CN103493794A - Seedbed monitoring management system and method - Google Patents
Seedbed monitoring management system and method Download PDFInfo
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- CN103493794A CN103493794A CN201310446703.2A CN201310446703A CN103493794A CN 103493794 A CN103493794 A CN 103493794A CN 201310446703 A CN201310446703 A CN 201310446703A CN 103493794 A CN103493794 A CN 103493794A
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Abstract
The invention provides a seedbed monitoring management system and method. The seedbed monitoring management system comprises a rail, an image acquisition unit, a control unit and a liquid pesticide spraying unit, wherein the rail is hung above a seedbed, the image acquisition unit and the liquid pesticide spraying unit move along the rail, the image acquisition unit is used for acquiring images of seedlings in an area corresponding to a preset position and sending the acquired images to the control unit, the control unit is used for controlling the image acquisition unit and the liquid pesticide spraying unit to reach the preset position, controls the image acquisition unit to carry out image acquisition, receives the images sent by the image acquisition unit, and sends liquid pesticide spraying control signals containing the information about liquid pesticide amount needing to be sprayed to the liquid pesticide spraying unit, and the liquid pesticide spraying unit is used for spraying liquid pesticide to the area in a target mode according to the liquid pesticide spraying control signals sent by the control unit. By means of the seedbed monitoring management system and method, quantitative and target liquid pesticide spraying is carried out on the seedlings in different areas on the seedbed, and liquid pesticide can be saved.
Description
Technical field
The present invention relates to the seedling growing process field, particularly a kind of seedbed monitors the management system and method.
Background technology
Along with the industrial breeding technique development, the seedling production scale progressively enlarges.In actual production process, usually take the cave dish as the seedling load bearing unit, be laid on forcing frame and carry out unified management.Relate to the content that liquid medicine jet applies industry in seed and seedling management and mainly comprise irrigation, fertilising and dispenser.
In the prior art, for the required liquid medicine jet of the seedling on seedbed, apply industry, the method that generally adopts the lift-on/lift-off type liquid to spray, unified to spray to seedling from the top, seedbed.When needs carry out medicine liquid spray, use the liquid of unified dosage and concentration, the seedling in whole seedbed is carried out to spray liquid.
Because the regional that is distributed in greenhouse is coiled in the seedling cave, be subject to different spaces temperature, humidity and illumination factor differentia influence, the upgrowth situation difference of seedling.The different upgrowth situation for seedling, need to use to seedling the liquid of variable concentrations and dosage.In the prior art, the seedling in whole seedbed is used to the liquid of unified dosage and concentration, still, due to the upgrowth situation difference of the seedling of zones of different, the dosage of the liquid needed and concentration are also different, use the waste that unified dosage and concentration can cause liquid.
Summary of the invention
The invention provides a kind of seedbed and monitor the management system and method, carry out quantitatively target being sprayed to liquid for the seedling of zones of different on seedbed, can save liquid.
On the one hand, the invention provides a kind of seedbed and monitor management system, described system comprises:
Image acquisition units, liquid spray unit, control module and track;
Described track, hang on the top, seedbed, and image acquisition units and liquid spray unit and move along it;
Described image acquisition units, carry out IMAQ for the seedling on the zone corresponding in Shang Duigai position, predefined position, and the image collected is sent to control module;
Described control module, spray unit and arrive predefined position for controlling described image acquisition units and liquid, control image acquisition units and carry out IMAQ, receive the image that image acquisition units is sent, transmission comprises that the liquid of the liquid dose that need to spray sprays control signal and sprays unit to liquid;
Described liquid sprays unit, sprays control signal for the liquid of sending according to control module described zone is sprayed to liquid to target.
Further, described system also comprises: the first walking unit sprays unit along rail moving for carrying image collecting unit and liquid;
Described the first walking unit comprises: rail wheel, bracing frame, the first motor and belt pulley;
The first motor is connected with control module, and first of control the first motor rotation that reception control unit is sent moves control signal;
Belt pulley is connected with rail wheel by wheel shaft and is connected with the first motor by belt, and the first motor is connected with bracing frame, and image acquisition units sprays unit with liquid and is connected with bracing frame.
