CN109584584A - A kind of intelligence colour blindness driving auxiliary wearable device - Google Patents
A kind of intelligence colour blindness driving auxiliary wearable device Download PDFInfo
- Publication number
- CN109584584A CN109584584A CN201811420695.3A CN201811420695A CN109584584A CN 109584584 A CN109584584 A CN 109584584A CN 201811420695 A CN201811420695 A CN 201811420695A CN 109584584 A CN109584584 A CN 109584584A
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- unit
- main control
- wearable device
- control unit
- colour blindness
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- 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.)
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
Abstract
The invention discloses a kind of intelligent colour blindness auxiliary to drive wearable device, including first part and second part, first part includes Power Management Unit 1, shaft platform unit, main control unit, image data acquiring unit, display/voice unit, wireless data transmission unit, main control unit is connected with image data acquiring unit, main control unit is connected with display/voice unit, main control unit is connected with shaft platform unit, main control unit is connected with wireless data transmission unit, and Power Management Unit 1 is connected with shaft platform unit；The equipment can assist achromate to identify traffic lights, safe driving.
Description
Technical field
It assists driving wearable device the present invention relates to intelligent colour blindness, belongs to auxiliary driving field.
Background technique
With the fast development of Chinese society, various motor vehicles are to have become indispensable friendship in people's daily life
Logical tool.On the Chinese side, by September, 2018, China's automobile guarantee-quantity is up to 3.22 hundred million, and vehicle driver is up to 4.03
Hundred million.China's traffic route is very flourishing at present, and various traffic rules are also increasingly sound.It is various in order to guarantee traffic safety
Motor vehicle must comply with traffic in motion and gather around rule, wherein being strictly the most necessary by traffic rules traveling.Therefore, it removes
Motor vehicle needs to abide by road driving traffic lights, and the various non-motor vehicles in daily life must also be abided by road driving
Keep traffic rules.
Colour blindness is a kind of common genetic disease, medically generally can according to colour blindness personnel to distinguishing colours
Type and degree can be divided into monochromasia and chrotopsia.In China, " colour blindness " personnel apply for motor vehicle driving license by limitation always.
Meanwhile the various non-motor vehicle drivers with " colour blindness " also have certain risk when driving non-motor vehicle.Currently,
In order to ensure the driving power of colour blindness personnel and reduce non-motor vehicle driver harm caused by road traffic have corresponding
Scheme proposes.First is that distinguishing traffic lights color using additional character by improving traffic lights.Second is that design colour blindness personnel drive
Auxiliary system.Current two schemes have the shortcomings that following.Disadvantage 1: colour blindness driving is solved by way of improving traffic lights
Personnel there are the problem of, there are the problems such as at high cost, transformation is difficult.Disadvantage 2: current existing colour blindness control loop design scheme,
All it is to be fixedly mounted on motor vehicle about image recognition relevant issues, and mostly, can not easily moves on to equipment very much
It is used on other vehicles.Disadvantage 3: the camera that the image data acquiring of existing colour blindness DAS (Driver Assistant System) uses can not foundation
Actual demand rotation, when carrying out image data acquiring, has more blind area.
Existing colour blindness DAS (Driver Assistant System), it is mostly related with camera image processing, do not account for colour blindness DAS (Driver Assistant System)
Whole design scheme.In view of the above problems, this patent devises the colour blindness DAS (Driver Assistant System) of complete set.The system of design
Including power module, main control unit, angular transducer, cue module, rotary axis module.By above scheme, solve to improve traffic
Lamp somewhat expensive and performance difficulty problem.
Existing colour blindness DAS (Driver Assistant System) is mostly to be mounted on camera on motor vehicle, acquires traffic lights information, then will adopt
Collection information is shown in a manner of sound or text or icon.Camera is generally fixed to motor vehicle front end, and visual angle is not
It can constantly be rotated according to actual demand.And these design schemes are designed just for motor vehicles, are only suitable for
Motor vehicle uses.In view of the above problems, this patent, which devises the colour blindness auxiliary being easily installed always, drives wearable device.The equipment
Image data acquiring module and processing module and display module concentrate in the box that one is easily installed, angular transducer
It is designed as wearable device, is worn on user of service's body, and data interaction is carried out by wireless transmissions module and main control unit.
