CN108730676B - Spherical robot for pipeline detection - Google Patents

Spherical robot for pipeline detection Download PDF

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Publication number
CN108730676B
CN108730676B CN201810243376.3A CN201810243376A CN108730676B CN 108730676 B CN108730676 B CN 108730676B CN 201810243376 A CN201810243376 A CN 201810243376A CN 108730676 B CN108730676 B CN 108730676B
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gear
hemisphere
spherical robot
shaft
module
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CN108730676A (en
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张云伟
刘欢
许能
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Kunming University of Science and Technology
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Kunming University of Science and Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a spherical robot for pipeline detection, which can carry related sensors to enter a complex pipeline to replace manual operation, and belongs to the technical field of pipeline detection robots; the left hemisphere is connected with the right hemisphere through the middle connecting piece, the left hemisphere and the right hemisphere are identical in structure and symmetrical with respect to the middle connecting piece, and the middle connecting piece is provided with the control part.

Description

Spherical robot for pipeline detection
Technical Field
The invention relates to a spherical robot for pipeline detection, and belongs to the technical field of pipeline detection robots.
Background
As is well known, with the development of transportation industry, the demand for oil and gas is increasing, and the transportation mode on which the oil and gas are dependent is mainly pipeline transportation, so that the pipelines are distributed more and more densely, and the pipeline transportation distance is longer and longer. And as the service life of the pipeline increases, various faults can occur. Such as leaks due to corrosion of the internal media, or traumatic rupture of the tubing due to impact from external forces, etc. Since the medium stored inside the pipeline is generally inflammable and explosive, once leakage occurs, serious consequences will be caused. Therefore, it is necessary to perform regular inspection of the pipelines, but since the pipelines are distributed in the ground in an intricate and complex manner, the environment is not favorable for manual operation, and the inspection of the pipelines by using a robot is a main direction of the current technical development.
The robot applied to pipeline detection mainly has two types, one is a wheel type robot, and the other is a peristaltic type robot. The wheeled robot has simple motion mode and easy control, is generally suitable for the environment with flat terrain, is easy to cause the posture change of the robot to tip over when the robot runs in the environment of a pipeline because the inner wall of the pipeline is arc-shaped, and has poor trafficability when meeting bent pipes and branch pipes. The worm-type crawling robot has good trafficability and turning performance in the pipeline, but has large driving torque and low movement speed due to high freedom of movement, and is low in working efficiency for pipeline detection. In addition, the two pipeline detection robots have the problems of high space occupation ratio, more contact points with the pipeline and larger contact area, and are easy to interfere or damage the internal environment of the pipeline; moreover, because the shape is complicated, the two robots are not well sealed, and the internal mechanisms and sensors of the robots are easily exposed in the pipeline environment, so that the safety is affected.
The invention is supported by the funding of the national science fund project 51365019.
Disclosure of Invention
The invention provides a spherical robot for pipeline detection, aiming at the defects of the existing wheeled and creeping pipeline detection robot, the robot adopts a left-right hemisphere differential driving mode, has the characteristic of simple motion control of the wheeled robot, and has the characteristics of regular appearance, low space ratio, flexible motion turning, small driving resistance, strong anti-overturning capacity and the like of the spherical robot. When the pipeline moves in the pipeline, two contact points are arranged at most on the inner wall of the pipeline, the contact sectional area is small, and direct collision with the interior of the pipeline cannot occur, so that the damage to the internal structure of the pipeline possibly is avoided. Because the robot is of a double-hemisphere structure, the left hemisphere and the right hemisphere can be completely sealed, a gap is reserved in the middle of the robot, so that the internal mechanism of the robot and the sensor which is not easy to expose can be arranged in a sealed area, and some special sensors which need to be exposed to the external environment can be arranged in a non-sealed area.
