US 11,906,342 B2
Wall-climbing robot for measuring capacity of vertical metal tanks
Xianlei Chen, Zhejiang (CN); Cunjun Li, Zhejiang (CN); Huadong Hao, Zhejiang (CN); Haolei Shi, Zhejiang (CN); Haocai Huang, Zhejiang (CN); and Yiping Wu, Zhejiang (CN)
Assigned to Zhoushan Institute Of Calibration And Testing For Quality And Technology Supervision, Zhoushan (CN)
Filed by Zhoushan Institute Of Calibration And Testing For Quality And Technology Supervision, Zhejiang (CN)
Filed on May 18, 2020, as Appl. No. 16/876,831.
Claims priority of application No. 201910745612.6 (CN), filed on Aug. 13, 2019.
Prior Publication US 2021/0048327 A1, Feb. 18, 2021
Int. Cl. G01F 17/00 (2006.01); G01B 3/02 (2020.01); G01R 33/02 (2006.01); G01S 15/08 (2006.01); G01S 17/08 (2006.01); B08B 9/087 (2006.01); B25J 11/00 (2006.01)
CPC G01F 17/00 (2013.01) [B08B 9/087 (2013.01); B25J 11/005 (2013.01); B25J 11/0085 (2013.01); G01B 3/02 (2013.01); G01R 33/02 (2013.01); G01S 15/08 (2013.01); G01S 17/08 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A wall-climbing robot for measuring a capacity of a vertical metal tank, comprising: a robot body comprising a chassis and a casing, wherein a plurality of wheels are provided on both sides of the chassis, respectively; the robot body further comprises:
an attraction unit, comprising a plurality of magnets for attracting a wall of the metal tank, wherein the magnets are connected to form a mesh structure through a plurality of connectors and move under the chassis;
a measurement unit, comprising a bendable ruler provided on the chassis and protruding from a top of the casing;
a rust removal unit, comprising a rust removal bucket provided at a front side of the robot body and a driver for the lifting and lowering of the rust removal bucket; and
a control unit, comprising a microcontroller, a posture detector, an obstacle detector, an attraction detector for detecting an attraction force of the magnets, a distance sensor for measuring a distance from the chassis to the wall of the metal tank, and a communication device.