CN106347304A - Wiper motor control system and control method thereof - Google Patents
Wiper motor control system and control method thereof Download PDFInfo
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- CN106347304A CN106347304A CN201611027862.9A CN201611027862A CN106347304A CN 106347304 A CN106347304 A CN 106347304A CN 201611027862 A CN201611027862 A CN 201611027862A CN 106347304 A CN106347304 A CN 106347304A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0803—Intermittent control circuits
- B60S1/0807—Intermittent control circuits using electronic control means, e.g. tubes, semiconductors
- B60S1/0811—Intermittent control circuits using electronic control means, e.g. tubes, semiconductors combined with mechanical control means, e.g. thermal relays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
- B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0896—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to a vehicle driving condition, e.g. speed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
本发明公开了一种雨刮电机控制系统，包括雨刮电机；用于控制雨刮电机的雨刮组合开关；用于驱动雨刮电机的雨刮继电器；用于采集雨量信息的雨量传感器；用于采集车速信息的车速传感器；用于采集雨刮组合开关、雨量传感器及车速传感器的信号并运算处理后通过雨刮继电器驱动雨刮电机控制雨刮输出的控制器；用于接收控制器发送来的报警信号进行报警提示的仪表。本发明还包括一种雨刮电机控制方法。本发明能够进行报警提示，且实现了智能控制雨刮的功能。
The invention discloses a wiper motor control system, which comprises a wiper motor; a wiper combination switch for controlling the wiper motor; a wiper relay for driving the wiper motor; a rain sensor for collecting rainfall information; The vehicle speed sensor used to collect vehicle speed information; the controller used to collect the signals of the wiper combination switch, rain sensor and vehicle speed sensor, and after calculation and processing, drives the wiper motor to control the output of the wiper through the wiper relay; used to receive the signal sent by the controller The alarm signal of the alarm prompts the instrument. The invention also includes a method for controlling the wiper motor. The invention can carry out an alarm prompt, and realizes the function of intelligently controlling the wiper.
Description
技术领域technical field
本发明涉及雨刮控制技术领域，具体地说是一种雨刮电机控制系统及其控制方法。The invention relates to the technical field of wiper control, in particular to a wiper motor control system and a control method thereof.
背景技术Background technique
雨刮系统是汽车重要的安全设备之一,它给驾驶员在雨天行驶中带来了安全和便利。随着汽车技术的发展，人们对车辆安全性和舒适性的要求越来越高,雨刮智能控制也逐渐开始发展起来了。The wiper system is one of the important safety equipment of the car, it brings safety and convenience to the driver when driving in rainy weather. With the development of automobile technology, people have higher and higher requirements for vehicle safety and comfort, and the intelligent control of wiper has gradually begun to develop.
发明内容Contents of the invention
本发明的目的在于提供一种雨刮电机控制系统及其控制方法，用于解决现有汽车的雨刮控制为人工控制，无法实现智能控制的问题。The purpose of the present invention is to provide a wiper motor control system and its control method, which is used to solve the problem that the wiper control of existing automobiles is manual control and cannot realize intelligent control.
本发明解决其技术问题所采取的技术方案是：一种雨刮电机控制系统，其特征是，包括雨刮电机；和，The technical solution adopted by the present invention to solve the technical problem is: a wiper motor control system, which is characterized in that it includes a wiper motor; and,
用于控制雨刮电机的雨刮组合开关；和，wiper combination switch for controlling the wiper motor; and,
用于驱动雨刮电机的雨刮继电器；和，a wiper relay for driving the wiper motor; and,
用于采集雨量信息的雨量传感器；和，A rain sensor for collecting rainfall information; and,
用于采集车速信息的车速传感器；和，a vehicle speed sensor for collecting vehicle speed information; and,
用于采集雨刮组合开关、雨量传感器及车速传感器的信号并运算处理后通过雨刮继电器驱动雨刮电机控制雨刮输出的控制器；和，A controller for collecting the signals of the wiper combination switch, the rain sensor and the vehicle speed sensor, and after calculation and processing, drives the wiper motor to control the output of the wiper through the wiper relay; and,
用于接收控制器发送来的报警信号进行报警提示的仪表。The instrument used to receive the alarm signal sent by the controller for alarm prompt.
