Portable intelligent radar liquid level meter

Abstract

The invention belongs to the field of radar liquid level meters, and particularly relates to a portable intelligent radar liquid level meter which comprises a connecting table, three mechanical claws are mounted at the bottom of the connecting table, a multi-axis arm is mounted on the outer side of the connecting table, a horizontal detection module is fixedly connected to the end of the multi-axis arm, a radar liquid level meter module is fixedly connected to the end of the horizontal detection module, and the radar liquid level meter module is fixedly connected to the end of the multi-axis arm. A radar emission head is fixedly connected to the bottom of the radar liquid level meter module, a laser ranging module parallel to the radar liquid level meter module is arranged on the outer side of the radar liquid level meter module, and through the arrangement, the height from the bottom of a container to equipment can be effectively measured under the condition that the height of the container is unknown; subtracting the height from the equipment to the liquid level, and further measuring the accurate height of the liquid level in the container; due to the structure, under the condition that the device is not located at the topmost part of the container, effective measurement can be achieved as long as the device is located above the liquid level.

Description

Technical Field

[0001] The invention belongs to the field of radar level gauges, in particular to a portable intelligent radar level gauge. Background Art

[0002] The working principle of the radar level meter is based on the reflection of radar waves and the measurement of echo time. It emits high-frequency electromagnetic waves that propagate at the speed of light and reflect when they encounter the surface of liquid or solid materials. After the receiver receives the reflected radar wave signal, it records the time and intensity of the signal. By measuring the time interval from transmission to reception, the radar level meter can calculate the distance between the surface of the liquid or material and the sensor, and then subtract this distance from the container height to obtain the liquid level height.

[0003] Radar level meters are widely used in: petrochemical industry, for liquid level monitoring and measurement of various containers such as crude oil storage tanks and finished oil tanks; water treatment and environmental protection, for liquid level monitoring in sewage pools, sedimentation tanks and other facilities in sewage treatment plants, etc.

[0004] Traditional portable radar level meters have relatively simple functions and can only measure the distance from the liquid surface to the device. However, portable devices are often used to detect the liquid levels of containers with different depths. The overall height of the container is often unknown, making it impossible to detect the accurate liquid level. In addition, it is difficult for portable radar level meters to ensure their own horizontal state during detection, resulting in large deviations in detection data.

[0005] To this end, the present invention provides a portable intelligent radar level meter. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows: the portable intelligent radar level meter of the present invention comprises a connecting platform, three mechanical claws are installed at the bottom of the connecting platform, a multi-axis arm is installed on the outside of the connecting platform, a level detection module is fixedly connected to the end of the multi-axis arm, a radar level meter module is fixedly connected to the end of the level detection module, a radar transmitter is fixedly connected to the bottom of the radar level meter module, and a laser ranging module arranged parallel to the radar level meter module is arranged on the outside of the radar level meter module; Hold the connecting platform and place it on the outside of the container to be detected. Use the mechanical claw to fix itself to the upper edge of the container. Adjust the angle of the radar level meter module through the multi-axis arm so that the radar transmitter head is facing vertically downward. The horizontal detection module is equipped with a gyroscope, which can accurately know the angle between itself and the horizontal plane. The angle data is displayed on the display end of the horizontal detection module, so that the operator can adjust the radar level meter module to a more accurate horizontal state. When the radar transmitter head emits radar waves vertically to the liquid surface, the laser ranging module simultaneously emits ranging laser downward. The laser passes through the liquid to the bottom of the container and is received by the laser ranging module after reflection, thereby measuring the height of the container. After that, the height of the container is subtracted from the height of the radar level meter module from the height of the liquid surface, and the height of the liquid surface can be accurately obtained. With this setting, When the height of the container is unknown, it can effectively measure the height from the bottom of the container to the device, and then subtract the height from the device to the liquid surface, so as to measure the accurate height of the liquid surface in the container; and this structure can effectively measure when the device is above the liquid surface without being at the top of the container; at the same time, the level detection module, the radar level meter module and the laser ranging module are connected in communication, and the data are interconnected, and the data is calculated by the processing unit in the radar level meter module, so as to quickly output the result; another way to use the device is to ensure that the laser of the laser ranging module can reach the bottom of the liquid surface, even if the entire laser ranging module and the radar level meter module are in a tilted state, the radar level meter module can calculate the height of the liquid surface according to the tilt value of the level detection module in combination with trigonometric functions, thereby reducing the difficulty of the initial adjustment operation.