The technical scheme adopted by the invention is as follows: a spherical robot for pipeline detection comprises a left hemisphere, a middle connecting piece, a right hemisphere and a control part; the left hemisphere is connected with the right hemisphere through the middle connecting piece, the left hemisphere is the same as the right hemisphere in structure, the left hemisphere is symmetrical to the right hemisphere about the middle connecting piece, and the middle connecting piece is provided with a control part.
The left hemisphere comprises a left gear rack transmission part, a left connecting support, a gasket, a shaft, a ball bearing, a left hemisphere shell and a left hemisphere shell sealing plate; the left hemispherical shell is internally provided with a left gear rack transmission part, a left connecting support, a gasket, a shaft and a ball bearing, the left gear rack transmission part comprises an inner gear ring, a gear and a direct current servo motor, the inner side of the inner gear ring is provided with the gear, the inner gear ring is meshed with the gear, the direct current servo motor is fixedly connected with a hub of the gear, the left connecting support comprises a connecting plate I, a connecting plate II and a connecting plate III, the connecting plate I and the connecting plate III are vertically arranged and respectively vertically connected with two ends of the connecting plate II, a round hole is formed in the connecting plate III of the left connecting support, the direct current servo motor penetrates through the round hole, the connecting plate I of the left connecting support is connected with the gasket, the gasket is connected with one end of the shaft, the other end of the shaft is connected with an inner ring of the ball bearing, the bearing seat I is connected with the outer ring of the ball bearing, one side of the left hemispherical shell sealing plate is provided with a screw hole I and a screw hole II, the left hemispherical shell sealing plate is connected with the inner gear ring through the screw hole I by screws, the left hemispherical shell sealing plate is connected with the left hemispherical shell through the screw hole II by screws, the other side of the left hemispherical shell sealing plate is provided with a bearing seat II, and the bearing seat II is connected with an intermediate connecting piece.
The utility model discloses a control unit, including left hemisphere shell closing plate, right hemisphere shell closing plate, middle connecting piece, support, hardware carry on platform, support, cylinder connecting axle, antifriction bearing II, the one end of cylinder connecting axle and the inner circle of antifriction bearing I are connected, the other end of cylinder connecting axle and the inner circle of antifriction bearing II are connected, antifriction bearing I's outer lane with the bearing frame II of left hemisphere shell closing plate one side is connected, antifriction bearing II's outer lane and the bearing frame of right hemisphere shell closing plate one side are connected, the support be located the cylinder connecting axle outside and with cylinder connecting axle fixed connection, and the top of support is equipped with hardware and carries on the platform, be equipped with the screw on the hardware carries on the platform, it is.
Control unit includes battery module, radio signal receiving module, motor drive module, host system module and sensor module, control unit passes through the fix with screw on hardware carries on the platform, be equipped with the battery tray on the hardware carries on the platform, battery module places on the battery tray, host system passes through copper post and battery tray fixed connection, radio receiving module and motor drive module have been placed respectively to host system's top, and radio receiving module and motor drive module are connected with host system through the copper post respectively, and wherein battery module is used for providing spherical robot motion system's power, and radio signal receiving module is used for the communication of host computer and robot host computer, control module are spherical robot's command center, sensor module are mainly some visual sensors that are used for detecting pipeline internal environment.
The gasket is rectangular.
The gear is a linear gear with a single-side opening, and the shaft is a stepped shaft.
The direct current servo motor is connected with a hub of the gear through a screw.
The support is a U-shaped support.
The sensor of the sensor module is a vision sensor.
