Portable Intelligent Radar Level Gauge

Abstract

The present invention belongs to the field of radar level gauges, specifically a portable intelligent radar level gauge, including a connection platform. Three mechanical claws are installed at the bottom. A multi-axis arm is installed on the outside of the connection platform. A horizontal detection module is fixedly connected to the end of the multi-axis arm. A radar level gauge module is fixedly connected to the end of the horizontal detection module. A radar transmitting head is fixedly connected to the bottom of the radar level gauge module. A laser ranging module parallel to the radar level gauge module is arranged on the outside of the radar level gauge module. Through this setting, it can effectively measure the height from the bottom of the container to the device first 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, as long as the device is above the liquid surface when it is not at the top of the container, it can effectively measure.

Description

Technical Field

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

[0002] The working principle of a radar level gauge is based on the reflection of radar waves and the measurement of echo time. High-frequency electromagnetic waves are emitted, which propagate at the speed of light and are reflected 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 gauge can calculate the distance between the liquid or material surface and the sensor. Then, subtracting this distance from the container height gives the liquid level height.

[0003] Radar level gauges are widely used in: the petrochemical field for liquid level monitoring and metering of various containers such as crude oil storage tanks and refined oil tanks; water treatment and environmental protection for liquid level monitoring in facilities such as sewage ponds and sedimentation ponds in sewage treatment plants.

[0004] Traditional portable radar level gauges 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 level heights of containers with different depths, and there are often situations where the overall height of the container is unknown, resulting in an inability to detect the accurate liquid level height. Moreover, it is difficult for portable radar level gauges to ensure their own horizontal state during detection, leading to large deviations in detection data.

[0005] Therefore, the present invention provides a portable intelligent radar level gauge. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art and solve at least one of the technical problems proposed in the background art.

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows: The portable intelligent radar level gauge of the present invention includes a connection platform. Three mechanical claws are installed at the bottom of the connection platform. A multi-axis arm is installed on the outer side of the connection platform. A horizontal detection module is fixedly connected to the end of the multi-axis arm. A radar level gauge module is fixedly connected to the end of the horizontal detection module. A radar transmitting head is fixedly connected to the bottom of the radar level gauge module. A laser ranging module parallel to the radar level gauge module is arranged on the outer side of the radar level gauge module;

[0008] Handheld connection platform, place the connection platform outside the container to be detected, use a robotic claw to fix itself to the upper edge of the container, adjust the angle of the radar level gauge module through a multi-axis arm to make the radar transmitter head point vertically downward. There is a gyroscope 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 gauge module to a more accurate horizontal state. When the radar transmitter head emits radar waves vertically to the liquid surface, at the same time, the laser ranging module emits ranging laser downward. The laser passes through the liquid and reaches the bottom of the container, and is received by the laser ranging module after reflection, so as to measure the height of the container. After subtracting the height from the radar level gauge module to the liquid surface measured by the radar level gauge module from the height of the container, the height of the liquid surface can be accurately obtained; through this setting, it is effective to measure the height from the bottom of the container to the device first when the height of the container is unknown, 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 with this structure, as long as the device is above the liquid surface, it can be effectively measured even if it is not at the top of the container; at the same time, the horizontal detection module, the radar level gauge module and the laser ranging module are communicatively connected, and the data is interconnected. Rely on the processing unit in the radar level gauge module to calculate the data, so as to quickly output the result; another usage method of the device is: as long as it is ensured that the laser of the laser ranging module can reach the bottom of the liquid surface, even if the overall laser ranging module and the radar level gauge module are in an inclined state, the radar level gauge module can also calculate the height of the liquid surface according to the inclination value of the horizontal detection module and in cooperation with trigonometric functions, reducing the difficulty of the previous adjustment operation.

[0009] Preferably, an optical concentration box is fixedly connected to the outside of the radar level gauge module. The laser ranging module is located in the optical concentration box. An imaging module parallel to the laser ranging module is fixedly connected in the optical concentration box. A touch screen is installed on the outside of the optical concentration box. Electric wheels are arranged at the bottom of the robotic arm. A suction hood capable of generating negative pressure is installed at the bottom of the connecting platform. When the liquid in the container is too turbid and the laser ranging module cannot reach the bottom of the container, the device is fixed to the outside of the container by the robotic arm. At the same time, the suction hood generates negative pressure to make the bottom of the suction hood adsorb to the surface of the container, while maintaining a certain gap between the suction hood and the container surface. Then, the electric wheels drive the whole device to move, thus completing the movement of the device. The imaging module observes 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, it is judged whether it has moved to the bottom of the container through the image fed back by the imaging module. 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 and records the moving distance, so as to calculate the height of the container. Then, subtracting the distance measured by the radar level gauge module can effectively measure the height of the liquid level; the touch screen is used to adjust the settings of the imaging module and the laser ranging module and can also display the data of both.

