CN103234504A - Methods for calibrating and compensating errors, and computer program and readable medium for methods - Google Patents
Methods for calibrating and compensating errors, and computer program and readable medium for methods Download PDFInfo
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- CN103234504A CN103234504A CN2013101347096A CN201310134709A CN103234504A CN 103234504 A CN103234504 A CN 103234504A CN 2013101347096 A CN2013101347096 A CN 2013101347096A CN 201310134709 A CN201310134709 A CN 201310134709A CN 103234504 A CN103234504 A CN 103234504A
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Abstract
The invention discloses a method for calibrating errors of an angle sensor of a steering wheel and a method for compensating the errors. The method for calibrating the errors includes controlling rotation of a driving gear; measuring rotation angles of the driving gear by the aid of a coder to obtain measured values of the rotation angles of the driving gear, measuring rotation angles of a measuring gear by the aid of a measuring sensor and computing standard values of the rotation angles of the driving gear according to a transmission ratio; and acquiring a measuring error table of the measuring sensor according to difference values of the standard values and the measured values. The method for compensating the errors includes compensating a current measuring signal of the measuring sensor according to the measuring error table; generating a current measuring result; and outputting the current measuring result. The method for calibrating the errors and the method for compensating the errors have the advantages that an error compensation object is the final measuring signal, and other errors due to hardware of the sensor of the steering wheel cannot be introduced into compensating and outputting procedures, so that problems in the prior art are fundamentally solved. Besides, the invention discloses a corresponding computer program and a readable medium of a computer.
Description
Technical field
The application relates to the sensor application technical field, relates in particular to a kind of steering wheel angle sensor error calibrating method, compensation method and computer program and computer-readable recording medium.
Background technology
Steering wheel angle sensor is used for rotational angle and the velocity of rotation of the bearing circle of the vehicles such as measured automobiles.Steering wheel angle sensor is made up of driven wheel, prototype gear and survey sensor; Driven wheel and bearing circle rotate synchronously, prototype gear and driven wheel engagement, and prototype gear is provided with magnet, when prototype gear rotates, passes corresponding the changing of direction in the magnetic field of prototype gear; Survey sensor obtains the rotational angle of corresponding prototype gear by measuring the angle changing of magnetic direction; And then calculate the velocity of rotation of the rotational angle of bearing circle according to the Measuring Time of ratio of gear.
Owing to the multiple reasons such as asymmetry, tooth-formation of gear and backlash of magnet gear, magnet magnetization, will there be very big error in the measured value of steering wheel angle sensor.For reducing measuring error, prior art is all in the steering wheel angle sensor production run carries out the strictness monitoring to the parameter of its single parts and quality, not only increased production cost, also owing to can't guarantee whether the rotary angle transmitter that each parts assemble satisfies error requirements, thereby can't fundamentally solve the problem of measuring error.
Summary of the invention
In view of this, the application's purpose is to provide a kind of steering wheel angle sensor error calibrating method, compensation method and computer program and computer-readable recording medium, to solve the problem that there is measuring error in steering wheel angle sensor.
For achieving the above object, the application provides following technical scheme:
A kind of steering wheel angle sensor error calibrating method, described steering wheel angle sensor comprises driven wheel, prototype gear and survey sensor;
Described error calibrating method comprises:
Controlling described driven wheel rotates by pre-set velocity and preset direction;
Scrambler by the terminal checkout equipment is measured the rotational angle of described driven wheel, obtain the measured value of described driven wheel rotational angle, by described survey sensor the rotational angle of described prototype gear is measured simultaneously, calculated the standard value of described driven wheel rotational angle according to the ratio of gear of described driven wheel and prototype gear;
According to the described standard value of same sampling instant and the difference of measured value, obtain the measuring error table of described survey sensor.
