CN113970030A - Six-foot pipeline robot system with self-adjusting function - Google Patents
Six-foot pipeline robot system with self-adjusting function Download PDFInfo
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- CN113970030A CN113970030A CN202111242353.9A CN202111242353A CN113970030A CN 113970030 A CN113970030 A CN 113970030A CN 202111242353 A CN202111242353 A CN 202111242353A CN 113970030 A CN113970030 A CN 113970030A
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- 230000033001 locomotion Effects 0.000 claims description 12
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- 241000238631 Hexapoda Species 0.000 claims description 9
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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
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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
- F16L55/40—Constructional aspects of the body
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention relates to a six-foot pipeline robot system with a self-adjusting function, which comprises a supporting and walking structure, a driving structure, a diameter-changing structure and a strain gauge type pressure detection structure. The front and the back of each 6-wheel supporting structure are 3 respectively and are uniformly distributed at 120 degrees; the driving motor is arranged on a fixed arm of a supporting walking structure at the front side, and the rotation of the driving wheel is realized through a gear reduction mechanism; the driving motor with the reducing structure drives the supporting rods to be opened, so that the 6 supporting wheels are pressed against the inner surface of the pipeline and are changed in real time through the rotation of the driving motor; after the robot moves to a fixed position, the motor is locked, the fixed requirement on the load is met, and the influence of external noise and other measurement accuracy in the measurement process is reduced. Simultaneously, when the robot removed in the pipeline of different internal diameters, the wheel body can change in real time with the little of pipeline inner wall contact pressure according to its size, and then makes the support arm produce different strain deformation, has realized the function that is adapted to different radius pipelines.
Description
Technical Field
The invention belongs to the technical field of optimization design of pipeline robots in mechanical-electrical integration technical research, and particularly relates to a hexapod pipeline robot system with a self-adjusting function.
Background
The pipeline transportation has the characteristics of high transportation efficiency, convenient manufacture, simple transportation means and the like, and is widely applied to various fields in industry, agriculture, buildings and life. With the increase of the service life of the pipeline, the inner wall and the outer wall of the pipeline are continuously influenced by various factors such as impact, corrosion and the like of the surrounding environment and transport media, and the pipeline inevitably has the problems of abrasion, corrosion, cracks, rusting, aging, leakage or reduction of interception area and the like, so that the pipeline needs to be inspected, detected, maintained and replaced regularly at regular time. The problems that substances in certain pipelines are not suitable for being directly contacted by human bodies or the positions of the pipelines are not suitable for being detected and the like cause that the pipelines are not beneficial to detection and maintenance. In the traditional method, mining and random sampling inspection are often adopted. The manpower and material resources consumed by the method are too expensive, the situation that the pipeline cannot be normally used after being buried can be caused, the randomness of random spot check is too strong, the pipeline cannot be efficiently and comprehensively checked, and the problem of pipeline safety is still left.
Based on the problem that the traditional mode can not be solved, domestic and foreign scholars also put forward a new idea of carrying out daily detection and maintenance in pipelines by using robots instead of people. The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer. The pipeline robot integrates a plurality of types of mechanical device sensors, and comprises an attitude sensor, an image sensor, a transmission mechanism, a steering mechanism and the like.
The study of the pipeline robot was started abroad earlier, and the traveling mechanism model of the wheeled pipeline robot was first proposed in 1978 by J1VERTUT of france. Subsequently, U.S. P350Flexitrax pipeline inspection robots, PIG-type pipeline robots, Canada Inuktun-Services robots, and the like have been made. The robot design uses the wheel type structure of the automobile, the double-track structure similar to a tank or the creeping structure and the like for reference to move, and obtains some detection effects. However, the structure mode determines that the movement of the pipeline is difficult to ensure the linear form of the movement in the movement process, and the consistency of the load center line and the pipeline center line is difficult to realize. At the same time, it is difficult to achieve a good fixation of the robot and its load.
