Wall-climbing robot for measuring capacity of vertical metal tanks

A wall-climbing robot for measuring a capacity of a vertical metal tank, comprising:

• a robot body comprising a chassis and a casing, wherein a plurality of wheels are provided on both sides of the chassis, respectively;
• the robot body further comprises:
• an attraction unit, comprising a plurality of magnets for attracting a wall of the metal tank, wherein the magnets are connected to form a mesh structure through a plurality of connectors and move under the chassis;
• a measurement unit, comprising a bendable ruler provided on the chassis and protruding from a top of the casing;
• a rust removal unit, comprising a rust removal bucket provided at a front side of the robot body and a driver for the lifting and lowering of the rust removal bucket;
• and
• a control unit, comprising a microcontroller, a posture detector, an obstacle detector, an attraction detector for detecting an attraction force of the magnets, a distance sensor for measuring a distance from the chassis to the wall of the metal tank, and a communication device.