Preferably, the span of the measuring-signal of described survey sensor be [0,360), described according to the described standard value of same sampling instant and the difference of measured value, obtain the measuring error table of described survey sensor, comprising:
With n
0=360/n is for demarcating base value, and the ratio of described measured value and described demarcation base value is rounded, and obtains the demarcation coordinate figure of described measured value correspondence; Wherein, n is positive integer;
A plurality of measured values of the demarcation coordinate figure correspondence that logarithm value is identical are averaged, and obtain the calibration measurements value of described demarcation coordinate figure correspondence;
A plurality of measured values of the demarcation coordinate figure correspondence that logarithm value is identical and the difference of respective standard value are averaged, and obtain the calibrated error of described demarcation coordinate figure correspondence;
Described demarcation coordinate figure, calibration measurements value and calibrated error are carried out corresponding stored, obtain described measuring error table.
Preferably, when described driven wheel accumulative total rotation time reaches Preset Time, begin to obtain described measured value and standard value; When the accumulative total rotational angle of described driven wheel reaches 1800deg, stop to obtain described standard value and measured value; Wherein, described Preset Time value in 200 milliseconds～300 milliseconds.
A kind of steering wheel angle sensor error compensating method is based on a kind of steering wheel angle sensor error calibrating method;
Described error calibrating method comprises: control described driven wheel and rotate by pre-set velocity and preset direction; Scrambler by the terminal checkout equipment is measured the rotational angle of described driven wheel, obtain the measured value of described driven wheel rotational angle, by described survey sensor the rotational angle of described prototype gear is measured simultaneously, calculated the standard value of described driven wheel rotational angle according to the ratio of gear of described driven wheel and prototype gear; According to the described standard value of same sampling instant and the difference of measured value, obtain the measuring error table of described survey sensor;
Described error compensating method comprises: compensate according to the current measuring-signal of described measuring error table to described survey sensor;
According to the rotation number of turns and the described compensation result of described driven wheel, generate this measurement result and output.
Preferably, the span of the measuring-signal of described survey sensor be [0,360), described according to the described standard value of same sampling instant and the difference of measured value, obtain the measuring error table of described survey sensor, comprising:
With n
0=360/n is for demarcating base value, and the ratio of described measured value and described demarcation base value is rounded, and obtains the demarcation coordinate figure of described measured value correspondence; Wherein, n is positive integer; A plurality of measured values of the demarcation coordinate figure correspondence that logarithm value is identical are averaged, and obtain the calibration measurements value of described demarcation coordinate figure correspondence; A plurality of measured values of the demarcation coordinate figure correspondence that logarithm value is identical and the difference of respective standard value are averaged, and obtain the calibrated error of described demarcation coordinate figure correspondence; Described demarcation coordinate figure, calibration measurements value and calibrated error are carried out corresponding stored, obtain described measuring error table;
Describedly compensate according to the current measuring-signal of described measuring error table to described survey sensor, comprising:
To described current measuring-signal A
xWith the computing that truncates of the ratio of described demarcation base value, obtain described before the compensation lower limit N1 of measuring-signal;
Ratio to described current measuring-signal and described demarcation base value advances a computing, obtains the compensation higher limit N2 of described preceding measuring-signal;
Inquire about described measuring error table, obtain the calibration measurements value A of described compensation lower limit N1 correspondence
N1With calibrated error E
N1, and the calibration measurements value A of described compensation higher limit N2 correspondence
N2With calibrated error E
N2
According to formula
Calculate described preceding measuring-signal A
xCorresponding current measuring error E
x
Described current measuring-signal and current measuring error are subtracted each other, obtain described compensation result.
A kind of computer program when operation, is used for carrying out above-mentioned any error calibrating method.
A kind of computer program when operation, is used for carrying out above-mentioned any error compensating method.
A kind of computer-readable medium stores computer executable instructions, when the described executable instruction of computer run, carries out above-mentioned any error calibrating method.
A kind of computer-readable medium stores computer executable instructions, when the described executable instruction of computer run, carries out above-mentioned any error compensating method.
From above-mentioned technical scheme as can be seen, when the application finishes in steering wheel angle sensor production, be measured value, be standard value with the measurement result of the scrambler of terminal checkout equipment with the measurement result of its survey sensor, handle the measuring error table that obtains this steering wheel angle sensor by corresponding data; In the steering wheel angle sensor use, by this measuring error table current measuring-signal is carried out error compensation.Because the application's error compensation is to liking final measuring-signal, and compensation, output procedure can not introduced other errors that is caused by the hardware of steering wheel sensor itself, therefore, the application can fundamentally reduce even eliminate the measuring error of steering wheel angle sensor, and cost is low, has solved prior art problems.