[0010] Preferably, the robotic arm includes a rotatable bending arm. An extrusion tube is fixedly connected to the bottom of the bending arm. An elastic pad is sleeved on the outside of the extrusion tube. The three robotic arms are arranged annularly and equidistantly. Through the setting of the three robotic arms, two robotic arms are used to clamp the exposed edge of the container from above the container, and the remaining robotic arm extrudes the outer wall from any side of the outer wall, so as to fix the device on the container. Since the three robotic arms can rotate independently, no matter whether the thickness of the container is thin or thick, it can be grasped and fixed by the rotation of the three robotic arms. The setting of the elastic pad is to reduce the hard damage generated during the clamping and fixing process of the extrusion tube and the container. The bending setting of the bending arm increases the spacing at which the robotic arm can rotate and open, so as to be able to grasp a container with a thicker thickness.

[0011] 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 rotationally and snap-connected to the bottom of the power disk. The top of the bending arm is slidably and snap-connected to the rotating disk. By controlling the rotation of the rotating disk by the servo motor, the bending arm is driven to rotate at any angle. It can be adjusted that the bending arm slides on the rotating disk to widen the maximum thickness of the container that the bending arm can clamp. At the same time, if it is necessary to fix the device on a round rod, it can be adjusted that when the three bending arms rotate to the middle position, the gap between the three bending arms is the same as the diameter of the round rod, so as to firmly clamp the round rod, thereby improving the application range of the device.

[0012] Preferably, the multi-axis arm includes two metal plates. One end of one metal plate is fixedly connected to a first driving motor, and the end of the first driving motor is fixedly connected to the other metal plate. A vertically arranged rotating shaft is installed outside the connecting platform. A horizontally arranged second driving motor is fixedly connected to the outside of the rotating shaft. The output end of the second driving motor is fixedly connected to the end of the multi-axis arm. The second driving motor can drive the multi-axis arm to rotate from the end, and the first driving motor allows the multi-axis arm to adjust the angle from the middle, so that the radar level gauge module and the laser ranging module at the end can face any angle, thus adapting to the container opening orientations in different environments. At the same time, since the angle adjustment is controlled by the motor, only by connecting the first driving motor and the second driving motor to the horizontal detection module, the angle can be controlled arbitrarily by the program without manual adjustment.

[0013] Preferably, a docking head is fixedly connected to the bottom of the power disk. The docking head is located in the middle of the three rotating disks. An air pump is installed inside the adsorption cover. A fitting disk communicated with the suction end of the air pump is installed at the bottom of the adsorption cover. The bottom surface of the fitting disk is concave. The negative pressure generated by the air pump acts on the fitting disk. There is a certain gap between the fitting disk at the bottom of the adsorption cover and the container, allowing the device to move under the suction force. At the same time, the fitting disk is used to isolate foreign matters such as debris. The adsorption cover can be detached from the docking head, enabling the mechanical claw to perform normal clamping work.

[0014] Preferably, a plurality of reinforcing arms are rotatably connected to the top of the adsorption cover. A clamping groove adapted to the top surface of the reinforcing arm is formed at the bottom of the power disk. A protrusion adapted to the bottom shape of the fitting disk is provided at the top of the connecting platform. The reinforcing arms are used to improve the connection strength between the adsorption cover and the power disk. At the same time, after the adsorption cover is disassembled, the fitting disk can be fitted and fixed to the top of the connecting platform, reducing the inconvenience of carrying caused by scattered parts.

[0015] Preferably, a storage groove is formed at the bottom of the extrusion tube. A pneumatic telescopic rod for driving the electric wheel to lift is provided at the top of the electric wheel. The pneumatic telescopic rod in the storage groove can control the lifting of the electric wheel. When the electric wheel is not in use, the electric wheel can be retracted into the storage groove without affecting the clamping work of the mechanical claw.

[0016] Preferably, an electromagnet is fixedly connected inside the extrusion tube. A battery compartment is arranged inside the connecting platform. A transmission line for transmitting electricity is installed outside the connecting platform. When the container is made of magnetizable metal material, the electromagnet can be turned on to make the extrusion tube generate magnetism, thereby sucking the surface of the container and strengthening the firmness of clamping. It can also rely only on adsorption to attach the device to the container wall, further expanding the applicable occasions of the device.