Summary of the invention
In view of the deficiency of the prior art, the present invention devises a kind of intelligent colour blindness auxiliary driving wearable device,
The equipment can assist achromate to identify traffic lights, safe driving.Intelligent colour blindness assistant equipments on board is divided into two part groups
At, first is that moveable part, second is that wearing portion.To achieve the goals above, the technical scheme adopted by the invention is that:
A kind of intelligence colour blindness auxiliary driving wearable device, including first part and second part, first part include power management
Unit 1, shaft platform unit, main control unit, image data acquiring unit, display/voice unit, wireless data transmission unit,
Main control unit is connected with image data acquiring unit, and main control unit is connected with display/voice unit, main control unit and shaft platform
Unit is connected, and main control unit is connected with wireless data transmission unit, and Power Management Unit 1 is connected with shaft platform unit；First
Part includes Power Management Unit 2, main control unit, angle-data acquisition unit, wireless data transmission unit, main control unit and angle
It spends data acquisition unit to be connected, main control unit is connected with wireless data transmission unit, and Power Management Unit 2 and angle-data acquire
Unit is connected.
Furthermore, wireless data transmission unit NRF2401.
The equipment can assist achromate to identify traffic lights, safe driving.Intelligent colour blindness assistant equipments on board is divided into two
A part composition, first is that moveable part, second is that wearing portion, two parts carry out data interaction by wireless module, these
Module completes image and angle-data acquires, camera angle control, information is shown and sound prompt function.
Colour blindness assistant equipments on board is divided into two parts by the present invention, and first part is mounted on motor vehicle or non-motor vehicle
On, data acquisition and processing (DAP) is carried out, and communicated with second part by NRF2401.Two parts of wearable device, pacify respectively
Suitable front view position mounted in driver head and vehicle, such as first part are mounted on the front windshield glass of motor vehicle
Below glass or on the handlebar of bicycle, second part is worn on the head of driver.Two parts cooperate, therefore compared with
Existing colour blindness DAS (Driver Assistant System), the program require setting angle not stringent.
The wearable device that the present invention designs can be according to actual road conditions, rotation camera constantly, carry out data
Acquisition.Designed wearable device first part concrete function is to be first depending on second part to turn by NRF2401 feedback control
Camera is gone to suitable position by shaft platform data, which can collect suitable traffic light signals information.Work as shaft
When going to suitable position, camera starts to acquire image data.Main control unit handles the image data of acquisition back,
By the information of traffic lights to be broadcasted on text importing to display screen and with speech form.The function of the equipment second part of wearable device
It can be that equipment designed by this patent is worn on driver head, be mounted on wearable device and (accelerate in angular transducer
Spend sensor) it is turned to according to head, the certain orientation data on head are handled by main control unit, and pass through NRF2401
It is transmitted to the first part of wearable device.
The workflow of wearable device designed by this patent is as follows:
Step 1: driver rotates head according to road actual conditions, and wearable device is driven to rotate together, and such as schemesTo drive
Sail person head rotational angle.The acceleration transducer acquisition head direction information installed on wearable device, and by data information
It is transmitted in first part by NRF2401.
Step 2: the master control borad of first part receives the information that acceleration transducer acquires back, and control shaft platform turns
It is dynamic, and camera is driven to rotate together, such as schemeFor camera rotational angle.Namely work as driver's head rotation suitable angular
Degree, camera can also rotate proper angle.
Step 3: camera collection image data, and treated is converted to text information and voice messaging.
Step 4: driver obtains the constantly information of traffic lights by screen and loudspeaker.
The hardware circuit of first part mainly consists of three parts, and is minimum system circuit, the peripheral circuit of main control chip
And the power management module of interface, first part, the main working process of power management module are as follows.The interface of external power supply is
BAT2 namely battery connect in the port, carry out battery power supply opening and closing by turning round sub switch SW2.TVS is passed through in SW2 output
Pipe D8, capacitor C60, C62, C63, wherein the effect of TVS pipe D8 is to absorb surge current, and protection is burnt out due to instantaneous large-current
Circuit conditions.Capacitor C60, C62, C63 main function is the clutter for filtering out battery, and clutter passes through three capacitors to GND.By electricity
Voltage VBAT points of pond output are two-way, pass through power management chip U12 all the way, and model MP1469 is converted to 3.3V,
That is MCU_3V3.Another way passes through power management chip U13, and model MP1469 is converted to 5.0V namely SER_5V.
The circuit of intelligent colour blindness assistant equipments on board second part mainly consists of three parts.Respectively main control chip, should
Chip is STC15F2K60S2, and kernel 51 is encapsulated as SOP32 form.P1, P2 are respectively external power supply battery interface and power supply
Switch.J1 be acceleration transducer interface, acceleration transducer use MPU6050 module, the module in the form of serial ports with
Main control chip STC15F2K60S2 carries out data interaction.