Disclosure of Invention
The technical problem of the invention is solved: the defects of the prior art are overcome, the six-foot pipeline robot system with the self-adjusting function is provided, the central axis of the robot load can be always coincided with the central line of the pipeline in the motion process, the robot load can be adjusted in real time according to the size of the inner diameter of the pipeline, the robot load can be well fixed, and the robot load can be measured by different pipelines.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention relates to a hexapod pipeline robot system with a self-adjusting function, which comprises: the device comprises a structure end face, a supporting and walking structure, a driving structure, a reducing structure and a strain gauge type pressure detection structure;
the supporting and walking structure consists of 6 wheel supporting structures, the front and the back of the supporting and walking structure are respectively 3, the 6 wheel supporting structures are uniformly distributed in an angle of 120 degrees, and the 6 wheel supporting structures are respectively a first front supporting wheel 1, a second front supporting wheel 22, a third front supporting wheel 30, a first back supporting wheel 6, a second back supporting wheel 7, a third back supporting wheel 13, a first supporting arm 2, a second supporting arm 24, a third supporting arm 31, a fourth supporting arm 5, a fifth supporting arm 8 and a sixth supporting arm 14; the first front supporting wheel 1, the second front supporting wheel 22, the third front supporting wheel 30, the first rear supporting wheel 6, the second rear supporting wheel 7 and the third rear supporting wheel 13 are respectively connected with the first supporting arm 2, the second supporting arm 24, the third supporting arm 31, the fourth supporting arm 5, the fifth supporting arm 8 and the sixth supporting arm 14, so that the central line of the robot is basically coincided with the central line of the pipeline all the time in the motion of the robot and can be stably fixed on the inner wall of the pipeline;
the driving structure includes: a first drive motor 21 and a speed change gear 23; the driving mechanism rotates through the first driving motor 21, the second front supporting wheel 22 is driven to rotate through the speed change gear, the second front supporting wheel 22 is tightly attached to the inner wall of the pipeline, the friction force with the inner wall of the pipeline acts in the rotating process to drive the whole robot to move along the pipeline direction, the other 5 wheels comprise a first front supporting wheel 1, a third front supporting wheel 30, a first rear supporting wheel 6, a second rear supporting wheel 7 and a third rear supporting wheel 13 which are passive structures, the 6 wheel combination structures enable the robot to well move along the inner wall of the pipeline, and the central line of the 6 wheel combination structures is always coincident with the axis of the pipeline;
the reducing structure includes: the support device comprises a ball screw 9, a first coupler 16, a second coupler 26, a first speed change mechanism 17, a second speed change mechanism 19, a first support rod 28, a second support rod 25, a third support rod 27, a fourth support rod 11, a fifth support rod 10, a sixth support rod 15, a second driving motor 18, a first support arm 2, a second support arm 24, a third support arm 31, a fourth support arm 5, a fifth support arm 8 and a sixth support arm 15; wherein the ball screws are connected to the first coupling 16 and the second coupling 26 such that the entire axis movement is synchronized. The second driving motor 18 is connected with the first speed changing mechanism 17 and the second speed changing mechanism 19, and the first speed changing mechanism 17 and the second speed changing mechanism 19 are symmetrically distributed on two sides of the second driving motor 18. When the second driving motor 18 rotates, the ball screw 9 changes the rotation into the linear motion of the fixing plate, so as to drive the first support rod 28, the second support rod 25, the third support rod 27, the fourth support rod 11, the fifth support rod 10 and the sixth support rod 15 to change along the circumferential radius continuously, further drive the first support arm 2, the second support arm 24, the third support arm 31, the fourth support arm 5, the fifth support arm 8 and the sixth support arm 14 to change the diameter in the circumferential direction, and realize the self-adaptation to the pipelines with different inner diameters;
the strain gauge type pressure detection structure comprises a first strain gauge type sensor 3, a second strain gauge type sensor 4 and a test circuit; in each of the front and rear supports, namely, the roots of the first support arm 2 and the fourth support arm 5 are respectively attached with a first strain gauge sensor 3 and a second strain gauge sensor 4 which are used for measuring the deformation quantity generated by the inner walls of the pipelines in the six-legged pipeline robot system due to different inner diameters of the first support arm 2 and the fourth support arm 5 and feeding back the deformation quantity to a test circuit; the test circuit changes the opening angles of the 6 supporting arms in real time through the rotation of the second driving motor 18 and the rotation of the second speed change mechanism 17 and the second speed change mechanism 19 according to the deformation fed back by the first strain type sensor 3 and the second strain type sensor 4, so that good contact in pipelines with different inner diameters is realized; after the diameter changing is completed, the first driving motor 21 and the speed change mechanism 23 drive the second front supporting wheel 22 to rotate, and then the movement of the whole six-foot pipeline robot system along the pipeline is realized.
When the six-footed pipeline robot system moves to a required position, the first driving motor 21 is locked to block the rotation of the first front supporting wheel 1, the second front supporting wheel 22, the third front supporting wheel 30, the first rear supporting wheel 6, the second rear supporting wheel 7 and the third rear supporting wheel 13, so that the good contact with the inner wall of the pipeline is realized, and the requirement for carrying load fixation is met.
