CN107702685A - Precision angle head - Google Patents
Precision angle head Download PDFInfo
- Publication number
- CN107702685A CN107702685A CN201711112021.2A CN201711112021A CN107702685A CN 107702685 A CN107702685 A CN 107702685A CN 201711112021 A CN201711112021 A CN 201711112021A CN 107702685 A CN107702685 A CN 107702685A
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- China
- Prior art keywords
- orientation
- angle
- drive component
- pitching
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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- 230000003028 elevating effect Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000005693 optoelectronics Effects 0.000 claims description 8
- 208000032369 Primary transmission Diseases 0.000 claims description 7
- 239000011521 glass Substances 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 6
- 229920006267 polyester film Polymers 0.000 claims description 6
- 241000237858 Gastropoda Species 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of precision angle head, the head include following structure：Base, level(l)ing bubble, upper arm, orientation rotation mechanism, elevating movement mechanism and video camera installing mechanism, base are mounted on thereon for supporting and carrying miscellaneous part, and level(l)ing bubble is arranged on base；Orientation rotation mechanism is arranged on base, under elevating movement mechanism, elevating movement mechanism is arranged in the driven end of orientation drive component, a pair of upper arms are provided with orientation rotation mechanism, video camera installing mechanism is by orientation drive component and the transmission control of pitching drive component, the driven end by upper arm installed in pitching drive component；Video camera and other shooting scanning devices are arranged on video camera installing mechanism.Precision angle head involved in the present invention, by orientation drive component and pitching drive component, high level of accuracy angular turn and pitching are respectively completed, and by supporting angular transducer, the angle that measurement rotates in real time being capable of precision positioning control point position.
Description
【Technical field】
The present invention relates to Technology of Precision Measurement field, more particularly to a kind of angle measurement cradle head device of allocation position sensor.
【Background technology】
The head commonly used at present in technologically-monitoring system, when measuring the azimuth of monitoring objective and the angle of pitch, cloud can only be relied on
The turnning circle of platform motor is calculated.Because motor has the drawback such as step-out phenomenon and gear backlash, often lead to monitoring and obtain
Azimuth and pitch angle data error it is larger.
For the azimuth in horizontal direction, error dumping needs motor to rotate to zero position, but differs again during working
Zero position is surely run to, each so-called " zero " all has actual error, and such long-play accumulation causes to count
Also will be increasing according to error.And for the angle of pitch in vertical direction, it is that angle is calculated by sector gear pitching,
Gear, which makes the return trip empty, can cause actual angle error to be present with calculating angle, thus azimuth and the aspect of the angle of pitch two interact and
Superposition, causes overall deviation larger.Existing head technology can not meet high accuracy positioning requirement.
The positioning performance of head plays an important roll in technologically-monitoring system, and the quality of its positioning performance directly affects
Monitoring objective position it is whether accurate.
【The content of the invention】
The present invention is in view of the above-mentioned problems, a kind of solution error of offer is larger, the precision angle head for the inaccurate problem that is zeroed.The essence
Miyun platform by using high-precision combination disk absolute value optoelectronic angle encoder, measure in real time camera optical axis, horizontal plane angle and
Azimuth reference angle, so as to greatly increase camera position monitoring positioning precision.
A kind of precision angle head, it is characterised in that the head includes following structure：Base, level(l)ing bubble, upper arm, side
Position rotating mechanism, elevating movement mechanism and video camera installing mechanism,
Base：Support and carrying miscellaneous part are mounted on thereon, and level(l)ing bubble is arranged on base；
Orientation rotation mechanism：Including orientation drive component and orientation angles sensor, orientation drive component be arranged on base it
On, orientation angles sensor is assembled together with orientation drive component；
Elevating movement mechanism：Including pitching drive component and luffing angle sensor, elevating movement mechanism drives installed in orientation
In the driven end of dynamic component；
A pair of upper arms are provided with orientation rotation mechanism, upper arm support video camera in itself, and in the upper arm of both sides divides
Pitching drive component and luffing angle sensor Jia She be installed；
Video camera installing mechanism：Video camera installing mechanism is passed through by orientation drive component and the transmission control of pitching drive component
Upper arm is arranged on the driven end of pitching drive component；Video camera and other shooting scanning devices are arranged on video camera installing mechanism
On.
The orientation drive component includes motor, worm and gear, direction rotating shaft, and wherein motor driving worm screw, worm and wormwheel passes
It is dynamic to coordinate, by the gear teeth of worm gear and with cogged direction rotating shaft engaged transmission；And direction rotating shaft is coordinated by axle and orientation
The angular encoder of angular transducer is kept with angular turn annexation.
