CN105629995B - One kind is tethered at system for tracking and method - Google Patents
One kind is tethered at system for tracking and method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
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Abstract
The invention discloses one kind to be tethered at system for tracking and method, and this, which is tethered at system for tracking, includes：Tethered platform；Cable, the cable are used to connect the tethered platform and flight instruments；Cross axle, the upper end of the cross axle are connected with flight instruments, and the lower end of the cross axle is provided with gyro sensor, and the lower end of the cross axle is connected with the cable；The gyro sensor, for monitoring the angle of inclination between the cable and vertical direction；Control panel, the angle of inclination monitored for receiving the gyro sensor, according to the angle of inclination, the heading and flying speed of flight instruments is calculated, and sends to winged control module；The winged control module, for controlling the state of flight of flight instruments according to the heading and flying speed, to realize that the flight instruments follows to the tethered platform.The present invention realizes flight instruments and the accurate of tethered platform on ground is followed.
Description
Technical field
The present embodiments relate to unmanned plane field, more particularly to one kind to be tethered at system for tracking and method.
Background technology
Current unmanned plane is taken pictures in aviation, geological survey, ultra-high-tension power transmission line tour, oil filed pipeline inspection, highway
Many aspects such as management and crops dispenser have a wide range of applications.
The unmanned plane of stagnant empty flight only relies on airborne global positioning system (GlobalPositioning in the prior art
System, GPS) straighforward operation of module and winged hand is difficult to realize the fixed high automatic hovering of complicated fixed point.Even if the operation can be with
Realize, this to flying, the high complex operations of hand Capability Requirement are also inevitable to be difficult to meet market in operating time, efficiency, performance
It is required that limit the application of unmanned plane.
The content of the invention
The present invention provide one kind be tethered at system for tracking and method, with realize flight instruments on ground tethered platform it is accurate
Follow.
In a first aspect, the embodiments of the invention provide one kind to be tethered at system for tracking, this, which is tethered at system for tracking, includes：
Tethered platform；
Cable, the cable are used to connect the tethered platform and flight instruments；
Cross axle, the upper end of the cross axle are connected with flight instruments, and the lower end of the cross axle is provided with gyroscope biography
Sensor, the lower end of the cross axle are connected with the cable；
The gyro sensor, for detected in the stagnant empty flight course of flight instruments the cable and vertical direction it
Between angle of inclination；
Control panel, the control panel are connected with winged control module and the gyro sensor respectively, described for receiving
The angle of inclination that gyro sensor detects, according to the angle of inclination, the heading of flight instruments is calculated and flies
Scanning frequency degree, and send to winged control module；
The winged control module, for controlling the state of flight of flight instruments according to the heading and flying speed, with
Realize that the flight instruments follows to the tethered platform.
Second aspect, the embodiment of the present invention additionally provide one kind and are tethered at follower method, and this, which is tethered at follower method, includes：
When flight instruments is in stagnant empty state of flight, the inclination angle of gyro sensor detection cable and vertical direction
Degree, and send to control panel；
The heading and flying speed of the flight instruments is calculated according to the angle of inclination in the control panel,
And send to winged control module；
The winged control module controls the heading and flying speed of the flight instruments, so that the flight instruments
Tethered platform can be followed.
The angle of inclination that the present invention is detected by control panel reception gyro sensor, and counted according to the angle of inclination
Calculation obtains the heading and flying speed of flight instruments, and sends to winged control module, the winged control module control flight instruments
State of flight.The unmanned plane for solving stagnant empty flight in the prior art only relies on the straighforward operation of Airborne GPS module and winged hand
It is difficult to the fixed high automatic hovering of realization fixed point the problem of, realize the flight instruments and the accurate of the tethered platform followed,
And the system for tracking simple and flexible, instead of the straighforward operation of winged hand, saves human resources.
Brief description of the drawings
Fig. 1 is a kind of structural representation for being tethered at system for tracking that the embodiment of the present invention one provides.
Fig. 2 is that the position for the gyro sensor that the embodiment of the present invention one provides sets schematic diagram.
