CN104809606A - Warehouse management system with multi-guide-vehicle dispatching and distribution function - Google Patents
Warehouse management system with multi-guide-vehicle dispatching and distribution function Download PDFInfo
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Abstract
The invention discloses a warehouse management system with a multi-guide-vehicle dispatching and distribution function. The warehouse management system comprises a central management system and guide vehicles. The central management system reads material lists to obtain the inventory and position information of materials, selects appropriate guide vehicle types and number according to task quantity and the material positions, distributes the traveling routes for the guide vehicles, and selects the guide vehicles and distributes material input and output tasks according to the shortest time principle. The guide vehicles travel in a warehouse along the routes distributed by the central management system and have functions of self-positioning and barrier avoiding. The guide vehicles complete material information scanning, map information displaying and task displaying and receiving through vehicular interaction equipment and transmit guide vehicle state information to the central management system. The warehouse management system has the advantages that the guide vehicles are dispatched according to the comprehensive material information and the state information of the guide vehicles, the guide vehicles travel along the distributed routes to target positions to complete material input and output, a traditional warehouse management manner is optimized, and warehouse management efficiency is increased.
Description
Technical field
The present invention relates to warehouse management system technical field, especially a kind of warehouse management system with many guide vehicles dispatching distribution function.
Background technology
Along with improving constantly of factory automation level and Modern Logistics Technology, the requirement for warehouse management system is more and more higher.The efficiency of warehouse management system directly affects the running efficiency of enterprise.Especially for manufacturing enterprise, have a large amount of parts warehouse-ins and outbound every day, only rely on traditional manual allocation mode to read store list, storehouse come in and gone out by corresponding material, efficiency is lower.And the automatic improving of warehousing management can improve the efficiency that material goes out warehouse-in, production line is run more quickly, for the information process-of material, simplify complicated flow process, improve the work efficiency of staff.
Be in the patent of 101051362 at publication number, propose a kind of warehouse management system and a kind of fork truck for this system.This invention proposes the warehouse positioning system based on RFID, central data processing facility processes the information and transmit operation information that receive, and a kind of fork truck adding vehicle-mounted terminal equipment.
This invention comes with some shortcomings, do not mention that dispatching distribution many fork trucks go out warehouse-in task to complete material simultaneously, and in the warehouse of reality, the inventory going out warehouse-in is larger, often need many fork trucks to run to finish the work simultaneously, so just have higher efficiency; Meanwhile, be not that any material is all applicable to having carried out out warehouse-in from electrical forklift, smallclothes, sporadic material still need manually to choose, and how the relation between artificial selection and guide vehicle defines, and also can affect the efficiency of warehouse-in.
In a word, along with the material discrepancy amount in warehouse can be increasing, need more guide vehicle to operate just to complete the carrying task of material simultaneously, and increasing along with guide vehicle, warehouse management system needs to have the function that dispatching distribution many guide vehicles are simultaneously finished the work in order.Do not find explanation or the report of technology similar to the present invention at present, not yet collect similar data both at home and abroad yet.
Summary of the invention
The present invention is in order to overcome above shortcomings in traditional warehouse management system, and propose a kind of warehouse management system with many guide vehicles dispatching distribution function, this warehouse management system improves the efficiency of warehouse management system better.
To achieve these goals, the present invention is realized by following proposal:
There is a warehouse management system for many guide vehicles dispatching distribution function, comprise center management system and at least one guide vehicle; Wherein, described center management system obtains material discrepancy library information by reading store list, and the guide vehicle of library information selection suitable type of coming in and going out according to material, according to the current state information of guide vehicles all under the type, select to finish the work the guide vehicle of shortest time, and be this guide vehicle distribution driving path.
Preferably, described center management system comprises scheduling allocation units and stock-keeping unit; Wherein:
Described stock-keeping unit reads store list, obtains material and to come in and go out library information, comprise the type of material, shelf in the position in warehouse, material at the position of shelf and material inventory, and library information of being come in and gone out by material sends to scheduling allocation units;
The environmental map in whole warehouse is had in described scheduling allocation units; Scheduling allocation units selects the guide vehicle of respective type in the position of shelf at the position in warehouse and material according to the type of material, shelf, the current state information of scheduling allocation units all guide vehicles under obtaining the type, and all guide vehicles that can finish the work are selected according to current state information, plan wheeled path and/or estimate that each guide vehicle is finished the work the required time, select the guide vehicle of the minimum number can finished the work within the shortest time, and mission bit stream is sent to these guide vehicles.
