CN114511902A - A machine dog for public place epidemic situation patrols and examines - Google Patents
A machine dog for public place epidemic situation patrols and examines Download PDFInfo
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- CN114511902A CN114511902A CN202210048613.7A CN202210048613A CN114511902A CN 114511902 A CN114511902 A CN 114511902A CN 202210048613 A CN202210048613 A CN 202210048613A CN 114511902 A CN114511902 A CN 114511902A
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- 238000004891 communication Methods 0.000 claims abstract description 28
- 238000007689 inspection Methods 0.000 claims abstract description 10
- 238000010586 diagram Methods 0.000 claims abstract description 7
- 230000005021 gait Effects 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 21
- 238000009529 body temperature measurement Methods 0.000 claims description 11
- 230000002265 prevention Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 230000036760 body temperature Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- 210000000887 face Anatomy 0.000 claims description 3
- 210000001747 pupil Anatomy 0.000 claims description 3
- 238000007670 refining Methods 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 claims description 2
- 241000282472 Canis lupus familiaris Species 0.000 abstract description 43
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000007726 management method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009385 viral infection Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
- G01J5/0025—Living bodies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/10—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors
- G01J5/12—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors using thermoelectric elements, e.g. thermocouples
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
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- Audiology, Speech & Language Pathology (AREA)
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Abstract
The invention discloses a machine dog for inspecting epidemic situations in public places, wherein an embedded processor, a single chip microcomputer, a camera and a laser radar are arranged in a machine dog body; the embedded processor is internally connected with a GPS positioning module, a voice broadcasting module, a communication module and a temperature measuring module; the single chip microcomputer is connected with a driving module, a gyroscope module, a gait control module and a serial port module; the laser radar is used for scanning surrounding obstacles and establishing a 3D model diagram; the GPS positioning module and the laser radar are used for positioning the robot dog; the gyroscope module is used for adjusting the balance of the robot dog; the serial port module is used for communicating the main control board and the camera; the driving module is used for driving a servo steering engine of the robot dog; the communication module is used for sending the pictures and the alarm; the voice broadcast module is used for reminding a user of wearing the mask. According to the invention, through cooperative inspection of a plurality of machine dogs, the consumption of manpower and material resources is reduced, direct contact is avoided through remote control, the safety of workers is ensured, and the monitoring efficiency and range are improved.
Description
Technical Field
The invention relates to a robot dog for inspecting epidemic situations in public places, and belongs to the field of artificial intelligent equipment.
Background
The mode that current epidemic situation prevention and control adopted artifical + fixed equipment to detect measures, and most check out test set need manual operation, and the equipment that does not need manual operation is mostly all the cost high, and uses current manual detection equipment to need the staff and wait to detect personnel face-to-face contact, increases the probability of virus infection like this easily, and fixed intelligent detection equipment fixes in a place, can't remove, can cause the control blind area of many. Therefore, an apparatus is needed to increase safety, improve detection efficiency, and enlarge detection range while reducing manpower and material resources.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a machine dog for inspecting the epidemic situation in the public place, thereby solving the technical problems.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a machine dog for public place epidemic situation patrols and examines, has the ability of independently planning the route, can control through remote instruction to on-the-spot abnormal conditions is fed back in real time, thereby realizes carrying out temperature detection and friendship warning to public place personnel. The inspection robot dog is characterized by comprising an inspection robot dog body; a Jetson Nano embedded processor, an STM32 single chip microcomputer, a camera and a laser radar are arranged in the inspection robot dog body; the Jetson Nano embedded processor and the STM32 singlechip form a main control part; a GPS positioning module, a voice broadcasting module, a communication module and a temperature measuring module are connected in the embedded processor; the STM32 single chip microcomputer is connected with a driving module, a gyroscope module, a gait control module and a serial port module; the laser radar is used for scanning surrounding obstacles and establishing a 3D model diagram; the GPS positioning module is combined with the laser radar to be used for positioning the robot dog; the gyroscope module is used for adjusting the balance of the robot dog; the serial port module is used for communicating the main control board and the Openmv camera; the driving module is used for driving a servo steering engine of the robot dog; the communication module is used for sending the pictures and the alarms to the epidemic situation prevention and control center; the voice broadcast module is used for reminding a person not wearing the mask to wear the mask.
