UNDERWATER ROBOTIC VENTING AND INSPECTION SYSTEM

摘要

An apparatus for venting at least a portion of an air pocket trapped at an underside of an article that is at least partially submerged in a liquid, the apparatus comprising: a control apparatus (4); a tractor apparatus (6) comprising a tractor (40) and a drive mechanism (42) connected together, the drive mechanism (42) being connected with the control apparatus (4); a tether apparatus (8) disposed on the tractor (40) and movable between a deployed position and a retracted position; and a buoy apparatus (10) connected with the tether apparatus (8) and comprising a buoy (62) and a vent apparatus (12), the buoy (62) in a condition submerged in the liquid applying a buoyant force to at least a portion of the vent apparatus (12) whereby in the deployed position of the tether apparatus (8) the buoy apparatus (10) is in an elevated position wherein the at least portion of the vent apparatus (12) is in fluid communication with the air pocket to vent at least a portion of the air pocket in the elevated position of the buoy apparatus (10).