Preferably, the type of described material comprises sporadic material or pallet material.
Preferably, described material comprises the level of shelf in the position of shelf.
Preferably, described scheduling allocation units is planned wheeled path according to the current location of the guide vehicle that can finish the work and target location and/or estimates that each guide vehicle is finished the work the required time; Each guide vehicle described is finished the work the stand-by period that the required time comprises guide vehicle running time and may occur.
Preferably, described guide vehicle is provided with controller and vehicle-mounted interactive device; After described guide vehicle receives mission bit stream, utilize controller realize location in warehouse environment and along the driving path distributed travel to complete material to target location go out warehouse-in task; Utilize vehicle-mounted interactive device to obtain material information and send to the manual operation that center management system upgrades material discrepancy library information and completes guide vehicle;
When guide vehicle complete smoothly material go out to put task in storage time, send corresponding information to center management system, stock-keeping unit real-time update tank farm stock, scheduling allocation units upgrades the status information of guide vehicle;
When guide vehicle breaks down in the process of moving, when can not continue to execute the task, then need this situation of artificial treatment, in case the traffic in this guide vehicle blocking warehouse; Guide vehicle sends failure message to scheduling allocation units, and scheduling allocation units redistributes task on fault guide vehicle to other guide vehicles.
Preferably, the controller on described guide vehicle comprises environment sensing module, self-align unit and path trace unit; Wherein, described environment sensing module comprises laser ranging, infrared distance measurement and ultrasonic range finder sensor, is respectively used to detect the obstacle information that guide vehicle travels front; Described self-align unit utilizes the distance measuring sensor ranging information of environment sensing module to mate with environmental map, obtains the physical location of guide vehicle in warehouse environment; The driving path that described path trace unit is guide vehicle planning according to scheduling allocation units controls guide vehicle along this route.
Preferably, described vehicle-mounted interactive device comprises material scan module and man-machine interaction unit; Wherein, described material scan module comprises scanner, and after guide vehicle arrives corresponding warehouse compartment, scanner scans material information that is added and undercarriage, and by this information transmission to center management system, the inventory information in center management system real-time update database; Described man-machine interaction unit is by the material image of the map of display screen display guide vehicle running environment, driving path and scanning, after high position selection type guide vehicle and/or low level selection type guide vehicle arrive corresponding warehouse compartment, on the display screen of man-machine interaction unit, the material discrepancy library information of the current warehouse compartment of corresponding display, is manually completed picking and the goods putting of these materials by operating personnel.
Preferably, described material information comprises: the unit weight of the title of material, the quantity of material, material and general assembly (TW), the unit volume of material and the type of cumulative volume and material.
Preferably, the current state information of described guide vehicle comprises the current electricity of guide vehicle, positional information, task amount and load capacity.
Preferably, the type of described guide vehicle comprises high-order selection type, low level selection type and autonomous fork truck type; Wherein, described high-order selection type guide vehicle and low level selection type guide vehicle respectively in the high-order level in warehouse or low level level by manually carrying out picking and goods putting, described autonomous fork truck type guide vehicle automatically complete pallet cargo in various level added and undercarriage.
The warehouse management system with many guide vehicles dispatching distribution function provided by the invention, stock and the positional information that store list obtains material is read by stock-keeping unit, scheduling allocation units selects suitable guide vehicle type and quantity according to task amount, material position, and be that guide vehicle distributes travel route, to distribute to corresponding guide vehicle according to deadline the shortest principle that material goes out, warehouse-in task; By be provided with controller and vehicle-mounted interactive device some dissimilar automatic guided vehicles complete material go out to put in storage, guide vehicle utilizes self-align unit to realize the location in warehouse map, utilize the route that path trace unit distributes along center management system, the barrier in environment sensing module testing environment; Guide vehicle utilizes vehicle-mounted interactive device to scan material information, display cartographic information, display receive task and send guide vehicle status information etc. to center management system.The present invention is dispatched guide vehicle by the comprehensive material information of center management system and guide vehicle status information, guide vehicle along dispense path travel to complete material to target location go out warehouse-in, optimize traditional storehouse management mode, and then improve the efficiency of warehousing management.