Fig. 3 is a kind of structural representation for being tethered at system for tracking that the embodiment of the present invention two provides.
Fig. 4 is a kind of schematic flow sheet for being tethered at follower method that the embodiment of the present invention three provides.
Fig. 5 is a kind of schematic flow sheet for being tethered at follower method that the embodiment of the present invention four provides.
Fig. 6 is the schematic diagram that a kind of cable angle of inclination that the embodiment of the present invention four provides represents.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is a kind of structural representation for being tethered at system for tracking that the embodiment of the present invention one provides.As shown in figure 1, this hair
What bright embodiment one provided is tethered at system for tracking, mainly includes：
Tethered platform 11, cable 12, cross axle 13, gyro sensor 14, control panel 15 and winged control module 16.
Wherein, the cable 12 is used to connect the tethered platform 11 and flight instruments, the upper end of the cross axle 13 with
Flight instruments connects, and the lower end of the cross axle 13 is provided with gyro sensor 14, the lower end of the cross axle 13 with it is described
Cable 12 connects.Cross axle 13 is as the movable part between cable 12 and flight instruments, therefore the cable 12 and the flight
Opposing oscillatory is free between device.The gyro sensor 14 is used to detect in the stagnant empty flight course of flight instruments
Angle of inclination between the cable 12 and vertical direction；The control panel 15 controls module 16 and the gyroscope with winged respectively
Sensor 14 connects, the angle of inclination detected for receiving the gyro sensor 14, according to the angle of inclination, calculates
The heading and flying speed of flight instruments are obtained, and is sent to winged control module 16；The winged control module 16, for according to institute
The state of flight of heading and flying speed control flight instruments is stated, to realize the flight instruments to the tethered platform 11
Follow.
Optionally, the control panel 15 can be separately positioned or be integrated in same with the winged control module 16
On one circuit board, it can also be and realize control panel 15 with flying the function of control module 16 by same chip.
The angle of inclination that the embodiment of the present invention is detected by the reception gyro sensor 14 of control panel 15, and according to described
The heading and flying speed of flight instruments is calculated in angle of inclination, and sends to winged control module 16, the winged control module
The state of flight of 16 control flight instrumentses.Solve stagnant empty flight in the prior art unmanned plane only rely on Airborne GPS module and
The problem of realization fixed point that the straighforward operation for flying hand is difficult fixed high automatic hovering, realize the flight instruments to it is described be tethered at it is flat
The accurate of platform 11 follows, and the system for tracking uses simple and flexible, instead of the straighforward operation of winged hand, saves manpower.
On the basis of above-described embodiment, it is preferred that the positive direction of the X-axis of gyro sensor 14 can be flown with described
The heading that luggage is put is consistent.The benefit so set is that the gyro sensor 14 can be enable directly to be expressed as
The skyborne inclination angle of head.
Preferably, system for tracking is tethered at described in above-described embodiment, in addition to：Wire clamp 17.
The wire clamp 17 is arranged on the cable 12, and the wire clamp 17 fastens structure by two symmetrical hollow semi-cylinders
Into for the cable 12 to be fixed on into the lower end of cross axle 13, preventing between the lift of flight instruments and tethered platform 11
Pulling force the cable 12 is broken.
Optionally, system for tracking is tethered at described in above-described embodiment, can also be including：
Suspension unit 18 and gyroscope mounting platform 19.
Suspension unit 18 is fixed on flight instruments chassis, and the upper end of the cross axle 13 by the suspension unit 18 and flies
Luggage puts connection；Gyroscope mounting platform 19 is arranged on the lower end of the cross axle 13, and the gyro sensor 14 is arranged on
On the gyroscope mounting platform 19.Wherein described cross axle 13, gyroscope mounting platform 19 and gyro sensor 14
Position relationship, referring to Fig. 2.
Preferably, flight instruments described in above-described embodiment can be rotor wing unmanned aerial vehicle, such as the rotation of 4 axles, 6 axles or 8 axles
Wing unmanned plane；Can also be dirigible etc. other be provided with the aircraft of power-equipment.
