Enabling Methane Emission Detection and Quantification in Robots

Abstract Methane is a potent greenhouse gas, contributing significantly to global warming and climate change. Methane emissions from natural gas systems have gained increasing attention due to their environmental and economic implications. The detection and quantification of methane leaks and emissions are crucial for minimizing their impact on the environment and ensuring the safety and efficiency of natural gas infrastructure. In recent years, advancements in sensor technology have provided new opportunities for accurate and cost-effective methane leak detection and quantification. This paper aims to provide an overview of the current state-of-the-art in methane leak detection and quantification using sensors, focusing on the types of sensors, sensing principles, and applications. A particular focus is given to sensors that can be installed on mobile robots and drones. Traditional methods for methane leaks detection and quantification have limitations in terms of spatial and temporal resolution, cost, and accessibility. Robots equipped with gas and methane leak detection sensors have emerged as promising solutions to address these challenges. This work contributes to the development of more effective strategies for reducing methane emissions and mitigating climate change. In particular, this paper explores the adoption of advanced sensors - such as Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensors and optical gas imaging (OGI) cameras - and their integration into robots. We discuss the advantages of using these platforms for methane detection, including their ability to access hard-to-reach areas, real-time data acquisition, and high spatial and temporal resolution. Furthermore, we present an application in which we integrated methane and gas leak detectors on the payload of a legged robot, and we introduce a testing architecture for assessing the quality of standalone and mobile sensors for methane detection and quantification. This manuscript is structured as follows. First, we review the state-of-the-art on sensors for methane leaks detection and quantification. We deepen the discussion by reviewing the most relevant robotic solutions integrating gas and methane leak sensors, highlighting their advantages and limitations. Therefore, we present our current work on integrating a methane leak detection sensor on a legged robot. We introduce also our current activities and architecture for testing OGI cameras. We conclude the paper by showing the opportunities that our solutions can bring, and by highlighting challenges and limitations of current sensing technologies to overcome.