CN104590553A - Rescue equipment - Google Patents
Rescue equipment Download PDFInfo
- Publication number
- CN104590553A CN104590553A CN201510008285.8A CN201510008285A CN104590553A CN 104590553 A CN104590553 A CN 104590553A CN 201510008285 A CN201510008285 A CN 201510008285A CN 104590553 A CN104590553 A CN 104590553A
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- China
- Prior art keywords
- module
- power take
- spheroid
- processing module
- described power
- Prior art date
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- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 22
- 229910052757 nitrogen Inorganic materials 0.000 description 11
- 230000000694 effects Effects 0.000 description 9
- 238000009434 installation Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 238000007667 floating Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 230000003064 anti-oxidating effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical group C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229920000271 Kevlar® Polymers 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000004761 kevlar Substances 0.000 description 1
- 229920003229 poly(methyl methacrylate) Polymers 0.000 description 1
- 239000004926 polymethyl methacrylate Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The invention discloses rescue equipment comprising a ball, four propellers, a power output module, a power module, a processing module, an LED lamp, a wireless transceiving module, a navigation module and an infrared recognition module, wherein the four propellers are arranged on the ball; the power output module is connected with the propellers, the power module is electrically connected with the power output module, and the power module is used for providing electric energy for the power output module; the processing module is connected with the power output module, and the wireless transceiving module is connected with the processing module; the navigation module is connected with the wireless processing module; and the infrared recognition module is connected with the processing module. Due to the arrangement of the infrared recognition module, the rescue equipment can recognize an infrared signal of a human body, so that the location error of the navigation module can be made up, and furthermore the infrared signal can be more accurately transmitted to an appointed place.
Description
Technical field
The present invention relates to rescue technique field, particularly relate to a kind of wrecking equipment.
Background technology
At present, in some disaster areas, such as, disaster area etc. behind earthquake-stricken area, tsunami; In some small-sized accidents or unexpected on-the-spot, such as, scene of an automobile accident, tourist lose or incident area etc., have occurred the problem that tragedy occurs because rescuing not in time all more or less.
For the problems referred to above, various wrecking equipment has appearred in market, but these wrecking equipments also has following drawback: when night, sending to of the more difficult observation wrecking equipment of recipient of wrecking equipment, causes recipient to miss and accepts wrecking equipment in time.Wrecking equipment needs to rely on outside conveyer, such as, aircraft or boats and ships are transported to appointed place, like this, the rescue time of more preciousness can be wasted, and utilize the conveyer such as aircraft or boats and ships cost high, in addition, utilize that these conveyers are also more difficult is transported to appointed place accurately by wrecking equipment.
Summary of the invention
Based on this, be necessary to provide a kind of can be suitable for rescue at night, accurately send to wrecking equipment to giving directions place better.
A kind of wrecking equipment, comprising:
Spheroid,
Four screw propellers, four described screw propellers are installed on described spheroid, and described screw propeller flies for driving described spheroid;
Power take-off module, described power take-off module is connected with described screw propeller, and described power take-off module is used for providing power to described propeller rotational;
Power module, described power module is electrically connected with described power take-off module, and described power module is used for providing electric energy to described power take-off module;
Processing module, described processing module is connected with described power take-off module, and described processing module is used for described power take-off module sending controling instruction;
LED, described LED is arranged in described spheroid, and described LED is connected with described power module;
Radio receiving transmitting module, described radio receiving transmitting module is connected with described processing module, and described radio receiving transmitting module is used for sending and accepting wireless signal and pass to described processing module;
Navigation module, described navigation module is connected with described wireless processing module, navigation map is preset with in described navigation module, after described processing module accepts described wireless signal, compare with described navigation map, and give described power take-off module sending controling instruction, described power take-off module responds described control command, for controlling the flight of described screw propeller;
Infrared identification module, described infrared identification module is connected with described processing module, described infrared identification module is for identifying human infrared signal, described processing module responds described human infrared signal, and give described power take-off module sending controling instruction, described power take-off module responds described control command, for controlling the flight of described screw propeller.
Wherein in an embodiment, the outside face of described spheroid is also provided with solar cell, and described solar cell is connected with described power module, powers for giving described power module.
Wherein in an embodiment, described solar cell is curved structure.
Wherein in an embodiment, the quantity of described solar cell is some.
Wherein in an embodiment, some described solar cells are spliced to form spherical shape structure.
Wherein in an embodiment, four described screw propellers are evenly installed on described spheroid.