[0008] Preferably, an optical focusing box is fixedly connected to the outside of the radar level meter module, the laser ranging module is located in the optical focusing box, a camera module arranged parallel to the laser ranging module is fixedly connected in the optical focusing box, a touch screen is installed on the outside of the optical focusing box, an electric wheel is provided at the bottom of the mechanical claw, and an adsorption cover capable of generating negative pressure is installed at the bottom of the connecting platform. When the liquid in the container is too turbid, the laser ranging module cannot reach the bottom of the container. At this time, the device is fixed to the outside of the container by the mechanical claw, and the adsorption cover generates negative pressure, so that the bottom of the adsorption cover is adsorbed on the surface of the container, while maintaining a certain distance between the adsorption cover and the surface of the container. The gap is then driven by the electric wheel to move the entire device, thereby completing the movement of the device. The front is observed through the camera module to ensure that the device can move forward normally. As the device moves forward, when the device moves to the bottom of the container, the image fed back by the camera module is used to determine whether it has moved to the bottom of the container. The distance from the bottom of the container to the device is measured by the laser ranging module. After that, the device moves upward to the observation point and records the moved distance, thereby calculating the height of the container. After that, the distance measured by the radar level meter module is subtracted to effectively measure the height of the liquid surface. The touch screen is used to adjust the settings of the camera module and the laser ranging module, and can also display the data of both.

[0009] Preferably, the mechanical claw includes a rotatable bending arm, the bottom of the bending arm is fixedly connected to a squeezing tube, the outer side of the squeezing tube is sleeved with an elastic pad, and the three mechanical claws are arranged equidistantly in a ring. Through the setting of the three mechanical claws, two mechanical claws are used to clamp the exposed edges of the container from above the container, and the remaining mechanical claws squeeze the outer wall from either side of the outer wall, so as to fix the device on the container. Since the three mechanical claws can rotate independently, no matter how thick the container is, it can be grasped and fixed by the rotation of the three mechanical claws. The setting of the elastic pad is to reduce the hard damage caused by the squeezing tube and the container clamping and fixing process. The bending setting of the bending arm allows the mechanical claws to rotate and open to increase the spacing, so that they can grasp thicker containers.

[0010] Preferably, a power disk is fixedly connected to the bottom of the connecting platform, three servo motors are fixedly connected inside the power disk, a rotating disk is fixedly connected to the bottom of the servo motor, the rotating disk is rotatably engaged with the bottom of the power disk, and the top of the bending arm is slidably engaged with the rotating disk. The rotation of the rotating disk is controlled by the servo motor, thereby driving the bending arm to rotate at any angle. The bending arm can be adjusted to slide on the rotating disk to spread the maximum thickness of the container that the bending arm can clamp. At the same time, if the equipment needs to be fixed on a round rod, the three bending arms can be adjusted so that the gap between the three bending arms is the same as the diameter of the round rod when they are rotated to the middle position, thereby firmly clamping the round rod, thereby improving the applicability of the equipment.

[0011] Preferably, the multi-axis arm includes two metal plates, wherein a drive motor 1 is fixedly connected to the end of one of the metal plates, and the end of the drive motor 1 is fixedly connected to the other metal plate. A vertically arranged rotating shaft is installed on the outer side of the connecting platform, and a horizontally arranged drive motor 2 is fixedly connected to the outer side of the rotating shaft. The output end of the drive motor 2 is fixedly connected to the end of the multi-axis arm. The drive motor 2 can drive the multi-axis arm to rotate from the end. The drive motor 1 allows the multi-axis arm to adjust the angle from the middle, so that the radar level meter module and the laser ranging module at the end can be oriented to any angle, thereby adapting to the container opening direction in different environments. At the same time, since the angle adjustment is controlled by the motor, it is only necessary to connect the drive motor 1 and the drive motor 2 to the horizontal detection module, and the angle can be arbitrarily controlled by the program without manual adjustment.