The end faces of two sides of the six-foot pipeline robot system are drilled with standard threaded interfaces, so that connection with a load is conveniently achieved, and the purpose of attaching the load is achieved.
The front and rear support wheels in the 6-wheel support arm configuration are each identical in size.
The size of the deformation in the strain gauge type pressure detection structure is adjusted according to actual requirements.
The principle of the invention is as follows: in order to meet the requirement that the central axis of the robot and the central line of the carrying load are coincident with the central line of the pipeline as much as possible after the robot enters the pipeline to be tested, a 6-wheel supporting structure is adopted, and a first front supporting wheel 1, a second front supporting wheel 22, a third front supporting wheel 30, a first rear supporting wheel 6, a second rear supporting wheel 7 and a third rear supporting wheel 13 are uniformly distributed at an angle of 120 degrees. And the supporting parts of the first supporting arm 2, the second supporting arm 24, the third supporting arm 31, the fourth supporting arm 5, the fifth supporting arm 8 and the sixth supporting arm 14 are completely the same in size. The structure pre-tightening adopts a method of combining a variable diameter structure with contact force testing of the first strain type sensor 3 and the second strain type sensor 4. After the system moves to a certain fixed position, in order to realize good fixation, a method of locking the second driving motor 18 is adopted, so that the supporting wheel cannot move. In the aspect of design suitable for different pipe diameters, rod pieces are deformed differently by utilizing different inner diameters, so that the output forces of the first strain sensor 3 and the second strain sensor 4 of the strain sensors are changed, and the method for changing the opening angles of the 6 support arms in real time by the rotation of the second driving motor 18 and the first speed change mechanism 17 and the second speed change mechanism 19 through the deformation fed back by the test circuit according to the first strain sensor 3 and the second strain sensor 4 is adopted.
In addition, the driving motor is arranged on a fixed arm supporting the walking structure at the front side, and the rotation of the driving wheel is realized through the gear reduction mechanism to drive the whole system to move. Simultaneously, the driving motor drive bracing piece of reducing structure opens for 6 supporting wheels compress tightly the pipeline internal surface, and the opening size can be according to the pipe diameter size, changes in real time through the driving motor rotation. The pre-tightening force can be measured by strain sensors attached to the ends of the front and rear support arms. After the robot moves to a fixed position, the motor is locked, the fixed requirement on the load is met, and the influence of external noise and other measurement accuracy in the measurement process is reduced. Simultaneously, when the robot removed in the pipeline of different internal diameters, wheel body and pipeline inner wall contact pressure's little can change in real time according to its size, and then makes the support arm produce different strain deformation, and its numerical value accessible strain gauge sensor test obtains to adjust bearing structure opening size according to numerical value size, realized being adapted to the function of different radius pipelines.
Compared with the prior art, the invention has the advantages that:
(1) the invention adopts a 6-wheel supporting structure which is uniformly distributed at 120 degrees, thereby ensuring that the central line of the system is always basically coincident with the central line of the pipeline in the movement process.
(2) The invention adopts a reducing structure, realizes good contact between the wheel rim and the inner wall of the pipeline by a method of force feedback through a first strain sensor and a second strain sensor based on a second drive motor (drive), and realizes good fixation of the system by locking the second drive motor (18).
(3) According to the method for feeding back the deformation by adopting the first strain sensor and the second strain sensor, the sizes of the opening angles of the 6 supporting arms are changed in real time through the rotation of the second driving motor and the first speed change mechanism and the second speed change mechanism, and the good contact of the inner walls of the pipelines with different inner diameters is realized.
Drawings
Fig. 1 is a schematic structural diagram of a hexapod pipeline robot with a self-adjusting function according to the present invention.
The reference numbers in the figures mean: the first front support arm 1, the first support arm 2, the first strain gauge sensor 3, the second strain gauge sensor 4, the fourth support arm 5, the first rear support wheel 6, the second rear support wheel 7, the fifth support arm 8, the ball screw 9, the fifth support rod 10, the fourth support rod 11, the reinforcing plate 12, the third rear support wheel 13, the sixth support arm 14, the sixth support rod 15, the first coupling 16, the second transmission mechanism 17, the second driving motor 18, the second transmission mechanism 19, the reinforcing plate 20, the first driving motor 21, the second front support wheel 22, the transmission gear 23, the second support arm 24, the second support rod 25, the second coupling 26, the third support rod 27, the first support rod 28, the structural end face 29, the third front support wheel 30, and the third support arm 31.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a hexapod robot system with a self-adjusting function according to the present invention includes a front support wheel 1, a first support arm 2, a first strain sensor 3, a second strain sensor 4, a fourth support arm 5, a first rear support wheel 6, a second rear support wheel 7, a fifth support arm 8, a ball screw 9, a fifth support rod 10, a fourth support rod 11, a reinforcing plate 12, a third rear support wheel 13, a sixth support arm 14, a sixth support rod 15, a first coupling 16, a second speed change mechanism 17, a second drive motor 18, a second speed change mechanism 19, a reinforcing plate 20, a first drive motor 21, a second front support wheel 22, a speed change gear 23, a second support arm 24, a second support rod 25, a second coupling 26, a third support rod 27, a first support rod 28, a structure end surface 29, a third front support wheel 30, and a third support arm 31.