Compared with prior art, the present invention has following beneficial effect:
The warehouse management system with many guide vehicles dispatching distribution function provided by the invention, read store list by center management system and obtain mission bit stream, and be that guide vehicle distributes corresponding path according to shortest time principle, many guide vehicles perform corresponding task simultaneously in an orderly manner, the state of center management system real-time update stock and guide vehicle is notified in time after finishing the work, original warehouse management system working method is optimized, improves the gentle operational paradigm of Automated water of warehousing management.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the logic function block diagram of warehouse management system;
Fig. 2 is center management system operational flow diagram.
Embodiment
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in 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.
Embodiment
Present embodiments provide a kind of warehouse management system with many guide vehicles dispatching distribution function, comprise center management system and at least one autonomous guide vehicle:
Center management system, mainly comprises scheduling allocation units and stock-keeping unit.Stock-keeping unit reads store list, obtain the type of material, shelf in the position in warehouse, these information at the position of shelf and material inventory, and send to scheduling allocation units by material.The environmental map in whole warehouse is had in scheduling allocation units.Scheduling allocation units selects the guide vehicle of respective type (high-order selection type, low level selection type or autonomous fork truck type) in the position in warehouse and material at the particular location (levels of shelf) of shelf according to the type (sporadic material or pallet material) of material and shelf, scheduling allocation units obtains the current state information of all guide vehicles of the type, and status information comprises the information such as the current electricity of guide vehicle, positional information, task amount, load capacity.Scheduling allocation units selects all guide vehicles that can finish the work according to above-mentioned information, and plan wheeled path according to their current locations and target location, estimate that each guide vehicle is finished the work the required time, the stand-by period etc. that this time comprises guide vehicle running time and may occur, travel through all possible situations, select the guide vehicle of the minimum number can finished the work within the shortest time, and mission bit stream is sent to these guide vehicles; After guide vehicle receives mission bit stream, what complete material along route running to the target location distributed goes out warehouse-in task.Send corresponding information when guide vehicle is finished the work smoothly to center management system, stock-keeping unit real-time update tank farm stock, scheduling allocation units upgrades the status information of guide vehicle.If guide vehicle breaks down in the process of moving, can not finish the work, then need this situation of artificial treatment, in case the traffic in this guide vehicle blocking warehouse, guide vehicle sends failure message to scheduling allocation units, and scheduling allocation units redistributes task on fault guide vehicle to other guide vehicles.
The polytype automatic guided vehicle of mount controller and vehicle-mounted interactive device, comprises high-order selection type, low level selection type and autonomous fork truck type.High-order selection guide vehicle, low level selection guide vehicle a high position respectively in warehouse or low level can have and manually carry out picking, goods putting, and autonomous fork truck can complete the upper and lower frame of pallet cargo automatically.
Controller on automatic guided vehicle mainly comprises environment sensing module, self-align unit, path trace unit.Environment sensing module comprises laser ranging, infrared distance measurement and ultrasonic range finder sensor, travels the obstacle information in front for detecting guide vehicle.Self-align unit utilizes the distance measuring sensor ranging information of environment sensing module to mate with environmental map, obtains the physical location of guide vehicle in warehouse environment.The driving path that path trace unit is guide vehicle planning according to scheduling allocation units controls guide vehicle along this route.
Vehicle-mounted interactive device comprises material scan module and man-machine interaction unit, material scan module comprises the scanner that can scan Quick Response Code and bar code, after guide vehicle arrives corresponding warehouse compartment, the material information of undercarriage in scanning, and by this information transmission to center management system, the inventory information in center management system real-time update database.Man-machine interaction unit is by the material image of the map of display screen display guide vehicle running environment, route information and scanning, after high position selection, low level selection guide vehicle arrive corresponding warehouse compartment, on the display screen of man-machine interaction unit the current warehouse compartment of corresponding display go out to put material information in storage, manually completed the upper undercarriage of these materials by operating personnel.