Further, described system also comprises: the second walking unit sprays unit for carrying image collecting unit and liquid and is moving on different direction at the moving direction from the first walking unit above seedbed;
Described the second walking unit comprises: sprocket wheel, the second motor and shaped chain;
The second motor is connected with control module, and second of control the second motor rotation that reception control unit is sent moves control signal;
The second motor is connected with sprocket wheel, and sprocket wheel rolls on shaped chain;
The second walking unit is connected with the first walking unit;
Described image acquisition units sprays unit with described liquid and is connected with described the second motor, drives image acquisition units and liquid by the second motor simultaneously and sprays unit and move along shaped chain.
Further, described image acquisition units comprises: video camera;
Described liquid sprays unit and comprises: spray boom, drug liquid tube, magnetic valve and nozzle;
Magnetic valve is connected with control module, and the liquid sent for the control module according to receiving sprays the liquid sprayed dose that control signal is carried out Control Nozzle;
Magnetic valve is arranged on spray boom, and spray boom one end is connected with nozzle, and the other end is connected with drug liquid tube, and drug liquid tube is connected with the far-end spray pump.
Further, described system also comprises the first encoder and the second encoder;
Described the first encoder is arranged on the first motor, for rotating speed and the displacement signal that obtains the first motor, and the rotating speed of described the first motor and displacement signal is sent to control module;
Described the second encoder is arranged on the second motor, for rotating speed and the displacement signal that obtains the second motor, and the rotating speed of described the second motor and displacement signal is sent to control module;
Described control module is also for the rotating speed of the first motor of sending according to described the first encoder and the running that displacement signal is controlled the first motor, and the rotating speed of the second motor of sending according to the second encoder and displacement signal are controlled the running of the second motor.
Further, to spray control signal be the pulse width modulation (PWM) signal to described liquid.
Further, described video camera be in visible light camera, high spectrum video camera, thermal camera any one.
On the other hand, the invention provides a kind of seedbed and monitor management method, described method comprises:
Control image capture device and liquid medicine jet are arranged the standby track along the top, seedbed and are arrived predefined position and send the IMAQ control signal to image capture device;
Seedling on the image capture device zone corresponding in Shang Duigai position, predefined position according to the IMAQ control signal carries out IMAQ;
Receive the image that image acquisition units is sent, send and comprise that the liquid of the liquid dose that need to spray sprays control signal;
Liquid medicine jet is arranged for according to liquid, spraying control signal described zone is sprayed to liquid to target.
Further, at described control image capture device and liquid medicine jet, arrange for before arriving predefined position, further comprise:
Obtain rotating speed and the displacement signal of motor.
Further, to spray control signal be the pulse width modulation (PWM) signal to described liquid.
Monitor the management system and method by a kind of seedbed provided by the invention, IMAQ is carried out in the zone corresponding to predefined position, and the dosage of spray liquid carries out target is sprayed to liquid to this zone as required, can save liquid.
The accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation that a kind of seedbed that one embodiment of the invention provides monitors management system;
Fig. 2 is the structural representation that a kind of seedbed that one embodiment of the invention provides monitors a kind of the first walking unit in management system;
In figure, 2-1, rail wheel; 2-2, bracing frame; 2-3, the first motor; 2-4, vertical rod; 2-5, belt pulley; 2-6, track; 2-7, wheel shaft;
Fig. 3 is the structural representation that a kind of seedbed that one embodiment of the invention provides monitors a kind of the second walking unit in management system;
In figure, 3-1, vertical rod; 3-2, drag chain; 3-3, sprocket wheel; 3-4, the second motor; 3-5, motor shaft; 3-6, motor fixing plate; 3-7, slide block; 3-8, angle steel; 3-9, support section bar; 3-10, video camera; 3-11, video camera fixed head; 3-12, shaped chain; 3-13, guide rail;
Fig. 4 is that a kind of seedbed that one embodiment of the invention provides monitors that a kind of liquid in management system sprays the structural representation of unit;
In figure, 4-1, drag chain movable end; 4-2, sprocket wheel; 4-3, the second motor; 4-4, support section bar; 4-5, shaped chain; 4-6, motor fixing plate; 4-7, spray boom fixed card; 4-8, slide block; 4-9, video camera fixed head; 4-10, video camera; 4-11, spray boom; 4-12, nozzle; 4-13, drug liquid tube; 4-14, guide rail;
Fig. 5 is that a kind of seedbed that one embodiment of the invention provides monitors the management method flow diagram.