The motion principle of the spherical robot is as follows:
referring to the description, fig. 7 is a diagram illustrating the principle of motion analysis of the spherical robot for pipeline inspection according to the present invention, which is a differential structure with two hemispheres and has three motion modes: linear motion, pivot turning motion and circular arc motion; in the following description, ω is setlIndicating the angular velocity of the servo motor of the left rack-and-pinion transmission mechanism, setting omegarRepresenting the angular velocity of the servo motor of the right rack and pinion transmission, setting Q to represent the instant center, setting P to represent the centers of the left and right hemispheres of the spherical robot, and setting VrShows the linear velocity, V, of the right hemispherical ring gearlLinear velocity, V, of the ring gear in the left hemispherepRepresenting the speed of the central point of the left and right hemispheres of the spherical robot, r representing the radius of the left and right hemispheres, A representing the distance from point P to point Q, X representing the displacement of the spherical robot in the X-axis direction, Y representing the displacement of the spherical robot in the Y-axis direction, theta representing the angle between the orientation of the spherical robot and the Y-axis,
Figure GDA0001795298600000031
representing the angular velocity of the spherical robot with respect to the Y-axis,
Figure GDA0001795298600000032
indicating the speed of a spherical robotThe component of the degree in the direction of the X-axis,
Figure GDA0001795298600000033
expressing the component of the velocity of the spherical robot in the Y-axis direction, the following formula is obtained:
Figure GDA0001795298600000034
Figure GDA0001795298600000035
Figure GDA0001795298600000036
the formula is arranged into a matrix form to obtain:
Figure GDA0001795298600000041
the three motion principles are explained below:
(1) when ω isr＝ωlAnd the directions are the same, it can be known from formula 4 that the components of the spherical robot in the X-axis and Y-axis directions are not zero, but
Figure GDA0001795298600000042
Zero, so that it can be determined that the spherical robot is moving linearly.
(2) When ω isr＞ωlIn this case, it can be known from equation 4 that the components of the spherical robot in the X-axis and Y-axis directions are not zero, butIs not zero, so the spherical robot can be judged to do arc motion.
(3) When ω isr＝-ωlIn this case, it can be known from equation 4 that the components of the spherical robot in the X-axis and Y-axis directions are zero, and
Figure GDA0001795298600000044
and the turning angle is not zero, so that the spherical robot can be judged to turn on the spot.
By controlling ω according to the above formulasrAnd ωlThe two values can judge whether the robot does straight line, turning and pivot turning motion, so that omega can be controlledrAnd ωlThese two values thus control the movement of the robot.
The invention has the beneficial effects that:
(1) the spherical robot adopts a left-right hemisphere differential driving structure, and a kinematic model is simple and easy to control.
(2) The robot is spherical in overall appearance, the advantages of regular appearance, low space occupation ratio, flexible movement turning, small driving resistance and strong anti-overturning capacity of the spherical robot are reserved, and when the robot moves in a pipeline, at most two contact points are arranged on the inner wall of the pipeline, the contact section area is small, direct collision with the interior of the pipeline cannot occur, and possible damage to the internal structure of the pipeline is avoided.
(3) The internal driving mode of the robot adopts the double gear racks for driving, and the two gears are accurately meshed with the two inner gear rings fixed on the inner surface of the spherical shell, so that the defect that the conventional spherical robot is easy to slip when the wheels roll on the inner wall of the sphere is avoided, and the robot has the advantages of accurate transmission ratio and accurate speed control.