After adopting the above technical scheme, the invention has the advantages that compared with the prior art:
1. intelligently auxiliary drives wearable device to the colour blindness of design, the driver with colour blindness can be applied to, without right
Existing traffic lights, which improves, can identify traffic lights information, so as to solve to improve traffic lights transformation hardly possible and improvement cost
High problem；
2. intelligently auxiliary drives wearable device to the colour blindness of design, can be good at solving data acquisition blind area using shaft platform
Problem, therefore can greatly reduce requirement of the equipment to the position of installation, equipment can be flexibly mounted on various vehicles；
3. design colour blindness intelligently auxiliary drive wearable device, angular-rate sensor and shaft platform are combined, pass through by
The header information rotation situation and shaft of driver links, so as to well according to actual traffic lights position into
The rotation of row camera angle, solves image data acquiring blind zone problem.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples:
Fig. 1 is system block diagram of the invention.
Fig. 2 is the scheme of installation of wearable device of the invention.
Fig. 3 is the work flow diagram of wearable device of the invention.
Fig. 4 is first part's main control chip minimum system circuit of the invention.
Fig. 5 is other peripheral circuits of first part of the invention.
Fig. 6 is first part's power management module circuit of the invention.
Fig. 7 is the circuit of second part of the invention.
Specific embodiment
As described below is only presently preferred embodiments of the present invention, is not intended to limit the scope of the present invention.
Embodiment 1, as shown in Figure 1, a kind of intelligence colour blindness auxiliary drives wearable device, including first part and second
Point, first part includes Power Management Unit 1, shaft platform unit, main control unit, image data acquiring unit, display/voice
Unit, wireless data transmission unit, main control unit are connected with image data acquiring unit, main control unit and display/voice unit
It is connected, main control unit is connected with shaft platform unit, and main control unit is connected with wireless data transmission unit, Power Management Unit 1
It is connected with shaft platform unit；First part include Power Management Unit 2, main control unit, angle-data acquisition unit, without line number
According to transmission unit, main control unit is connected with angle-data acquisition unit, and main control unit is connected with wireless data transmission unit, power supply
Administrative unit 2 is connected with angle-data acquisition unit.
Furthermore, wireless data transmission unit NRF2401.
The equipment can assist achromate to identify traffic lights, safe driving.Intelligent colour blindness assistant equipments on board is divided into two
A part composition, first is that moveable part, second is that wearing portion, two parts carry out data interaction by wireless module, these
Module completes image and angle-data acquires, camera angle control, information is shown and sound prompt function.
As shown in Fig. 2, colour blindness assistant equipments on board is divided into two parts by the present invention, first part be mounted on motor vehicle or
On non-motor vehicle, data acquisition and processing (DAP) is carried out, and communicated with second part by NRF2401.Fig. 2 is wearable device
Scheme of installation, two parts of wearable device are separately mounted to the suitable front visual angle position of driver head and vehicle
It sets, such as first part is mounted below the front windshield of motor vehicle or on the handlebar of bicycle, second part is worn on
The head of driver.Two parts cooperate, therefore more existing colour blindness DAS (Driver Assistant System), and the program is to setting angle
It is required that not stringent.
The wearable device that the present invention designs can be according to actual road conditions, rotation camera constantly, carry out data
Acquisition.Designed wearable device first part concrete function is to be first depending on second part to turn by NRF2401 feedback control
Camera is gone to suitable position by shaft platform data, which can collect suitable traffic light signals information.Work as shaft
When going to suitable position, camera starts to acquire image data.Main control unit handles the image data of acquisition back,
By the information of traffic lights to be broadcasted on text importing to display screen and with speech form.The function of the equipment second part of wearable device
It can be that equipment designed by this patent is worn on driver head, be mounted on wearable device and (accelerate in angular transducer
Spend sensor) it is turned to according to head, the certain orientation data on head are handled by main control unit, and pass through NRF2401
It is transmitted to the first part of wearable device.
As shown in figure 3, the workflow of wearable device designed by this patent is as follows:
Step 1: driver rotates head according to road actual conditions, and wearable device is driven to rotate together, and such as schemesTo drive
Sail person head rotational angle.The acceleration transducer acquisition head direction information installed on wearable device, and by data information
It is transmitted in first part by NRF2401.
Step 2: the master control borad of first part receives the information that acceleration transducer acquires back, and control shaft platform turns
It is dynamic, and camera is driven to rotate together, such as schemeFor camera rotational angle.Namely work as driver's head rotation suitable angular
Degree, camera can also rotate proper angle.
Step 3: camera collection image data, and treated is converted to text information and voice messaging.
Step 4: driver obtains the constantly information of traffic lights by screen and loudspeaker.