Embodiment
For the purpose, technical scheme and the advantage that make the embodiment of the present invention clearer; below in conjunction with the accompanying drawing in the embodiment of the present invention; technical scheme in the embodiment of the present invention is clearly and completely described; obviously; described embodiment is the present invention's part embodiment, rather than whole embodiment, the embodiment based in the present invention; the every other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work, belong to the scope of protection of the invention.
Along with the industrial breeding technique development, the seedling production scale progressively enlarges.In actual production process, usually take the cave dish as the seedling load bearing unit, be laid on forcing frame and carry out unified management.For seedbed is managed, the embodiment of the present invention provides a kind of seedbed to monitor management system, and referring to Fig. 1, this system comprises:
Wherein, the liquid that control module 102 sends sprays control signal and can be judged by the image of manually image acquisition units being sent, rule of thumb draw the dosage of the liquid that need to spray by the upgrowth situation of the seedling in image, the dosage of the liquid that artificial input need to spray is to control module, and control module 102 converts the information of this input to liquid and sprays control signal; Can also be by corresponding recognizer, automatically the image of image acquisition units being sent is identified, send the information of the dosage of the liquid that need to spray to control module according to the upgrowth situation of the seedling identified, control module 102 converts this information to liquid and sprays control signal, for example by image recognition, goes out the ratio that kind of seedling leaf pixel accounts for image-region and determines the liquid dose that need to spray.
In order to make image acquisition units 101 and liquid spray each position that unit 103 can move to seedbed, this system also comprises: the first walking unit 105 sprays unit 103 along rail moving for carrying image collecting unit 101 and liquid.
The first walking unit 105 comprises: rail wheel, bracing frame, the first motor and belt pulley.
The first motor is connected with control module 102, and first of control the first motor rotation that reception control unit is sent moves control signal;
Belt pulley is connected with rail wheel by wheel shaft and is connected with the first motor by belt, and the first motor is connected with bracing frame, and image acquisition units 101 sprays unit 103 with liquid and is connected with bracing frame.
Particularly, referring to Fig. 2, the first walking unit 105 comprises: rail wheel 2-1, bracing frame 2-2, the first motor 2-3, vertical rod 2-4, belt pulley 2-5 and wheel shaft 2-7 also comprise in figure: track 2-6.
Wheel shaft 2-7 two ends attachment rail wheel 2-1, rail wheel 2-1 are on track 2-6, belt pulley 2-5 is on wheel shaft 2-7, between rail wheel 2-1 on this wheel shaft 2-7, belt pulley 2-5 is connected with the first motor 2-3 by belt, and image acquisition units sprays unit with liquid and is connected with bracing frame 2-2 by vertical rod 2-4.
Wherein, can to take the circular pipe that is set up in the top, greenhouse be support in the first walking unit 105.Bracing frame 3-2 can be used for Bearer Control unit 102.
Can arrive any zone on seedbed in order to make image acquisition units and liquid spray unit, this system also comprises: the second walking unit 106 sprays on the direction different at the moving direction from the first walking unit 105 of top, 103 seedbed, unit and moves for carrying image collecting unit 101 and liquid;
The second walking unit 106 comprises: sprocket wheel, the second motor and shaped chain;
The second motor is connected with control module, and second of control the second motor rotation that reception control unit 102 is sent moves control signal;
The second motor is connected with sprocket wheel, and sprocket wheel rolls on shaped chain;
The second walking unit 106 is connected with the first walking unit 105,
Particularly, referring to Fig. 3, the second walking unit 106 comprises: vertical rod 3-1, drag chain 3-2, sprocket wheel 3-3, the second motor 3-4, motor shaft 3-5, motor fixing plate 3-6, slide block 3-7, angle steel 3-8, support section bar 3-9, shaped chain 3-12 and guide rail 3-13; In figure, also comprise: video camera 3-10, video camera fixed head 3-11.
