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 |
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.
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