[0012] Preferably, a docking joint is fixedly connected to the bottom of the power disk, and the docking joint is located in the middle of the three rotating disks. An air pump is installed inside the adsorption hood, and a bonding disk connected to the absorption end of the air pump is installed at the bottom of the adsorption hood. The bottom surface of the bonding disk is concave. The negative pressure generated by the air pump will act on the bonding disk. There is a certain gap between the bonding disk at the bottom of the adsorption hood and the container, so that the equipment can move under the action of suction. At the same time, the bonding disk is used to isolate foreign matter such as debris. The adsorption hood can be removed from the docking joint to allow the mechanical claw to clamp normally.

[0013] Preferably, the top of the adsorption cover is rotatably connected to a plurality of reinforcement arms, the bottom of the power disk is provided with a slot adapted to the top surface of the reinforcement arm, the top of the connecting platform is provided with a protrusion adapted to the shape of the bottom of the bonding disk, and the reinforcement arm is used to increase the connection strength between the adsorption cover and the power disk. At the same time, after the adsorption cover is disassembled, the bonding disk can be bonded and fixed to the top of the connecting platform, thereby reducing the inconvenience of carrying caused by scattered parts.

[0014] Preferably, a storage groove is provided at the bottom of the extrusion tube, and a pneumatic telescopic rod is provided on the top of the electric wheel for driving the electric wheel to rise and fall. The starting telescopic rod in the storage groove can control the rising and falling of the electric wheel. When the electric wheel is not in use, the electric wheel can be stored in the storage groove without affecting the clamping work of the mechanical claw.

[0015] Preferably, an electromagnet is fixedly connected to the inside of the extrusion tube, a battery compartment is provided inside the connecting platform, and a transmission line for transmitting electricity is installed on the outside of the connecting platform. When the container is made of a magnetizable metal material, the electromagnet can be turned on to make the extrusion tube magnetic, thereby sucking the surface of the container to enhance the firmness of the clamping. The device can also be attached to the container wall by relying solely on adsorption, further improving the occasions where the device can be used.

[0016] Preferably, the bending arm is arranged in sections, and two sections of the bending arm are fixedly connected by a metal rod. The outer side of the metal rod is sleeved with a docking sleeve, and the transmission line is fixedly connected to the outer side of the docking sleeve. During the rotation of the bending arm, the transmission line continuously transmits electricity to the electrical appliance below through the docking sleeve, and the docking sleeve can also rotate, thereby preventing the transmission line from being entangled.

[0017] The beneficial effects of the present invention are as follows: 1. The portable intelligent radar level meter of the present invention is provided with a multi-axis arm, a radar level meter module and a laser ranging module. The multi-axis arm is used to adjust the angle of the radar level meter module so that the radar transmitter head is facing vertically downward. A gyroscope is provided in the horizontal detection module, which can accurately know the angle between itself and the horizontal plane. The angle data is displayed on the display end of the horizontal detection module, so that the operator can adjust the radar level meter module to a more accurate horizontal state. When the radar transmitter head emits radar waves vertically to the liquid surface, the laser ranging module simultaneously emits ranging laser downward. The laser passes through the liquid to the bottom of the container and is received by the laser ranging module after reflection, thereby measuring the height of the container. After that, the height of the liquid surface can be accurately obtained by subtracting the height of the radar level meter module from the height of the container. Through this setting, when the height of the container is unknown, the height from the bottom of the container to the device can be effectively measured first, and then the height from the device to the liquid surface can be subtracted, thereby measuring the accurate height of the liquid surface in the container. Moreover, in this structure, when the device is not at the top of the container, the liquid level height can be effectively measured as long as the device is above the liquid surface.