Wherein, the second motor 3-4 is arranged on motor fixing plate 3-6, motor shaft 3-5 and sprocket wheel assembling 3-3, the lower side panel of motor fixing plate 3-6 and slide block 3-7 fix, the epipleural of motor fixing plate 3-6 and drag chain 3-2 movable end are fixed, drag chain 3-2 is installed on and supports section bar 3-9 upper side, guide rails assembling is in supporting section bar 3-9 downside, the perpendicular edge of angle steel 3-8 is fixed in and supports section bar 3-9 left surface, angle steel 3-8 horizontal sides upper surface is installed shaped chain 3-12, , video camera 3-9 is by video camera fixed head 3-11 and slide block 3-7 fixed installation, slide block 3-7 is connected with guide rail 3-13.
Wherein, on shaped chain 3-12 bending chain-plate, have locating hole to install for self fixing, it is upper that the second motor 3-4 can be arranged on motor fixing plate 3-6 by flange, and motor shaft 3-5 connects and sprocket wheel assembling 3-3 by key, and sprocket shaft is to the nut location is arranged.Motor fixing plate is U-shaped sheet material bending component.
The second driven by motor sprocket wheel rotation, sprocket wheel and shaped chain engagement, make the second motor, motor fixing plate, slide block along the guide rail rectilinear motion.
In addition, the direction of motion of the first walking unit 105 is different from the direction of motion of the second walking unit 106, can carrying image collecting unit 101 and liquid spray unit 103 under the driving of two degree of freedom directions, can arrive any zone, plane, seedbed top, thereby realize the supervision in seedbed and spray management.Wherein, preferably the direction of motion of the first walking unit 105 is vertical with the direction of motion of the second walking unit 106.
Wherein, video camera can adopt visible light camera, high spectrum video camera or thermal camera etc., according to different regulatory requirements, select the image capture device of different-waveband, realization is to seedling nutrition, water content of substrate, kind seedling leaf size and plant the collection of the various information such as Seedling Diseases and obtain, and reaches the effect of corresponding management by applying different liquid doses.
Magnetic valve is connected with control module 102, and the liquid sent for the control module 102 according to receiving sprays the liquid sprayed dose that control signal is carried out Control Nozzle;
Magnetic valve is arranged on spray boom, and spray boom one end is connected with nozzle, and the other end is connected with drug liquid tube, and drug liquid tube is connected with the far-end spray pump.
Particularly, referring to Fig. 4, liquid sprays unit 103 and comprises: spray boom fixed card 4-7, spray boom 4-11, magnetic valve and nozzle 4-12, drug liquid tube 4-13;
In figure, also comprise: 4-1, drag chain movable end; 4-2, sprocket wheel; 4-3, the second motor; 4-4, support section bar; 4-5, shaped chain; 4-6, motor fixing plate; 4-8, slide block; 4-9, video camera fixed head; 4-10, video camera; 4-14, guide rail.
Drug liquid tube 4-13 is connected with the far-end spray pump, solenoid control drug liquid tube 4-13 road break-make, the sprayed dose of while reception control unit signal controlling nozzle 4-12, spray boom 4-11 fixes by spray boom fixed card 4-7 and slide block 4-8, the one end connects nozzle 4-12, and the other end is connected with drug liquid tube 4-13.
Wherein, the spray boom that the video camera in image acquisition units 101 and liquid spray in unit 103 is all fixed with slide block, by the first motor and the second driven by motor synchronizing moving, realizes IMAQ and the tight linking that sprays liquid.
Spray in order to make control module 102 can accurately obtain image acquisition units 101 and liquid the position that unit 103 arrives, avoid video camera to carry out the multiimage collection to the same area or the seedling image between adjacent fields of view is adopted in leakage, and control image acquisition units 101 and liquid and spray unit 103 and arrive assigned addresses, this system has increased the first encoder 107 and the second encoder 108.