(4) The robot has a double-hemisphere structure, the left hemisphere and the right hemisphere are completely sealed, the advantage of good sealing performance of the spherical robot is kept, the internal mechanism and the sensor which is not easy to expose of the robot can be arranged in a sealed area, a gap is reserved between the two hemispheres, and the robot is convenient to install special sensors which need to be exposed to the external environment.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the spherical robot of the present invention;
FIG. 2a is a schematic structural diagram of the left rack-and-pinion transmission mechanism of the spherical robot of the present invention;
FIG. 2b is a schematic structural diagram of a right rack and pinion transmission mechanism of the spherical robot of the present invention;
FIG. 3a is a schematic structural diagram of the left spherical shell of the spherical robot of the present invention;
FIG. 3b is a schematic structural diagram of the right spherical shell of the spherical robot of the present invention;
FIG. 4a is a schematic structural diagram of one side of the left hemispherical closing plate of the spherical robot of the present invention;
FIG. 4b is a schematic structural diagram of the other side of the left hemispherical closing plate of the spherical robot of the present invention;
FIG. 5a is a schematic structural diagram of one side of the right hemisphere closing plate of the spherical robot of the present invention;
FIG. 5b is a schematic structural diagram of the other side of the right hemisphere closing plate of the spherical robot of the present invention;
FIG. 6 is a schematic structural view of an intermediate link of the spherical robot of the present invention;
FIG. 7 is a diagram for analyzing the movement principle of the spherical robot according to the present invention;
wherein: 1-left hemisphere, 2-middle connecting piece, 3-right hemisphere, 4-inner gear ring, 5-gear, 6-DC servo motor, 7-left connecting support, 8-gasket, 9-shaft, 10-ball bearing, 11-connecting plate I, 12-connecting plate II, 13-connecting plate III, 14-left hemisphere shell, 15-bearing seat I, 16-left hemisphere shell closing plate, 17-screw hole I, 18-screw hole II, 19-bearing seat II, 20-rolling bearing I, 21-hardware carrying platform, 22-support, 23-cylindrical connecting shaft and 24-rolling bearing II.
Detailed Description
The invention is further described below with reference to the drawings and examples to facilitate understanding by the skilled person.
Example 1: as shown in FIGS. 1 to 6, the spherical robot for pipeline inspection of the present invention comprises a left hemisphere 1, a middle connecting member 2, a right hemisphere 3 and a control part; the left hemisphere 1 is connected with the right hemisphere 3 through the middle connecting piece 2, the left hemisphere 1 is the same as the right hemisphere 3 in structure, the left hemisphere 1 and the right hemisphere 3 are symmetrical about the middle connecting piece 2, and the middle connecting piece 2 is provided with a control part.
The left hemisphere 1 comprises a left gear rack transmission part, a left connecting support 7, a gasket 8, a shaft 9, a ball bearing 10, a left hemisphere shell 14 and a left hemisphere shell closing plate 16; a left gear rack transmission part, a left connecting support 7, a gasket 8, a shaft 9 and a ball bearing 10 are arranged in the left hemispherical shell 14, the left gear rack transmission part comprises an inner gear ring 4, a gear 5 and a direct current servo motor 6, the inner side of the inner gear ring 4 is provided with the gear 5, the inner gear ring 4 is internally meshed with the gear 5, the direct current servo motor 6 is fixedly connected with a hub of the gear 5 through a screw, the left connecting support 7 comprises a connecting plate I11, a connecting plate II 12 and a connecting plate III 13, the connecting plate I11 and the connecting plate III 13 are vertically arranged and are respectively vertically connected with two ends of a connecting plate II 12, a round hole is formed in the connecting plate III 13 of the left connecting support 7, the direct current servo motor 6 penetrates through the round hole, the connecting plate I11 of the left connecting support 7 is connected with the gasket 8, the gasket 8 is rectangular, and the gasket 8 is connected, the other end of the shaft 9 is connected with an inner ring of a ball bearing 10, a bearing seat I15 is arranged on the inner surface of the left hemispherical shell 14, the bearing seat I15 is connected with an outer ring of the ball bearing 10, a screw hole I17 and a screw hole II 18 are arranged on one side of a left hemispherical shell closing plate 16, the left hemispherical shell closing plate 16 is connected with the inner gear ring 4 through the screw hole I17 by screws, the left hemispherical shell closing plate 16 is connected with the left hemispherical shell 14 through the screw hole II 18 by screws, a bearing seat II 19 is arranged on the other side of the left hemispherical shell closing plate 16, and the bearing seat II 19 is connected with the intermediate connecting piece 2.