进一步地，，所述的仪表与控制器通过CAN总线相连。Further, the instrument is connected to the controller through a CAN bus.
进一步地，，雨刮组合开关控制雨刮电机包括雨刮0挡、自动挡、间歇挡、低挡和高挡，分别表示雨刮处于静止、雨量过大自动刮水、间歇刮水、低速刮水和高速刮水的状态；所述的雨刮继电器包括雨刮间歇低速继电器和雨刮高速继电器。Further, the wiper combination switch controls the wiper motor including wiper 0 gear, automatic gear, intermittent gear, low gear and high gear, respectively indicating that the wiper is at rest, the rain is too heavy, automatic wipe, intermittent wipe, low-speed wipe The state of water and high-speed wiping; the wiper relay includes a wiper intermittent low-speed relay and a wiper high-speed relay.
一种雨刮电机的控制方法，利用一种雨刮电机控制系统，其特征是，具体包括以下步骤：A control method for a wiper motor, using a wiper motor control system, is characterized in that it specifically includes the following steps:
步骤1)、雨量传感器来检测雨量状态，车速传感器检测车速；Step 1), the rainfall sensor detects the rainfall state, and the vehicle speed sensor detects the vehicle speed;
步骤2)、控制器通过雨刮组合开关检测雨刮0挡、自动挡、间歇挡、低挡及高挡的状态；Step 2), the controller detects the status of wiper 0 gear, automatic gear, intermittent gear, low gear and high gear through the wiper combination switch;
步骤3)、仪表通过CAN线接收控制器的报警状态；Step 3), the instrument receives the alarm status of the controller through the CAN line;
步骤4)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于低速刮水状态且步骤1)中车速等于0km/h，则控制器按间歇刮水方式控制雨刮低速间歇继电器输出；Step 4), if the automatic transmission of the wiper switch is closed in step 2), the rain sensor is in the low-speed wiping state in step 1), and the vehicle speed in step 1) is equal to 0km/h, then the controller controls the wiper at low speed in the intermittent wiping mode Intermittent relay output;
步骤5)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于高速刮水状态且步骤1)中车速等于0km/h，则控制器按低速刮水方式控制雨刮低速间歇继电器的输出；Step 5), if the automatic transmission of the wiper switch is closed in step 2), the rain sensor is in the high-speed wipe state in step 1), and the vehicle speed in step 1) is equal to 0km/h, then the controller controls the wiper at low speed in the low-speed wipe mode Intermittent relay output;
步骤6)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于雨量过大刮水状态且步骤1)中车速等于0km/h，则执行步骤3)，且控制器按间歇刮水方式控制雨刮低速间歇继电器输出；Step 6), if the automatic gear of the wiper switch is closed in step 2), the rain sensor is in the excessive rain wiping state in step 1), and the vehicle speed in step 1) is equal to 0km/h, then execute step 3), and the controller presses The intermittent wiper mode controls the wiper low-speed intermittent relay output;
步骤7)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于低速刮水状态且步骤1)中车速大于0km/h，则控制器按间歇刮水方式控制雨刮低速间歇继电器输出；Step 7), if the automatic transmission of the wiper switch is closed in step 2), the rain sensor is in the low-speed wiping state in step 1), and the vehicle speed in step 1) is greater than 0km/h, then the controller controls the wiper at low speed in the intermittent wiping mode Intermittent relay output;
步骤8)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于高速刮水状态且步骤1)中车速大于0km/h，则控制器控制雨刮高速继电器的输出；Step 8), if the automatic gear of the wiper switch is closed in step 2), the rain sensor is in the high-speed wiping state in step 1), and the vehicle speed in step 1) is greater than 0km/h, the controller controls the output of the high-speed wiper relay;
步骤9)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于雨量过大刮水状态且步骤1)中车速大于0km/h，则执行步骤3),且控制器控制雨刮高速继电器的输出；Step 9), if in step 2) the wiper switch is closed automatically, if in step 1) the rain sensor is in the state of excessive rain and the vehicle speed is greater than 0km/h in step 1), then execute step 3), and the controller controls The output of the wiper high-speed relay;
步骤10)、如果步骤2)中雨刮开关间歇挡闭合，则控制器按间歇刮水方式控制雨刮低速间歇继电器输出；Step 10), if the intermittent gear of the wiper switch is closed in step 2), the controller controls the output of the low-speed intermittent wiper relay in the intermittent wipe mode;
步骤11)、如果步骤2)中雨刮开关低速挡闭合，则控制器按低速刮水方式控制雨刮低速间歇继电器的输出；Step 11), if the low-speed gear of the wiper switch is closed in step 2), the controller controls the output of the low-speed intermittent wiper relay in the low-speed wiper mode;
步骤12)、如果步骤2)中雨刮开关高速挡闭合，则控制器控制雨刮高速继电器的输出。Step 12), if the high-speed gear of the wiper switch is closed in step 2), the controller controls the output of the high-speed wiper relay.
