CN114354506A - Unmanned ship device with aquatic plant harvesting and full-spectrum water quality monitoring functions - Google Patents
Unmanned ship device with aquatic plant harvesting and full-spectrum water quality monitoring functions Download PDFInfo
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- CN114354506A CN114354506A CN202111619096.6A CN202111619096A CN114354506A CN 114354506 A CN114354506 A CN 114354506A CN 202111619096 A CN202111619096 A CN 202111619096A CN 114354506 A CN114354506 A CN 114354506A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 178
- 238000012544 monitoring process Methods 0.000 title claims abstract description 34
- 238000001228 spectrum Methods 0.000 title claims abstract description 30
- 238000003306 harvesting Methods 0.000 title claims abstract description 14
- 241000196324 Embryophyta Species 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims description 26
- 238000005070 sampling Methods 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 20
- 238000004804 winding Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 13
- 238000012806 monitoring device Methods 0.000 claims description 9
- 230000007423 decrease Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 description 5
- 239000012535 impurity Substances 0.000 description 3
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Abstract
The invention discloses an unmanned ship device with functions of aquatic weed harvesting and full-spectrum water quality monitoring, and relates to the technical field of unmanned ships. The invention can cut the aquatic weeds on the driving path through the cutting structure, can adjust the depth and the position of the cutting piece in the cutting structure through the descending structure and the second cylinder in the cutting structure, and can collect the cut aquatic weeds through the collecting filter piece.
Description
Technical Field
The invention relates to the technical field of unmanned ships, in particular to an unmanned ship device with functions of aquatic weed harvesting and full-spectrum water quality monitoring.
Background
The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to a preset task without remote control by means of accurate satellite positioning and self sensing, and is commonly used for various scientific researches and water quality detection in the prior art because the unmanned ship is convenient to control and can effectively reduce the labor cost.
After retrieval, the Chinese patent discloses an unmanned ship for water quality detection (publication number: CN110104132B), which comprises a ship body, a water sample taking device, a water sample transferring device, a water quality analysis device and a positioning control device, wherein the water sample taking device comprises a positioning bearing plate and a positioning water taking part, the water sample transferring device comprises a vertical taking part and a water sample loading part, the water taking end of the vertical taking part can move along the vertical direction to be in butt joint with the water inlet end of the positioning water taking part, the water taking end of the vertical taking part is in butt joint with the water loading end of the water sample loading part, the positioning water taking part, the vertical taking part, the water sample loading part and the positioning control device are electrically connected, and the positioning control device is electrically connected with the water quality analysis device.
In the prior art, for example, as shown in fig. 1, when the unmanned ship is driven, if there are many aquatic weeds, the aquatic weeds are easily wound to the outer side of the oar of the unmanned ship, and the influence is exerted on the unmanned ship.
Disclosure of Invention
The invention aims to provide an unmanned ship device with functions of aquatic weed harvesting and full-spectrum water quality monitoring, which solves the following technical problems:
how to avoid the influence of aquatic weeds on the unmanned ship when the unmanned ship runs;
how to improve the monitoring quality and efficiency of water quality.
The purpose of the invention can be realized by the following technical scheme:
an unmanned ship device with functions of aquatic weed harvesting and full-spectrum water quality monitoring comprises a ship body structure, wherein an installation box is installed inside the ship body structure, a collecting filter is rotatably connected inside the installation box, a first lifting piece which rotates the collecting filter with a position connected with the installation box as a circle center is installed inside the installation box, a second lifting piece which lifts the collecting filter is installed on one side, close to the installation box, inside the ship body structure, a descending structure is installed on one side, close to the first lifting piece, inside the installation box, and a cutting structure is installed at the bottom of the descending structure and used for cutting aquatic weeds;
water quality monitoring equipment is installed to one side of hull structure upper surface, water quality monitoring equipment's internally mounted has the first water intaking structure that extends to hull structure downside to conveniently carry out full gloss register for easy reference detection with the water suction to water quality monitoring equipment.