The first encoder 107 is arranged on the first motor, for rotating speed and the displacement signal that obtains the first motor, and the rotating speed of the first motor and displacement signal is sent to control module 102;
The second encoder 108 is arranged on the second motor, for rotating speed and the displacement signal that obtains the second motor, and the rotating speed of the second motor and displacement signal is sent to control module 102;
It can be PWM (Pulse Width Modulation, pulse width modulation) signal that above-mentioned liquid sprays control signal.Control module 102 output pwm signals are to magnetic valve, control the opening of magnetic valve, and then control liquid and spray unit 103 and spray liquid.
Wherein, at video camera and spray boom, above seedbed in the synchronizing moving process, according to zones of different seedling image information, the controller output pwm signal is controlled the magnetic valve opening, and the pwm signal of different duty can be realized the control that sprays to the various dose liquid.
It should be noted that, control module 102 sprays unit 102, the first walking unit 105, the second walking unit 106, the first encoder 107, the second encoder 108 with image acquisition units 101, liquid respectively and is connected by cable, or carries out data communication by wireless.Drag chain 3-2 inside can hold above-mentioned cable.
The embodiment of the present invention also provides a kind of seedbed to monitor management method, and referring to Fig. 5, the method concrete steps comprise:
Step 501: control image capture device and liquid medicine jet are arranged the standby track along the top, seedbed and are arrived predefined position and send the IMAQ control signal to image capture device;
Step 502: the seedling on the image capture device zone corresponding in Shang Duigai position, predefined position according to the IMAQ control signal carries out IMAQ;
Step 503: receive the image that image acquisition units is sent, send and comprise that the liquid of the liquid dose that need to spray sprays control signal;
Step 504: liquid medicine jet is arranged for according to liquid, spraying control signal this zone is sprayed to liquid to target.
Wherein, at control image capture device and liquid medicine jet, arrange for before arriving predefined position, further comprise:
Obtain rotating speed and the displacement signal of motor.
It is the pulse width modulation (PWM) signal that liquid sprays control signal.
By the description to above-described embodiment, the visible embodiment of the present invention has following beneficial effect:
1, monitor the management system and method by a kind of seedbed provided by the invention, IMAQ is carried out in the zone corresponding to predefined position, and the liquid dose sprayed as required carries out target is sprayed to liquid to this zone, can save liquid.
2, a kind of seedbed provided by the embodiment of the present invention monitors the management system and method, can spray quantitative liquid according to the upgrowth situation of seedling in certain area, is conducive to promote the growth of seedling, is conducive to improve the production efficiency of growing seedlings.
It should be noted that, in this article, relational terms such as first and second only is used for an entity or operation are separated with another entity or operating space, and not necessarily requires or imply between these entities or operation the relation of any this reality or sequentially of existing.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby make the process, method, article or the equipment that comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or also be included as the intrinsic key element of this process, method, article or equipment.In the situation that not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other same factor.
One of ordinary skill in the art will appreciate that: realize that the hardware that all or part of step of said method embodiment can be relevant by programmed instruction completes, aforesaid program can be stored in the storage medium of embodied on computer readable, this program, when carrying out, is carried out the step that comprises said method embodiment; And aforesaid storage medium comprises: in the various media that can be program code stored such as ROM, RAM, magnetic disc or CD.
Finally it should be noted that: the foregoing is only preferred embodiment of the present invention, only, for technical scheme of the present invention is described, be not intended to limit protection scope of the present invention.All any modifications of making within the spirit and principles in the present invention, be equal to replacement, improvement etc., all be included in protection scope of the present invention.
Claims (10)
1. a seedbed monitors management system, it is characterized in that, described system comprises:
Image acquisition units, liquid spray unit, control module and track;
Described track, hang on the top, seedbed, and image acquisition units and liquid spray unit and move along it;
Described image acquisition units, carry out IMAQ for the seedling on the zone corresponding in Shang Duigai position, predefined position, and the image collected is sent to control module;
Described control module, spray unit and arrive predefined position for controlling described image acquisition units and liquid, control image acquisition units and carry out IMAQ, receive the image that image acquisition units is sent, transmission comprises that the liquid of the liquid dose that need to spray sprays control signal and sprays unit to liquid;
Described liquid sprays unit, sprays control signal for the liquid of sending according to control module described zone is sprayed to liquid to target.
