WO1996041097A1 - Aerial pipeline surveillance system - Google Patents

Aerial pipeline surveillance system Download PDF

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Publication number
WO1996041097A1
WO1996041097A1 PCT/CA1996/000385 CA9600385W WO9641097A1 WO 1996041097 A1 WO1996041097 A1 WO 1996041097A1 CA 9600385 W CA9600385 W CA 9600385W WO 9641097 A1 WO9641097 A1 WO 9641097A1
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WO
WIPO (PCT)
Prior art keywords
air
analyzer
computer
aircraft
output
Prior art date
Application number
PCT/CA1996/000385
Other languages
French (fr)
Inventor
Colin Minty
Original Assignee
Colin Minty
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Colin Minty filed Critical Colin Minty
Priority to AU59942/96A priority Critical patent/AU5994296A/en
Publication of WO1996041097A1 publication Critical patent/WO1996041097A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
    • G01M3/20—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material
    • G01M3/22—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material for pipes, cables or tubes; for pipe joints or seals; for valves; for welds; for containers, e.g. radiators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00

Definitions

  • This invention relates to detection of chemical leaks in pipelines. More particularly this invention relates to detection from an aircraft of such chemical leaks.
  • One aspect of this invention provides for a method of aircraft surveillance of pipelines for chemical leaks comprising the following steps: flying the aircraft over the pipeline; continuously collecting an air sample from the exterior of the aircraft; feeding the collected air sample into an air analyzer which tests for high concentrations of the chemical potentially leaking from the pipeline; inputing the output signal from the analyzer to a computer; concurrently imputing a GPS receiver output to the computer; programming the computer to correlate the outputs from the air analyzer and the receiver; and checking the correlated output from the computer to locate high concentrations of the fluid or gas and thereby identify pipeline chemical leaks.
  • the computer is programmed to graphically display the correlated outputs on its monitor, in another aspect of this invention a video camera monitors and a VCR records the pipeline and surrounding terrain beneath the aircraft.
  • a preferred aspect of this apparatus provides for an air analyzer which is set up to output differences between chemical concentrations in the collected air sample and the ambient air. This results in a focus on the pipeline, rather than on high levels of chemicals in the background generated from other sources.
  • Figure 1 is a perspective view of a schematic diagram of the aerial pipeline surveillance system.
  • Exhibit 1 is a graphical summary of results taken along a length of pipeline.
  • Exhibit 2 is a program detailing the computer's integration and interpretation of data received.
  • FIG 1 we have a schematic diagram of the Aerial Pipeline Surveillance System 20, hereinafter referred to as the APSS.
  • the APSS 20 is housed in the middle section in the main cabin of an aircraft 26. It has been found that both the Piper Seneca and the Navajo twin engine aircraft have adequate room to house the APSS 20, two pilots and a systems operator. Two pilots are required because the aircraft 26 is usually flown at the high stress altitudes of less than two hundred feet above ground and at speeds of about one hundred knots.
  • the APSS 20 comprises a sample probe 22 and an optional video camera 24 which is housed in the nose baggage compartment of the aircraft 26.
  • the video camera 24 sees outside through a plexiglass aperture 23 in the nose baggage compartment of the aircraft 26.
  • the sample probe 22 is a half inch diameter stainless steel pipe which extends 18 inches into the undisturbed air beyond the aircraft 26 nose. It is made of stainless steel to minimize hydrocarbon absorption.
  • the video camera 24 is positioned to display about a 30 degree view of the flight path.
  • the APSS 20 also comprises an instrument platform 30 and a tube 28 extending thereto from the sample probe 22.
  • the instrument platform 30, housed in the cabin of the aircraft 26 measures 3.5 ft wide by 2.5 ft high by 2.5 ft deep and weighs less than 200 pounds.
  • the instrument platform 30 comprises an air analyzer 32 which most typically is a hydrocarbon analyzer 32 which is aerodynamically connected to the sample probe 22 by the tube 28, and a computer 34 which receives inputs from the hydrocarbon analyzer 32 and a global positioning system (GPS) 33; and, outputs to a video recorder 36 which is connected to the video camera 24.
  • GPS global positioning system
  • This relative chemical air content measurement of the air sample 21 is inputed to the computer 34 in a digital form. (some chemical analyzers 32 output a digital signal, others output an analog signal which must be subsequently converted to a digital signal) .
  • the computer 34 is also fed an input from a global positioning system GPS 33 which outputs exact longitudinal and latitude coordinates determined from satellite signals every two seconds.
  • the computer 34 is programmed (see Appendix 2) to correlate the chemical content in the air measurements read every half second with the GPS 33 coordinates received every two seconds.
  • the computer 34 stores this correlated data on it's hard drive.