Optionally, the tethered platform 11 is the fixed tethered platform in ground or is vehicle-mounted removable tethered platform.
Embodiment two
Fig. 3 is a kind of structural representation for being tethered at system for tracking that the embodiment of the present invention two provides.As shown in figure 3, this hair
What bright embodiment two provided is tethered at system for tracking, mainly includes：
Tethered platform 21, cable 22, cross axle 23, gyro sensor 24, control panel 25 and winged control module 26.
The cable 22 is used to connect the tethered platform 21 and flight instruments, and upper end and the flight of the cross axle 23 fill
Connection is put, the lower end of cross axle 23 is provided with gyro sensor 24, and the lower end of the cross axle 23 is connected with the cable 22.
Cross axle 23 is as the movable part between cable 22 and flight instruments.The gyro sensor 24 is used in the stagnant sky of flight instruments
The angle of inclination between the cable 22 and vertical direction is detected in flight course；The control panel 25 controls module 26 with winged respectively
And the gyro sensor 24 connects, the angle of inclination that is detected for receiving the gyro sensor 24, according to institute
Angle of inclination is stated, the heading and flying speed of flight instruments is calculated, and is sent to winged control module 26；The winged control mould
Block 26, for controlling the state of flight of flight instruments according to the heading and flying speed, to realize the flight instruments
To following for the tethered platform 21.
It is unlike the embodiments above, system for tracking is tethered at described in the present embodiment, in addition to：Height detection module
27.Height detection module 27 is arranged on the flight instruments, for detecting the distance between the flight instruments and ground.Show
Example property, the height detection module 27 can be barometertic altimeter.
The control panel 25, be additionally operable to receive the distance that the height detection module 27 detects, according to the distance with
And the angle of inclination, the heading and flying speed of flight instruments is calculated, and send to winged control module 26, so as to institute
State and fly the state of flight that control module 26 controls flight instruments according to the heading and flying speed, to realize that the flight fills
Put following to the tethered platform 21.
The present embodiment detects the flight instruments and ground by setting height detection module 27 on the flight instruments
The distance between, control panel 25 is additionally operable to receive the distance that the height detection module 27 detects, according to the distance and
The angle of inclination, the heading and flying speed of flight instruments is calculated, and sends to winged control module 26.Fly calculating
When heading and flying speed that luggage is put, due to combining distance and angle of inclination, flight instruments is realized to being tethered at
The following more accurately and quickly of platform 21.
Embodiment three
Fig. 4 is a kind of schematic flow sheet for being tethered at follower method that the embodiment of the present invention three provides.What the present embodiment provided
It can be performed by the system for tracking that is tethered in any of the above-described embodiment to be tethered at follower method.As shown in figure 4, the embodiment of the present invention
The follower method that is tethered at provided specifically includes following operation：
S410, when the flight instruments is in stagnant empty state of flight, gyro sensor detect the cable with it is vertical
Angle of inclination between direction, and send to control panel.
Heading and the flight of the flight instruments is calculated according to the angle of inclination in S420, the control panel
Speed, and send to winged control module.
This operation can be specifically the control panel passing ratio-Integrated Derivative (ProportionIntegration
Differentiation, PID) control algolithm, the heading of the flight instruments is calculated according to the angle of inclination,
And send to winged control module.
The control panel can be specifically that flight instruments and tethered platform are periodically drawn according to the angle of inclination
Horizontal range, so as to calculate the heading of the flight instruments and flying speed, and send to winged control module, such as every
100 milliseconds or it is repeated once this operation every 200 milliseconds.
Optionally, after the horizontal range that control panel draws flight instruments and tethered platform, compared with predetermined threshold value；Work as institute
When stating horizontal range and being less than predetermined threshold value, then control panel is failure to actuate；When the horizontal range is more than or equal to predetermined threshold value, or
When the cumulative sum of horizontal range that person's continuous several times do not reach predetermined threshold value is more than or equal to predetermined threshold value, just according to the level
Distance or the continuous several times do not reach predetermined threshold value horizontal range add up sum, calculate flight instruments heading and
Flying speed, and send to winged control module.