Wherein in an embodiment, four described screw propellers are installed in the arc length of 1/3rd of described spheroid.
Above-mentioned wrecking equipment, by arranging infrared identification module, can identify the infrared signal of human body, thus can make up the error of navigation module location, thus can send to more accurately to indication place.
Accompanying drawing explanation
Fig. 1 is the structural representation of the wrecking equipment of an embodiment of the present invention;
Fig. 2 is the structural representation of another angle of the wrecking equipment shown in Fig. 1;
The structural representation of the another angle that Fig. 3 is the wrecking equipment shown in Fig. 1;
Fig. 4 is the structural representation of the wrecking equipment of another embodiment of the present invention.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.Better embodiment of the present invention is given in accompanying drawing.But the present invention can realize in many different forms, is not limited to embodiment described herein.On the contrary, provide the object of these embodiments be make to disclosure of the present invention understand more thorough comprehensively.
It should be noted that, when element is called as " being fixed on " another element, directly can there is element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be directly connected to another element or may there is centering elements simultaneously.Term as used herein " vertical ", " level ", "left", "right" and similar statement just for illustrative purposes, do not represent it is unique embodiment.
Unless otherwise defined, all technology used herein and scientific terminology are identical with belonging to the implication that those skilled in the art of the present invention understand usually.The object of term used in the description of the invention herein just in order to describe concrete embodiment, is not intended to be restriction the present invention.Term as used herein " and/or " comprise arbitrary and all combinations of one or more relevant Listed Items.
Such as, a kind of wrecking equipment, comprising: spheroid, four screw propellers, and four described screw propellers are installed on described spheroid, and described screw propeller flies for driving described spheroid; Power take-off module, described power take-off module is connected with described screw propeller, and described power take-off module is used for providing power to described propeller rotational; Power module, described power module is electrically connected with described power take-off module, and described power module is used for providing electric energy to described power take-off module; Processing module, described processing module is connected with described power take-off module, and described processing module is used for described power take-off module sending controling instruction; LED, described LED is arranged in described spheroid, and described LED is connected with described power module; Radio receiving transmitting module, described radio receiving transmitting module is connected with described processing module, and described radio receiving transmitting module is used for sending and accepting wireless signal and pass to described processing module; Navigation module, described navigation module is connected with described wireless processing module, navigation map is preset with in described navigation module, after described processing module accepts described wireless signal, compare with described navigation map, and give described power take-off module sending controling instruction, described power take-off module responds described control command, for controlling the flight of described screw propeller; Infrared identification module, described infrared identification module is connected with described processing module, described infrared identification module is for identifying human infrared signal, described processing module responds described human infrared signal, and give described power take-off module sending controling instruction, described power take-off module responds described control command, for controlling the flight of described screw propeller.
To the detailed description of the invention of above-mentioned wrecking equipment be introduced below:
See also Fig. 1 and Fig. 2, it is the structural representation of the different visual angles of the wrecking equipment 10 of an embodiment of the present invention.Wrecking equipment 10 comprises spheroid 100, four screw propellers 200 and LED 300, four screw propellers 200 are arranged on described spheroid 100, and LED 300 is arranged in spheroid 100.Wrecking equipment 10 also comprises power take-off module, power module, processing module, radio receiving transmitting module, navigation module, infrared identification module, image capture module, nitrogen ball, stay cord, body sense gesture recognition module and light sensor, and described power take-off module, described power module, described processing module, described radio receiving transmitting module, described navigation module, described infrared identification module, described image capture module, described nitrogen ball, described stay cord, described body sense gesture recognition module and described light sensor are all arranged on spheroid 100.
Refer to Fig. 2, spheroid 100 is hollow spherical shape structure, and certain spheroid 100 can also be the oval chondritic of hollow.
In order to alleviate the quality of described spheroid and obtain mechanical characteristics strongly, time with being convenient to spheroid long and long-range flight, such as, the material of described spheroid is kevlar fiber; And for example, described spheroid is wound around and arranges thin titanium silk, like this, can alleviate the quality of described spheroid and obtain mechanical characteristics strongly, time with being convenient to spheroid long and long-range flight.
Refer to Fig. 1, four screw propellers 200 are installed on spheroid 100, and screw propeller 200 flies for driving spheroid 100, and screw propeller 200 rotates can produce up current, thus spheroid 100 can be driven aloft to fly, and then make spheroid 100 from the flight of initial place to appointed place.