  • the GPS 33 and chemical content data may be outputted through a video mixer 35 to the video recorder 36 where it may be recorded concurrently with the view of the pipeline and surrounding terrain so that the video cassette recording contains a complete record of the longitude and latitude, the local terrain and landmarks, and associated relative chemical level.
  • the monitor of the video recorder 36 allows the system operator to view the pipeline (not shown) as it is travelled and identify any obvious chemical sources such as farming feedlots, compressor stations, valves etc. (all not shown) .
  • the video may be later reviewed to try to identify any chemical anomalies that were revealed by the analysis of the data that were not readily apparent during the survey. As well, the video is useful when planning the logistics of responding to maintenance or repair of the leak site.
  • the computer 34 used is a DOS based laptop.
  • a software program (see appendix 2) was written to capture and organize output data in an ASCII text file protocol. The program has defaults which can be changed to accommodate alternate file names, sample speeds and other communications parameters. With the use of the ASCII data file the output data is then able to be plotted using a popular off the shelf land survey drafting program such as Autocad T.M. by Autodesk Inc..
  • Exhibit 1 shows a printed 3-D graphical image of relative chemical measurements taken every half second, correlated with longitude and latitude coordinates taken every two seconds.
  • the APSS 20 will operate with different hydrocarbon analyzers 32 currently available; however, the AE 2420 analyzer manufactured by Airwave Electronics Ltd. in Calgary, Canada is preferred for its sensitivity, a five second response time (to read 90% of signal strength) , high reliability, and low maintenance.
  • This analyzer 32 has improved temperature stability, and radio frequency interference reduction. Response time is critical with taking measurements in an aircraft 26 flying at 100 knots.
  • This analyzer 32 employs an external vacuum pump (not shown) to draw sample air 21 into its detector (not shown) .
  • the analyzer 32 outputs an analog signal accurate to less than .1 ppm which is proportional to the concentration of hydrocarbons present in the sample air 21.
  • the analyzer 32 is setup to output the difference between hydrocarbon concentrations in the sample air 21 and prior measurements taken thereof.
  • the aircraft 26 is only in the leak plume for 1-3 seconds and there is insufficient time to achieve 100 percent instrument response to the elevated hydrocarbon levels. However, it is only necessary to qualitatively identify a larger than background hydrocarbon anomaly to determine the presence of a potential leak source. Response time, not accuracy is the critical issue. None the less, prior to each use of the analyzer 32, it is recommended that the analyzer's calibration be verified with a known concentration of chemical to verify proper operation.
  • the APSS 20 may also utilize different types of air analyzers 32.
  • Airwave Electronics Ltd. of Calgary, Canada has a model Flame Photometric Sulfur Analyzer which has a fast response time and is suitable for the monitoring of sulfur dioxide or other sulfur gases.
  • Optimal weather conditions for pipeline surveillance are when wind speed is under 10 knots.
  • Tests have shown clearly defined detection of natural gas released at a rate of 1 cfm with a 5 knot wind.
  • 20 gallons of fuel, placed in a 100 square foot shallow pan at freezing temperatures with a 10 knot wind was clearly pinpointed.
  • the APSS 20 is a commercial success. In its first months of use more than ten thousand miles of transmission systems have been surveyed, in typically less than 10 percent of the time and with a few percent of the labor, previously expended for the surveillance thereof.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Examining Or Testing Airtightness (AREA)

Abstract

A method of pinpointing pipeline chemical leaks from an aircraft (26) is disclosed. The method works best when wind speeds are under 10 knots and for liquid chemical leaks when temperatures are above freezing. The method comprises flying the aircarft (26) over the pipeline; continuously collecting (22) an air sample from the exterior of the aircraft (26); feeding the collected air sample into an air analyzer (32) which tests for high concentrations of the chemical potentially leaking from the pipeline; inputting the output signal from the analyzer (32) to a computer (34); concurrently inputting a global positioning system receiver (33) output to the computer (34); programming the computer (34) to correlate the outputs from the air analyzer (32) and the receiver (33); and checking the correlated output from the computer (34) to locate high concentrations of the chemical and thereby identify pipeline chemical leaks. An apparatus for aircraft surveillance of pipelines is disclosed comprising: an air analyzer (32) to measure concentrations of the potentially leaking chemical connected to an air sample probe (22) outside the aircraft; a computer (34) electrically connected to the output of the air analyzer (32); and, a GPS receiver (33) electrically connected to the computer (34). In a preferred embodiment the apparatus further comprises a video camera (24) mounted in the nose of the aircraft, and a VCR (36) in the instrument platform inside the aircraft (26) to monitor the pipeline and surrounding terrain beneath the aircraft (26) to facilitate location of the leaks in the pipeline.