The hardware circuit of first part mainly consists of three parts, and Fig. 4 is the minimum system circuit of main control chip, master control core
Piece uses the MK66FX1M0VMD18 chip at grace intelligence Pu, which is ARM Cortex-M4 core, Flash 1MB,
Dominant frequency is 180MHz.Operating voltage is 5V and 3.3V, and interface is respectively VDD and MCU_3V3.External crystal-controlled oscillation frequency is 50MHz, is
Device X2 in figure.The filtering of capacitor C45-C59 and inductance L6, L7 composition 3.3V and voltage regulator circuit, the voltage that C72-C82 is 5V are filtered
Wave circuit, R49, C64 and Rest1 form the reset circuit of minimum system.SWD3 is the emulation interface of governor circuit, for adjusting
Examination and burning interface.
Fig. 5 is peripheral circuit and interface, including display screen interface circuit OLED2, and display screen uses 0.96OLED12864.
Amplify interface circuit P6, is connect by VOID_1 with MK66FX1M0VMD18.Control two steering engine interfaces difference of shaft platform
For Header3, Header4, P4, P5, the above-mentioned interface of steering engine line interface.The NRF2401 wireless transport module of 2.4GHz connects
Mouth is Header5, using card format, operating voltage 3.3V.Utilizing camera interface uses CL586-0524-9 interface, passes through
TPS73632 voltage chips be converted to CAM_3V3 as camera power supply.
Battery power supply opening and closing are carried out by turning round sub switch SW2.SW2 output by TVS pipe D8, capacitor C60, C62,
C63, wherein the effect of TVS pipe D8 is to absorb surge current, and protection burns out circuit conditions due to instantaneous large-current.Capacitor C60,
C62, C63 main function are the clutters for filtering out battery, and clutter passes through three capacitors to GND.The voltage VBAT exported by battery
It is divided into two-way, passes through power management chip U12 all the way, model MP1469 is converted to 3.3V namely MCU_3V3.Another way
5.0V namely SER_5V is converted to by power management chip U13, model MP1469.
MP1469 is a medium-high frequency, synchronous rectification, Buck-type switched-mode conversion chip, MP1469 have overcurrent protection and
The characteristics of heat shutoff.The voltage that it is inputted is wider, input voltage range 4.7V-16V, inside the MOSFET that turns have
The characteristics of low-consumption high-efficiency.The pressure stabilizing for the input terminal that C68, C69, C78, C79 in figure are MP1469 and filter capacitor, believe input
It number is filtered.Capacitor C66, C67, C75, C76 are output filter module, and direct current can pass through, and exchange is arrived through electric current
GND, exchange clutter are filtered out.The output voltage of MP1469 is determined by the lamped element that its output end FB connects.
The output voltage calculation formula that 7.2V turns 3.3V is as follows:
(1)
The output voltage calculation formula that 7.2V turns 5.0V is as follows:
(2)
The supply voltage of camera is also 3.3V, and this system directly using the 3.3V voltage of MCU_3V3 output, is not mainly
Guarantee the electrical stability of MCU, guarantees the stability of system work.The power supply plan of camera is, by the output of SER_5V
Voltage is converted to 3.3V voltage CAM_3V3 through power management chip TPS7632, by 5V voltage, and the output of the module is through capacitor
C57, C54, C54, C55 carry out pressure stabilizing and filtering, and the CAM_3V3 exported powers to camera.
The circuit of intelligent colour blindness assistant equipments on board second part is as shown in fig. 7, mainly consist of three parts.Based on respectively
Chip is controlled, which is STC15F2K60S2, and kernel 51 is encapsulated as SOP32 form.P1, P2 are respectively external power supply battery
Interface and power switch.The voltage of the poly-lithium battery of use, cell voltage 3.7V, 3.7V is carried out by SD2671 module
Boost to 5V namely VCC_5V.J1 is the interface of acceleration transducer, and acceleration transducer uses MPU6050 module, the module
Data interaction is carried out with main control chip STC15F2K60S2 in the form of serial ports.J1 is connecing for the wireless transport module of 2.4GHz
Mouthful, which is 3V-5V, and the supply voltage that this system uses is 5V.
The above are the preferable embodiments of the present invention, and those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and is modified, and therefore, the invention is not limited to above-mentioned specific embodiment, all those skilled in the art exist
Made any conspicuous improvement, replacement or modification all belong to the scope of protection of the present invention on the basis of the present invention.