Intermediate junction spare 2 includes antifriction bearing I20, hardware carrying platform 21, support 22, cylinder connecting axle 23, antifriction bearing II 24, the one end of cylinder connecting axle 23 and the inner circle of antifriction bearing I20 are connected, the other end of cylinder connecting axle 23 and the inner circle of antifriction bearing II 24 are connected, antifriction bearing I20's outer lane with bearing frame II 19 of left hemisphere shell closing plate 16 one side is connected, antifriction bearing II 24's outer lane is connected with the bearing frame of right hemisphere shell closing plate one side, support 22 be located the cylinder connecting axle 23 outside and with cylinder connecting axle 23 fixed connection, support 22 is U type support, and support 22's top is equipped with hardware carrying platform 21, be equipped with the screw on the hardware carrying platform 21, it is fixed through the screw with the screw control unit.
The control unit comprises a battery module, a wireless signal receiving module, a motor driving module, a master module and a sensor module, the control unit is fixed on the hardware carrying platform 21 through screws, a battery seat is arranged on the hardware carrying platform 21, the battery module is placed on the battery seat, the master module is fixedly connected with the battery seat through copper columns, the wireless receiving module and the motor driving module are respectively placed above the master module, and the wireless receiving module and the motor driving module are respectively connected with the master module through the copper columns.
Example 2: the structure of this embodiment is the same as that of embodiment 1, except that the gear 5 is a linear gear with a single side opening, and the shaft 9 is a stepped shaft. The sensor of the sensor module is a vision sensor.
The motion process of the double-gear rack semispherical differential spherical robot of the embodiment is as follows: the direct current servo motor 6 drives the linear gear 5 to rotate, the linear gear 5 is meshed with the inner gear ring 4, so that the left hemisphere moves, the linear gear of the right hemisphere is meshed with the inner gear ring, so that the right hemisphere moves, and when the rotating speeds and the rotating directions of the direct current servo motor 6 and the direct current servo motor of the right hemisphere are the same, the robot moves linearly; when the direct current servo motor 6 and the direct current servo motor of the right hemisphere have the same rotating speed and opposite rotating directions, the robot makes pivot turning motion; when the rotating speeds of the direct current servo motor 6 and the direct current servo motor of the right hemisphere are different in size and the directions are the same, the robot does arc motion, and when the rotating speeds of the direct current servo motor 6 and the direct current servo motor of the right hemisphere are zero, the robot stops moving.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (8)

1. The spherical robot for pipeline detection is characterized by comprising a left hemisphere (1), a middle connecting piece (2), a right hemisphere (3) and a control component; the left hemisphere (1) is connected with the right hemisphere (3) through a middle connecting piece (2), the left hemisphere (1) and the right hemisphere (3) are identical in structure, the left hemisphere (1) and the right hemisphere (3) are symmetrical relative to the middle connecting piece (2), and a control part is arranged on the middle connecting piece (2); the left hemisphere (1) comprises a left gear rack transmission part, a left connecting support (7), a gasket (8), a shaft (9), a ball bearing (10), a left hemisphere shell (14) and a left hemisphere shell closing plate (16); the left hemispherical shell (14) is internally provided with a left gear rack transmission part, a left connecting support (7), a gasket (8), a shaft (9) and a ball bearing (10), the left gear rack transmission part comprises an inner gear ring (4), a gear (5) and a direct current servo motor (6), the inner side of the inner gear ring (4) is provided with the gear (5), the inner gear ring (4) is internally meshed with the gear (5), the direct current servo motor (6) is fixedly connected with a hub of the gear (5), the left connecting support (7) comprises a connecting plate I (11), a connecting plate II (12) and a connecting plate III (13), the connecting plate I (11) and the connecting plate III (13) are vertically placed and respectively and vertically connected with two ends of the connecting plate II (12), a round hole is formed in the connecting plate III (13) of the left connecting support (7), and the direct current servo motor (6) penetrates through the round hole, the connecting plate I (11) of the left connecting bracket (7) is connected with the gasket (8), the gasket (8) is connected with one end of a shaft (9), the other end of the shaft (9) is connected with an inner ring of a ball bearing (10), the inner surface of the left hemispherical shell (14) is provided with a bearing seat I (15), the bearing seat I (15) is connected with the outer ring of the ball bearing (10), one side of the left hemispherical shell closing plate (16) is provided with a screw hole I (17) and a screw hole II (18), the left hemispherical shell closing plate (16) is connected with the inner gear ring (4) through the screw hole I (17) by screws, the left hemispherical shell closing plate (16) is connected with the left hemispherical shell (14) through the screw hole II (18) by screws, and a bearing seat II (19) is arranged on the other side of the left hemispherical shell closing plate (16), and the bearing seat II (19) is connected with the intermediate connecting piece (2).