[0017] Preferably, the bent arm is segmented, and the two bent arms are fixedly connected by a metal rod. A docking sleeve is sleeved outside the metal rod, and the transmission line is fixedly connected to the outside of the docking sleeve. During the rotation of the bent arm, the transmission line continuously supplies power to the electrical appliance below through the docking sleeve, and the docking sleeve can also rotate, so as to prevent the transmission line from being wound.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. For the portable intelligent radar level gauge of the present invention, through the settings of the multi-axis arm, the radar level gauge module and the laser ranging module, the angle of the radar level gauge module is adjusted through the multi-axis arm to make the radar transmitting head face vertically downward. A gyroscope is provided in the horizontal detection module, and the angle between itself and the horizontal plane can be accurately known. The angle data is displayed on the display end of the horizontal detection module, so that the operator can adjust the radar level gauge module to a more accurate horizontal state. When the radar transmitting head emits radar waves vertically to the liquid surface, at the same time, the laser ranging module emits ranging laser downward. The laser passes through the liquid and reaches the bottom of the container, and is received by the laser ranging module after reflection, so as to measure the height of the container. Then, after subtracting the height from the device to the liquid surface measured by the radar level gauge module from the height of the container, 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 first when the height of the container is unknown, 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 with this structure, as long as the device is above the liquid surface, the liquid level height can be effectively measured even when it is not at the top of the container.

[0020] 2. For the portable intelligent radar level gauge of the present invention, when the liquid in the container is too turbid and the laser ranging module cannot reach the bottom of the container, the device is fixed to the outside of the container by the mechanical claw at this time. At the same time, the adsorption cover generates negative pressure, so that the bottom of the adsorption cover adsorbs to the surface of the container, and there is a certain gap between the adsorption cover and the surface of the container. Then, the electric wheel drives the whole device to move, so as to complete the movement of the device. Observe 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, judge whether it has moved to the bottom of the container through the image feedback by the camera module. Measure the distance from the bottom of the container to the device through the laser ranging module. Then the device moves upward to the observation point and records the moving distance, so as to calculate the height of the container. Then subtract the distance measured by the radar level gauge module, and the height of the liquid surface can be effectively measured. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] Figure 1 is a perspective view of the present invention;

[0023] Figure 2 is a perspective view of the multi-axis arm and the rotating shaft of the present invention;

[0024] Figure 3 is a perspective view of the radar level gauge module of the present invention;

[0025] Figure 4 is a perspective view of the connection platform of the present invention;

[0026] Figure 5 is a perspective view of the rotating disk of the present invention;

[0027] Figure 6 is a perspective view of the bent arm of the present invention;

[0028] Figure 7 is a perspective view of the adsorption cover of the present invention;

[0029] Figure 8 is a combined schematic diagram of the mechanical claw and the container of the present invention;

[0030] In the figure: 1, connection platform; 2, power disk; 3, mechanical claw; 4, adsorption cover; 5, rotating shaft; 6, multi-axis arm; 7, horizontal detection module; 8, radar level gauge module; 9, optical concentration box; 10, touch screen; 11, radar transmitter head; 13, laser ranging module; 14, camera module; 15, bent arm; 16, extrusion tube; 17, storage groove; 18, rotating disk; 19, docking head; 20, electric wheel; 21, docking sleeve; 22, transmission line; 23, fitting disk; 24, air pump; 25, reinforcement arm. Detailed implementation manners

[0031] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with the specific implementation manners.

[0032] As Figures 1 to 8 shown, the portable intelligent radar level gauge described in the embodiment of the present invention includes a connection platform 1. Three mechanical claws 3 are installed at the bottom of the connection platform 1. A multi-axis arm 6 is installed outside the connection platform 1. A horizontal 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 horizontal detection module 7. A radar transmitter head 11 is fixedly connected to the bottom of the radar level gauge module 8. A laser ranging module 13 parallel to the radar level gauge module 8 is arranged outside the radar level gauge module 8;