The pitching drive component includes motor, worm and gear, gear train, wherein motor driving worm screw, Worm and Worm Gear Driving
Coordinate, worm-drive passes through gear set drive video camera installing mechanism pitching to gear train；Video camera installing mechanism pitching
Rotate the angular encoder of synchronous drive luffing angle sensor.
Wherein gear train includes primary transmission gear and sector gear, and the primary transmission gear and worm gear are coaxial, sector
The segment angle of wheel is corresponding with video camera maximum luffing angle.
The orientation angles sensor includes orientation angles encoder, azimuth optical-electrical converter；The luffing angle sensor
Including pitching angular encoder, angle of pitch optical-electrical converter, light-emitting tube, gear train, pitching rotating shaft and spring.
The orientation angles encoder is high-precision combination disk Absolute neutron flux, and the pitching angular encoder is more code-discs
Absolute value optoelectronic angle encoder.
The high-precision combination disk Absolute neutron flux has level encoder disk, the encoder, by metal encoder device code
Disk, glass encoder code disc or polyester film encoder code disc are formed by binary code or Gray code imprinting, and coding disk is fixed on
On direction rotating shaft, it encodes maximum number and depends on ultimate resolution.
More code-disc absolute value optoelectronic angle encoders have angle of pitch coding disk and pitching angular magnification coding disk, by metal
Encoder code disc, glass encoder code disc or polyester film encoder code disc are formed by binary code or Gray code imprinting, pitching
Angular magnification coding disk is fixed in pitching rotating shaft, and it encodes maximum number and depends on gear train no-load voltage ratio；Angle of pitch coding disk is fixed on
On most end one-level toothed disc, it encodes maximum number and depends on ultimate resolution, and final angle reading is true by two coding disk readings
It is fixed.
Level(l)ing bubble is provided with base.Placed from each other in 90 ° of angles using two level(l)ing bubbles.
Wherein motor includes stepper motor or direct current generator.
Precision angle head involved in the present invention, by orientation drive component and pitching drive component, is respectively completed height
Precision level angular turn and pitching, and by supporting angular transducer, the angle that measurement rotates in real time can be accurate
Locating and monitoring point position.
【Brief description of the drawings】
Fig. 1 is the main structure schematic diagram of precision angle head of the present invention；
Fig. 2 is the internal drive structural scheme of mechanism of precision angle head of the present invention；
Fig. 3 is the orientation rotation structural scheme of mechanism of precision angle head of the present invention；
Fig. 4 is the elevating movement structural scheme of mechanism of precision angle head of the present invention；
Fig. 5 is the pitching drive component schematic diagram of precision angle head of the present invention；
Wherein：10th, base；11st, level(l)ing bubble；20th, upper arm；30th, orientation rotation mechanism；31st, orientation drive component；311st, horse
Reach；312nd, worm screw；313rd, worm gear；314th, bearing；315th, direction rotating shaft；32nd, orientation angles sensor；321st, azimuth photoelectricity turns
Parallel operation；322nd, orientation angles coding disk；40th, elevating movement mechanism；41st, pitching drive component；411st, motor；412nd, worm screw；
413rd, turbine；414th, primary transmission gear；415th, sector gear；42nd, luffing angle sensor；421st, pitching angular magnification encodes
Disk；422nd, pitching angular magnification optical-electrical converter；431st, angle of pitch coding disk；432nd, angle of pitch optical-electrical converter；441st, tooth is encoded
Wheel group；445th, spring；446th, pitching rotating shaft；447th, luffing angle mounting frame for sensor；50th, video camera installing mechanism；
【Embodiment】
Precision angle head of the present invention is carried out further specifically below in conjunction with the drawings and specific embodiments of the present invention
It is bright.
Accompanying drawing 1 is refer to, illustrated therein is the external structure of precision angle head, the accompanying drawing shows the head of complete entirety
Structure, including base 10, upper arm 20, and the video camera for being used to install video camera and other shooting scanning devices in upper arm is set
Installing mechanism 50.
Base 10 is that support and carrying miscellaneous part are mounted on thereon, and level(l)ing bubble 11 is arranged on base 10, bottom
Two level(l)ing bubbles 11 can be typically set on seat, placed between each other in an angle of 90 degrees using two level(l)ing bubbles.Ensure head water
Flat reference plane is consistent with horizontal plane.