Further, the laser radar is used for path planning and obstacle avoidance processing; the path planning module constructs a 2D high-precision map through a Cartogrer algorithm; the obstacle avoidance processing module adopts an A-star algorithm to avoid the path obstacle; the GPS module is combined with the laser radar to position the robot dog, and the master control module transmits the position of the robot dog to the control center in real time through the communication module.
Further, the camera is an Openmv camera; comprises a vision module and an image processing module; the vision module is used for identifying human faces; the image processing module is used for processing and refining the shot face information, namely judging whether the mask is worn.
Further, the main control part is a Jetson Nano embedded processor and an STM32 single chip microcomputer; the voice broadcasting module selects SYN6288 voice synthesis; the servo steering engine is a BLS-HV7032MG32KG high-voltage brushless digital steering engine; the communication module is a Mars ESP32 of the star pupil technology and is used for communication between the control center and the robot dog; the temperature measurement module adopts an MLX90614 non-contact infrared temperature measurement sensor and is used for collecting temperature; the drive module adopts an upper computer self-made by C # language and is used for controlling the rotation of the servo steering engine to realize the corresponding actions of the robot dog, including standing, advancing, retreating, horizontal moving, left-right turning and the like, and the drive module can also be used for adjusting and optimizing the gait of the robot dog.
Further, drive module control machine dog action, if walk forward, when the camera detected personnel, the image was passed back image processing module, differentiatees whether the other side wears the gauze mask, when detecting not wearing the gauze mask, gives host system with information transmission, host system control voice broadcast module and drive module, and the voice broadcast module carries out the voice broadcast warning to the target personnel, and drive module drive servo steering wheel carries out the trail to the target personnel. When detecting that the target person wears the mask, the camera processes the next target person; if the target person does not wear the mask, the robot dog follows but the lost situation appears, and the main control module can upload the image of the target person to the prevention and control center through the communication module.
Further, the temperature measurement module carries out temperature measurement to the target personnel through infrared temperature sensor, and the priority is higher than the gauze mask and detects, and when detecting target personnel body temperature anomaly, host system sends the police dispatch newspaper to the management and control center through communication module immediately to follow it and wait to come the processing before the staff.
Further, the gyroscope module adjusts the posture of the robot dog when moving in real time, prevents the robot dog from falling down, and when the robot dog falls down, the main control module sends information to the control center through the communication module and conducts power-off processing on the steering engine.
The invention has the beneficial effects that: can adopt a plurality of machine dogs to patrol and examine in coordination, reduce the consumption of manpower and materials, also avoid epidemic prevention personnel and measurement personnel's contact through the mode of long-range management and control, ensured epidemic prevention personnel's security to because machine dog's mobility, monitoring efficiency and scope have obtained huge improvement.
Drawings
FIG. 1 is a schematic block diagram of the present invention;
FIG. 2 is a schematic diagram of the working principle of the present invention;
FIG. 3 is a schematic diagram of an upper computer interface according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.
As shown in fig. 1, a robot dog for inspecting epidemic situations in public places comprises an inspection robot dog body; a Jetson Nano embedded processor, an STM32 single chip microcomputer, a camera and a laser radar are arranged in the inspection robot dog body; the Jetson Nano embedded processor and the STM32 singlechip form a main control part; the embedded processor is internally provided with a GPS positioning module, a voice broadcasting module, a communication module and a temperature measuring module; the STM32 single chip microcomputer is connected with a driving module, a gyroscope module, a gait control module and a serial port module; the laser radar is used for scanning surrounding obstacles and establishing a 3D model diagram; the GPS positioning module is combined with the laser radar to be used for positioning the robot dog; the gyroscope module is used for adjusting the balance of the robot dog; the serial port module is used for communicating the main control board and the Openmv camera; the driving module is used for driving a servo steering engine of the robot dog; the communication module is used for sending the pictures and the alarms to the epidemic situation prevention and control center; the voice broadcast module is used for reminding people who do not wear the mask to wear the face village.