Below in conjunction with accompanying drawing, the present embodiment is further described.
As shown in Figure 1, this warehouse management system forms primarily of many guide vehicles 10 and center management system 30, and utilizes wireless network 20 to carry out interactive information.Wherein center management system 30 forms primarily of scheduling allocation units 31 and stock-keeping unit 32.Record the inventory information of material in warehouse in stock-keeping unit 32, comprise the information such as the quantity of material, type and position.Stock-keeping unit 32 can read store list, obtains the position of material, inventory information, and this information is sent to scheduling allocation units 31 to carry out decision-making.Scheduling allocation units 31 is responsible for the information of comprehensive material and the status information of guide vehicle, for guide vehicle distributes driving path, and according to corresponding dispatching distribution algorithm, selects the guide vehicle can finished the work in the shortest time and goes to execute the task.Idiographic flow as shown in Figure 2, is specifically introduced in an embodiment.
Guide vehicle 10 has polytype, and on responsible shelf, diverse location material manually or automatically loads and unloads.Guide vehicle 10 is equipped with controller 11 to realize self-align, keep away barrier and the function such as path trace, material scan module is housed and realizes material scan function, vehicle-mounted interactive device is housed and realizes human-computer interaction function.
Controller 11 mainly comprises environment sensing unit 111, self-align unit 112 and path trace unit 113.Environment sensing unit 111 is made up of some distance measuring sensors, is used for perception environmental information, and guide vehicle can stop automatically when an obstacle is detected.Self-align unit 112 utilizes above-mentioned environmental information and environmental map to carry out mating and realize self-align, and the positional information of oneself is sent to center management system 30 to make the decision-making of allocation schedule.Path trace unit 113 controls the autonomous path that guide vehicle plans along center management system and drives to relevant position.
Vehicle-mounted interactive device 12 is arranged on guide vehicle, and it mainly comprises material scan module 121 and man-machine interaction unit 122.When guide vehicle arrives corresponding shelf, material scanning element 121 utilizes scanner to scan material information, and material information can be Quick Response Code or bar code, and this information is sent to center management system.The display screen of man-machine interaction unit 122 shows guide vehicle run routing information, mission bit stream and material information etc., and provide some interfaces (as function button) for operating personnel's operation.
The embodiment of materiel warehouse-out is described in detail in detail below.
Concrete implementation step is as follows: when needs materiel warehouse-out time, and stock-keeping unit 32 reads corresponding outbound store list, obtains the material type of task, shelf location and tank farm stock, and these information are sent to scheduling allocation units 31.The operational scheme of scheduling allocation units 31 as shown in Figure 2, first the guide vehicle of respective type is selected according to the type of material and the position of shelf, then the current state information of all guide vehicles of this type is obtained, the task amount comprising their current positions, electricity, load condition and bear, the charge condition according to guide vehicle selects with the task amount born the guide vehicle that can finish the work.Then, scheduling allocation units 31 utilizes the map being stored in center management system, be the path that the guide vehicle chosen distributes wheeled successively according to the position of shelf and the current position of guide vehicle, and estimate these guide vehicles along the time of these route and the time that need wait for because of route conflict, select n the guide vehicle can finished the work in the shortest time wherein, mission bit stream is sent to this n guide vehicle.The vehicle-mounted interactive device 12 of guide vehicle receives mission bit stream and the driving path of center management system transmission, each guide vehicle utilizes path trace unit 113 in controller 11 along corresponding route, and on man-machine interaction unit 122, show the position of cartographic information, routing information and current guide vehicle.In the process of moving, when environment sensing module 111 perceives dynamic barrier (such as people or other guide vehicles), guide vehicle can stop automatically, and after dynamic barrier leaves, guide vehicle can then travel along respective paths.Arrive after specifying shelf, if high-order selection or low level selection guide vehicle, operating personnel need according to the outbound material information that vehicle-mounted interactive device shows, manual unloading materials from these shelf, and Quick Response Code or the bar code information of material is scanned by material scanning element 121, confirm that whether the material extracted is consistent with store list, if inconsistent, then on man-machine interaction unit 122, remind operating personnel, after confirmation, information is sent to stock-keeping unit 32 by man-machine interaction unit, stock-keeping unit 32 real-time update inventory information, guide vehicle enters next shelf location, human-computer interaction interface 122 can show guide vehicle current location in real time, calibrate to help operating personnel, if guide vehicle is from electrical forklift, then the above-mentioned process such as material unloading, scanning, validation of information, by automatically completing, is manually intervened without the need to operating personnel.When guide vehicle can not be finished the work because of emergency case (during as fault), need staff to process this guide vehicle, and failure message is sent to management and running unit 31, scheduling allocation units 31 dispatches other suitable guide vehicles to transport the material of fault guide vehicle.After guide vehicle gets corresponding outbound material, arrive corresponding landing place along the route distributed, staff unloads corresponding material, and so far, whole materiel warehouse-out task just completes.