It refer to accompanying drawing 2：On base 10, provided with orientation rotation mechanism 30 and elevating movement mechanism 40, wherein orientation
Rotating mechanism 30 includes orientation drive component 31 and orientation angles sensor 32, orientation drive component 31 be arranged on base 10 it
On, orientation angles sensor 32 is assembled together with orientation drive component 31；And elevating movement mechanism 40 includes pitching driving group
Part 41 and luffing angle sensor 42, elevating movement mechanism 40 are arranged in the driven end of orientation drive component 31.
A pair of upper arms 20 are provided with orientation rotation mechanism 40, the upper arm 20 supports video camera in itself, in two pendants
Installation pitching drive component 41 is set up respectively on arm 20 and luffing angle sensor 42, video camera installing mechanism 50 pass through orientation
Drive component 31 and the transmission control of pitching drive component 41, the driven end of pitching drive component 41 is arranged on by upper arm 20；
Video camera and other shooting scanning devices are arranged on video camera installing mechanism 50.
It refer to accompanying drawing 3：Orientation drive component 31 is illustrated therein is, the orientation drive component includes motor 311, worm gear snail
Bar 312/313, bearing 314, direction rotating shaft 315, wherein motor 311 drive worm screw 312, and the transmission of the worm gear 313 of worm screw 312 coordinates,
By the gear teeth of worm gear 313 and with the cogged engaged transmission of direction rotating shaft 315；And direction rotating shaft 315 is coordinated and side by axle
The orientation angles coding disk 322 of position angular transducer 32 keeps same angular turn annexation.
And the orientation angles sensor 32 includes orientation angles coding disk 322, azimuth optical-electrical converter 323.
The orientation angles coding disk 322 is high-precision combination disk absolute value angular coding disk, the high-precision combination disk absolute value
Angular coding disk has level encoder disk, the coding disk, is compiled by metal encoder device code-disc, glass encoder code disc or polyester film
Code device code-disc is formed by binary code or Gray code imprinting, and coding disk is fixed on direction rotating shaft 315, and it encodes maximum number and depended on
In ultimate resolution.
Accompanying drawing 4 is refer to, illustrated therein is elevating movement mechanism, pitching drive component 41 includes motor 411, worm gear 412
Worm screw 413, driving gear set, wherein motor 411 drive worm screw 412, and the transmission of the worm gear 413 of worm screw 412 coordinates, and worm gear 413 is driven
To driving gear set, the pitching of video camera installing mechanism 50 is driven by driving gear set；Wherein driving gear set includes one
Level travelling gear 414 and the sector gear 415 engaged with primary transmission gear, the primary transmission gear 414 and worm gear 413 are same
Axle, and the segment angle of sector gear 415 is corresponding with shooting 50 maximum luffing angle of installing mechanism.
The pitch rotation synchronous drive luffing angle sensor 42 of video camera installing mechanism 50, luffing angle sensor 42 is installed
On luffing angle mounting frame for sensor 447, the luffing angle sensor 42 includes angle of pitch coding disk 431, angle of pitch light
Electric transducer 432, encoder gear group 441, pitching rotating shaft 446 and spring 445.The luffing angle sensor also includes the angle of pitch times
Rate coding disk 421 and pitching angular magnification optical-electrical converter 422, pitching angular magnification coding disk 421 and pitching angular magnification opto-electronic conversion
Device 422 is arranged in pitching rotating shaft 446, and pitching rotating shaft 446 is driven by pitching gear train 441, final step toothed disc
Rotating shaft be provided with angle of pitch coding disk 431 and angle of pitch optical-electrical converter 432.
The pitching angular encoder is more code-disc absolute value optoelectronic angle encoders.More code-disc absolute value optoelectronic angles are compiled
Code device has angle of pitch coding disk and pitching angular magnification coding disk, by metal encoder device code-disc, glass encoder code disc or polyester
Film encoder code disc is formed by binary code or Gray code imprinting, and pitching angular magnification coding disk 421 is fixed on pitching rotating shaft 446
On, it encodes maximum number and depends on gear train no-load voltage ratio；Angle of pitch coding disk 431 is fixed on most end one-level toothed disc, and it is encoded
Maximum number depends on ultimate resolution, and final angle reading is determined by two coding disk readings.
Wherein motor includes stepper motor or direct current generator.
Precision angle head involved in the present invention, by orientation drive component and pitching drive component, is respectively completed height
Precision level angular turn and pitching, and by supporting angular transducer, the angle that measurement rotates in real time can be accurate
Locating and monitoring point position.