As a further scheme of the invention: the hull structure upper surface is close to the upside fixedly connected with cabin structure of install bin, the last fixed surface of install bin is connected with at least a set of fourth cylinder that is connected with cabin structure top to conveniently promote the install bin to the cabin structure in, and then the person of facilitating the use will collect the pasture and water in the filter and clear up.
As a further scheme of the invention: the two sides of the ship structure are fixedly connected with supporting air bags for providing extra buoyancy for the ship structure.
As a further scheme of the invention: the descending structure comprises a lead screw driver which is installed inside the installation box and is parallel to the installation box and a first transmission rod which is connected with the installation box in a rotating mode, the lead screw driver comprises a driving motor which is fixedly connected with the installation box, the output end of the driving motor is fixedly connected with a screw rod which is connected with the inner wall of the installation box in a rotating mode, the outer side of the screw rod is connected with a sliding sleeve in a threaded mode, and the outer side of the sliding sleeve is connected with a second transmission rod in a rotating mode.
As a further scheme of the invention: the cutting structure comprises a second cylinder which is rotatably connected with a first transmission rod and a second transmission rod, a first driving mechanism is fixedly connected to the bottom of the second cylinder, a cutting piece is fixedly connected to the output end of the first driving mechanism, and the position and the depth of the cutting piece in water can be changed by a user conveniently through a descending structure and the second cylinder.
As a further scheme of the invention: first promotion piece and second promotion piece all include the connecting box, the inside fixedly connected with water-stop sheet of connecting box, the water-stop sheet divides the inside of connecting box into sealing area and intercommunication area, and the opening has been seted up to the lower surface in intercommunication area, and just the inside rotation in intercommunication area is connected with the wind-up roll, the inside fixedly connected with second actuating mechanism in sealing area, second actuating mechanism's output runs through to one side of water-stop sheet and is connected with the wind-up roll, the outside winding of wind-up roll has the receipts rope that is connected with the collection filter.
As a further scheme of the invention: and a sealing piece is arranged at the connecting part of the second driving mechanism and the water-stop sheet, so that the second driving mechanism is prevented from being damped.
As a further scheme of the invention: the coiling rope of the first lifting piece is connected with one side of the collecting filter piece facing the driving direction of the ship body structure, the coiling rope of the second lifting piece is connected with the other side of the collecting filter piece, and the collecting filter piece can be kept at a certain angle underwater through the second lifting piece, so that water plants after being cut can be collected conveniently.
As a further scheme of the invention: the inside fixedly connected with spectrum quality of water instrument of water quality monitoring equipment, and the inside one side that is close to spectrum quality of water instrument of water quality monitoring equipment installs the sample structure, the second water intaking structure is installed to the upside of spectrum quality of water instrument.
As a further scheme of the invention: first water intaking structure includes the first water pump of fixed connection in the inside of water quality monitoring equipment, the water inlet fixedly connected with of first water pump extends to the intake pipe of hull structure downside, the lower fixed surface of hull structure is connected with the first cylinder that is connected with the intake pipe to conveniently change the height of intake pipe.
As a further scheme of the invention: the water inlet outside fixedly connected with of intake pipe sieves the cover to avoid inhaling impurity or pasture and water into first water pump.
As a further scheme of the invention: the second water taking structure comprises a second water pump fixedly connected with the spectrum water quality instrument and a third air cylinder fixedly connected with the inner wall of the water quality monitoring device, the bottom end of the third air cylinder is fixedly connected with a conical pipe, and a first connecting pipe is fixedly connected between the water outlet of the second water pump and the water inlet of the conical pipe.
As a further scheme of the invention: the sampling structure includes the mount with spectrum water quality instrument fixed connection, the upper surface of mount rotates and is connected with the swivel mount, and the lower fixed surface of mount is connected with the third actuating mechanism who is connected with the swivel mount to drive the swivel mount and rotate, the upside embedding of swivel mount is connected with a plurality of sampling bottle for hold the quality of water sample.
As a further scheme of the invention: the inside of sampling bottle is connected with the closing plate through coil spring rotation, and the opening of sampling bottle is sealed through coil spring to the closing plate when not receiving external force.