进一步地，步骤6)中执行步骤3)，仪表的报警提示为“雨量过大，不宜行车”；Further, step 3) is executed in step 6), and the alarm prompt of the instrument is "excessive rainfall, not suitable for driving";
步骤9)中执行步骤3)，仪表的报警提示为“雨量过大，请在安全区域停车”。Step 3) is executed in step 9), and the alarm prompt of the instrument is "too much rain, please stop in a safe area".
本发明的有益效果是：本发明提供的一种雨刮电机控制系统，通过雨量传感器和车速传感器对雨量信息和车速信息进行采集，控制器对雨量和车速进行判断，从而控制雨刮的状态。The beneficial effects of the present invention are: the wiper motor control system provided by the present invention collects rainfall information and vehicle speed information through the rain sensor and the vehicle speed sensor, and the controller judges the rainfall and vehicle speed, thereby controlling the state of the wiper.
本发明雨刮设置了5种挡位，结合雨量和车速共实现9种输出，且，当挡位在自动挡时，如果雨量过大，则控制器或控制仪表进行报警提示，避免事故的发生。The wiper of the present invention is provided with 5 kinds of gears, combined with rainfall and vehicle speed to realize 9 kinds of output, and, when the gear is in the automatic gear, if the rain is too large, the controller or the control instrument will give an alarm prompt to avoid the occurrence of accidents .
本发明能够进行报警提示，且实现了智能控制雨刮的功能。The invention can carry out an alarm prompt, and realizes the function of intelligently controlling the wiper.
附图说明Description of drawings
图1为本发明的电气原理图；Fig. 1 is the electrical schematic diagram of the present invention;
图2为本发明的控制方法流程图。Fig. 2 is a flow chart of the control method of the present invention.
图中：1、雨刮组合开关，2、仪表，3、控制器，4、雨量传感器，5、车速传感器，6、雨刮间歇低速继电器，7、雨刮高速继电器。In the figure: 1. Wiper combination switch, 2. Meter, 3. Controller, 4. Rain sensor, 5. Vehicle speed sensor, 6. Wiper intermittent low-speed relay, 7. Wiper high-speed relay.
具体实施方式detailed description
如图1所示，一种雨刮电机控制系统，包括雨刮电机；用于控制雨刮电机的雨刮组合开关1；用于驱动雨刮电机的雨刮继电器；用于采集雨量信息的雨量传感器4；用于采集车速信息的车速传感器5；用于采集雨刮组合开关、雨量传感器及车速传感器的信号并运算处理后通过雨刮继电器驱动雨刮电机控制雨刮输出的控制器3；用于接收控制器发送来的报警信号进行报警提示的仪表2。As shown in Figure 1, a wiper motor control system includes a wiper motor; a wiper combination switch 1 for controlling the wiper motor; a wiper relay for driving the wiper motor; Sensor 4; a vehicle speed sensor 5 used to collect vehicle speed information; a controller 3 used to collect the signals of the wiper combination switch, rain sensor and vehicle speed sensor, and to drive the wiper motor to control the output of the wiper through the wiper relay; The instrument 2 is used to receive the alarm signal sent by the controller to give an alarm prompt.
仪表与控制器通过CAN总线相连，雨刮组合开关包括雨刮0挡、自动挡、间歇挡、低挡和高挡，分别表示雨刮处于静止、雨量过大自动刮水、间歇刮水、低速刮水和高速刮水的状态。雨刮继电器包括雨刮间歇低速继电器6和雨刮高速继电器7。The instrument is connected to the controller through the CAN bus. The wiper combination switch includes wiper zero gear, automatic gear, intermittent gear, low gear and high gear, which respectively indicate that the wiper is at rest, the rain is too heavy, automatic wipe, intermittent wipe, low speed Status of wipes and high-speed wipes. The wiper relay includes a wiper intermittent low-speed relay 6 and a wiper high-speed relay 7 .