Claims (6)
1. a kind of intelligence colour blindness auxiliary drives wearable device, including first part and second part, first part include power supply pipe
Manage unit 1, shaft platform unit, main control unit, image data acquiring unit, display/voice unit, wireless data transmission list
Member, main control unit are connected with image data acquiring unit, and main control unit is connected with display/voice unit, main control unit and shaft
Platform unit is connected, and main control unit is connected with wireless data transmission unit, and Power Management Unit 1 is connected with shaft platform unit；
First part includes Power Management Unit 2, main control unit, angle-data acquisition unit, wireless data transmission unit, main control unit
It is connected with angle-data acquisition unit, main control unit is connected with wireless data transmission unit, Power Management Unit 2 and angle-data
Acquisition unit is connected.
2. intelligence colour blindness auxiliary according to claim 1 drives wearable device, it is characterised in that: wireless data transmission unit
For NRF2401.
3. intelligence colour blindness auxiliary according to claim 1 drives wearable device, it is characterised in that: intelligent colour blindness auxiliary drives
Equipment is divided into two parts and forms, first is that moveable part, second is that wearing portion, two parts carry out data by wireless module
Interaction, these modules complete image and angle-data acquires, camera angle control, information is shown and sound prompt function.
4. intelligence colour blindness auxiliary according to claim 1 drives wearable device, it is characterised in that: first part is mounted on machine
On motor-car or non-motor vehicle, data acquisition and processing (DAP) is carried out, and communicated with second part by NRF2401；Wearable device
Two parts, are separately mounted to driver head and vehicle.
5. intelligence colour blindness auxiliary according to claim 1 drives wearable device, it is characterised in that: the hardware electricity of first part
Road mainly consists of three parts, and is the power management of minimum system circuit, peripheral circuit and the interface of main control chip, first part
Module.
6. the workflow that a kind of intelligent colour blindness auxiliary described in -5 according to claim 1 drives wearable device:
Step 1: driver rotates head according to road actual conditions, and wearable device is driven to rotate together, and such as schemesTo drive
Person head rotational angle is sailed, the acceleration transducer installed on wearable device acquisition head direction information, and by data information
It is transmitted in first part by NRF2401；
Step 2: the master control borad of first part receives the information that acceleration transducer acquires back, and control shaft platform rotates, and
It drives camera to rotate together, such as schemesFor camera rotational angle, namely work as driver's head rotation proper angle, takes the photograph
As head can also rotate proper angle；
Step 3: camera collection image data, and treated is converted to text information and voice messaging；
Step 4: driver obtains the constantly information of traffic lights by screen and loudspeaker.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811420695.3A CN109584584A (en) | 2018-11-26 | 2018-11-26 | A kind of intelligence colour blindness driving auxiliary wearable device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811420695.3A CN109584584A (en) | 2018-11-26 | 2018-11-26 | A kind of intelligence colour blindness driving auxiliary wearable device |
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| CN109584584A true CN109584584A (en) | 2019-04-05 |
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| CN201811420695.3A Pending CN109584584A (en) | 2018-11-26 | 2018-11-26 | A kind of intelligence colour blindness driving auxiliary wearable device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110164158A (en) * | 2019-04-25 | 2019-08-23 | 广东交通职业技术学院 | A kind of traffic light systems of auxiliary achromate trip |
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| CN105882732A (en) * | 2016-04-13 | 2016-08-24 | 乐视控股（北京）有限公司 | Method and device for controlling steering of vehicle |
| US20160272113A1 (en) * | 2015-03-18 | 2016-09-22 | Brennan T. Lopez-Hinojosa | Methods and systems for providing alerts to a driver of a vehicle via condition detection and wireless communications |
| CN106898146A (en) * | 2015-12-17 | 2017-06-27 | 北汽福田汽车股份有限公司 | Traffic system, car-mounted terminal, wearable terminal and traffic lights terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104485008A (en) * | 2014-12-04 | 2015-04-01 | 上海交通大学 | Head-wearing type auxiliary driving system aiming at achromate |
| US20160272113A1 (en) * | 2015-03-18 | 2016-09-22 | Brennan T. Lopez-Hinojosa | Methods and systems for providing alerts to a driver of a vehicle via condition detection and wireless communications |
| CN106898146A (en) * | 2015-12-17 | 2017-06-27 | 北汽福田汽车股份有限公司 | Traffic system, car-mounted terminal, wearable terminal and traffic lights terminal |
| CN105882732A (en) * | 2016-04-13 | 2016-08-24 | 乐视控股（北京）有限公司 | Method and device for controlling steering of vehicle |
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| CN110164158A (en) * | 2019-04-25 | 2019-08-23 | 广东交通职业技术学院 | A kind of traffic light systems of auxiliary achromate trip |
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