The operation of materiel warehouse-in is similar to the above, and center management system 30 receives the store list of warehouse-in, scheduling allocation units 31 according to the suitable guide vehicle of the above-mentioned dispatching distribution algorithm picks mentioned to assigned address loaded material.After guide vehicle has loaded material along the path arrival assigned address distributed, then according to the path redistributed to target shelf, high-order selection and low level choose guide vehicle by the added placement of manually placing material, autonomous fork truck then completes material automatically, realize in-stockroom operation.Material scanning element 121 scans material information, judges, and sends to stock-keeping unit 32, and stock-keeping unit 32 receives information and upgrades stock.Guide vehicle is awaited orders along the path reposition distributed or performs other tasks again, and materiel warehouse-in operation so far completes.
By the cooperation of above-mentioned warehouse management system various piece, and utilize corresponding dispatching distribution algorithm to finish the work to choose many suitable guide vehicles, effectively can improve the efficiency of storage.
In the present embodiment:
Center management system is passed through to read store list and is obtained material discrepancy library information, selects the guide vehicle of suitable type, the guide vehicle of shortest time of can finishing the work according to the current state information selection of guide vehicle, and be that guide vehicle distributes driving path according to material information;
Autonomous guide vehicle utilizes the self-align unit in Vehicle Controller to realize the location in warehouse environment, the route utilizing path trace unit to distribute along center management system, utilizes the barrier in environment sensing module testing environment;
Vehicle-mounted interactive device on guide vehicle comprises material scan module and man-machine interaction unit, scan material information by material scan module and send to center management system, man-machine interaction unit shows the material image of corresponding map, route information and scanning, the manually upper undercarriage (warehouse-in, outbound) that operating personnel carry out material by man-machine interaction unit, the manual operation realizing guide vehicle;
The current state information of guide vehicle comprises the current position of the current load situation of guide vehicle, guide vehicle, the type of guide vehicle, guide vehicle current electric quantity and running status etc.;
Material information comprises the title of this material, quantity, unit weight and general assembly (TW), unit volume and cumulative volume, sporadic material or pallet material etc.;
The type of guide vehicle comprises high-order selection type, low level selection type and autonomous fork truck type, high-order selection type, low level selection type guide vehicle need the upper and lower frame (warehouse-in, outbound) manually realizing material after arriving assigned address, and autonomous fork truck type guide vehicle automatically completes the upper and lower frame (warehouse-in, outbound) of pallet class goods after arriving assigned address.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. there is a warehouse management system for many guide vehicles dispatching distribution function, it is characterized in that, comprise center management system and at least one guide vehicle; Wherein, described center management system obtains material discrepancy library information by reading store list, and the guide vehicle of library information selection suitable type of coming in and going out according to material, according to the current state information of guide vehicles all under the type, select to finish the work the guide vehicle of shortest time, and be this guide vehicle distribution driving path.
2. the warehouse management system with many guide vehicles dispatching distribution function according to claim 1, is characterized in that, described center management system comprises scheduling allocation units and stock-keeping unit; Wherein:
Described stock-keeping unit reads store list, obtains material and to come in and go out library information, comprise the type of material, shelf in the position in warehouse, material at the position of shelf and material inventory, and library information of being come in and gone out by material sends to scheduling allocation units;
The environmental map in whole warehouse is had in described scheduling allocation units; Scheduling allocation units selects the guide vehicle of respective type in the position of shelf at the position in warehouse and material according to the type of material, shelf, the current state information of scheduling allocation units all guide vehicles under obtaining the type, and all guide vehicles that can finish the work are selected according to current state information, plan wheeled path and/or estimate that each guide vehicle is finished the work the required time, select the guide vehicle of the minimum number can finished the work within the shortest time, and mission bit stream is sent to these guide vehicles.