Description of drawings
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiment of the application, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
The process flow diagram of the steering wheel angle sensor error calibrating method that Fig. 1 provides for the embodiment of the present application one;
The process flow diagram of the steering wheel angle sensor error compensating method that Fig. 2 provides for the embodiment of the present application two;
The process flow diagram of the steering wheel angle sensor error calibrating method that Fig. 3 provides for the embodiment of the present application three;
The process flow diagram of the steering wheel angle sensor error compensating method that Fig. 4 provides for the embodiment of the present application four.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment only is the application's part embodiment, rather than whole embodiment.Based on the embodiment among the application, those of ordinary skills are not making the every other embodiment that obtains under the creative work prerequisite, all belong to the scope of the application's protection.
The embodiment of the present application discloses a kind of steering wheel angle sensor error calibrating method, compensation method and computer program and computer-readable recording medium, to solve the problem that there is measuring error in steering wheel angle sensor.
The embodiment of the present application one provides a kind of steering wheel angle sensor error calibrating method.Wherein, this steering wheel angle sensor comprises driven wheel, prototype gear and survey sensor.With reference to Fig. 1, this error calibrating method comprises the steps:
S101, control driven wheel rotate by pre-set velocity and preset direction;
Pre-set velocity and preset direction are decided on practical situations, and be general, and pre-set velocity can be 500deg/s, and preset direction can be for counterclockwise.
S102, by the scrambler of terminal checkout equipment the rotational angle of driven wheel is measured, obtain the measured value of described driven wheel rotational angle, by described survey sensor the rotational angle of prototype gear is measured simultaneously, calculated the standard value of described driven wheel rotational angle according to the ratio of gear of described driven wheel and prototype gear;
S103, according to the described standard value of same sampling instant and the difference of measured value, obtain the measuring error table of described survey sensor.
Need to prove that the execution time of above-mentioned error calibration process, the measuring error table that obtains can be stored among the electrically erasable read-only memory EEPROM of this steering wheel angle sensor when finishing for this steering wheel angle sensor production.
In addition, in the described scaling method of above-described embodiment and since the start-up course of terminal checkout equipment be one accelerate gradually, stable process, for avoiding measuring mistake, can limit when described driven wheel accumulative total rotation time reaches Preset Time, begin to obtain described measured value and standard value; This Preset Time is value in 200 milliseconds～300 milliseconds.Consider the measurement range of steering wheel angle sensor simultaneously, limit when the accumulative total rotational angle of described driven wheel reaches 1800deg, stop to obtain described standard value and measured value, avoid increasing unnecessary data.
Corresponding to above-described embodiment one described steering wheel angle sensor error calibrating method, the embodiment of the present application two provides a kind of steering wheel angle sensor error compensating method, comprising:
S201, compensate according to the current measuring-signal of measuring error table to described survey sensor;
Read in the storage medium (as EEPROM) of above-mentioned measuring error table by steering wheel angle sensor and obtain.This measuring error table can be determined according to above-described embodiment one described error calibrating method.
S202, rotate the number of turns and described compensation result according to driven wheel, generate this measurement result and output.
Because the measuring-signal span of survey sensor is [0,360), for example, if driven wheel rotates 500deg, then corresponding measuring-signal is 500-360=140deg, so according to the compensation result that current measuring-signal and measuring error table obtain, be driven wheel actual rotation angle to 360 get surplus obtain relatively rotate angle.And the output signal of steering wheel angle sensor should be the actual rotation angle of driven wheel, therefore, needs to rotate the number of turns according to driven wheel, and compensation result is scaled the actual rotation angle of corresponding driven wheel, i.e. this measurement result.
By above-mentioned error calibration and compensation method as can be known, when the embodiment of the present application is finished in steering wheel angle sensor production, be measured value, be standard value with the measurement result of the scrambler of terminal checkout equipment with the measurement result of its survey sensor, handle the measuring error table that obtains this steering wheel angle sensor by corresponding data; In the steering wheel angle sensor use, by this measuring error table current measuring-signal is carried out error compensation.Because the error compensation of the embodiment of the present application is to liking final measuring-signal, and compensation, output procedure can not introduced other errors that is caused by the hardware of steering wheel sensor itself, therefore, the embodiment of the present application can fundamentally reduce even eliminate the measuring error of steering wheel angle sensor, and cost is low, has solved prior art problems.