2. system according to claim 1, is characterized in that, described system also comprises: the first walking unit sprays unit along rail moving for carrying image collecting unit and liquid;
Described the first walking unit comprises: rail wheel, bracing frame, the first motor and belt pulley;
The first motor is connected with control module, and first of control the first motor rotation that reception control unit is sent moves control signal;
Belt pulley is connected with rail wheel by wheel shaft and is connected with the first motor by belt, and the first motor is connected with bracing frame, and image acquisition units sprays unit with liquid and is connected with bracing frame.
3. system according to claim 1 and 2, is characterized in that, described system also comprises: the second walking unit sprays unit for carrying image collecting unit and liquid and is moving on different direction at the moving direction from the first walking unit above seedbed;
Described the second walking unit comprises: sprocket wheel, the second motor and shaped chain;
The second motor is connected with control module, and second of control the second motor rotation that reception control unit is sent moves control signal;
The second motor is connected with sprocket wheel, and sprocket wheel rolls on shaped chain;
The second walking unit is connected with the first walking unit;
Described image acquisition units sprays unit with described liquid and is connected with described the second motor, drives image acquisition units and liquid by the second motor simultaneously and sprays unit and move along shaped chain.
4. system according to claim 3, is characterized in that,
Described image acquisition units comprises: video camera;
Described liquid sprays unit and comprises: spray boom, drug liquid tube, magnetic valve and nozzle;
Magnetic valve is connected with control module, and the liquid sent for the control module according to receiving sprays the liquid sprayed dose that control signal is carried out Control Nozzle;
Magnetic valve is arranged on spray boom, and spray boom one end is connected with nozzle, and the other end is connected with drug liquid tube, and drug liquid tube is connected with the far-end spray pump.
5. according to the described system of claim 2 or 3, it is characterized in that, described system also comprises the first encoder and the second encoder;
Described the first encoder is arranged on the first motor, for rotating speed and the displacement signal that obtains the first motor, and the rotating speed of described the first motor and displacement signal is sent to control module;
Described the second encoder is arranged on the second motor, for rotating speed and the displacement signal that obtains the second motor, and the rotating speed of described the second motor and displacement signal is sent to control module;
Described control module is also for the rotating speed of the first motor of sending according to described the first encoder and the running that displacement signal is controlled the first motor, and the rotating speed of the second motor of sending according to the second encoder and displacement signal are controlled the running of the second motor.
6. according to the described system of claim 1 or 3, it is characterized in that, it is the pulse width modulation (PWM) signal that described liquid sprays control signal.
7. system according to claim 3, is characterized in that, described video camera be in visible light camera, high spectrum video camera, thermal camera any one.
8. a seedbed monitors management method, it is characterized in that, described method comprises:
Control image capture device and liquid medicine jet are arranged the standby track along the top, seedbed and are arrived predefined position and send the IMAQ control signal to image capture device;
Seedling on the image capture device zone corresponding in Shang Duigai position, predefined position according to the IMAQ control signal carries out IMAQ;
Receive the image that image acquisition units is sent, send and comprise that the liquid of the liquid dose that need to spray sprays control signal;
Liquid medicine jet is arranged for according to liquid, spraying control signal described zone is sprayed to liquid to target.
9. method according to claim 8, is characterized in that,
Arrange for before arriving predefined position at described control image capture device and liquid medicine jet, further comprise:
Obtain rotating speed and the displacement signal of motor.
10. method according to claim 9, is characterized in that, it is the pulse width modulation (PWM) signal that described liquid sprays control signal.
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| CN105165773A (en) * | 2015-04-08 | 2015-12-23 | 李淑 | Pesticide spraying rate control platform |
| CN106665191A (en) * | 2016-07-01 | 2017-05-17 | 无锡江普创新科技有限公司 | Agricultural production device |
| CN108144080A (en) * | 2017-12-04 | 2018-06-12 | 国家林业局哈尔滨林业机械研究所 | Nursery soil liquid sprayer apparatus and the method for inspection |
| CN110987925A (en) * | 2019-11-08 | 2020-04-10 | 山东省水稻研究所 | Crop rotation soil fertility monitoring system |
| CN111955227A (en) * | 2020-08-31 | 2020-11-20 | 岳阳碧华粮食机械有限公司 | Seedling raising bed and seedling raising method |
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