控制器的输入端分别与雨刮组合开关、雨量传感器和车速传感器相连，控制器的输出端分别与仪表、雨刮间歇低速继电器和雨刮高速继电器相连，雨刮间歇低速继电器和雨刮高速继电器与雨刮电机相连。The input terminals of the controller are respectively connected with the wiper combination switch, the rain sensor and the vehicle speed sensor, and the output terminals of the controller are respectively connected with the instrument, the wiper intermittent low-speed relay and the wiper high-speed relay, and the wiper intermittent low-speed relay and the wiper high-speed relay Connected to the wiper motor.
如图2所示，一种雨刮电机的控制方法，利用一种雨刮电机控制系统，具体包括以下步骤：As shown in Figure 2, a control method for a wiper motor, using a wiper motor control system, specifically includes the following steps:
步骤1)、雨量传感器来检测雨量状态，车速传感器检测车速；Step 1), the rainfall sensor detects the rainfall state, and the vehicle speed sensor detects the vehicle speed;
步骤2)、控制器通过雨刮组合开关检测雨刮0挡、自动挡、间歇挡、低挡及高挡的状态；Step 2), the controller detects the status of wiper 0 gear, automatic gear, intermittent gear, low gear and high gear through the wiper combination switch;
步骤3)、仪表通过CAN线接收控制器的报警状态；Step 3), the instrument receives the alarm status of the controller through the CAN line;
步骤4)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于低速刮水状态且步骤1)中车速等于0km/h，则控制器按间歇刮水方式控制雨刮低速间歇继电器输出；Step 4), if the automatic transmission of the wiper switch is closed in step 2), the rain sensor is in the low-speed wiping state in step 1), and the vehicle speed in step 1) is equal to 0km/h, then the controller controls the wiper at low speed in the intermittent wiping mode Intermittent relay output;
步骤5)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于高速刮水状态且步骤1)中车速等于0km/h，则控制器按低速刮水方式控制雨刮低速间歇继电器的输出；Step 5), if the automatic transmission of the wiper switch is closed in step 2), the rain sensor is in the high-speed wipe state in step 1), and the vehicle speed in step 1) is equal to 0km/h, then the controller controls the wiper at low speed in the low-speed wipe mode Intermittent relay output;
步骤6)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于雨量过大刮水状态且步骤1)中车速等于0km/h，则仪表报警提示“雨量过大，不宜行车”，且控制器按间歇刮水方式控制雨刮低速间歇继电器输出；Step 6), if in step 2) the wiper switch is automatically turned off, in step 1) the rain sensor is in the wipe state of excessive rain and the vehicle speed in step 1) is equal to 0km/h, then the instrument will alarm and prompt "The rain is too heavy, it is not suitable to Driving", and the controller controls the wiper low-speed intermittent relay output according to the intermittent wipe mode;
步骤7)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于低速刮水状态且步骤1)中车速大于0km/h，则控制器按间歇刮水方式控制雨刮低速间歇继电器输出；Step 7), if the automatic transmission of the wiper switch is closed in step 2), the rain sensor is in the low-speed wiping state in step 1), and the vehicle speed in step 1) is greater than 0km/h, then the controller controls the wiper at low speed in the intermittent wiping mode Intermittent relay output;
步骤8)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于高速刮水状态且步骤1)中车速大于0km/h，则控制器控制雨刮高速继电器的输出；Step 8), if the automatic gear of the wiper switch is closed in step 2), the rain sensor is in the high-speed wiping state in step 1), and the vehicle speed in step 1) is greater than 0km/h, the controller controls the output of the high-speed wiper relay;
步骤9)、如果步骤2)中雨刮开关自动挡闭合、步骤1)中雨量传感器处于雨量过大刮水状态且步骤1)中车速大于0km/h，则仪表报警提示“雨量过大，请在安全区域停车”,且控制器控制雨刮高速继电器的输出；Step 9), if the wiper switch is closed automatically in step 2), the rain sensor is in the wipe state of excessive rain in step 1), and the vehicle speed in step 1) is greater than 0km/h, the instrument will alarm and prompt "too much rain, please Stop in a safe area", and the controller controls the output of the wiper high-speed relay;
步骤10)、如果步骤2)中雨刮开关间歇挡闭合，则控制器按间歇刮水方式控制雨刮低速间歇继电器输出；Step 10), if the intermittent gear of the wiper switch is closed in step 2), the controller controls the output of the low-speed intermittent wiper relay in the intermittent wipe mode;
步骤11)、如果步骤2)中雨刮开关低速挡闭合，则控制器按低速刮水方式控制雨刮低速间歇继电器的输出；Step 11), if the low-speed gear of the wiper switch is closed in step 2), the controller controls the output of the low-speed intermittent wiper relay in the low-speed wiper mode;
步骤12)、如果步骤2)中雨刮开关高速挡闭合，则控制器控制雨刮高速继电器的输出。Step 12), if the high-speed gear of the wiper switch is closed in step 2), the controller controls the output of the high-speed wiper relay.