Exemplary, it is assumed that control panel calculates the horizontal range of flight device and tethered platform every 200 milliseconds, and
Predetermined threshold value is 5 meters, and the horizontal range that flight instruments and tethered platform are drawn when continuous 4 times is 2 meters, 1 meter, 1 meter and 2 meters, then
3 times result of calculation is failure to actuate, because the 4th time and preceding horizontal range three times add up sum more than 5 meters, so according to the 4th
The cumulative sum of secondary and preceding horizontal range three times, calculates the heading and flying speed of flight instruments, sends to winged control module,
And the cumulative sum of the horizontal range is reset.
S430, the winged control module control the heading and flying speed of the flight instruments, so that the flight dress
Putting can follow to tethered platform.
Inclining between the cable and horizontal plane that the embodiment of the present invention is detected by control panel according to gyro sensor
Rake angle, the heading and flying speed of the flight instruments is calculated, and sends to winged control module, the winged control module
The heading and flying speed of the flight instruments are controlled, so that the flight instruments can follow to tethered platform.
The unmanned plane for solving stagnant empty flight in the prior art only relies on the realization that the straighforward operation of Airborne GPS module and winged hand is difficult and determined
The problem of fixed height of point hovers automatically, realize the flight instruments and the accurate of the tethered platform is followed.
Preferably, on the basis of above-described embodiment, described fly is calculated according to the angle of inclination in the control panel
The heading and flying speed that luggage is put, and send to winged control module, specifically include：
The control panel receives the distance between the flight instruments and ground of the detection of height detection module, according to described
Distance and the angle of inclination, are calculated the heading and flying speed of the flight instruments, and by the flight side
Sent to flying speed to winged control module.The benefit so handled is, because control panel is calculating flying for the flight instruments
When line direction and flying speed, while distance and angle of inclination are considered, it is more accurate to tethered platform to realize flight instruments
With quickly follow.
Example IV
Fig. 5 is a kind of schematic flow sheet for being tethered at follower method that the embodiment of the present invention four provides.What the present embodiment provided
It can be performed by being tethered at system for tracking in any of the above-described embodiment to be tethered at follower method.As shown in figure 5, the embodiment of the present invention carries
The follower method that is tethered at supplied specifically includes following operation：
S510, gyro sensor send the angle of inclination of the cable of detection and vertical direction under XY coordinate systems
To control panel.
Wherein, plane and plane-parallel exemplary, that the XY coordinate systems are formed, and the positive direction of X-axis with
Heading is identical, and the positive direction of Y-axis turns clockwise the sensing after 90 ° for the positive direction of X-axis.
Specifically, gyro sensor can gather each self-acceleration, speed, angle of itself tri- axial direction of X, Y, Z in real time
The parameter such as speed and angle, control panel solve the parameter of gyroscope by communication interface.Optionally, the gyro sensor
Can be MPU6050 gyroscopes.
S520, the control panel by pid control algorithm, according to the cable with vertical direction inclining under XY coordinate systems
Rake angle, the heading and flying speed of the flight instruments is calculated, and the heading and flying speed are sent out
Deliver to and fly control module.
As shown in fig. 6, when flight instruments is hovered over directly over tethered platform in flight course, cable AB is substantially at
Vertical state, it is parallel with Z axis；When flight instruments is flown away from directly over tethered platform, gyro sensor is with the same phase of cable
Inclination, the cable and angle of inclination i.e. gyro sensor institute of the vertical direction under XY coordinate systems are produced to horizontal plane
Angle between plane and horizontal plane.
In aforesaid operations, according to the cable and angle of inclination of the vertical direction under XY coordinate systems, specifically according to institute
State projection A2Bs and Y-axis of projection A1B and the angle ∠ 1 of X-axis and the cable of the cable in XZ planes in YZ planes
Angle ∠ 2, be calculated the flight instruments respectively with heading and flying speed that X-axis and Y-axis are reference direction.
