A magnetic trolley for measuring the inner circumference of a metal storage tank

Abstract

A magnetic vehicle for measuring the circumference of the inner wall of a metal storage tank comprises a vehicle body, two front steering wheels and two rear drive wheels provided on the vehicle body, a steering mechanism provided on the front steering wheels, a motor provided on the rear drive wheels, a power supply, a permanent magnet, and a control circuit board installed on the vehicle body, the steering mechanism and the motor both being connected to the control circuit board, a level sensor connected to the control circuit board being installed on the vehicle body, the control circuit board controlling the steering mechanism via a signal from the level sensor to keep the vehicle body level; after the magnetic vehicle travels one circle, the energized electromagnetic suction cup passes over a magnetic marker block again, and the magnetic marker block can be attracted by the electromagnetic suction cup. The present invention can accurately close the motion trajectory through the magnetic pile mechanism and the level sensor, preventing height deviation during travel, has the advantages of simple structure and precise measurement, and can be widely used in measuring the circumference of the inner wall of a metal storage tank.

Description

Technical Field

[0001] The invention relates to a length measuring device, in particular to a magnetic trolley for measuring the circumference of the inner wall of a metal storage tank. Background Art

[0002] Large metal storage tanks, including oil, brewing, and water tanks, are essential industrial equipment. The precise volume within these tanks is a crucial technical indicator during construction and acceptance. The perimeter of the contour lines on the inner wall is a key parameter for determining accurate volume.

[0003] Traditional measurement uses manual methods, and the contour lines on the inner wall of the metal storage tank are measured step by step with a rolling distance meter. The measurement time is long, the workload of the surveyors is large, and in some closed environments or toxic environments, it will cause a certain degree of danger to the surveyors.

[0004] Patent No. CN201611002269.9 "A Metal Can Radial Deviation Measuring Robot" provides a wall-climbing robot, an electronic control system and a measuring mechanism. The wall-climbing robot includes a walking mechanism, a transmission mechanism and a drive mechanism; the walking mechanism includes a magnetic track, a driving wheel and a driven wheel; the electronic control system includes an electric control box and a remote control, and the wall-climbing robot is connected to the electric control box; the remote control and the electric control box communicate; the measuring mechanism is fixed on the wall-climbing robot, and the measuring mechanism includes a ruler or a prism measuring instrument.

[0005] Its applicability is limited. Because its magnetic track includes magnets attached to a chain via a magnet holder, and because it utilizes permanent magnets, its attraction to metal cans is constant. However, the attraction varies significantly for different metal wall materials and coatings. This results in strong suction on some cans, making movement difficult and slow, while weak suction on others can cause the can to fall during movement, even posing a risk of equipment damage. This is particularly true for cans with uneven coating thickness or specially treated metal wall surfaces, making equipment falls and resulting in losses. Furthermore, this device cannot be used to measure the inner circumference of metal storage tanks. Summary of the Invention

[0006] The purpose of the present invention is to address the defects and shortcomings of the above-mentioned prior art and to provide people with an automated measuring device that can complete the inner wall circumference measurement of the inner wall of a metal can by walking on its own, instead of manual measurement.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: the magnetic vehicle for measuring the circumference of the inner wall of a metal storage tank includes a vehicle body, two front steering wheels and two rear drive wheels are provided on the vehicle body, a steering mechanism is provided on the front steering wheels, a motor is provided on the rear drive wheels, a power supply, a permanent magnet and a control circuit board are also installed on the vehicle body, the steering mechanism and the motor are both connected to the control circuit board, the vehicle body is installed with a level sensor connected to the control circuit board, the control circuit board controls the steering mechanism through the signal of the level sensor to keep the vehicle body level; an angle sensor is provided on the rear drive wheel to calculate the travel of the vehicle body;

[0008] A magnetic pile mechanism connected to the control circuit board is provided at the bottom of the vehicle body. The magnetic pile mechanism includes a magnetic marker block and an electromagnetic suction cup. When the electromagnetic suction cup is energized, the magnetic marker block is adsorbed on the bottom of the electromagnetic suction cup. When the electromagnetic suction cup is de-energized, the magnetic marker block is adsorbed on the inner wall of the metal storage tank. After the magnetic suction trolley travels one circle, the energized electromagnetic suction cup passes over the magnetic marker block again, and the magnetic marker block can be adsorbed by the electromagnetic suction cup.

