METHODS FOR PERFORMING TASKS IN A TANK CONTAINING HAZARDOUS SUBSTANCES

摘要

A method of retrieving a mobile platform (100) from a tank (10) at least partially filled with a non-conductive, energetic substance (12, 14), the method characterized by :- configuring the mobile platform (100) to include at least:- an enclosure (200),- at least one control unit (300) positioned inside the enclosure (200),- at least one propulsion system (400) positioned at least partially inside the enclosure (200),- at least one power supply (500) positioned inside the enclosure (200),- at least one retrieval system (700) disposed at least partially on the enclosure (200), the at least one retrieval system (700) including at least one buoyant body (702), an electrically conductive member (1130), and at least one tether (1100), the at least one tether (1100) having at least a portion that is not conductive, the at least one tether (1100) electrically isolating the at least one buoyant body (702) from the enclosure (200);- lowering the mobile platform (100) into the tank (10) using a deployment carrier (50, 764, 780);- submerging the enclosure (200) in a non-conductive, liquid energetic substance (12);- moving the mobile platform (100) using the at least one propulsion system (400) to perform at least one task in the tank (10);- releasing the buoyant body (702) to convey the at least one tether (1100) toward a surface (1116) of the non-conductive, liquid energetic substance (12);- conveying an electrically conductive cable (1304) to the electrically conductive member (1130) of the mobile platform (100) using the at least one tether (1100);- electrically connecting a voltage neutralizing end (1306) of the electrically conductive cable (1304) to a voltage differential neutralizing body (1302) in a spark inhibiting ambient condition;- electrically connecting a mobile platform end (1308) of the electrically conductive cable (1304) to the electrically conductive member (1300) of the mobile platform (100) while the electrically conductive member (1300) is below the surface (1116) of the non-conductive, liquid energetic substance (12); and- retrieving the mobile platform (100) from inside to outside of the tank (10).