[0033] During operation, hold the connection platform 1 and place the connection platform 1 outside the container to be detected. Use the robotic claw 3 to fix itself to the upper edge of the container. Adjust the angle of the radar level gauge module 8 through the multi-axis arm 6 so that the radar transmitter head 11 faces vertically downward. A gyroscope is set in the horizontal detection module 7, which can accurately obtain 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 gauge module 8 to a more accurate horizontal state. When the radar transmitter head 11 emits radar waves perpendicular to the liquid surface, at the same time, the laser ranging module 13 emits ranging laser downward. The laser passes through the liquid and reaches the bottom of the container, and is received by the laser ranging module 13 after reflection, so as to measure the height of the container. Then, subtract the height from the radar level gauge module 8 to the liquid surface measured by the radar level gauge module 8 from the height of the container, 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 first when the height of the container is unknown, 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 with this structure, as long as the device is above the liquid surface, even if it is not at the top of the container, the liquid level height can be effectively measured; at the same time, the horizontal detection module 7, the radar level gauge module 8 and the laser ranging module 13 are communicatively connected, and the data is interconnected. Rely on the processing unit in the radar level gauge module 8 to calculate the data, so as to quickly output the result; another usage method of the device is: as long as the laser of the laser ranging module 13 can reach the bottom of the liquid surface, even if the overall laser ranging module 13 and the radar level gauge module 8 are in an inclined state, the radar level gauge module 8 can also calculate the height of the liquid surface according to the inclination value of the horizontal detection module 7, in cooperation with trigonometric functions, reducing the difficulty of the previous adjustment operation.

[0034] An optical concentration box 9 is fixedly connected to the outside of the radar level gauge module 8. The laser ranging module 13 is located in the optical concentration box 9. A camera module 14 parallel to the laser ranging module 13 is fixedly connected in the optical concentration box 9. A touch screen 10 is installed on the outside of the optical concentration box 9. An electric wheel 20 is arranged at the bottom of the robotic claw 3. A suction hood 4 capable of generating negative pressure is installed at the bottom of the connection platform 1;

[0035] During operation, when the liquid in the container is too turbid and the laser ranging module 13 cannot reach the bottom of the container, the device is fixed to the outside of the container by the mechanical claw 3. At the same time, the suction hood 4 generates negative pressure, so that the bottom of the suction hood 4 adsorbs to the surface of the container, while maintaining a certain gap between the suction hood 4 and the container surface. Then, the electric wheel 20 drives the whole device to move, thus completing the movement of the device. The front is observed through the camera module 14 to ensure that the device can move forward normally. As the device moves forward, when it moves to the bottom of the container, it judges whether it has moved to the bottom of the container through the image fed back by the camera module 14. The distance from the bottom of the container to the device is measured by the laser ranging module 13. Then, the device moves upward to the observation point, records the moving distance, and thus calculates the height of the container. After that, subtracting the distance measured by the radar level gauge module 8 can 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.

[0036] The mechanical claw 3 includes a rotatable bending arm 15. A pressing tube 16 is fixedly connected to the bottom of the bending arm 15. An elastic pad is sleeved outside the pressing tube 16. The three mechanical claws 3 are arranged annularly and equidistantly.

[0037] During operation, through the setting of the 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 claw 3 presses 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 whether the thickness of the container is thin or thick, 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 generated during the clamping and fixing process of the pressing tube 16 and the container. The bending setting of the bending arm 15 increases the spacing at which the mechanical claw 3 can rotate and open, so that a container with a thicker thickness can be grasped.

[0038] A power disk 2 is fixedly connected to the bottom of the connecting table 1. Three servo motors are fixedly connected inside the power disk 2. A rotating disk 18 is fixedly connected to the bottom of the servo motor. The rotating disk 18 is rotationally clamped to the bottom of the power disk 2. The top of the bending arm 15 is slidably clamped to the rotating disk 18.

[0039] During operation, the rotation of the rotating disk 18 is controlled by the servo motor, and then the bending arm 15 is driven to rotate at any angle. The bending arm 15 can be adjusted to slide on the rotating disk 18 to expand the maximum thickness of the container that the bending arm 15 can clamp. At the same time, if it is necessary to fix the device on a round rod, when the three bending arms 15 are adjusted to the middle position, the gap between the three bending arms 15 can be made the same as the diameter of the round rod, so as to firmly clamp the round rod, thus improving the applicable range of the device.