In order to make described screw propeller drive described spheroid to fly better, such as, four described screw propellers are evenly installed on described spheroid; And for example, four described screw propellers are installed in the arc length of 1/3rd of described spheroid, like this, stressed more balanced, and described screw propeller can be made to drive described spheroid to fly better.
In order to install described screw propeller better, to make described screw propeller drive described spheroid to fly better, and described spheroid can be avoided to rotate generation interference to described screw propeller, such as, described spheroid is extended four mounting rods also; And for example, four described screw propeller one_to_one corresponding rotate the end being arranged at described four described mounting rods, like this, can install described screw propeller better, to make described screw propeller drive described spheroid to fly better, and described spheroid can be avoided to rotate generation interference to described screw propeller.
In order to carry out antirust treatment to described mounting rod, to alleviate the corrosion degree of described mounting rod, such as, described mounting rod is coated with rust proof layer; And for example, the thickness of described rust proof layer is 0.5mm ~ 1.5mm, like this, can carry out antirust treatment to described mounting rod, to alleviate the corrosion degree of described mounting rod.
Power take-off module is connected with screw propeller, and power take-off module is used for providing power to propeller rotational, and like this, power take-off module just can rotate by carrying screws, and propeller rotational can drive spheroid to fly.
Such as, described power take-off module comprises motor, and and for example, described motor is brushless motor, can avoid the problem of the excessive motor damage occurred of immediate current.
Power module is electrically connected with power take-off module, and power module is used for providing electric energy to power take-off module, thus makes power take-off module work, and then provides power to propeller rotational.Such as, described power module is storage battery.
In order to increase the cruise duration of described power module, such as, the outside face of described spheroid is also provided with solar cell, and described solar cell is connected with described power module, powers for giving described power module; And for example, the outside face of described spheroid is provided with solar energy sailboard, and described solar energy sailboard is connected with described power module, like this, can increase the cruise duration of described power module.
In order to install described solar cell better, such as, described solar cell is curved structure; And for example, the quantity of described solar cell is some; And for example, some described solar cells are spliced to form spherical shape structure, like this, can install described solar cell better.
Processing module is connected with power take-off module, and processing module is used for power take-off module sending controling instruction.By the process of processing module to various signal, and calculate control command, and then send to power take-off module, power take-off module controls screw propeller again, thus the flight of spheroid can be made more controlled.
Refer to Fig. 2, LED 300 is arranged in spheroid 100, and LED 300 is connected with power module, and power module can provide electric energy for LED 300 normal luminous.LED 300 under the environment of dark at night, can obtain good illuminating effect, also more observed and identification.
Such as, LED is LED spotlight.
Radio receiving transmitting module is connected with processing module, and radio receiving transmitting module is used for sending and accepting wireless signal and pass to processing module.
Such as, radio receiving transmitting module by described wireless signal feedback to processing module, and by after processing module process, can send to power take-off module and LED, to control the work of power take-off module and LED after accepting the wireless signal of server transmission.
Navigation module is connected with wireless processing module, is preset with navigation map in navigation module, after processing module accepts wireless signal, compare with navigation map, and give power take-off module sending controling instruction, the instruction of power take-off module response limiting, for controlling screw propeller flight.
Described spheroid can be controlled by navigation module and reach appointed place like clockwork, especially in the region that danger is remote.
Infrared identification module is connected with processing module, and infrared identification module is for identifying human infrared signal, and processing module responds human infrared signal, and gives power take-off module sending controling instruction, the instruction of power take-off module response limiting, for controlling screw propeller flight.
Above-mentioned wrecking equipment 10, by arranging infrared identification module, can identify the infrared signal of human body, thus can make up the error of navigation module location, thus can send to more accurately to indication place.
Image capture module is arranged at the outside of spheroid, and is connected with processing module, and image capture module obtains picture signal, and processing module receives picture signal, and processing module sends wireless signal by after picture signal process by radio receiving transmitting module.
Image capture module can the realtime graphic of collection site, by being sent to server by radio receiving transmitting module after the process of processing module, thus is convenient to observe by rescuer place field condition realtime graphic.
In order to the realtime graphic of collection site better, such as, described image capture module is high-definition camera equipment; And for example, described high-definition camera equipment is multiple; And for example, multiple described high-definition camera equipment is uniformly distributed along the circumference of described spheroid; And for example, the camera of described high-definition camera equipment also covers outward and establishes a waterproof layer.
In order to the realtime graphic of collection site better, such as, refer to Fig. 3, it is the structural representation of the another angle of the wrecking equipment 10 shown in Fig. 1.Camera 20 is arranged at the bottom of spheroid 100, like this, can carry out image acquisition better.