Description

AERIAL PIPELINE SURVEILLANCE SYSTEM
BACKGROUND OF THE INVENTION
This invention relates to detection of chemical leaks in pipelines. More particularly this invention relates to detection from an aircraft of such chemical leaks.
The problem of locating leaks of chemicals in pipelines has been a problem existent since such chemicals were transported in pipelines. The laborious method of testing ground air samples taken along the length of a pipeline and looking for dead vegetation in summer still offers advantages to state of the art infrared systems.
In an infrared system heat dissipated by the leaking chemical is searched for by an aircraft. The problem with an infrared system is that it yields poor results if the leak is small, on the underside of a pipeline, if the pipeline is submerged in water, or where the pipeline is surrounded by vegetation. Another limitation of this technology is the length of time required to develop an image. Recent environmental legislation creates demand for a more effective means of locating chemical leaks in pipelines.
It is an object of this invention to disclose a more effective means of detecting a chemical leak from a pipeline. It is an object of this invention to disclose a system which can more quickly and inexpensively, pinpoint the location of small leaks previously unperceptible from a fast moving aircraft. It is yet a further object of this invention to disclose a data storage and retrieval method and apparatus which allows fast access and physical identification of problematic points along a system of pipelines.
One aspect of this invention provides for a method of aircraft surveillance of pipelines for chemical leaks comprising the following steps: flying the aircraft over the pipeline; continuously collecting an air sample from the exterior of the aircraft; feeding the collected air sample into an air analyzer which tests for high concentrations of the chemical potentially leaking from the pipeline; inputing the output signal from the analyzer to a computer; concurrently imputing a GPS receiver output to the computer; programming the computer to correlate the outputs from the air analyzer and the receiver; and checking the correlated output from the computer to locate high concentrations of the fluid or gas and thereby identify pipeline chemical leaks. In one aspect of this invention the computer is programmed to graphically display the correlated outputs on its monitor, in another aspect of this invention a video camera monitors and a VCR records the pipeline and surrounding terrain beneath the aircraft.
An apparatus to perform the above described method is provided. A preferred aspect of this apparatus provides for an air analyzer which is set up to output differences between chemical concentrations in the collected air sample and the ambient air. This results in a focus on the pipeline, rather than on high levels of chemicals in the background generated from other sources.
Various other objects, advantages and features of this invention will become apparent to those skilled in the art from the following description in conjunction with the accompanying drawings.
FIGURES OF THE INVENTION
Figure 1 is a perspective view of a schematic diagram of the aerial pipeline surveillance system.
Exhibit 1 is a graphical summary of results taken along a length of pipeline.
Exhibit 2 is a program detailing the computer's integration and interpretation of data received.
The following is a discussion and description of the preferred specific embodiments of this invention, such being made with reference to the drawings, wherein the same reference numerals are used to indicate the same or similar parts and/or structure. It should be noted that such discussion and description is not meant to unduly limit the scope of the invention. DESCRIPTION OF THE INVENTION
Turning now to the drawings and more particularly to figure 1 we have a schematic diagram of the Aerial Pipeline Surveillance System 20, hereinafter referred to as the APSS. The APSS 20 is housed in the middle section in the main cabin of an aircraft 26. It has been found that both the Piper Seneca and the Navajo twin engine aircraft have adequate room to house the APSS 20, two pilots and a systems operator. Two pilots are required because the aircraft 26 is usually flown at the high stress altitudes of less than two hundred feet above ground and at speeds of about one hundred knots.
The APSS 20 comprises a sample probe 22 and an optional video camera 24 which is housed in the nose baggage compartment of the aircraft 26. The video camera 24 sees outside through a plexiglass aperture 23 in the nose baggage compartment of the aircraft 26. The sample probe 22 is a half inch diameter stainless steel pipe which extends 18 inches into the undisturbed air beyond the aircraft 26 nose. It is made of stainless steel to minimize hydrocarbon absorption. The video camera 24 is positioned to display about a 30 degree view of the flight path. The APSS 20 also comprises an instrument platform 30 and a tube 28 extending thereto from the sample probe 22. The instrument platform 30, housed in the cabin of the aircraft 26 measures 3.5 ft wide by 2.5 ft high by 2.5 ft deep and weighs less than 200 pounds. The instrument platform 30 comprises an air analyzer 32 which most typically is a hydrocarbon analyzer 32 which is aerodynamically connected to the sample probe 22 by the tube 28, and a computer 34 which receives inputs from the hydrocarbon analyzer 32 and a global positioning system (GPS) 33; and, outputs to a video recorder 36 which is connected to the video camera 24.