Exemplary, when ∠ 1 and ∠ 2 is respectively 80 °, then flight instruments in the X direction can be with the speed in Y-direction
It is respectively 10 meter per seconds, heading is expressed as the both direction of X-axis and Y-axis negative direction.Optionally, the control panel can
To be the heading and flying speed for calculating the flight instruments as main controller by STM32F103VCT6, and use two lines
Formula universal serial bus (Inter-IntegratedCircuit, I2C) master-slave mode is communicated with the gyro sensor.
S530, the winged control module control the heading and flying speed of the flight instruments, so that the flight dress
Putting can follow to tethered platform.
Further, this operation is before the heading of the flight instruments and flying speed is controlled, in addition to will be upper
The flight instruments being calculated in operation is stated respectively with X-axis and Y-axis for the heading and flying speed of reference direction to enter
Row synthesis.The flying speed obtained when the angle of inclination of flight instruments is larger is larger, when flight instruments inclination angle value not
During disconnected reduction, flying speed also reduces therewith, finally causes flight instruments to keep same at the same speed with tethered platform in flight course
To motion so that flight instruments is at the surface of tethered platform.
The embodiment of the present invention uses pid control algorithm by the control panel, according to the cable and vertical direction in XY
Angle of inclination under coordinate system, the heading and flying speed of the flight instruments is calculated, flies described in control module control
The heading and flying speed of flight instruments, therefore the flight instruments can accurately be followed to tethered platform.
It should be noted that the positive direction of the X-axis of XY coordinate systems is the direction of flight instruments head in the present embodiment, simultaneously
It is consistent with the positive direction of the X-axis of gyro sensor.
Preferably, in above-described embodiment, in the control panel by pid control algorithm, according to the cable and vertical side
To the angle of inclination under XY coordinate systems, when flying speed is calculated, can also be including：
According to the distance between the flight instruments and ground and the cable with vertical direction inclining under XY coordinate systems
Rake angle, the heading and flying speed of the flight instruments is calculated, to realize flight instruments to tethered platform more
Follow accurately and flexibly.
Referring to Fig. 6, sat according to the distance between the flight instruments and ground A2D and the cable with vertical direction in XY
Angle of inclination (projection A1B and X-axis of cable AB described in figure in XZ planes angle ∠ 1 and the cable under mark system
Projection A2Bs and Y-axis of the AB in YZ planes angle ∠ 2), heading and the flight that the flight instruments is calculated are fast
Degree.
Exemplary, the flying speed that control panel is calculated by pid control algorithm is Kp*BD+Ki*s+Kd*m.
Wherein, Kp*BD is proportional, when cable is more than or equal to predetermined threshold value in the length BD of the projection of Y-axis, control
The speed that plate is obtained by pid control algorithm, Kp are a proportionality coefficient, and BD is equal to A2D/tan (∠ 2), the flight of flight instruments
Direction is that can make the direction that ∠ 2 is intended to 90 °.
Ki*s is integral term, when cable the projection BD of Y-axis length continuous several times do not reach predetermined threshold value add up it
It is more than or equal to speed during predetermined threshold value with s.Wherein, Ki is another proportionality coefficient.
Kd*m is differential term, and the variable quantity of distance.Length of the cable that this is obtained when control panel in the projection of Y-axis
When the value for the BD that BD value obtained than last time adds m, illustrate that the angle of inclination of cable and vertical direction becomes big, then Kd*m is not
Zero.Exemplary, when the flying height of flight instruments is 20 meters, cable is distinguished in the length of projection with the projection in Y-axis of X-axis
For 5 and 10 meters when, speed along X-axis is respectively 10 meter per seconds and 20 meter per seconds with the speed along Y-axis.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. one kind is tethered at system for tracking, it is characterised in that including：
Tethered platform；
Cable, the cable are used to connect the tethered platform and flight instruments；
Cross axle, the upper end of the cross axle are connected with flight instruments, and the lower end of the cross axle is provided with gyro sensor,
The lower end of the cross axle is connected with the cable；
The gyro sensor, for being detected in the stagnant empty flight course of flight instruments between the cable and vertical direction
Angle of inclination；
Control panel, the control panel is connected with winged control module and the gyro sensor respectively, for receiving the gyro
The angle of inclination that instrument sensor detects, according to the angle of inclination, heading and the flight that flight instruments is calculated are fast
Degree, and send to winged control module；
The winged control module, for controlling the state of flight of flight instruments according to the heading and flying speed, to realize
The flight instruments follows to the tethered platform.