[0018] 2. The portable intelligent radar level meter described in the present invention, when the liquid in the container is too turbid, the laser ranging module cannot reach the bottom of the container. At this time, the device is fixed to the outside of the container by a mechanical claw, and the adsorption cover generates negative pressure, so that the bottom of the adsorption cover is adsorbed on the surface of the container, while maintaining a certain gap between the adsorption cover and the surface of the container, and then the entire device is driven to move by an electric wheel, thereby completing the movement of the device, and observing the front through the camera module to ensure that the device can move forward normally. As the device moves forward, when the device moves to the bottom of the container, the image fed back by the camera module is used to determine whether it has moved to the bottom of the container, and the distance from the bottom of the container to the device is measured by the laser ranging module. Then, the device moves upward to the observation point, records the moved distance, and calculates the height of the container. After that, the distance measured by the radar level meter module is subtracted to effectively measure the height of the liquid surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 is a stereogram of the present invention; Figure 2is a three-dimensional diagram of the multi-axis arm and the rotating shaft of the present invention; Figure 3 is a stereogram of a radar level gauge module of the present invention; Figure 4 is a three-dimensional diagram of the connection platform of the present invention; Figure 5 is a three-dimensional diagram of a rotating disk of the present invention; Figure 6 is a three-dimensional diagram of the bending arm of the present invention; Figure 7 is a three-dimensional diagram of the adsorption cover of the present invention; Figure 8 is a schematic diagram of the combination of the mechanical claw and the container of the present invention; In the figure: 1. connecting table; 2. power disk; 3. mechanical claw; 4. adsorption cover; 5. rotating shaft; 6. multi-axis arm; 7. horizontal detection module; 8. radar level meter module; 9. optical concentration box; 10. touch screen; 11. radar transmitter; 13. laser ranging module; 14. camera module; 15. bending arm; 16. extrusion tube; 17. storage slot; 18. rotating disk; 19. docking head; 20. electric wheel; 21. docking sleeve; 22. transmission line; 23. bonding disk; 24. air pump; 25. reinforcement arm. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0022] like Figures 1 to 8 As shown, the portable intelligent radar level gauge according to the embodiment of the present invention comprises a connecting platform 1, three mechanical claws 3 are installed at the bottom of the connecting platform 1, a multi-axis arm 6 is installed on the outside of the connecting platform 1, a level detection module 7 is fixedly connected to the end of the multi-axis arm 6, a radar level gauge module 8 is fixedly connected to the end of the level detection module 7, a radar transmitter head 11 is fixedly connected to the bottom of the radar level gauge module 8, and a laser ranging module 13 arranged parallel to the radar level gauge module 8 is arranged on the outside of the radar level gauge module 8; During operation, the connecting platform 1 is held in the hand and placed on the outside of the container to be detected. The mechanical claw 3 is used to fix itself to the upper edge of the container. The angle of the radar level meter module 8 is adjusted by the multi-axis arm 6 so that the radar transmitter head 11 is facing vertically downward. The horizontal detection module 7 is provided with a gyroscope, which can accurately know the angle between itself and the horizontal plane. The angle data is displayed on the display end of the horizontal detection module 7, so that the operator can adjust the radar level meter module 8 to a more accurate horizontal state. When the radar transmitter head 11 emits radar waves vertically to the liquid surface, the laser ranging module 13 simultaneously emits ranging laser downward. The laser passes through the liquid to the bottom of the container and is received by the laser ranging module 13 after reflection, thereby measuring the height of the container. After that, the height of the container is subtracted from the height of the radar level meter module 8 to the liquid surface, and the height of the liquid surface can be accurately obtained. Through this setting , it is possible to effectively measure the height from the bottom of the container to the device when the height of the container is unknown, and then subtract the height from the device to the liquid surface, thereby measuring the accurate height of the liquid surface in the container; and with this structure, when the device is not at the top of the container, as long as the device is above the liquid surface, the liquid level height can be effectively measured; at the same time, the level detection module 7, the radar level meter module 8 and the laser ranging module 13 are connected in communication, and the data are interconnected, and the data is calculated by the processing unit in the radar level meter module 8, so as to quickly output the result; another method of using the device is: it is only necessary to ensure that the laser of the laser ranging module 13 can reach the bottom of the liquid surface, even if the entire laser ranging module 13 and the radar level meter module 8 are in an inclined state, the radar level meter module 8 can also calculate the height of the liquid surface according to the inclination value of the level detection module 7 in combination with trigonometric functions, thereby reducing the difficulty of the early adjustment operation.