Further, in the above embodiments of the present application, can interrupt realize the simultaneity of the measurement operation of the measurement operation of survey sensor and scrambler by timer.Concrete, set timing length for timer, start timer and the timing that circulates; Timer whenever overflows once, then triggers one-shot measurement sensor and scrambler, and it is measured corresponding data simultaneously, thereby has guaranteed the correspondence of measured value and standard value.
The embodiment of the present application three provides a kind of steering wheel angle sensor error calibrating method.Wherein, this steering wheel angle sensor comprises driven wheel, prototype gear and survey sensor.With reference to Fig. 3, this error calibrating method comprises the steps:
S301, control driven wheel rotate by pre-set velocity and preset direction;
Pre-set velocity and preset direction are decided on practical situations, and be general, and pre-set velocity can be 500deg/s, and preset direction can be for counterclockwise.
S302, by the scrambler of terminal checkout equipment the rotational angle of driven wheel is measured, obtain the measured value of driven wheel rotational angle, by survey sensor the rotational angle of described prototype gear is measured simultaneously, calculated the standard value of driven wheel rotational angle according to the ratio of gear of driven wheel and prototype gear;
S303, with n
0=360/n is for demarcating base value, and the ratio of described measured value and described demarcation base value is rounded, and obtains the demarcation coordinate figure of described measured value correspondence; Wherein, n is positive integer;
The occurrence of n can be decided according to practical situations.Taking all factors into consideration validity and the shared memory headroom of measuring error table of error calibration and compensation, hereinafter is that example is described in detail present embodiment with n=32.
Suppose to have measured value x1=120deg, x2=180deg, x3=240deg, by n
0=360/n=360/32=11.25 can get: demarcation coordinate figure N (x1)=[120/n of x1
0]=[120/11.25]=10, demarcation coordinate figure N (x2)=[180/n of x2
0]=[180/11.25]=16, demarcation coordinate figure N (x3)=[120/n of x3
0]=[240/11.25]=21.
A plurality of measured values of S304, demarcation coordinate figure correspondence that logarithm value is identical are averaged, and obtain the calibration measurements value of described demarcation coordinate figure correspondence;
Because the span of survey sensor and scrambler measuring-signal is all [0,360) in, rotational angle is whenever expired 360deg(one circle) counting (recording the current number of turns simultaneously) again then makes zero, so the demarcation coordinate figure of the different measured value correspondences constantly that step S303 calculates may be identical, be the corresponding a plurality of measured values of same demarcation coordinate figure, these a plurality of measured values are averaged can be obtained demarcating the unique corresponding calibration measurements value of coordinate figure with each.
A plurality of measured values of S305, demarcation coordinate figure correspondence that logarithm value is identical and the difference of respective standard value are averaged, and obtain the calibrated error of described demarcation coordinate figure correspondence;
Measuring error to a plurality of measured values of same demarcation coordinate figure correspondence is averaged, and obtains and each demarcates the unique corresponding calibrated error of coordinate.Wherein, the i.e. difference between this measured value and its corresponding standard value of the measuring error of measured value.
S306, described demarcation coordinate figure, calibration measurements value and calibrated error are carried out corresponding stored, obtain described measuring error table.
Corresponding to above-described embodiment three described steering wheel angle sensor error calibrating methods, the embodiment of the present application also provides a kind of steering wheel angle sensor error compensating method.With reference to Fig. 4, this error compensating method comprises the steps:
S401, to the current measuring-signal A of survey sensor in the steering wheel angle sensor
xWith demarcation base value n
0The ratio computing that truncates, obtain described before the compensation lower limit N1 of measuring-signal;
S402, to described current measuring-signal A
xWith described demarcation base value n
0Ratio advance a computing, obtain described before the compensation higher limit N2 of measuring-signal;
Above-mentioned demarcation base value n
0=360/n, with above embodiment three is corresponding, hereinafter still with n=32, n
0=11.25 narrate present embodiment for example.