It is described above, only it is present pre-ferred embodiments, any formal limitation not is made to the present invention, although
The present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any person skilled in the art,
Do not depart from the range of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent
The equivalent embodiment of change, as long as being without departing from technical solution of the present invention content, refer to implement to more than according to the technology of the present invention
Any simple modification, equivalent change and modification that example is made, is belonged in the range of technical solution of the present invention.
Claims (10)
1. a kind of precision angle head, it is characterised in that the head includes following structure：Base, level(l)ing bubble, upper arm, orientation
Rotating mechanism, elevating movement mechanism and video camera installing mechanism,
Base：Support and carrying miscellaneous part are mounted on thereon, and level(l)ing bubble is arranged on base；
Orientation rotation mechanism：Including orientation drive component and orientation angles sensor, orientation drive component be arranged on base it
On, orientation angles sensor is assembled together with orientation drive component；
Elevating movement mechanism：Including pitching drive component and luffing angle sensor, elevating movement mechanism drives installed in orientation
In the driven end of dynamic component；
A pair of upper arms are provided with orientation rotation mechanism, upper arm support video camera in itself, and in the upper arm of both sides divides
Pitching drive component and luffing angle sensor Jia She be installed；
Video camera installing mechanism：Video camera installing mechanism is passed through by orientation drive component and the transmission control of pitching drive component
Upper arm is arranged on the driven end of pitching drive component；Video camera and other shooting scanning devices are arranged on video camera installing mechanism
On.
2. precision angle head according to claim 1, it is characterised in that the orientation drive component includes motor, worm gear snail
Bar, direction rotating shaft, wherein motor drive worm screw, and Worm and Worm Gear Driving coordinates, by the gear teeth of worm gear and with cogged orientation
Rotating shaft engaged transmission；And direction rotating shaft is coordinated with the holding of the angular encoder of orientation angles sensor with angular turn company by axle
Connect relation.
3. precision angle head according to claim 1, it is characterised in that the pitching drive component includes motor, worm gear snail
Bar, gear train, wherein motor drive worm screw, and Worm and Worm Gear Driving coordinates, and worm-drive is taken the photograph to gear train by gear set drive
Camera installing mechanism pitching；The angular coding of video camera installing mechanism pitch rotation synchronous drive luffing angle sensor
Device.
4. precision angle head according to claim 3, it is characterised in that wherein gear train includes primary transmission gear and fan
Shape gear, the primary transmission gear and worm gear are coaxial, and the segment angle of sector gear is corresponding with video camera maximum luffing angle.
5. precision angle head according to claim 1, it is characterised in that the orientation angles sensor is compiled including orientation angles
Code-disc, azimuth optical-electrical converter；The luffing angle sensor includes angle of pitch coding disk, angle of pitch optical-electrical converter, gear
Group, pitching rotating shaft and spring.
6. precision angle head according to claim 5, it is characterised in that the orientation angles coding disk is that high-precision combination disk is exhausted
To being worth angular coding disk, and the angle of pitch coding disk is more code-disc absolute value optoelectronic angle coding disks.
7. precision angle head according to claim 6, it is characterised in that the high-precision combination disk absolute value angular coding disk
There is level encoder disk, the coding disk, pressed by metal encoder device code-disc, glass encoder code disc or polyester film encoder code disc
Binary code or Gray code imprinting are formed, and coding disk is fixed on direction rotating shaft, and it encodes maximum number and depends on ultimate resolution.
8. precision angle head according to claim 6, it is characterised in that more code-disc absolute value optoelectronic angle coding disks
There are angle of pitch coding disk and pitching angular magnification coding disk, compiled by metal encoder device code-disc, glass encoder code disc or polyester film
Code device code-disc is formed by binary code or Gray code imprinting, and pitching angular magnification coding disk is fixed in pitching rotating shaft, and it is encoded most
Big number depends on gear train no-load voltage ratio；Angle of pitch coding disk is fixed on most end one-level toothed disc, and it encodes maximum number and depended on most
Big resolution ratio, final angle reading are determined by two coding disk readings.
9. precision angle head according to claim 1, it is characterised in that level(l)ing bubble is provided with base, uses two
Level(l)ing bubble is placed in 90 ° of angles from each other.