In the design process, in order to ensure that the central line of the robot is basically coincident with the central line of the pipeline all the time and can be stably fixed on the inner wall of the pipeline, the system adopts a 6-wheel supporting structure, and the first front supporting wheel 1, the second front supporting wheel 22, the third front supporting wheel 30, the first rear supporting wheel 6, the second rear supporting wheel 7 and the third rear supporting wheel 13 are uniformly distributed at 120 degrees. The center shaft of the robot system is always in the center of the pipeline, and displacement deviation cannot occur. The 6 support wheels are respectively connected with the first support arm 2, the second support arm 24, the third support arm 31, the fourth support arm 5, the fifth support arm 8 and the sixth support arm 15. A first strain gauge sensor 3 and a second strain gauge sensor 4 are attached to the root portions of the first support arm 2 and the fourth support arm 5.
In the test process, the second driving motor 18 starts to work at first, the supporting arms and the supporting rods on the two sides are pushed to be opened, the first front supporting wheel 1, the second front supporting wheel 22, the third front supporting wheel 30, the first rear supporting wheel 6, the second rear supporting wheel 7 and the third rear supporting wheel 13 are driven, and 6 driving wheels are attached to the inner side of the pipeline. Because the support arm is the front and back structure, structural style and size are the same completely, and be 120 angle difference between every 3, guaranteed that the central line coincides with the pipeline central line all the time, the wheel rim is obtained by strain gauge sensor 3, strain gauge sensor 4 measurement with the inboard contact force size of pipeline. Then, the first driving motor 21 mounted on the driving arm starts to operate, and the system is moved along the side wall of the pipeline by the speed change gear 23. When the radius of the pipeline changes gradually, the contact pressure between the 6 driving wheels and the pipe wall changes, so that the supporting arm deforms, the measuring results of the first strain gauge sensor 3 and the second strain gauge sensor 4 change, the sensors transmit the changed contact force to the control system, and the control system changes the contact radius in real time through the second driving motor 18 according to the size of a received signal, so that the adaptability to pipelines with different inner diameters is realized. After the pipeline robot moves to a certain fixed position, the first driving motor 21 is locked, so that 6 driving wheels do not generate relative motion under the condition of pressing the side wall of the pipeline, the fixation of the robot and the carrying load is realized, and a good fixing effect is achieved. The system not only realizes the carrying of the load, but also provides a good test environment for the system.
Claims (5)
1. A hexapod pipeline robot system with self-adjusting function, comprising: the device comprises a structure end face (29), a supporting and walking structure, a driving structure, a reducing structure and a strain gauge type pressure detection structure;
the supporting and walking structure is composed of 6 wheel supporting structures, the front and the back of the supporting and walking structure are respectively 3, the 6 wheel supporting structures are uniformly distributed in an angle of 120 degrees, and the 6 wheel supporting structures are respectively a first front supporting wheel (1), a second front supporting wheel (22), a third front supporting wheel (30), a first rear supporting wheel (6), a second rear supporting wheel (7), a third rear supporting wheel (13), a first supporting arm (2), a second supporting arm (24), a third supporting arm (31), a fourth supporting arm (5), a fifth supporting arm (8) and a sixth supporting arm (14); the first front supporting wheel (1), the second front supporting wheel (22), the third front supporting wheel (30), the first rear supporting wheel (6), the second rear supporting wheel (7) and the third rear supporting wheel (13) are respectively connected with the first supporting arm (2), the second supporting arm (24), the third supporting arm (31), the fourth supporting arm (5), the fifth supporting arm (8) and the sixth supporting arm (14), so that the central line of the robot is basically coincided with the central line of the pipeline all the time in the motion of the robot and can be stably fixed on the inner wall of the pipeline;
the driving structure includes: a first drive motor (21) and a speed change gear (23)); the driving mechanism rotates through a first driving motor (21), drives a second front supporting wheel (22) to rotate through a speed change gear, the second front supporting wheel (22) is tightly attached to the inner wall of the pipeline, the friction force with the inner wall of the pipeline acts in the rotating process to drive the whole robot to move along the direction of the pipeline, other 5 wheels comprise a first front supporting wheel (1), a third front supporting wheel (30), a first rear supporting wheel (6), a second rear supporting wheel (7) and a third rear supporting wheel (13) which are passive structures, and the 6-wheel combined structure enables the robot to well move along the inner wall of the pipeline, and the central line of the robot is always coincident with the axis of the pipeline;