[0023] An optical concentration box 9 is fixedly connected to the outer side of the radar level meter module 8, the laser distance measurement module 13 is located in the optical concentration box 9, a camera module 14 arranged in parallel with the laser distance measurement module 13 is fixedly connected to the optical concentration box 9, a touch screen 10 is installed on the outer side of the optical concentration box 9, an electric wheel 20 is arranged at the bottom of the mechanical claw 3, and an adsorption cover 4 capable of generating negative pressure is installed at the bottom of the connection platform 1; During operation, when the liquid in the container is too turbid, the laser ranging module 13 cannot reach the bottom of the container. At this time, the device is fixed to the outside of the container by the mechanical claw 3, and the adsorption cover 4 generates negative pressure to allow the bottom of the adsorption cover 4 to adsorb to the surface of the container, while maintaining a certain gap between the adsorption cover 4 and the surface of the container. The electric wheel 20 is then used to drive the entire device to move, thereby completing the movement of the device. The camera module 14 is used to observe the front to ensure that the device can move forward normally. As the device moves forward, when the device moves to the bottom of the container, the image fed back by the camera module 14 is used to determine whether it has moved to the bottom of the container. The laser ranging module 13 is used to measure the distance from the bottom of the container to the device, and then the device moves upward to the observation point, records the distance moved, and calculates the height of the container. After that, the distance measured by the radar level meter module 8 is subtracted to effectively measure the height of the liquid level. The touch screen 10 is used to adjust the settings of the camera module 14 and the laser ranging module 13, and can also display the data of both.

[0024] The mechanical claw 3 includes a rotatable bending arm 15, the bottom of the bending arm 15 is fixedly connected to an extrusion tube 16, the outer side of the extrusion tube 16 is sleeved with an elastic pad, and the three mechanical claws 3 are arranged in a ring with equal distances; During operation, three mechanical claws 3 are set up, and two mechanical claws 3 are used to clamp the exposed edges of the container from above the container, and the remaining mechanical claws 3 squeeze the outer wall from either side of the outer wall, so as to fix the device on the container. Since the three mechanical claws 3 can rotate independently, no matter how thick the container is, it can be grasped and fixed by the rotation of the three mechanical claws 3. The setting of the elastic pad is to reduce the hard damage caused by the squeezing tube 16 and the container clamping and fixing process. The bending setting of the bending arm 15 allows the mechanical claws 3 to rotate and open with a larger spacing, so that thicker containers can be grasped.

[0025] The bottom of the connecting platform 1 is fixedly connected with a power disk 2, and three servo motors are fixedly connected inside the power disk 2. The bottom of the servo motor is fixedly connected with a rotating disk 18, and the rotating disk 18 is rotatably engaged with the bottom of the power disk 2, and the top of the bending arm 15 is slidably engaged with the rotating disk 18; During operation, the rotation of the rotating disk 18 is controlled by the servo motor, thereby driving the bending arm 15 to rotate at any angle. The bending arm 15 can be adjusted to slide on the rotating disk 18 to spread the maximum thickness of the container that the bending arm 15 can clamp. At the same time, if the equipment needs to be fixed on a round rod, the three bending arms 15 can be adjusted so that when they are rotated to the middle position, the gap between the three bending arms 15 is the same as the diameter of the round rod, thereby firmly clamping the round rod, thereby improving the applicability of the equipment.

[0026] The multi-axis arm 6 includes two metal plates, one end of which is fixedly connected to a driving motor 1, and the end of the driving motor 1 is fixedly connected to the other metal plate. A vertically arranged rotating shaft 5 is installed on the outer side of the connecting platform 1, and a horizontally arranged driving motor 2 is fixedly connected to the outer side of the rotating shaft 5, and the output end of the driving motor 2 is fixedly connected to the end of the multi-axis arm 6; During operation, drive motor 2 can drive the multi-axis arm 6 to rotate from the end, and drive motor 1 allows the multi-axis arm 6 to adjust the angle from the middle, so that the radar level meter module 8 and the laser ranging module 13 at the end can be oriented to any angle, thereby adapting to the opening direction of the container under different environments; at the same time, since the angle adjustment is controlled by the motor, it is only necessary to connect drive motor 1 and drive motor 2 to the horizontal detection module 7 to control the angle arbitrarily without manual adjustment.