2. The spherical robot for pipeline inspection according to claim 1, wherein: the middle connecting piece (2) comprises a rolling bearing I (20), a hardware carrying platform (21), a bracket (22), a cylindrical connecting shaft (23) and a rolling bearing II (24), one end of the cylindrical connecting shaft (23) is connected with an inner ring of the rolling bearing I (20), the other end of the cylindrical connecting shaft (23) is connected with an inner ring of a rolling bearing II (24), the outer ring of the rolling bearing I (20) is connected with a bearing seat II (19) on one side of the left hemispherical shell closing plate (16), the outer ring of the rolling bearing II (24) is connected with a bearing seat at one side of the right hemispherical shell closing plate, the bracket (22) is positioned outside the cylindrical connecting shaft (23) and is fixedly connected with the cylindrical connecting shaft (23), and a hardware carrying platform (21) is arranged above the support (22), a screw hole is formed in the hardware carrying platform (21), and the control component is fixed through the screw hole by a screw.
3. The spherical robot for pipeline inspection according to claim 1, wherein: the control unit comprises a battery module, a wireless signal receiving module, a motor driving module, a main control module and a sensor module, the control unit is fixed on a hardware carrying platform (21) through screws, a battery holder is arranged on the hardware carrying platform (21), the battery module is placed on the battery holder, the main control module is fixedly connected with the battery holder through a copper column, the wireless receiving module and the motor driving module are respectively placed above the main control module, and the wireless receiving module and the motor driving module are respectively connected with the main control module through the copper column.
4. The spherical robot for pipeline inspection according to claim 1, wherein: the gasket (8) is rectangular.
5. The spherical robot for pipeline inspection according to claim 1, wherein: the gear (5) is a linear gear with a single-side opening, and the shaft (9) is a stepped shaft.
6. The spherical robot for pipeline inspection according to claim 1, wherein: the direct current servo motor (6) is connected with a hub of the gear (5) through a screw.
7. The spherical robot for pipeline inspection according to claim 2, wherein: the support (22) is a U-shaped support.
8. The spherical robot for pipeline inspection according to claim 3, wherein: the sensor of the sensor module is a vision sensor.
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CN109945924B (en) * 2019-03-26 2021-03-30 焦作大学 Adjustable spherical machine body structure for pipeline robot
CN111396692B (en) * 2020-03-30 2021-04-13 北京交通大学 Gravity-action small-caliber oil pipeline spherical detector throwing and recycling device
CN111391932B (en) * 2020-04-09 2021-04-06 合肥工业大学 Deformable crawler-type spherical pipeline robot
CN111637900B (en) * 2020-05-29 2021-10-15 逻腾（杭州）科技有限公司 Rolling robot mileage calculation device and method
CN111928987B (en) * 2020-09-24 2020-12-22 成都裕鸢航空零部件制造有限公司 Pipe fitting inner wall stress detection device
CN113086039B (en) * 2021-05-10 2022-12-30 北京邮电大学 Hemispherical differential spherical self-reconstruction robot with independently moved unit modules
CN113086040A (en) * 2021-05-14 2021-07-09 北京邮电大学 Open-close type reconfigurable spherical robot
CN113443039A (en) * 2021-07-23 2021-09-28 北京理工大学珠海学院 Spherical mobile robot
CN114608565B (en) * 2022-02-21 2024-03-19 清华大学 Method and device for determining target pipeline based on motion data of sphere device

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