the reducing structure includes: the support device comprises a ball screw (9), a first coupler (16), a second coupler (26), a first speed change mechanism (17), a second speed change mechanism (19), a first support rod (28), a second support rod (25), a third support rod (27), a fourth support rod (11), a fifth support rod (10), a sixth support rod (15), a second driving motor (18), a first support arm (2), a second support arm (24), a third support arm (31), a fourth support arm (5), a fifth support arm (8) and a sixth support arm (15); the ball screw is connected with the first coupling (16) and the second coupling (26) so that the whole axis moves synchronously. The second driving motor (18) is connected with the first speed change mechanism (17) and the second speed change mechanism (19), and the first speed change mechanism (17) and the second speed change mechanism (19) are symmetrically distributed on two sides of the second driving motor (18). When the second driving motor (18) rotates, the ball screw (9) changes the rotation into the linear motion of the fixing plate, and drives the first support rod (28), the second support rod (25), the third support rod (27), the fourth support rod (11), the fifth support rod (10) and the sixth support rod (15) to continuously change along the circumferential radius, so as to drive the first support arm (2), the second support arm (24), the third support arm (31), the fourth support arm (5), the fifth support arm (8) and the sixth support arm (14) to perform circumferential diameter change, and realize the self-adaptation to pipelines with different inner diameters;
the strain gauge type pressure detection structure comprises a first strain gauge type sensor (3), a second strain gauge type sensor (4) and a test circuit; in each front support and the rear support, namely the roots of the first support arm (2) and the fourth support arm (5) are respectively attached with a first strain-type sensor (3) and a second strain-type sensor (4) for measuring the deformation of the inner wall of the pipeline in the six-legged pipeline robot system caused by different inner diameters of the first support arm (2) and the fourth support arm (5) and feeding back to a test circuit; the test circuit changes the opening angles of the 6 supporting arms in real time through the rotation of the second driving motor (18) and the rotation of the second speed change mechanism (17) and the second speed change mechanism (19) according to the deformation fed back by the first strain type sensor (3) and the second strain type sensor (4), so that good contact in pipelines with different inner diameters is realized; after the diameter changing is finished, the first driving motor (21) and the speed change mechanism (23) drive the second front supporting wheel (22) to rotate, and then the whole six-foot pipeline robot system moves along the pipeline.
2. The hexapod pipeline robot system with self-adjusting function according to claim 1, characterized in that: when the six-foot pipeline robot system moves to a required position, the first driving motor (21) is locked to block the rotation of the first front supporting wheel (1), the second front supporting wheel (22), the third front supporting wheel (30), the first rear supporting wheel (6), the second rear supporting wheel (7) and the third rear supporting wheel (13), so that good contact with the inner wall of the pipeline is realized, and the requirement for carrying load fixation is met.
3. The hexapod pipeline robot system with self-adjusting function according to claim 1, characterized in that: the end faces of two sides of the six-foot pipeline robot system are drilled with standard threaded interfaces, so that connection with a load is conveniently achieved, and the purpose of attaching the load is achieved.
4. The hexapod pipeline robot system with self-adjusting function according to claim 1, characterized in that: the front and rear support wheels in the 6-wheel support arm configuration are each identical in size.
5. The hexapod pipeline robot system with self-adjusting function according to claim 1, characterized in that: the size of the deformation in the strain gauge type pressure detection structure is adjusted according to actual requirements.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114660947A (en) * | 2022-05-19 | 2022-06-24 | 季华实验室 | Robot gait autonomous learning method and device, electronic equipment and storage medium |
| CN114776933A (en) * | 2022-05-24 | 2022-07-22 | 安徽信息工程学院 | Pipeline walking robot |
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| CN114660947A (en) * | 2022-05-19 | 2022-06-24 | 季华实验室 | Robot gait autonomous learning method and device, electronic equipment and storage medium |
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