[0027] A docking joint 19 is fixedly connected to the bottom of the power disk 2, and the docking joint 19 is located in the middle of the three rotating disks 18. An air pump 24 is installed inside the adsorption cover 4, and a bonding disk 23 connected to the absorption end of the air pump 24 is installed at the bottom of the adsorption cover 4, and the bottom surface of the bonding disk 23 is concave; During operation, the negative pressure generated by the air pump 24 will act on the bonding plate 23. There is a certain gap between the bonding plate 23 at the bottom of the adsorption cover 4 and the container, so that the equipment can move under the action of suction. At the same time, the bonding plate 23 is used to isolate foreign matter such as debris. The adsorption cover 4 can be removed from the docking joint 19, so that the mechanical claw 3 can clamp normally.

[0028] The top of the adsorption cover 4 is rotatably connected with a plurality of reinforcement arms 25, the bottom of the power disk 2 is provided with a slot adapted to the top surface of the reinforcement arm 25, and the top of the connection platform 1 is provided with a protrusion adapted to the shape of the bottom of the bonding disk 23; During operation, the reinforcement arm 25 is used to increase the connection strength between the adsorption cover 4 and the power disk 2. At the same time, after the adsorption cover 4 is removed, the bonding disk 23 can be bonded and fixed to the top of the connecting platform 1, reducing the inconvenience of carrying caused by scattered parts.

[0029] A receiving groove 17 is provided at the bottom of the extruded tube 16, and a pneumatic telescopic rod is provided at the top of the electric wheel 20 for driving the electric wheel 20 to move up and down; During operation, the start telescopic rod in the storage slot 17 can control the lifting and lowering of the electric wheel 20. When the electric wheel 20 is not in use, the electric wheel 20 can be stored in the storage slot 17 without affecting the clamping work of the mechanical claw 3.

[0030] An electromagnet is fixedly connected to the inside of the extrusion tube 16, a battery compartment is arranged inside the connection platform 1, and a transmission line 22 for transmitting power is installed on the outside of the connection platform 1; During operation, when the container is made of magnetizable metal material, the extrusion tube 16 can be magnetized by turning on the electromagnet, thereby adsorbing the container surface to strengthen the firmness of the clamping. The device can also be attached to the container wall by adsorption alone, further improving the occasions where the device can be used.

[0031] The bending arm 15 is arranged in sections, and two sections of the bending arm 15 are fixedly connected by a metal rod, and a docking sleeve 21 is sleeved on the outer side of the metal rod, and the transmission line 22 is fixedly connected to the outer side of the docking sleeve 21; During operation, when the bending arm 15 rotates, the transmission line 22 continuously transmits power to the electrical appliance below through the docking sleeve 21, and the docking sleeve 21 can also rotate, so that the transmission line 22 will not be entangled.

