGV), a projectile, a manned vehicle, a balloon, a drone, and a robot. [15] The method of claim 9, wherein tracking (310) the remote vehicle (102) comprises generating (314) axial commands to enable the tracking source to follow the remote vehicle (102). [16] The method of claim 9, wherein tracking (310) the remote vehicle (102) comprises generating (314) axial commands to enable the remote vehicle (102) to alert the tracking source to a position of the remote vehicle (102). [17] The method of claim 9, wherein receiving (320) the light beam (160) comprises receiving the light beam (160) from a reflective material (104) of the remote vehicle (102). [18] The method of claim 17, wherein the reflective material (104) comprises a retroreflector, a mirror, a reflective surface, and / or a diamond-grade reflective tape. [19] The method of claim 9, wherein the light beam (160) is generated by light-emitting diodes, ultraviolet lamps, a laser diode and / or a laser.

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