As a further scheme of the invention: the inside of spectrum quality of water instrument is provided with containment structure for hold the quality of water sample that waits to detect, the inside fixedly connected with of containment structure has the second connecting pipe that is connected with first water pump delivery port and the third connecting pipe that is connected with second water pump water inlet, the water inlet of third connecting pipe is located containment structure's downside to conveniently extract the quality of water sample of capacity.
As a further scheme of the invention: the bottom fixedly connected with of containment structure extends to the drain pipe in the water quality monitoring equipment outside, and the connection position fixedly connected with solenoid valve of containment structure and drain pipe to the convenience is discharged the remaining water of containment structure.
The invention has the beneficial effects that:
according to the invention, through the cutting structure, aquatic weeds on a traveling path can be cut, and through the descending structure and the second cylinder in the cutting structure, the depth and the position of a cutting part in the cutting structure can be adjusted, so that the cutting position can be conveniently adjusted as required, and meanwhile, through the collection filter, the cut aquatic weeds can be collected;
meanwhile, the water quality monitoring device and the first water taking structure are further arranged, so that the water quality can be monitored in real time, the water inlet of the water taking pipe in the first water taking structure is provided with the screening sleeve, so that water plants or impurities can be prevented from being extracted into the first water pump when water is taken, and the water quality monitoring device is further provided with the sampling structure, so that the extracted samples can be stored, and further the subsequent monitoring is facilitated;
further, the inside second connecting pipe, third connecting pipe and the drain pipe of being provided with of container structure among the spectrum quality of water instrument, through second connecting pipe and third connecting pipe, can shift the inside quality of water sample of container structure, simultaneously through the drain pipe, can discharge remaining quality of water sample in the container structure to can avoid polluting the quality of water sample of next batch.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a prior art configuration;
FIG. 2 is a front view of the present invention;
FIG. 3 is a partial cross-sectional view of the present invention;
FIG. 4 is a top cross-sectional view of the first lift of the present invention;
FIG. 5 is a sectional view of a water quality monitoring apparatus according to the present invention;
FIG. 6 is a schematic diagram of a second water intake structure and sampling structure according to the present invention;
FIG. 7 is a sectional view of the water quality spectrometer of the present invention.
In the figure: 1. a hull structure; 2. installing a box; 3. a drop structure; 4. cutting the structure; 5. collecting the filter element; 6. a first lifting member; 7. a second lifting member; 8. water quality monitoring equipment; 9. a first water intake structure; 10. a first cylinder; 11. a cabin structure; 12. a fourth cylinder; 13. a support airbag; 31. a screw driver; 32. a sliding sleeve; 33. a first drive lever; 34. a second transmission rod; 41. a second cylinder; 42. a first drive mechanism; 43. cutting the piece; 61. a connecting box; 62. a water-stop sheet; 63. a second drive mechanism; 64. a wind-up roll; 65. winding the rope; 91. a water intake pipe; 92. a first water pump; 81. a spectral water quality instrument; 82. a second water intake structure; 83. a sampling structure; 821. a second water pump; 822. a first connecting pipe; 823. a third cylinder; 824. a tapered tube; 831. a fixed mount; 832. a rotating frame; 833. a third drive mechanism; 834. sampling a bottle; 835. a sealing plate; 811. a container structure; 812. a drain pipe; 813. a second connecting pipe; 814. and a third connecting pipe.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2-7, the invention relates to an unmanned ship device with aquatic weed harvesting and full-spectrum water quality monitoring functions, which comprises a ship structure 1, wherein an installation box 2 is installed inside the ship structure 1, a collecting filter 5 is rotatably connected inside the installation box 2, a first lifting piece 6 for rotating the collecting filter 5 by taking a connecting part with the installation box 2 as a circle center is installed inside the installation box 2, a second lifting piece 7 for lifting the collecting filter 5 is installed at one side, close to the installation box 2, inside the ship structure 1, a descending structure 3 is installed at one side, close to the first lifting piece 6, inside the installation box 2, and a cutting structure 4 is installed at the bottom of the descending structure 3 and used for cutting aquatic weeds;
water quality monitoring equipment 8 is installed to one side of hull structure 1 upper surface, and the internally mounted of water quality monitoring equipment 8 has the first water intaking structure 9 that extends to hull structure 1 downside to conveniently carry out full spectrum detection with the water suction to water quality monitoring equipment 8 in.