A continuous stream of air flows through the air sample probe 22 at a high speed. A portion of this air stream, the air sample 21 is drawn through the tube 28 to the air analyzer 32 where it is measured continuously for changes in chemical content relative to previously drawn air samples 21. This relative chemical air content measurement of the air sample 21 is inputed to the computer 34 in a digital form. (some chemical analyzers 32 output a digital signal, others output an analog signal which must be subsequently converted to a digital signal) . The computer 34 is also fed an input from a global positioning system GPS 33 which outputs exact longitudinal and latitude coordinates determined from satellite signals every two seconds. The computer 34 is programmed (see Appendix 2) to correlate the chemical content in the air measurements read every half second with the GPS 33 coordinates received every two seconds. The computer 34 stores this correlated data on it's hard drive.
Alternatively, or additionally the GPS 33 and chemical content data may be outputted through a video mixer 35 to the video recorder 36 where it may be recorded concurrently with the view of the pipeline and surrounding terrain so that the video cassette recording contains a complete record of the longitude and latitude, the local terrain and landmarks, and associated relative chemical level. The monitor of the video recorder 36 allows the system operator to view the pipeline (not shown) as it is travelled and identify any obvious chemical sources such as farming feedlots, compressor stations, valves etc. (all not shown) . The video may be later reviewed to try to identify any chemical anomalies that were revealed by the analysis of the data that were not readily apparent during the survey. As well, the video is useful when planning the logistics of responding to maintenance or repair of the leak site.
Where a known leak is being searched for, it is also useful to output the computer 34 data live to its monitor together with an audible alarm signalling relatively high chemical content. The computer 34 used is a DOS based laptop. A software program (see appendix 2) was written to capture and organize output data in an ASCII text file protocol. The program has defaults which can be changed to accommodate alternate file names, sample speeds and other communications parameters. With the use of the ASCII data file the output data is then able to be plotted using a popular off the shelf land survey drafting program such as Autocad T.M. by Autodesk Inc.. Exhibit 1 shows a printed 3-D graphical image of relative chemical measurements taken every half second, correlated with longitude and latitude coordinates taken every two seconds. The difference between the chemical content in the air sample 21 drawn from outside the aircraft 26 and previous readings thereof is what is plotted. Addition of artificial zero gas data points are installed a few hundred feet on either side of the pipeline (not shown) . This results in a focus on the pipeline (not shown) and not on high levels of hydrocarbons in the background generated from other sources.
The APSS 20 will operate with different hydrocarbon analyzers 32 currently available; however, the AE 2420 analyzer manufactured by Airwave Electronics Ltd. in Calgary, Canada is preferred for its sensitivity, a five second response time (to read 90% of signal strength) , high reliability, and low maintenance. This analyzer 32 has improved temperature stability, and radio frequency interference reduction. Response time is critical with taking measurements in an aircraft 26 flying at 100 knots. This analyzer 32 employs an external vacuum pump (not shown) to draw sample air 21 into its detector (not shown) . The analyzer 32 outputs an analog signal accurate to less than .1 ppm which is proportional to the concentration of hydrocarbons present in the sample air 21. The analyzer 32 is setup to output the difference between hydrocarbon concentrations in the sample air 21 and prior measurements taken thereof. Typically the aircraft 26 is only in the leak plume for 1-3 seconds and there is insufficient time to achieve 100 percent instrument response to the elevated hydrocarbon levels. However, it is only necessary to qualitatively identify a larger than background hydrocarbon anomaly to determine the presence of a potential leak source. Response time, not accuracy is the critical issue. None the less, prior to each use of the analyzer 32, it is recommended that the analyzer's calibration be verified with a known concentration of chemical to verify proper operation.
The APSS 20 may also utilize different types of air analyzers 32. Airwave Electronics Ltd. of Calgary, Canada has a model Flame Photometric Sulfur Analyzer which has a fast response time and is suitable for the monitoring of sulfur dioxide or other sulfur gases.
Optimal weather conditions for pipeline surveillance are when wind speed is under 10 knots. When surveilling a pipeline carrying liquid petroleum it is preferable to operate in above freezing weather since warmer temperatures are required to promote a suitable evaporization rate in order to yield a well defined plume. Tests have shown clearly defined detection of natural gas released at a rate of 1 cfm with a 5 knot wind. In another test 20 gallons of fuel, placed in a 100 square foot shallow pan at freezing temperatures with a 10 knot wind, was clearly pinpointed.
The APSS 20 is a commercial success. In its first months of use more than ten thousand miles of transmission systems have been surveyed, in typically less than 10 percent of the time and with a few percent of the labor, previously expended for the surveillance thereof.
While the invention has been described with preferred specific embodiments thereof, it will be understood that this description is intended to illustrate and not to limit the scope of the invention, which is defined by the following claims.