[0040] The multi-axis arm 6 includes two metal plates. One end of one metal plate is fixedly connected with a first driving motor, and the end of the first driving motor is fixedly connected with the other metal plate. A vertically arranged rotating shaft 5 is installed outside the connecting table 1, and a horizontally arranged second driving motor is fixedly connected to the outside of the rotating shaft 5. The output end of the second driving motor is fixedly connected to the end of the multi-axis arm 6;

[0041] During operation, the second driving motor can drive the multi-axis arm 6 to rotate from the end, and the first driving motor enables the multi-axis arm 6 to adjust the angle from the middle, so that the radar level gauge module 8 and the laser ranging module 13 at the end can be oriented at any angle, thus adapting to the container opening orientations in different environments; at the same time, since the angle adjustment is controlled by the motor, only by connecting the first driving motor and the second driving motor to the horizontal detection module 7, the angle can be arbitrarily controlled by the program without manual adjustment.

[0042] A docking head 19 is fixedly connected to the bottom of the power disk 2. The docking head 19 is located in the middle of the three rotating disks 18. An air pump 24 is installed inside the adsorption cover 4. A fitting disk 23 communicating with the suction end of the air pump 24 is installed at the bottom of the adsorption cover 4. The bottom surface of the fitting disk 23 is concave;

[0043] During operation, the negative pressure generated by the air pump 24 acts on the fitting disk 23. There is a certain gap between the fitting disk 23 at the bottom of the adsorption cover 4 and the container, enabling the device to move under the suction force. At the same time, the fitting disk 23 is used to isolate foreign matters such as debris. The adsorption cover 4 can be detached from the docking head 19, allowing the mechanical claw 3 to perform normal clamping work.

[0044] A plurality of reinforcing arms 25 are rotatably connected to the top of the adsorption cover 4. A card slot adapted to the top surface of the reinforcing arms 25 is opened at the bottom of the power disk 2. A protrusion adapted to the bottom shape of the fitting disk 23 is provided at the top of the connecting table 1;

[0045] During operation, the reinforcing arms 25 are used to improve the connection strength between the adsorption cover 4 and the power disk 2. At the same time, after the adsorption cover 4 is disassembled, the fitting disk 23 can be attached and fixed to the top of the connecting table 1, reducing the problem of inconvenient carrying caused by scattered parts.

[0046] A storage groove 17 is opened at the bottom of the extrusion tube 16. A pneumatic telescopic rod for driving the electric wheel 20 to lift is arranged at the top of the electric wheel 20;

[0047] During operation, the pneumatic telescopic rod in the storage groove 17 can control the lifting of the electric wheel 20. When the electric wheel 20 is not in use, the electric wheel 20 can be retracted into the storage groove 17 without affecting the clamping work of the mechanical claw 3.

[0048] An electromagnet is fixedly connected inside the extrusion tube 16. A battery compartment is arranged inside the connecting platform 1. A transmission line 22 for transmitting electricity is installed on the outer side of the connecting platform 1;

[0049] During operation, when the container is made of magnetizable metal material, the electromagnet can be turned on to make the extrusion tube 16 generate magnetism, so as to attract the surface of the container and strengthen the firmness of clamping. It can also rely only on adsorption to stick the device to the container wall, further expanding the applicable scenarios of the device.

[0050] The bending arm 15 is segmented. The two segments of the bending arm 15 are fixedly connected by a metal rod. A docking sleeve 21 is sleeved on the outer side of the metal rod. The transmission line 22 is fixedly connected to the outer side of the docking sleeve 21;

[0051] During operation, when the bending arm 15 rotates, the transmission line 22 continuously supplies power to the electrical appliances below through the docking sleeve 21, and the docking sleeve 21 can also rotate, so as to prevent the transmission line 22 from getting entangled.

[0052] During operation, hold the connecting platform 1 and place the connecting platform 1 on the outer side of the container to be detected. Use the mechanical claw 3 to fix itself to the upper edge of the container. Adjust the angle of the radar level gauge module 8 through the multi-axis arm 6 to make the radar transmitter 11 face vertically downward. A gyroscope is arranged in the horizontal detection module 7, 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 gauge module 8 to a more accurate horizontal state. When the radar transmitter 11 emits radar waves perpendicular to the liquid surface, at the same time, the laser ranging module 13 emits ranging laser downward. The laser passes through the liquid and reaches the bottom of the container, and is received by the laser ranging module 13 after reflection, so as to measure the height of the container. Then, subtract the height from the device to the liquid surface measured by the radar level gauge module 8 from the height of the container, 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 first when the height of the container is unknown, 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 with this structure, as long as the device is above the liquid surface, the liquid level height can be effectively measured even when it is not at the top of the container; at the same time, the horizontal detection module 7, the radar level gauge module 8 and the laser ranging module 13 are communicatively connected, and the data is interconnected. Rely on the processing unit in the radar level gauge module 8 to calculate the data, so as to quickly output the result; Another usage method of the device is: as long as the laser of the laser ranging module 13 can reach the bottom of the liquid surface, even if the overall laser ranging module 13 and the radar level gauge module 8 are in an inclined state, the radar level gauge module 8 can also calculate the height of the liquid surface according to the inclination value of the horizontal detection module 7 and in combination with trigonometric functions, reducing the difficulty of the previous adjustment operation;