2. according to claim 1 be tethered at system for tracking, it is characterised in that also includes：
Height detection module, the height detection module are arranged on the flight instruments, for detect the flight instruments with
The distance between ground；
The control panel, it is additionally operable to receive the distance that the height detection module detects, according to the distance and described inclines
Rake angle, the heading and flying speed of flight instruments is calculated, and sends to winged control module.
3. according to claim 1 be tethered at system for tracking, it is characterised in that the positive direction of the X-axis of gyro sensor with
The heading of the flight instruments is consistent.
4. according to claim 1 be tethered at system for tracking, it is characterised in that also includes：
Wire clamp, the wire clamp are arranged on the cable, for fixing the cable in the cross axle lower end.
5. according to claim 1 be tethered at system for tracking, it is characterised in that also includes：
Suspension unit, the suspension unit are fixed on flight instruments chassis, and the upper end of the cross axle passes through the suspension unit
It is connected with flight instruments；
And gyroscope mounting platform, the lower end of the cross axle is arranged on, the gyro sensor is arranged on the gyro
On instrument mounting platform.
6. described system for tracking is tethered at according to claim 1-5 is any, it is characterised in that the tethered platform is fixed for ground
Formula tethered platform or vehicle-mounted removable tethered platform.
7. according to claim 6 be tethered at system for tracking, it is characterised in that the flight instruments is rotor wing unmanned aerial vehicle.
8. one kind is tethered at follower method, it is characterised in that including：
When flight instruments is in stagnant empty state of flight, the angle of inclination of gyro sensor detection cable and vertical direction, and
Send to control panel；
The heading and flying speed of the flight instruments is calculated, concurrently according to the angle of inclination in the control panel
Deliver to and fly control module；
The winged control module controls the heading and flying speed of the flight instruments, so that the flight instruments can
Tethered platform is followed.
9. according to claim 8 be tethered at follower method, it is characterised in that the control panel according to the angle of inclination,
The heading and flying speed of the flight instruments is calculated, and sends to winged control module, specifically includes：
The control panel receives the distance between the flight instruments that height detection module detects and ground, according to it is described away from
From and the angle of inclination, be calculated the heading and flying speed of the flight instruments, and by the heading
Sent with flying speed to winged control module.
10. according to claim 8 be tethered at follower method, it is characterised in that the control panel according to the angle of inclination,
The heading and flying speed of the flight instruments is calculated, specifically includes：
Control panel passing ratio-Integrated Derivative the pid control algorithm, according to the angle of inclination, is calculated the flight
The heading of device.
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| CN201610152513.3A CN105629995B (en) | 2016-03-17 | 2016-03-17 | One kind is tethered at system for tracking and method |
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| CN201610152513.3A CN105629995B (en) | 2016-03-17 | 2016-03-17 | One kind is tethered at system for tracking and method |
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| CN105629995B true CN105629995B (en) | 2018-03-27 |
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| CN107368093A (en) * | 2017-06-17 | 2017-11-21 | 广东容祺智能科技有限公司 | One kind is tethered at unmanned plane synchronization system for tracking |
| CN107651212B (en) * | 2017-10-25 | 2019-12-31 | 珠海市双捷科技有限公司 | Tethered unmanned aerial vehicle, tethered unmanned aerial vehicle positioning and following control system and control method thereof |
| CN109189088B (en) * | 2018-08-21 | 2021-10-08 | 中南林业科技大学 | Self-adaptive cruise tracking method, terminal and storage medium for tethered unmanned aerial vehicle |
| CN111190436A (en) * | 2019-12-31 | 2020-05-22 | 湖南优加特装智能科技有限公司 | Flight control system and control method of tethered unmanned aerial vehicle |
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