在运行过程中，控制器实时检测雨刮组合开关、雨量传感器及车速传感器的状态，并分别控制雨刮间歇低速继电器、雨刮高速继电器及仪表进行工作或报警。即，当雨刮开关处于自动挡时，如雨量传感器状态为低速刮水且当前车速为零，则控制器驱动雨刮电机间歇刮水；当雨刮开关处于自动挡时，如雨量传感器状态为高速刮水且当前车速为零，则控制器驱动雨刮电机低速刮水；当雨刮开关处于自动挡时，如雨量传感器状态为雨量过大刮水且当前车速为零，则控制器驱动雨刮电机高速刮水，同时仪表以声光提示因当前雨量过大，不宜行车；当雨刮开关处于自动挡时，如雨量传感器状态为低速刮水且当前车速大于零，则控制器驱动雨刮电机低速刮水；当雨刮开关处于自动挡时，如雨量传感器状态为高速刮水且当前车速大于零，则控制器驱动雨刮电机高速刮水；当雨刮开关处于自动挡时，如雨量传感器状态为雨量过大刮水且当前车速大于零，则控制器驱动雨刮电机高速刮水，同时仪表以声光提示因当前雨量过大，请在安全区域停车；当雨刮开关处于间歇挡时，控制器驱动雨刮电机间歇刮水；当雨刮开关处于低速挡时，控制器驱动雨刮电机低速刮水；当雨刮开关处于高速挡时，控制器驱动雨刮电机高速刮水。During operation, the controller detects the status of the wiper combination switch, rain sensor and vehicle speed sensor in real time, and controls the wiper intermittent low-speed relay, wiper high-speed relay and instrument to work or alarm respectively. That is, when the wiper switch is in automatic gear, if the state of the rain sensor is low-speed wiping and the current vehicle speed is zero, the controller will drive the wiper motor to wipe intermittently; when the wiper switch is in automatic gear, if the state of the rain sensor is When wiping at high speed and the current vehicle speed is zero, the controller drives the wiper motor to wipe at low speed; The wiper motor wipes at high speed, and at the same time, the instrument prompts with sound and light that it is not suitable to drive due to the current excessive rainfall; when the wiper switch is in automatic gear, if the rain sensor is in low-speed wipe and the current vehicle speed is greater than zero, the controller will drive the wiper The motor wipes at low speed; when the wiper switch is in automatic gear, if the rain sensor status is high-speed wipe and the current vehicle speed is greater than zero, the controller drives the wiper motor to wipe at high speed; when the wiper switch is in automatic gear, if the rain If the sensor status is excessive rain and the current vehicle speed is greater than zero, the controller will drive the wiper motor to wipe at high speed, and the instrument will prompt with sound and light, please stop in a safe area due to the current excessive rain; when the wiper switch is in the intermittent position When the wiper switch is in high gear, the controller drives the wiper motor to wipe water intermittently; when the wiper switch is in low gear, the controller drives the wiper motor to wipe at low speed; when the wiper switch is in high gear, the controller drives the wiper motor to wipe water at high speed.
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. On the basis of the technical solution of the present invention, those skilled in the art can make various Modifications or variations are still within the protection scope of the present invention.
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