3. the warehouse management system with many guide vehicles dispatching distribution function according to claim 2, is characterized in that, the type of described material comprises sporadic material or pallet material; Described material comprises the level of shelf in the position of shelf.
4. the warehouse management system with many guide vehicles dispatching distribution function according to claim 2, it is characterized in that, described scheduling allocation units is according to the current location of the guide vehicle that can finish the work and planning wheeled path, target location and/or estimate that each guide vehicle is finished the work the required time; Each guide vehicle described is finished the work the stand-by period that the required time comprises guide vehicle running time and may occur.
5. the warehouse management system with many guide vehicles dispatching distribution function according to any one of claim 1 to 5, is characterized in that, described guide vehicle is provided with controller and vehicle-mounted interactive device; After described guide vehicle receives mission bit stream, utilize controller realize location in warehouse environment and along the driving path distributed travel to complete material to target location go out warehouse-in task; Utilize vehicle-mounted interactive device to obtain material information and send to the manual operation that center management system upgrades material discrepancy library information and completes guide vehicle;
When guide vehicle completes after material goes out warehouse-in task smoothly, send corresponding information to center management system, stock-keeping unit real-time update tank farm stock, scheduling allocation units upgrades the status information of guide vehicle;
When guide vehicle breaks down in the process of moving, when can not continue to execute the task, then need this situation of artificial treatment, in case the traffic in this guide vehicle blocking warehouse; Guide vehicle sends failure message to scheduling allocation units, and scheduling allocation units redistributes task on fault guide vehicle to other guide vehicles.
6. the warehouse management system with many guide vehicles dispatching distribution function according to claim 5, is characterized in that, the controller on described guide vehicle comprises environment sensing module, self-align unit and path trace unit; Wherein, described environment sensing module comprises laser ranging, infrared distance measurement and ultrasonic range finder sensor, is respectively used to detect the obstacle information that guide vehicle travels front; Described self-align unit utilizes the distance measuring sensor ranging information of environment sensing module to mate with environmental map, obtains the physical location of guide vehicle in warehouse environment; The driving path that described path trace unit is guide vehicle planning according to scheduling allocation units controls guide vehicle along this route.
7. the warehouse management system with many guide vehicles dispatching distribution function according to claim 5, is characterized in that, described vehicle-mounted interactive device comprises material scan module and man-machine interaction unit; Wherein, described material scan module comprises scanner, and after guide vehicle arrives corresponding warehouse compartment, scanner scans material information that is added and undercarriage, and by this information transmission to center management system, the inventory information in center management system real-time update database; Described man-machine interaction unit is by the material image of the map of display screen display guide vehicle running environment, driving path and scanning, after high position selection type guide vehicle and/or low level selection type guide vehicle arrive corresponding warehouse compartment, on the display screen of man-machine interaction unit, the material discrepancy library information of the current warehouse compartment of corresponding display, is manually completed picking and the goods putting of these materials by operating personnel.
8. the warehouse management system with many guide vehicles dispatching distribution function according to claim 7, it is characterized in that, described material information comprises: the unit weight of the title of material, the quantity of material, material and general assembly (TW), the unit volume of material and the type of cumulative volume and material.
9. the warehouse management system with many guide vehicles dispatching distribution function according to claim 5, is characterized in that, the current state information of described guide vehicle comprises the current electricity of guide vehicle, positional information, task amount and load capacity.
10. the warehouse management system with many guide vehicles dispatching distribution function according to claim 5, is characterized in that, the type of described guide vehicle comprises high-order selection type, low level selection type and autonomous fork truck type; Wherein, described high-order selection type guide vehicle and low level selection type guide vehicle respectively in the high-order level in warehouse or low level level by manually carrying out picking and goods putting, described autonomous fork truck type guide vehicle automatically complete pallet cargo in various level added and undercarriage.
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