[0009] A magnetic isolation sleeve is arranged on the outer side of the electromagnetic chuck.

[0010] The bottom of the vehicle body is also equipped with an electromagnet. Pressure sensors connected to a control circuit board are provided on the front steering wheel and the rear driving wheel. The control circuit board controls the magnetic force of the electromagnet through signals from the pressure sensors.

[0011] There are four electromagnets, which are respectively located on the inner sides of the front steering wheel and the rear driving wheel.

[0012] The vehicle body is provided with a communication module connected with the control circuit board.

[0013] A visual system is installed on the front side of the vehicle body, and the visual system includes at least one camera.

[0014] The vehicle body is provided with a spraying device connected with the control circuit board.

[0015] The advantages of this invention lie in its control circuit board, which uses signals from a level sensor to control the steering mechanism, ensuring the vehicle maintains a level trajectory. A magnetic stake mechanism marks the starting point of measurement. After the vehicle completes a full rotation, the energized electromagnetic chuck passes over the magnetic marker again, attracting the marker. Upon receiving the magnetic marker's attraction signal, the control circuit board calculates the distance traveled—the circumference of the inner wall of the metal tank—using the angle sensor and wheel diameter, achieving millimeter-level measurement accuracy. The magnetic stakes ensure precise closure of the vehicle's trajectory, preventing height deviations during travel.

[0016] The permanent magnets of the present invention provide the basic adsorption force for the vehicle body. The magnetic force of the electromagnets is controlled by signals from the pressure sensor to provide compensatory magnetic force, ensuring a constant adsorption force during driving. This prevents excessive adsorption, which makes the vehicle difficult to move, and insufficient adsorption, which makes the vehicle prone to falling. The four electromagnets ensure that the pressure on each wheel is adjusted to the same value, ensuring the same friction between each wheel and the metal wall, facilitating straight-line travel and preventing the vehicle from swerving. The vehicle can also be equipped with an external spray device, which can spray an erasable or self-evaporating trajectory, accurately displaying the route traveled, facilitating review and acceptance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 for Figure 1 Schematic diagram of the structure after removing the upper plate.

[0019] Figure 3 for Figure 2 Top view of .

[0020] Figure 4 for Figure 2 Bottom view of .

[0021] Figure 5 for Figure 2 side view. DETAILED DESCRIPTION

[0022] like Figure 1 、 Figure 2 As shown, the present invention is a magnetic trolley for measuring the circumference of the inner wall of a metal storage tank, which includes a vehicle body 10, and the vehicle body 10 includes an upper plate 11 and a lower plate 13, and the upper plate 11 and the lower plate 13 are connected by a support column 14 and a screw 12. Two front steering wheels 15 and two rear drive wheels 16 are provided on the vehicle body 10, and a connecting rod 81 is provided between the front steering wheels 15. A steering mechanism 80 is provided on the connecting rod 81. The steering mechanism 80 drives the connecting rod 81 to move left and right, so that the two front steering wheels 15 can be turned synchronously. A motor 60 is provided on the rear drive wheel 16, and the operation of the motor 60 can drive the rear drive wheel 16 to make the vehicle body 10 move forward.

[0023] A visual system 40 is mounted on the front of the vehicle body 10. This system includes at least one camera. The camera is used for visual capture and image recognition, identifying obstacles, or identifying the magnetic marker 21 that serves as a starting position marker. A communication module 71 is also mounted on the vehicle body 10, connected to the control circuit board 70. This communication module 71 transmits real-time information such as video images, signals from various sensors, and the distance traveled by the vehicle body 10.