Above-mentioned wrecking equipment 10 can the realtime graphic of collection site by arranging image capture module, by being sent to outside server by radio receiving transmitting module after the process of processing module, thus is convenient to observe by rescuer place field condition realtime graphic.
Refer to Fig. 4, nitrogen ball 400 is arranged in spheroid 100, and nitrogen ball 400 drives in force-free state lower sphere 100 floating.Such as, in nitrogen ball 400, be filled with nitrogen, to guarantee safety performance.
One end of stay cord is connected with spheroid 100, and stay cord is used for being connected with by rescuer, such as, tie up with it rescuer, like this, based on the buoyancy of nitrogen ball 400 self, can make in force-free state lower sphere 100 floating, make to be more convenient for carrying above-mentioned wrecking equipment 10 by rescuer.
In order to install nitrogen ball 400 better, such as, refer to Fig. 4, spheroid 100 comprises diffuser 110, some installation rings 120 and some strut bars 130, and one end of strut bar 120 is arranged at nitrogen ball 400, and the other end of strut bar 130 is connected with installation ring 120, diffuser 110 is arranged at outside installation ring 120, the light therethrough diffuser 110 that LED 300 is launched exposes to outside, like this, can install nitrogen ball 400 better.
In order to strengthen mechanical characteristics and the heat dispersion of described spheroid, such as, the material of described installation ring is aluminum alloy; And for example, the outside face of described installation ring is also provided with some thermal columns; And for example, described LED is arranged at installation ring; And for example the winding of described LED uniform ring is placed in described installation ring; And for example, the material of described diffuser is polymethyl methacrylate, like this, can strengthen mechanical characteristics and the heat dispersion of described spheroid.
Above-mentioned wrecking equipment 10 can make, in force-free state lower sphere 100 floating, to alleviate the weight of bearing required for carrier by arranging nitrogen ball 400, in addition, can, being strapped in it carrier, make carrier be more convenient for carrying by arranging stay cord.
Body sense gesture recognition module is connected with processing module, body sense gesture recognition module is used for obtaining body sense gesture identification signal, processing module response body sense gesture identification signal, and gives power take-off module sending controling instruction, the instruction of power take-off module response limiting, for controlling screw propeller flight.
The hand signal of carrier can be identified by body sense gesture recognition module, and fly according to hand signal, thus carry out better carrying operation, in addition, again in conjunction with the illuminating effect of LED, can more be convenient to carry out operation of exploring the way, especially dangerous and in the region that dark sight line is not good, can avoid being got deeply stuck in dangerous situation by rescuer by gesture recognition module.
In order to install described body sense gesture recognition module better, and be convenient to described body sense gesture recognition module identification body sense hand signal, such as, the material of described strut bar is carbon fiber; And for example, described strut bar has bending structure; And for example, described body sense gesture recognition module is arranged at the end of described mounting rod, like this, can install described body sense gesture recognition module better.
Above-mentioned wrecking equipment 10 can identify the hand signal of carrier by arranging body sense gesture recognition module, and fly according to hand signal, thus carry out better carrying operation, in addition, again in conjunction with the illuminating effect of LED, can more be convenient to carry out operation of exploring the way, especially dangerous and in the region that dark sight line is not good, carrier can be avoided to get deeply stuck in dangerous situation by gesture recognition module.
Light sensor is connected with processing module, LED is also connected with processing module, and light sensor obtains outside light luminance signal, processing module response light luminance signal, and sending luminance signal to LED, LED response luminance signal also regulates self brightness.
Automatically can control the brightness of LED by arranging light sensor, thus LED can be made to carry out brightness regulation with extraneous light, to obtain more preferably illuminating effect, and also can obtain better energy-saving effect.
In order to install described light sensor better, such as, described spheroid is extended four mounting rods also, and four described screw propeller one_to_one corresponding rotate the end being arranged at described four described mounting rods; And for example, described strut bar has bending structure; And for example, described light sensor is arranged at the end of described mounting rod, like this, can install described light sensor better.
In order to make described mounting rod have better oxidation-protective effect, such as, described mounting rod is coated with antioxidation coating.The thickness of described antioxidation coating is 0.3mm ~ 0.8mm; And for example, the material of described strut bar is carbon fiber, like this, described mounting rod can be made to have better oxidation-protective effect.
Above-mentioned wrecking equipment 10 can control the brightness of LED automatically by arranging light sensor, thus LED can be made to carry out brightness regulation with extraneous light, to obtain more preferably illuminating effect, and also can obtain better energy-saving effect.