Suppose current measuring-signal A
x=243, then its compensation lower limit N1=21 compensates higher limit N2=22.
S403, the described measuring error table of inquiry are compensated the calibration measurements value A of lower limit N1 correspondence
N1With calibrated error E
N1, and the calibration measurements value A of compensation higher limit N2 correspondence
N2With calibrated error E
N2
Read in the storage medium (as EEPROM) of above-mentioned measuring error table by steering wheel angle sensor and obtain.This measuring error table can be determined according to above-described embodiment three described error calibrating methods.
S404, according to formula
Calculate above-mentioned preceding measuring-signal A
xCorresponding current measuring error E
x
S405, with above-mentioned current measuring-signal A
xWith current measuring error E
xSubtract each other, obtain current measuring-signal A
xCompensation result;
S406, rotate the compensation result that the number of turns and step S405 obtain according to driven wheel, generate this measurement result and output.
For example, current measuring-signal A
xIt is 2 circle, then A that corresponding driven wheel rotates the number of turns
xThe rotational angle of corresponding driving signal, i.e. this measurement result A
x'=A
x+ 360*2.
Corresponding to above-described embodiment one and embodiment three, the embodiment of the present application also provides a kind of computer program, when this computer program of operation, above-described embodiment one or embodiment three described error calibrating methods namely are performed, thereby can be by the error calibration of realization steering wheel angle sensors such as microprocessor.In addition, present embodiment also provides a kind of computer-readable medium, wherein stores the computer program (being computer executable instructions) of above-mentioned realization error calibration.This computer-readable medium can for magnetic disc, CD, read-only storage memory body (Read-Only Memory, ROM) or at random store memory body (Random Access Memory, RAM) etc.
Corresponding to above-described embodiment two and embodiment four, the embodiment of the present application also provides a kind of computer program, when this computer program of operation, above-described embodiment two or embodiment four described error compensating methods namely are performed, thereby can be by the error compensation of realization steering wheel angle sensors such as microprocessor.In addition, the embodiment of the present application also provides a kind of computer-readable medium, wherein stores the computer program (being computer executable instructions) of above-mentioned realization error error compensation.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the application.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and defined General Principle can realize under the situation of the spirit or scope that do not break away from the application in other embodiments herein.Therefore, the application will can not be restricted to these embodiment shown in this article, but will meet the wideest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. a steering wheel angle sensor error calibrating method is characterized in that, described steering wheel angle sensor comprises driven wheel, prototype gear and survey sensor;
Described error calibrating method comprises:
Controlling described driven wheel rotates by pre-set velocity and preset direction;
Scrambler by the terminal checkout equipment is measured the rotational angle of described driven wheel, obtain the measured value of described driven wheel rotational angle, by described survey sensor the rotational angle of described prototype gear is measured simultaneously, calculated the standard value of described driven wheel rotational angle according to the ratio of gear of described driven wheel and prototype gear;
According to the described standard value of same sampling instant and the difference of measured value, obtain the measuring error table of described survey sensor.
2. error calibrating method according to claim 1 is characterized in that, the span of the measuring-signal of described survey sensor is [0,360), described according to the described standard value of same sampling instant and the difference of measured value, obtain the measuring error table of described survey sensor, comprising:
With n
0=360/n is for demarcating base value, and the ratio of described measured value and described demarcation base value is rounded, and obtains the demarcation coordinate figure of described measured value correspondence; Wherein, n is positive integer;
A plurality of measured values of the demarcation coordinate figure correspondence that logarithm value is identical are averaged, and obtain the calibration measurements value of described demarcation coordinate figure correspondence;
A plurality of measured values of the demarcation coordinate figure correspondence that logarithm value is identical and the difference of respective standard value are averaged, and obtain the calibrated error of described demarcation coordinate figure correspondence;
Described demarcation coordinate figure, calibration measurements value and calibrated error are carried out corresponding stored, obtain described measuring error table.
3. method according to claim 1 and 2 is characterized in that, when described driven wheel accumulative total rotation time reaches Preset Time, begins to obtain described measured value and standard value; When the accumulative total rotational angle of described driven wheel reaches 1800deg, stop to obtain described standard value and measured value; Wherein, described Preset Time value in 200 milliseconds～300 milliseconds.