[0053] When the liquid in the container is too turbid and the laser ranging module 13 cannot reach the bottom of the container, the device is fixed on the outside of the container by the mechanical claws 3 at this time. Meanwhile, the suction hood 4 generates negative pressure to make the bottom of the suction hood 4 adsorb to the surface of the container, and at the same time, a certain gap is maintained between the suction hood 4 and the container surface. Then, the electric wheel 20 drives the whole device to move, thus completing the movement of the device. The front is observed through the camera module 14 to ensure that the device can move forward normally. As the device moves forward, when the device moves to the bottom of the container, it is judged whether it has moved to the bottom of the container through the image fed back by the camera module 14. The distance from the bottom of the container to the device is measured by the laser ranging module 13. Then, the device moves upward to the observation point and records the moving distance, so as to calculate the height of the container. After that, subtracting the distance measured by the radar level gauge module 8 can 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;

[0054] Through the setting of the 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 claw 3 squeezes 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 whether the thickness of the container is thin or thick, 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 generated during the clamping and fixing of the extrusion tube 16 and the container. The bending setting of the bending arm 15 increases the spacing at which the mechanical claw 3 can rotate and open, so that a container with a thicker thickness can be grasped;

[0055] The rotation of the rotating disk 18 is controlled by the servo motor, and then the bending arm 15 is driven to rotate at any angle. The bending arm 15 can be adjusted to slide on the rotating disk 18 to expand 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, when the three bending arms 15 are adjusted to the middle position, the gap between the three bending arms 15 can be made the same as the diameter of the round rod, so as to firmly clamp the round rod, thus improving the applicable range of the device;

[0056] The driving motor two can drive the multi-axis arm 6 to rotate from the end, and the driving motor one allows the multi-axis arm 6 to adjust the angle from the middle, so that the radar level gauge module 8 and the laser ranging module 13 at the end can face any angle, so as to adapt to the container opening orientation in different environments; At the same time, since the angle adjustment is controlled by the motor, only by connecting the driving motor one and the driving motor two to the horizontal detection module 7, the angle can be controlled arbitrarily by the program without manual adjustment;

[0057] The negative pressure generated by the air pump 24 acts on the fitting disc 23. There is a certain gap between the fitting disc 23 at the bottom of the adsorption cover 4 and the container, allowing the device to move under the action of suction. At the same time, the fitting disc 23 is used to isolate foreign matters such as debris. The adsorption cover 4 can be detached from the docking head 19, enabling the mechanical claw 3 to perform normal clamping operations;

[0058] The reinforcement arm 25 is used to enhance the connection strength between the adsorption cover 4 and the power disc 2. After the adsorption cover 4 is disassembled, the fitting disc 23 can be fixed by fitting it to the top of the connection table 1, reducing the inconvenience of carrying caused by scattered parts;

[0059] The starting telescopic rod in the storage groove 17 can control the lifting of the electric wheel 20. When the electric wheel 20 is not in use, it can be retracted into the storage groove 17 without affecting the clamping operation of the mechanical claw 3;

[0060] When the container is made of magnetizable metal material, the electromagnet can be activated to make the extrusion tube 16 generate magnetism, thereby attracting the surface of the container and strengthening the firmness of clamping. It can also rely only on adsorption to attach the device to the container wall, further expanding the applicable scenarios of the device;

[0061] During the rotation of the bending arm 15, the transmission line 22 continuously supplies power to the electrical appliances below through the docking sleeve 21. The docking sleeve 21 can also rotate, thus preventing the transmission line 22 from getting entangled.

[0062] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection of the present invention is defined by the appended 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; 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.

2. The portable intelligent radar level meter according to claim 1 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.

3. The portable intelligent radar level meter according to claim 2 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.

4. The portable intelligent radar level meter according to claim 3 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.

5. The portable intelligent radar level meter according to claim 4 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.

6. The portable intelligent radar level meter according to claim 5 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.

7. The portable intelligent radar level meter according to claim 6 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.

8. The portable intelligent radar level meter according to claim 7 is 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.

9. The portable intelligent radar level meter according to claim 8, 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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