[0032] During operation, the connecting platform 1 is held in the hand and placed on the outside of the container to be detected. The mechanical claw 3 is used to fix itself to the upper edge of the container. The angle of the radar level meter module 8 is adjusted by the multi-axis arm 6 so that the radar transmitter head 11 is facing vertically downward. The horizontal detection module 7 is provided with a gyroscope, which can accurately know the angle between itself and the horizontal plane. The angle data is displayed on the display end of the horizontal detection module 7, so that the operator can adjust the radar level meter module 8 to a more accurate horizontal state. When the radar transmitter head 11 emits radar waves vertically to the liquid surface, the laser ranging module 13 simultaneously emits ranging laser downward. The laser passes through the liquid to the bottom of the container and is received by the laser ranging module 13 after reflection, thereby measuring the height of the container. After that, the height of the container is subtracted from the height of the radar level meter module 8 to the liquid surface, and the height of the liquid surface can be accurately obtained. Through this setting , it is possible to effectively measure the height from the bottom of the container to the device when the height of the container is unknown, and then subtract the height from the device to the liquid surface, thereby measuring the accurate height of the liquid surface in the container; and this structure, when not at the top of the container, as long as the device is above the liquid surface, can effectively measure the liquid level height; at the same time, the level detection module 7, the radar level meter module 8 and the laser ranging module 13 are connected in communication, and the data are interconnected, and the processing unit in the radar level meter module 8 calculates the data, thereby quickly outputting the result; another method of using the device is: it is only necessary to ensure that the laser of the laser ranging module 13 can reach the bottom of the liquid surface, even if the entire laser ranging module 13 and the radar level meter module 8 are in an inclined state, the radar level meter module 8 can also calculate the height of the liquid surface according to the inclination value of the level detection module 7 in combination with trigonometric functions, thereby reducing the difficulty of the early adjustment operation; When the liquid in the container is too turbid, the laser ranging module 13 cannot reach the bottom of the container. At this time, the device is fixed to the outside of the container by the mechanical claw 3, and the adsorption cover 4 generates negative pressure, so that the bottom of the adsorption cover 4 is adsorbed on the surface of the container, and a certain gap is maintained between the adsorption cover 4 and the surface of the container. Then, the electric wheel 20 drives the entire device to move, thereby completing the movement of the device. The camera module 14 is used to observe the front to ensure that the device can move forward normally. As the device moves forward, when the device moves to the bottom of the container, the image fed back by the camera module 14 is used to determine whether it has moved to the bottom of the container. The laser ranging module 13 measures the distance from the bottom of the container to the device, and then the device moves upward to the observation point, records the distance moved, and calculates the height of the container. Then, the distance measured by the radar level meter module 8 is subtracted to effectively measure the height of the liquid level. The touch screen 10 is used to adjust the settings of the camera module 14 and the laser ranging module 13, and can also display the data of both. By setting three mechanical claws 3, two mechanical claws 3 are used to clamp the exposed edge of the container from above the container, and the remaining mechanical claws 3 squeeze the outer wall from any side of the outer wall, so as to fix the device on the container. Since the three mechanical claws 3 can rotate independently, no matter how thick the container is, it can be grasped and fixed by the rotation of the three mechanical claws 3. The setting of the elastic pad is to reduce the hard damage caused by the squeezing tube 16 and the container clamping and fixing process. The bending setting of the bending arm 15 increases the spacing of the mechanical claws 3 that can be rotated and opened, so that thicker containers can be grasped. The rotation of the rotating disk 18 is controlled by the servo motor, thereby driving the bending arm 15 to rotate at any angle. The bending arm 15 can be adjusted to slide on the rotating disk 18 to spread the maximum thickness of the container that the bending arm 15 can clamp. At the same time, if the device needs to be fixed on a round rod, the gap between the three bending arms 15 can be adjusted to be the same as the diameter of the round rod when the three bending arms 15 are rotated to the middle position, so that the round rod is firmly clamped, thereby improving the application range of the device; The driving motor 2 can drive the multi-axis arm 6 to rotate from the end, and the driving motor 1 can adjust the angle of the multi-axis arm 6 from the middle, so that the radar level meter module 8 and the laser ranging module 13 at the end can be oriented to any angle, so as to adapt to the container opening orientation under different environments; at the same time, since the angle adjustment is controlled by the motor, it is only necessary to connect the driving motor 1 and the driving motor 2 to the horizontal detection module 7, so that the angle can be controlled by the program at will without manual adjustment; The negative pressure generated by the air pump 24 acts on the bonding plate 23. There is a certain gap between the bonding plate 23 at the bottom of the adsorption cover 4 and the container, so that the device can move under the action of suction. At the same time, the bonding plate 23 is used to isolate foreign matter such as debris. The adsorption cover 4 can be removed from the docking head 19, so that the mechanical claw 3 can clamp normally. The reinforcement arm 25 is used to increase the connection strength between the adsorption cover 4 and the power disk 2. After the adsorption cover 4 is disassembled, the bonding disk 23 can be bonded and fixed to the top of the connection platform 1, thereby reducing the inconvenience of carrying caused by scattered parts. The start telescopic rod in the storage slot 17 can control the lifting and lowering of the electric wheel 20. When the electric wheel 20 is not in use, the electric wheel 20 can be stored in the storage slot 17 without affecting the gripping work of the mechanical claw 3. When the container is made of a magnetizable metal material, the extrusion tube 16 can be turned on to generate magnetism, thereby adsorbing the surface of the container to strengthen the firmness of the clamping. Alternatively, the device can be attached to the container wall by adsorption alone, further improving the use occasions of the device. During the rotation of the bending arm 15, the transmission line 22 continuously transmits power to the electrical appliance below through the docking sleeve 21, and the docking sleeve 21 can also rotate, so that the transmission line 22 will not be entangled.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Portable intelligent radar level meter, characterized by: It comprises a connecting platform, three mechanical claws are installed at the bottom of the connecting platform, a multi-axis arm is installed on the outside of the connecting platform, a level detection module is fixedly connected to the end of the multi-axis arm, a radar level meter module is fixedly connected to the end of the level detection module, a radar transmitter head is fixedly connected to the bottom of the radar level meter module, and a laser ranging module arranged parallel to the radar level meter module is arranged on the outside of the radar level meter module.