[0024] like Figure 3 As shown, a power supply 50, a permanent magnet 90, and a control circuit board 70 are also installed on the vehicle body 10. The permanent magnet 90 provides the basic adsorption force of the vehicle body 10, allowing the vehicle body 10 to be adsorbed on the inner wall of the metal can. The steering mechanism 80 and the motor 60 are both connected to the control circuit board 70. The vehicle body 10 is equipped with a level sensor connected to the control circuit board 70. The control circuit board 70 controls the steering mechanism 80 based on the signal from the level sensor to keep the vehicle body level while driving. The level is related to the vehicle speed. When the vehicle speed is fast, it can only remain relatively level, but when the vehicle speed is slow, it can remain absolutely level. An angle sensor is provided on the rear drive wheel 16. The angle sensor can read the rotation angle of the rear drive wheel 16. Combined with the diameter of the rear drive wheel 16, the distance traveled can be accurately calculated.

[0025] like Figure 4 、 Figure 5 As shown, the bottom of the vehicle body 10 is provided with a magnetic pile mechanism 20 connected to a control circuit board 70. The magnetic pile mechanism 20 includes a magnetic marker block 21 and an electromagnetic chuck 22. When the electromagnetic chuck 22 is energized, the magnetic marker block 21 is attracted to the bottom of the electromagnetic chuck 22. When the electromagnetic chuck 22 is de-energized, the magnetic marker block 21 is attracted to the inner wall of the metal storage tank. During operation, the control circuit board 70 first controls the electromagnetic chuck 22 to de-energize, causing the magnetic marker block 21 to be attracted to the inner wall of the metal storage tank, marking the starting position of the measurement. After the vehicle body 10 leaves the magnetic marker block 21, the electromagnetic chuck 22 is energized. After the vehicle body 10 has traveled a full circle and the magnetic marker block 21 is captured by the vision system 40, the control circuit board energizes the electromagnetic chuck 22. The energized electromagnetic chuck 22 then passes over the magnetic marker block 21 again, allowing the magnetic marker block 21 to be attracted by the electromagnetic chuck 22. After receiving the signal that the magnetic marker block 21 has been attracted, the control circuit board 70 calculates the distance traveled by the vehicle body 10, i.e., the circumference of the inner wall of the metal tank, through the angle sensor and the wheel diameter, achieving measurement accuracy down to the millimeter level. The control circuit board 70 can detect the signal that the magnetic marker block 21 has been attracted through pressure sensing or magnetic sensing. A magnetic shielding sleeve 23 is provided on the outside of the electromagnetic chuck 22 to prevent the surrounding magnetic field from affecting the electromagnetic chuck 22. In addition, the magnetic attraction surface of the electromagnetic chuck 22 is lower than the permanent magnet 90 and the electromagnet 91, making them unable to attract the magnetic marker block 21.

[0026] Electromagnets 91 are also mounted on the bottom of the vehicle body 10. Pressure sensors connected to a control circuit board 70 are installed on the front steering wheel 15 and the rear drive wheel 16. The control circuit board 70 controls the magnetic force of the electromagnets 91 based on signals from the pressure sensors. Four electromagnets 91 are provided, one located inside the front steering wheel 15 and the other inside the rear drive wheel 16. The magnetic force of each electromagnet 91 is controlled by signals from the pressure sensors to provide compensating magnetic force, ensuring a constant suction force on the vehicle body 10 during driving. The suction force on all four wheels can be adjusted to an equal value, ensuring that each wheel experiences the same friction with the metal wall, facilitating straight-line driving of the vehicle body 10 and preventing the vehicle from swerving.

[0027] The vehicle body 10 is provided with a spraying device 30 connected to the control circuit board 70. The spraying can erase or evaporate the track, accurately displaying the traveled route, which is conducive to review and acceptance.