The upside fixedly connected with cabin structure 11 that hull structure 1 upper surface is close to install bin 2, and the last fixed surface of install bin 2 is connected with at least a set of fourth cylinder 12 that is connected with cabin structure 11 top to conveniently promote install bin 2 to in cabin structure 11, and then the person of facilitating the use will collect the pasture and water in the filter 5 and clear up.
Both sides of the hull structure 1 are fixedly connected with supporting air bags 13 for providing additional buoyancy to the hull structure 1.
The cutting structure 4 comprises a second air cylinder 41 which is rotatably connected with the first transmission rod 33 and the second transmission rod 34, a first driving mechanism 42 is fixedly connected to the bottom of the second air cylinder 41, a cutting piece 43 is fixedly connected to the output end of the first driving mechanism 42, and the position and the depth of the cutting piece 43 in water can be changed by a user conveniently through the descending structure 3 and the second air cylinder 41.
Referring to fig. 4, each of the first lifting member 6 and the second lifting member 7 includes a connection box 61, a water stop plate 62 is fixedly connected to the inside of the connection box 61, the water stop plate 62 divides the inside of the connection box 61 into a sealing area and a communicating area, an opening is formed in the lower surface of the communicating area, a winding roller 64 is rotatably connected to the inside of the communicating area, a second driving mechanism 63 is fixedly connected to the inside of the sealing area, an output end of the second driving mechanism 63 penetrates through one side of the water stop plate 62 and is connected to the winding roller 64, and a winding rope 65 connected to the collection filter 5 is wound around the outside of the winding roller 64.
A sealing member is installed at a connection portion of the second driving mechanism 63 and the water stop sheet 62, so that the second driving mechanism 63 is protected from moisture.
The rolling rope 65 of first hoisting member 6 is connected with the one side of collecting filter 5 towards the direction of travel of hull structure 1, and the rolling rope 65 of second hoisting member 7 is connected with the opposite side of collecting filter 5, through second hoisting member 7, can keep certain angle under water collecting filter 5 to the pasture and water after the convenient cutting is collected.
Referring to fig. 5-7, a water quality spectrometer 81 is fixedly connected inside the water quality monitoring device 8, a sampling structure 83 is installed inside the water quality monitoring device 8 at a side close to the water quality spectrometer 81, and a second water intake structure 82 is installed at an upper side of the water quality spectrometer 81.
First water intaking structure 9 includes fixed connection at the inside first water pump 92 of water quality monitoring equipment 8, and the water inlet fixedly connected with of first water pump 92 extends to intake pipe 91 of hull structure 1 downside, and the lower fixed surface of hull structure 1 is connected with first cylinder 10 that is connected with intake pipe 91 to conveniently change the height of intake pipe 91.
The water inlet outside fixedly connected with of intake pipe 91 sieves the cover to avoid inhaling impurity or pasture and water in the first water pump 92.
The second water taking structure 82 comprises a second water pump 821 fixedly connected with the spectrum water quality instrument 81 and a third cylinder 823 fixedly connected with the inner wall of the water quality monitoring device 8, the bottom end of the third cylinder 823 is fixedly connected with a conical pipe 824, and a first connecting pipe 822 is fixedly connected between a water outlet of the second water pump 821 and a water inlet of the conical pipe 824.
The inside of the sampling bottle 834 is rotatably connected with a sealing plate 835 by a coil spring, and the opening of the sampling bottle 834 is sealed by the sealing plate 835 when no external force is applied.
The inside of spectrum water quality instrument 81 is provided with containment structure 811 for hold the quality of water sample that waits to detect, and the inside fixedly connected with of containment structure 811 has second connecting pipe 813 that is connected with first water pump 92 delivery port and the third connecting pipe 814 that is connected with second water pump 821 water inlet, and the water inlet of third connecting pipe 814 is located the downside of containment structure 811 to conveniently extract the quality of water sample of capacity.