Claims

I CLAIM :
1) A method of aircraft surveillance of pipelines for chemical leaks comprising the following steps: flying the aircraft over the pipeline; continuously collecting an air sample from the exterior of the aircraft; feeding the collected air sample into an "air analyzer which tests for high concentrations of the fluid potentially leaking from the pipeline; inputing the output signal received from the analyzer to a computer; concurrently imputing a GPS receiver output to the computer; programming the computer to correlate the outputs from the air analyzer and the receiver; and checking the correlated output from the computer to locate high concentrations of the chemical and thereby identify pipeline chemical leaks.
2) A method as in claim 1 wherein the analyzer is set up to output only differences between chemical concentrations in the sample air and in ambient air.
3) A method as in claim 2 wherein the computer is programmed to store the correlated outputs on it's hard drive. 4) A method as in claim 3 wherein the computer is programmed to graphically display the correlated outputs on its monitor.
5 5) A method as in claim 4 wherein the computer is programmed to produce an audio signal when the measured relative concentration exceeds a predetermined level.
6) A method as in claim 2 further comprising a video 10 camera monitoring and a VCR recording of the pipeline and surrounding terrain beneath the aircraft.
7) A method as in claim 6 wherein the air analyzer output is mixed with the video camera output prior to the
15 video cassette recording.
8) A method as in claim 6 wherein the GPS output is also mixed with the video camera output prior to video cassette recording.
20
9) A method as in claim 2 wherein the air analyzer is a hydrocarbon analyzer.
10) An apparatus for aircraft surveillance of •25 pipelines for finding chemical leaks comprising: an air analyzer to measure concentrations of the potentially leaking chemical; an air sample probe to collect air from outside the aircraft; a tube having one end connected to the air sample probe and the other end connected to the air analyzer to conduct sample air drawn from outside the aircraft to the air analyzer; a computer electrically connected to the output of the air analyzer; and a GPS receiver electrically connected to the computer.
11) An apparatus as in claim 10 wherein the air analyzer is set up to output only differences between chemical concentrations in the sample air and in ambient air.
12) An apparatus as in claim 11 wherein the air analyzer is equipped with a pump to increase the velocity of air received from the air sample probe.
13) An apparatus as in claim 12 wherein the computer is programmed to correlate data inputs received from the GPS receiver and the air analyzer outputs said correlated data to it's hard disk for storage.
14) An apparatus as in claim 13 wherein the computer is programmed to graphically display the correlated data on its monitor. 15) An apparatus as in claim 15 wherein the computer is programmed to produce an audio signal when the measured relative concentration of the fluid exceeds a predetermined level.
16) An apparatus as in claim 11 further comprising a video camera and a VCR to monitor the pipeline and surrounding terrain beneath the aircraft.
17) An apparatus as in claim 16 wherein the air analyzer output is mixed with the video camera output prior to video cassette recording.
18) An apparatus as in claim 17 wherein the GPS output is also mixed with the video camera output prior to video cassette recording.
19) An apparatus as in claim 11 wherein the air analyzer is a hydrocarbon analyzer.
PCT/CA1996/000385 1995-06-07 1996-06-07 Aerial pipeline surveillance system WO1996041097A1 (en)

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AU59942/96A AU5994296A (en) 1995-06-07 1996-06-07 Aerial pipeline surveillance system

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US47472395A 1995-06-07 1995-06-07
US08/474,723 1995-06-07