[0028] The advantages of this invention lie in its control circuit board 70, which uses signals from the level sensor to control the steering mechanism 80, ensuring the vehicle maintains a level trajectory. A magnetic stake mechanism 20 marks the starting point of measurement. After the vehicle completes a full rotation, the energized electromagnetic chuck 22 passes over the magnetic marker block 21 again, attracting the latter. Upon receiving the signal indicating the magnetic marker block 21 has been attracted, the control circuit board 70 calculates the circumference using the angle sensor and the wheel diameter, achieving millimeter-level measurement accuracy. The magnetic stakes ensure precise closure of the vehicle's trajectory, preventing height deviations during travel.

[0029] In addition, the permanent magnet 90 of the present invention provides the basic adsorption force of the vehicle body 10, and the vehicle body 10 will not fall even in the case of a power outage. The magnetic force of the electromagnet 91 is controlled by the signal of the pressure sensor to provide a compensating magnetic force, so that the vehicle body 10 has a constant adsorption force during driving, avoiding the problem that the adsorption force is too large, making the vehicle body 10 difficult to move, and the adsorption force is too small, making the vehicle body 10 easy to fall. The setting of four electromagnets 91 can adjust the pressure of each wheel to the same value, so that the friction between each wheel and the metal wall will be the same, which facilitates the vehicle body 10 to travel in a straight line and eliminates the problem of vehicle deviation. It can also be loaded with an external spray device 30, which can accurately display the route traveled by spraying an erasable or self-volatile trajectory, which is conducive to review and acceptance.

Claims

1. A magnetic vehicle for measuring the circumference of the inner wall of a metal storage tank, comprising a vehicle body, two front steering wheels, two rear drive wheels, a steering mechanism on the front steering wheels, a motor on the rear drive wheels, a power supply, a permanent magnet, and a control circuit board mounted on the vehicle body, the steering mechanism and the motor being connected to the control circuit board, characterized in that The vehicle body is equipped with a level sensor connected to a control circuit board. The control circuit board controls the steering mechanism through the signal of the level sensor to keep the vehicle body level. An angle sensor is provided on the rear drive wheel to calculate the travel of the vehicle body. A magnetic pile mechanism connected to the control circuit board is provided at the bottom of the vehicle body. The magnetic pile mechanism includes a magnetic marker block and an electromagnetic suction cup. When the electromagnetic suction cup is energized, the magnetic marker block is adsorbed on the bottom of the electromagnetic suction cup. When the electromagnetic suction cup is de-energized, the magnetic marker block is adsorbed on the inner wall of the metal storage tank. After the magnetic suction trolley travels one circle, the energized electromagnetic suction cup passes over the magnetic marker block again, and the magnetic marker block can be adsorbed by the electromagnetic suction cup.

2. The magnetic trolley for measuring the inner wall circumference of a metal storage tank according to claim 1 is characterized in that A magnetic isolation sleeve is arranged on the outer side of the electromagnetic chuck.

3. The magnetic trolley for measuring the inner wall circumference of a metal storage tank according to claim 1 is characterized in that The bottom of the vehicle body is also equipped with an electromagnet. Pressure sensors connected to a control circuit board are provided on the front steering wheel and the rear driving wheel. The control circuit board controls the magnetic force of the electromagnet through signals from the pressure sensors.

4. The magnetic trolley for measuring the inner wall circumference of a metal storage tank according to claim 3 is characterized in that There are four electromagnets, which are respectively located on the inner sides of the front steering wheel and the rear driving wheel.

5. The magnetic trolley for measuring the inner wall circumference of a metal storage tank according to claim 1 is characterized in that The vehicle body is provided with a communication module connected with the control circuit board.

6. The magnetic trolley for measuring the inner wall circumference of a metal storage tank according to claim 1, characterized in that A visual system is installed on the front side of the vehicle body, and the visual system includes at least one camera.

7. The magnetic trolley for measuring the inner wall circumference of a metal storage tank according to claim 1 is characterized in that The vehicle body is provided with a spraying device connected with the control circuit board.

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