The bottom end fixedly connected with of container structure 811 extends to the drain pipe 812 outside water quality monitoring facilities 8, and the connection position fixedly connected with solenoid valve of container structure 811 and drain pipe 812 to conveniently discharge the remaining water of container structure 811.
The working principle of the invention is as follows:
when cutting waterweeds, the second driving mechanism 63 in the first lifting piece 6 is started to drive the winding roller 64 to rotate, the winding rope 65 is released from the outer side of the winding roller 64, meanwhile, the second driving mechanism 63 in the second lifting piece 7 is started to drive the winding roller 64 inside the second lifting piece to rotate, the winding rope 65 corresponding to the outer side of the winding roller 64 is tightened, after the winding rope 65 in the first lifting piece 6 is loosened, the collecting filter 5 rotates around the part connected with the mounting box 2 under the action of the gravity of the collecting filter 5, and after the winding rope 65 in the second lifting piece 7 is tightened, the collecting filter 5 can be lifted to one side far away from the driving direction of the hull structure 1, so that the angle of the collecting filter 5 is changed, and the collecting range of the collecting filter is enlarged;
then, the screw rod driver 31 in the descending structure 3 is started, the screw rod in the screw rod driver 31 drives the sliding sleeve 32 on the outer side to move when rotating, the sliding sleeve 32 drives the second transmission rod 34 to rotate after moving, the height and the horizontal position of the cutting structure 4 can be changed by matching with the rotatable first transmission rod 33, meanwhile, the second air cylinder 41 in the cutting structure 4 can be started, the vertical positions of the first driving mechanism 42 and the cutting piece 43 can be changed, the first driving mechanism 42 is started after the cutting piece 43 is adjusted to the required depth, the cutting piece 43 can be driven to rotate, aquatic weeds are cut, and the cut aquatic weeds are collected by the collecting filter 5 along with the driving of the ship body structure 1;
when waterweeds in the collection filter element 5 need to be cleaned, the first lifting element 6 is started, one end of the collection filter element 5 is lifted, the second lifting element 7 is started at the same time, the winding rope 65 in the second lifting element is wound down, the collection filter element 5 is convenient to rotate, after the collection filter element 5 rotates to a horizontal state, the fourth cylinder 12 is started, the second lifting element 7 is continuously started at the same time, the winding rope 65 in the second lifting element is loosened, then the cabin structure 11 is opened, and the collection filter element 5 is cleaned;
when water quality is monitored, the first air cylinder 10 is started, the water taking pipe 91 is lowered to a required depth, then the first water pump 92 is started, water is conveyed into the container structure 811 through the water taking pipe 91 and the second connecting pipe 813, then the spectral water quality instrument 81 is started, full spectrum monitoring is carried out on the water quality, after the detection is finished, the third driving mechanism 833 in the sampling structure 83 is started, the empty sampling bottle 834 is rotated to the lower side of the third air cylinder 823, then the third air cylinder 823 is started, the conical pipe 824 is rotated to rotate the sealing plate 835 to descend into the sampling bottle 834, then the second water pump 821 is started, the water quality sample is conveyed into the corresponding sampling bottle 834 through the third connecting pipe 814, then the third air cylinder 823 is started, the conical pipe 824 is separated from the sampling bottle 834, the sealing plate 835 in the sampling bottle 834 is reset through spiral paralysis of the connecting part of the conical pipe 835, and the sampling bottle 834 is sealed;
finally, the solenoid valve at the connection between the container structure 811 and the drain pipe 812 is actuated to drain the remaining water in the container structure 811 along the drain pipe 812.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (8)
1. The utility model provides an unmanned ship device with pasture and water are reaped and full gloss register for easy reference water quality monitoring function, includes hull structure (1), the internally mounted of hull structure (1) has install bin (2), the inside of install bin (2) is rotated and is connected with and collects and strain piece (5), its characterized in that, install bin (2) internally mounted will collect and strain piece (5) and use and install bin (2) the position of being connected as the centre of a circle and carry out pivoted first promotion piece (6), the inside one side that is close to install bin (2) of hull structure (1) is installed and is collected second promotion piece (7) that strain piece (5) carry out the promotion, the inside one side that is close to first promotion piece (6) of install decline structure (3), the bottom of decline structure (3) is installed cutting structure (4);
water quality monitoring equipment (8) is installed to one side of hull structure (1) upper surface, the internally mounted of water quality monitoring equipment (8) has first water intaking structure (9) that extend to hull structure (1) downside.