10. precision angle head according to claim 2, it is characterised in that wherein motor includes stepper motor or direct current
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711112021.2A CN107702685A (en) | 2017-11-13 | 2017-11-13 | Precision angle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711112021.2A CN107702685A (en) | 2017-11-13 | 2017-11-13 | Precision angle head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107702685A true CN107702685A (en) | 2018-02-16 |
Family
ID=61178485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711112021.2A Withdrawn CN107702685A (en) | 2017-11-13 | 2017-11-13 | Precision angle head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107702685A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994451A (en) * | 2018-07-17 | 2018-12-14 | 云南电网有限责任公司曲靖供电局 | Directional locking and system |
| CN109595439A (en) * | 2018-11-27 | 2019-04-09 | 华南理工大学 | A kind of Novel two-freedom-degree holder |
| CN111239767A (en) * | 2018-11-27 | 2020-06-05 | 现代自动车株式会社 | Object sensing apparatus |
| CN111911764A (en) * | 2020-09-01 | 2020-11-10 | 福建汇川物联网技术科技股份有限公司 | Pitching adjusting structure and remote monitoring device |
| CN112344159A (en) * | 2020-09-10 | 2021-02-09 | 安徽龙运智能科技有限公司 | High-precision automatic positioning method for holder |
| CN114390208A (en) * | 2022-02-19 | 2022-04-22 | 齐丰科技股份有限公司 | Self-correcting pan-tilt camera and automatic correcting method and system |
| CN114484203A (en) * | 2022-01-27 | 2022-05-13 | 中国船舶重工集团公司七五0试验场 | Underwater anti-impact cradle head |
| WO2024000895A1 (en) * | 2022-06-30 | 2024-01-04 | 源广光电股份有限公司 | Monitoring apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101012906A (en) * | 2007-02-08 | 2007-08-08 | 武汉科技大学 | DSP based control-drive integrated two-freedom degree pan |
| CN101782713A (en) * | 2009-01-21 | 2010-07-21 | 北京华旗资讯数码科技有限公司 | Full-view image shooting device |
| CN206136079U (en) * | 2016-09-02 | 2017-04-26 | 深圳市明日实业有限公司 | High definition automatic tracking takes photograph camera |
| CN207395711U (en) * | 2017-11-13 | 2018-05-22 | 深圳中天云隼科技有限公司 | Precision angle holder |
-
2017
- 2017-11-13 CN CN201711112021.2A patent/CN107702685A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101012906A (en) * | 2007-02-08 | 2007-08-08 | 武汉科技大学 | DSP based control-drive integrated two-freedom degree pan |
| CN101782713A (en) * | 2009-01-21 | 2010-07-21 | 北京华旗资讯数码科技有限公司 | Full-view image shooting device |
| CN206136079U (en) * | 2016-09-02 | 2017-04-26 | 深圳市明日实业有限公司 | High definition automatic tracking takes photograph camera |
| CN207395711U (en) * | 2017-11-13 | 2018-05-22 | 深圳中天云隼科技有限公司 | Precision angle holder |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994451A (en) * | 2018-07-17 | 2018-12-14 | 云南电网有限责任公司曲靖供电局 | Directional locking and system |
| CN109595439A (en) * | 2018-11-27 | 2019-04-09 | 华南理工大学 | A kind of Novel two-freedom-degree holder |
| CN111239767A (en) * | 2018-11-27 | 2020-06-05 | 现代自动车株式会社 | Object sensing apparatus |
| CN111239767B (en) * | 2018-11-27 | 2024-06-07 | 现代自动车株式会社 | Object sensing apparatus |
| CN111911764A (en) * | 2020-09-01 | 2020-11-10 | 福建汇川物联网技术科技股份有限公司 | Pitching adjusting structure and remote monitoring device |
| CN112344159A (en) * | 2020-09-10 | 2021-02-09 | 安徽龙运智能科技有限公司 | High-precision automatic positioning method for holder |
| CN114484203A (en) * | 2022-01-27 | 2022-05-13 | 中国船舶重工集团公司七五0试验场 | Underwater anti-impact cradle head |
| CN114484203B (en) * | 2022-01-27 | 2024-04-30 | 中国船舶重工集团公司七五0试验场 | Underwater shock-resistant cradle head |
| CN114390208A (en) * | 2022-02-19 | 2022-04-22 | 齐丰科技股份有限公司 | Self-correcting pan-tilt camera and automatic correcting method and system |
| WO2024000895A1 (en) * | 2022-06-30 | 2024-01-04 | 源广光电股份有限公司 | Monitoring apparatus |
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Application publication date: 20180216 |