Research on a Wall-climbing Robot for Capacity Measurement of Vertical Metal Tank

摘要

A kind of wall-climbing robot of vertical metal tank is designed, which aims at the problem of the traditional measuring method, such as a low localization precision of radial deviation, dangerous to operator, and a low measuring efficiency and so on. A structure based on three permanent magnetic wheels is adopted in the body design of the robot. It adopts the single-chip processor 89S51 as the core of measurement and control system, and various sensors are applied to this robot, which is cable controlled remotely. Field experiments indicate that the robot is in highly automatic leve1.It has a high localization precision of radial deviation, and greatly improves the efficiency and accuracy of oil tank measurement.