When eliminating the consequences of emergencies with chemical and/or radiation or biological contamination of the area, a large amount of work is carried out during the degassing and decontamination of vehicles and special equipment using traditional cleaning systems. In this case, significant amounts of water or detergent are contaminated with flushing products. Additional measures are being taken to prevent the release of these flushing products into the environment, involving the expenditure of significant resources of all types. The use of a new robot car washer with a closed system for the regeneration of cleaning fluids will increase the efficiency of liquidation work, reduce the number of human and technical resources involved in the work and reduce the scale of environmental consequences of emergencies.

• The robot is controlled via a high-level interface based on a limited subset of natural language.;
  The use of the complex does not require any additional arrangement of the place of use or the use of additional environmental protection products.;
  The maintenance staff is reduced to one remote operator.

The Beaver is a robotic system in the form of a mobile portal structure consisting of two aggregate racks and a pivotally connected U-shaped arch with manipulator actuators and an autonomous energy module.

autonomous mobile washing units for degassing /decontamination of automotive and special equipment, equipped with intelligent expert and control systems based on an on-board computer, a set of manipulators with water-saving detergent nozzles, navigation and orientation systems, hydraulic and pneumatic systems for preparing washing working fluid, feeding it to the working organs and collecting it from the treated surface;
• autonomous mobile robotic energy module with the possibility of completing a motor generator, solar panels or wind/hydro generators.

• laboratory experiments were performed on cleaning the contaminated surface with a water-preserving cleaning nozzle;
  A pilot stand with a single-diffuser washing nozzle on a three-link manipulator has been assembled.;
  a full-size mobile demonstration stand of a decontamination/degassing machine with a movable arch has been made;
  Virtual models of full-size samples of household and special purpose car washing robots (decontaminators/degassers) have been developed.

• autonomous movement of decontamination/degassing robots in the processing area of equipment and positioning relative to processing facilities;
  automatic detection of the type and nature of contamination of machinery;
  automatic selection of the treatment method according to the type of object and the nature of contamination;
  supply of cleaning solution to the surface of the object, non-contact surface treatment of the object with its decontamination/degassing and collection of flushing products and reagents without release of pollutants into the environment;
  droplets of detergent solution, due to surface tension forces, envelop solid grains of the contaminant substance and penetrate deep into the surface layer of sediments. The surface of mud deposits liquefies and becomes mobile;
  under the influence of the difference in the pressure of the medium in the supply and pumping nozzles of the washing nozzle, local vortex cells of high-speed streams of washing liquid with contamination particles appear in the working gap. The substance from the center of the vortex cells is captured by the pumping nozzles of the washing nozzle;
  moving flushing products and used detergent solution to storage;
  automatic maintenance of the decontamination/degassing robots by providing continuous monitoring of the state of the robot’s systems and assemblies, automatic replacement of batteries on robots and automatic charging of batteries on the energy module;
  The intelligent decision-making system implements the principles of multi-agent cognitive architectures, which make it possible to integrate multimodal data and determine subsequent actions at strategic, tactical and operational levels.;
  control of a robotic system using a natural language interface;
  ensuring control of the degassing/deactivation and disposal process from the remote command post of the Beaver robotic complex.

• The safety of using the complex is due to the use of new water-saving detergent nozzles and a closed system for the turnover of detergent solutions, which eliminates the formation of leaks of flushing products.;
  deserted equipment handling mode;
  the ability to remotely control the complex and individual groups of decontamination/degassing robots through a high-level interface based on a limited subset of natural language;
  the possibility of using the emergency response group as an autonomous unit;
  low resource consumption;
  4-level control system (own touch-screen remote control, plug-in computer, remote control via the Internet, voice control).