4. a steering wheel angle sensor error compensating method is characterized in that, based on a kind of steering wheel angle sensor error calibrating method;
Described error calibrating method comprises: control described driven wheel and rotate by pre-set velocity and preset direction; Scrambler by the terminal checkout equipment is measured the rotational angle of described driven wheel, obtain the measured value of described driven wheel rotational angle, by described survey sensor the rotational angle of described prototype gear is measured simultaneously, calculated the standard value of described driven wheel rotational angle according to the ratio of gear of described driven wheel and prototype gear; According to the described standard value of same sampling instant and the difference of measured value, obtain the measuring error table of described survey sensor;
Described error compensating method comprises: compensate according to the current measuring-signal of described measuring error table to described survey sensor;
According to the rotation number of turns and the described compensation result of described driven wheel, generate this measurement result and output.
5. error compensating method according to claim 4 is characterized in that, the span of the measuring-signal of described survey sensor is [0,360), described according to the described standard value of same sampling instant and the difference of measured value, obtain the measuring error table of described survey sensor, comprising:
With n
0=360/n is for demarcating base value, and the ratio of described measured value and described demarcation base value is rounded, and obtains the demarcation coordinate figure of described measured value correspondence; Wherein, n is positive integer; A plurality of measured values of the demarcation coordinate figure correspondence that logarithm value is identical are averaged, and obtain the calibration measurements value of described demarcation coordinate figure correspondence; A plurality of measured values of the demarcation coordinate figure correspondence that logarithm value is identical and the difference of respective standard value are averaged, and obtain the calibrated error of described demarcation coordinate figure correspondence; Described demarcation coordinate figure, calibration measurements value and calibrated error are carried out corresponding stored, obtain described measuring error table;
Describedly compensate according to the current measuring-signal of described measuring error table to described survey sensor, comprising:
To described current measuring-signal A
xWith the computing that truncates of the ratio of described demarcation base value, obtain described before the compensation lower limit N1 of measuring-signal;
Ratio to described current measuring-signal and described demarcation base value advances a computing, obtains the compensation higher limit N2 of described preceding measuring-signal;
Inquire about described measuring error table, obtain the calibration measurements value A of described compensation lower limit N1 correspondence
N1With calibrated error E
N1, and the calibration measurements value A of described compensation higher limit N2 correspondence
N2With calibrated error E
N2
According to formula
Calculate described preceding measuring-signal A
xCorresponding current measuring error E
x
Described current measuring-signal and current measuring error are subtracted each other, obtain described compensation result.
6. a computer program is characterized in that, when operation, is used for carrying out as each described error calibrating method of claim 1～3.
7. a computer program is characterized in that, when operation, is used for carrying out as claim 4 or 5 described error compensating methods.
8. a computer-readable medium is characterized in that, stores computer executable instructions, when the described executable instruction of computer run, carries out as each described error calibrating method of claim 1～3.
9. a computer-readable medium is characterized in that, stores computer executable instructions, when the described executable instruction of computer run, carries out as claim 4 or 5 described error compensating methods.
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| CN104486386A (en) * | 2014-12-02 | 2015-04-01 | 科世达（上海）管理有限公司 | Vehicle sensor calibration method and system |
| CN106227150A (en) * | 2016-07-15 | 2016-12-14 | 北京安控科技股份有限公司 | A kind of method and apparatus based on software stated accuracy |
| CN108917653A (en) * | 2018-03-20 | 2018-11-30 | 刘红阳 | Rotational angle measurement method and device |
| CN110126918A (en) * | 2019-05-29 | 2019-08-16 | 合肥工业大学 | It is a kind of for reducing the calibration equipment and its method of calibration of rotary angle transmitter add up error |
| CN110487564A (en) * | 2019-08-26 | 2019-11-22 | 铱斯电子科技(上海)有限公司 | Steering wheel transmission ratio automatic calibration method |
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| CN114562961A (en) * | 2022-04-29 | 2022-05-31 | 合肥安迅精密技术有限公司 | Method and system for calibrating and compensating gear angle error by using incremental encoder |
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