Such as, the wrecking equipment that formed of the mutual combination of the various embodiments described above.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (7)
1. a wrecking equipment, is characterized in that, comprising:
Spheroid,
Four screw propellers, four described screw propellers are installed on described spheroid, and described screw propeller flies for driving described spheroid;
Power take-off module, described power take-off module is connected with described screw propeller, and described power take-off module is used for providing power to described propeller rotational;
Power module, described power module is electrically connected with described power take-off module, and described power module is used for providing electric energy to described power take-off module;
Processing module, described processing module is connected with described power take-off module, and described processing module is used for described power take-off module sending controling instruction;
LED, described LED is arranged in described spheroid, and described LED is connected with described power module;
Radio receiving transmitting module, described radio receiving transmitting module is connected with described processing module, and described radio receiving transmitting module is used for sending and accepting wireless signal and pass to described processing module;
Navigation module, described navigation module is connected with described wireless processing module, navigation map is preset with in described navigation module, after described processing module accepts described wireless signal, compare with described navigation map, and give described power take-off module sending controling instruction, described power take-off module responds described control command, for controlling the flight of described screw propeller;
Infrared identification module, described infrared identification module is connected with described processing module, described infrared identification module is for identifying human infrared signal, described processing module responds described human infrared signal, and give described power take-off module sending controling instruction, described power take-off module responds described control command, for controlling the flight of described screw propeller.
2. wrecking equipment according to claim 1, is characterized in that, the outside face of described spheroid is also provided with solar cell, and described solar cell is connected with described power module, powers for giving described power module.
3. wrecking equipment according to claim 2, is characterized in that, described solar cell is curved structure.
4. wrecking equipment according to claim 3, is characterized in that, the quantity of described solar cell is some.
5. wrecking equipment according to claim 4, is characterized in that, some described solar cells are spliced to form spherical shape structure.
6. wrecking equipment according to claim 1, is characterized in that, four described screw propellers are evenly installed on described spheroid.
7. wrecking equipment according to claim 6, is characterized in that, four described screw propellers are installed in the arc length of 1/3rd of described spheroid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510008285.8A CN104590553B (en) | 2015-01-05 | 2015-01-05 | Rescue aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510008285.8A CN104590553B (en) | 2015-01-05 | 2015-01-05 | Rescue aid |
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| Publication Number | Publication Date |
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| CN104590553A true CN104590553A (en) | 2015-05-06 |
| CN104590553B CN104590553B (en) | 2017-06-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510008285.8A Expired - Fee Related CN104590553B (en) | 2015-01-05 | 2015-01-05 | Rescue aid |
Country Status (1)
| Country | Link |
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| CN (1) | CN104590553B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146608A (en) * | 2017-12-19 | 2018-06-12 | 北京航空航天大学 | A kind of rotor with vectored thrust and air bag combined type lighter-than-air flight device |
| CN109152159A (en) * | 2017-06-28 | 2019-01-04 | 深圳市海洋王照明工程有限公司 | A kind of long-distance intelligent illumination control apparatus, system and method |
| CN109562825A (en) * | 2016-08-26 | 2019-04-02 | 小鹰公司 | Multi-rotor aerocraft with the configuration of wide span rotor |
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| CN102556341A (en) * | 2011-12-05 | 2012-07-11 | 北京航空航天大学 | Group flying robot with distribution and self-assembly characteristics |
| CN203294313U (en) * | 2013-06-06 | 2013-11-20 | 儋州市公安局 | Police quadrotor type unmanned aerial vehicle |
| CN204415721U (en) * | 2015-01-05 | 2015-06-24 | 惠州市加迈电器有限公司 | Wrecking equipment |
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| US4296892A (en) * | 1979-01-02 | 1981-10-27 | Barge Presley O | Spherical living module or space |
| CN201136591Y (en) * | 2007-04-25 | 2008-10-22 | 谭清斌 | Aerocraft for flighting in any directions |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109562825A (en) * | 2016-08-26 | 2019-04-02 | 小鹰公司 | Multi-rotor aerocraft with the configuration of wide span rotor |
| CN109562825B (en) * | 2016-08-26 | 2022-08-05 | 小鹰公司 | Multi-rotor aircraft with wide span rotor configuration |
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| CN108146608B (en) * | 2017-12-19 | 2020-11-24 | 北京航空航天大学 | Rotor and inflatable air bag combined type floating aircraft with vector thrust |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104590553B (en) | 2017-06-20 |
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