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WO1997020167A1 (en) * 1995-11-29 1997-06-05 Horace Rekunyk Infrared gas detection method and apparatus
WO1999054700A2 (en) * 1998-04-20 1999-10-28 Horace Rekunyk Infrared remote monitoring system for leak
GB2338072A (en) * 1998-06-04 1999-12-08 Aea Technology Plc Leak detection
DE19941157A1 (en) * 1999-08-24 2001-03-22 Dirk Frach Ultralight aircraft in composite construction can mount magnetic sensors directly avoiding position measurement errors
WO2001046689A1 (en) * 1999-12-22 2001-06-28 Propulsion Controls Engineering Method and system for tracking engine emissions as a function of geographical location
US6750467B2 (en) 2002-05-14 2004-06-15 John Tulip Vehicle mounted gas detector
WO2005017550A2 (en) * 2002-12-13 2005-02-24 Utah State University Research Foundation A vehicle mounted system and method for capturing and processing physical data
DE102007035932A1 (en) * 2007-07-31 2009-02-05 Inficon Gmbh Leak Detector
WO2009123697A1 (en) * 2008-03-31 2009-10-08 Dey Sean W Airborne terrain acquisition processing and fluid detection
US8013303B2 (en) 2005-12-01 2011-09-06 Pergam-Suisse Ag Mobile remote detection of fluids by a laser
CN105156902A (en) * 2015-08-13 2015-12-16 广州杰赛科技股份有限公司 Spherical detection device and gas detection method
CN105518377A (en) * 2014-10-31 2016-04-20 深圳市大疆创新科技有限公司 Gas leakage processing method and apparatus, and air vehicle
US11175679B2 (en) 2019-07-18 2021-11-16 International Business Machines Corporation Drone elastic map

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US10943357B2 (en) 2014-08-19 2021-03-09 Intelliview Technologies Inc. Video based indoor leak detection

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997020167A1 (en) * 1995-11-29 1997-06-05 Horace Rekunyk Infrared gas detection method and apparatus
WO1999054700A2 (en) * 1998-04-20 1999-10-28 Horace Rekunyk Infrared remote monitoring system for leak
WO1999054700A3 (en) * 1998-04-20 2000-04-13 Horace Rekunyk Infrared remote monitoring system for leak
GB2338072A (en) * 1998-06-04 1999-12-08 Aea Technology Plc Leak detection
DE19941157A1 (en) * 1999-08-24 2001-03-22 Dirk Frach Ultralight aircraft in composite construction can mount magnetic sensors directly avoiding position measurement errors
DE19941157C2 (en) * 1999-08-24 2001-07-26 Dirk Frach Method and device for obtaining ground data from the air near the ground by means of an ultralight aircraft or hovercraft
WO2001046689A1 (en) * 1999-12-22 2001-06-28 Propulsion Controls Engineering Method and system for tracking engine emissions as a function of geographical location
US6750467B2 (en) 2002-05-14 2004-06-15 John Tulip Vehicle mounted gas detector
WO2005017550A2 (en) * 2002-12-13 2005-02-24 Utah State University Research Foundation A vehicle mounted system and method for capturing and processing physical data
WO2005017550A3 (en) * 2002-12-13 2006-01-05 Utah State University Res Foun A vehicle mounted system and method for capturing and processing physical data
US8013303B2 (en) 2005-12-01 2011-09-06 Pergam-Suisse Ag Mobile remote detection of fluids by a laser
DE102007035932A1 (en) * 2007-07-31 2009-02-05 Inficon Gmbh Leak Detector
WO2009123697A1 (en) * 2008-03-31 2009-10-08 Dey Sean W Airborne terrain acquisition processing and fluid detection
CN105518377A (en) * 2014-10-31 2016-04-20 深圳市大疆创新科技有限公司 Gas leakage processing method and apparatus, and air vehicle
WO2016065626A1 (en) * 2014-10-31 2016-05-06 深圳市大疆创新科技有限公司 Gas leakage processing method and apparatus, and air vehicle
US10520387B2 (en) 2014-10-31 2019-12-31 SZ DJI Technology Co., Ltd. Gas leakage treatment method and aerial vehicle
CN105156902A (en) * 2015-08-13 2015-12-16 广州杰赛科技股份有限公司 Spherical detection device and gas detection method
US11175679B2 (en) 2019-07-18 2021-11-16 International Business Machines Corporation Drone elastic map

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AU5994296A (en) 1996-12-30
CA2176065A1 (en) 1997-01-25

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