2. The portable intelligent radar level meter according to claim 1 is characterized in that: An optical focusing box is fixedly connected to the outside of the radar level meter module, the laser ranging module is located in the optical focusing box, a camera module arranged parallel to the laser ranging module is fixedly connected in the optical focusing box, a touch screen is installed on the outside of the optical focusing box, an electric wheel is arranged at the bottom of the mechanical claw, and an adsorption cover capable of generating negative pressure is installed at the bottom of the connecting platform.

3. The portable intelligent radar level meter according to claim 2 is characterized in that: The mechanical claw comprises a rotatable bending arm, the bottom of the bending arm is fixedly connected with an extrusion tube, the outer side of the extrusion tube is sleeved with an elastic pad, and the three mechanical claws are arranged in a ring with equal distances.

4. The portable intelligent radar level meter according to claim 3 is characterized in that: A power disk is fixedly connected to the bottom of the connecting platform, three servo motors are fixedly connected inside the power disk, a rotating disk is fixedly connected to the bottom of the servo motor, the rotating disk is rotatably engaged with the bottom of the power disk, and the top of the bending arm is slidably engaged with the rotating disk.

5. The portable intelligent radar level meter according to claim 4 is characterized in that: The multi-axis arm includes two metal plates, one end of which is fixedly connected to a driving motor 1, and the end of the driving motor 1 is fixedly connected to the other metal plate. A vertically arranged rotating shaft is installed on the outer side of the connecting platform, and a horizontally arranged driving motor 2 is fixedly connected to the outer side of the rotating shaft, and the output end of the driving motor 2 is fixedly connected to the end of the multi-axis arm.

6. The portable intelligent radar level meter according to claim 5 is characterized in that: A docking joint is fixedly connected to the bottom of the power disk, and the docking joint is located in the middle of the three rotating disks. An air pump is installed inside the adsorption cover, and a fitting disk connected to the air pump absorption end is installed at the bottom of the adsorption cover, and the bottom surface of the fitting disk is concave.

7. The portable intelligent radar level meter according to claim 6 is characterized in that: The top of the adsorption cover is rotatably connected with a plurality of reinforcement arms, the bottom of the power disk is provided with a slot adapted to the top surface of the reinforcement arm, and the top of the connecting platform is provided with a protrusion adapted to the shape of the bottom of the fitting disk.

8. The portable intelligent radar level meter according to claim 7 is characterized in that: A storage groove is provided at the bottom of the extruded tube, and a pneumatic telescopic rod for driving the electric wheel to move up and down is provided at the top of the electric wheel.

9. The portable intelligent radar level meter according to claim 8, characterized in that: An electromagnet is fixedly connected to the interior of the extruded tube, a battery compartment is arranged inside the connecting platform, and a transmission line for transmitting electric power is installed on the outer side of the connecting platform.

10. The portable intelligent radar level meter according to claim 9, characterized in that: The bending arms are arranged in sections, and two sections of the bending arms are fixedly connected by a metal rod. The outer side of the metal rod is sleeved with a docking sleeve, and the transmission line is fixedly connected to the outer side of the docking sleeve.

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