2. The unmanned ship device with aquatic weed harvesting and full-spectrum water quality monitoring functions according to claim 1, wherein the descending structure (3) comprises a screw rod driver (31) installed inside the installation box (2) and parallel to the installation box (2) and a first transmission rod (33) rotatably connected with the installation box (2), a sliding sleeve (32) is installed at the output end of the screw rod driver (31), and a second transmission rod (34) is rotatably connected to the outer side of the sliding sleeve (32).
3. The unmanned ship's set with aquatic weed harvesting and full-spectrum water quality monitoring functions of claim 2, wherein said cutting structure (4) comprises a second cylinder (41) rotatably connected with a first transmission rod (33) and a second transmission rod (34), a first driving mechanism (42) is fixedly connected to the bottom of said second cylinder (41), and a cutting member (43) is fixedly connected to the output end of said first driving mechanism (42).
4. The unmanned ship apparatus having aquatic plant harvesting and full-spectrum water quality monitoring functions according to claim 1, wherein the first lifting member (6) and the second lifting member (7) each comprise a connection box (61), a water-stop plate (62) is fixedly connected to an inside of the connection box (61), the water-stop plate (62) divides the inside of the connection box (61) into a sealing area and a communication area, and an opening is opened in a lower surface of the communication area.
5. The unmanned ship device with aquatic weed harvesting and full-spectrum water quality monitoring functions as claimed in claim 4, wherein a winding roller (64) is rotatably connected to the inside of the communication area, a second driving mechanism (63) is fixedly connected to the inside of the sealing area, the output end of the second driving mechanism (63) penetrates through one side of the water-stop plate (62) and is connected with the winding roller (64), and a winding rope (65) connected with the collecting filter (5) is wound on the outer side of the winding roller (64).
6. The unmanned ship device with aquatic plant harvesting and full-spectrum water quality monitoring functions as claimed in claim 1, wherein the inside of the water quality monitoring device (8) is fixedly connected with a spectrum water quality instrument (81), a sampling structure (83) is installed on one side of the inside of the water quality monitoring device (8) close to the spectrum water quality instrument (81), and a second water taking structure (82) is installed on the upper side of the spectrum water quality instrument (81).
7. The unmanned ship device with aquatic weed harvesting and full-spectrum water quality monitoring functions according to claim 6, wherein the first water intake structure (9) comprises a first water pump (92) fixedly connected inside the water quality monitoring device (8), a water intake pipe (91) extending to the lower side of the ship body structure (1) is fixedly connected to a water inlet of the first water pump (92), and a first air cylinder (10) connected with the water intake pipe (91) is fixedly connected to the lower surface of the ship body structure (1).
8. The unmanned ship apparatus having aquatic weed harvesting and full-spectrum water quality monitoring functions according to claim 7, wherein a container structure (811) is disposed inside the spectrum water quality instrument (81), a second connecting pipe (813) connected to a water outlet of the first water pump (92) and a third connecting pipe (814) connected to a water inlet of the second water intake structure (82) are fixedly connected to the inside of the container structure (811), and a water inlet of the third connecting pipe (814) is located at a lower side of the container structure (811).
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| CN202111619096.6A CN114354506A (en) | 2021-12-27 | 2021-12-27 | Unmanned ship device with aquatic plant harvesting and full-spectrum water quality monitoring functions |
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| CN202111619096.6A CN114354506A (en) | 2021-12-27 | 2021-12-27 | Unmanned ship device with aquatic plant harvesting and full-spectrum water quality monitoring functions |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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