公开(公告)号：WO2020190303A1

公开(公告)日：2020-09-24

申请号：PCT/US2019/023418

申请日：2019-03-21

Applicant: ABB SCHWEIZ AG ,  CHEIM, Luiz ,  STIEGEMEIER, Craig Lee

Inventor： CHEIM, Luiz ,  STIEGEMEIER, Craig Lee

IPC: B63G8/14 ,  G01N21/88 ,  G01N21/90 ,  G01R31/02 ,  G05D1/04 ,  H01F27/12 ,  G21C17/01

Abstract: A method is provided for introducing a submersible robot into a fluid-filled container without draining the container. An access chamber is placed in fluid communication with the side port, and the access chamber is filled with fluid before opening the side port. The side port is then opened and the submersible robot passes from the access chamber through the opened side port to access the interior of the container.