Preferably, in this embodiment, the laser radar is used for path planning and obstacle avoidance processing; the path planning module constructs a 2D high-precision map through a Cartogrer algorithm; the obstacle avoidance processing module adopts an A-star algorithm to avoid the path obstacle; the GPS module is combined with the laser radar to position the robot dog, and the master control module transmits the position of the robot dog to the control center in real time through the communication module.
Preferably, in this embodiment, the camera is an Openmv camera; comprises a vision module and an image processing module; the vision module is used for identifying human faces; the image processing module is used for processing and refining the shot face information, namely judging whether the mask is worn.
In this embodiment, the main control part is a Jetson Nano embedded processor and an STM32 single chip microcomputer; the voice broadcasting module selects SYN6288 voice synthesis; the servo steering engine is a BLS-HV7032MG32KG high-voltage brushless digital steering engine; the communication module is a Mars ESP32 of the star pupil technology and is used for communication between the control center and the robot dog; the temperature measurement module adopts an MLX90614 non-contact infrared temperature measurement sensor and is used for collecting temperature; the drive module adopts an upper computer self-made by C # language and is used for controlling the rotation of the servo steering engine to realize the corresponding actions of the robot dog, including standing, advancing, retreating, horizontal moving, left-right turning and the like, and the drive module can also be used for adjusting and optimizing the gait of the robot dog.
This embodiment is preferred, drive module control machine dog action, if walk forward, when the camera detected personnel, the image was passed back image processing module, differentiatees whether the other side wears the gauze mask, when detecting not wearing the gauze mask, gives host system with information transmission, host system control voice broadcast module and drive module, and the voice broadcast module carries out the voice broadcast warning to the target personnel, and drive module drive servo steering wheel follows the target personnel. When detecting that the target person wears the mask, the camera processes the next target person; if the target person does not wear the mask, the robot dog follows but the lost situation appears, and the main control module can upload the image of the target person to the prevention and control center through the communication module.
This embodiment is preferred, and temperature measurement module will carry out a temperature measurement to the target person through infrared temperature sensor, and the priority is higher than the gauze mask and detects, and when detecting target person body temperature anomaly, host system sends out the police dispatch newspaper to the management and control center through communication module immediately to follow it and wait to come to handle before the staff.
This embodiment is preferred, the gesture when the gyroscope module will remove the machine dog is adjusted in real time, prevents that it from falling down, and when it fell down, host system sent information to the management and control center through communication module, carries out the outage to the steering wheel and handles.
Referring to fig. 2 and 3, the working principle of the invention is as follows: and a power supply is turned on to supply power to the main control board, the camera and the laser radar start to work, and the driving module controls the steering engine to enable the robot dog to start standing and walk forwards. The camera starts to scan target personnel, the laser radar starts to detect surroundings in real time, a 3D model graph is built for surrounding obstacles, information is transmitted back to the main control unit, and path planning is carried out through an A-x algorithm. When the camera detects the target personnel, at first carry out temperature measurement to it through infrared sensor, when detecting the unusual personnel of body temperature, can send the alarm to the management and control center through the communication module of master control to follow the target personnel, wait for the staff to come and handle. Secondly, carry out a face identification through the camera, detect it and whether wear the gauze mask, when detecting not wearing the gauze mask personnel, send the pronunciation through the voice broadcast module of master control and remind. And when the camera detects that the target person in the sight line has no problem, the next target person is continuously detected.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A robot dog for inspecting epidemic situations in public places has the capability of automatically planning paths, can be controlled through remote instructions, can realize inspection in the public places through modules such as an onboard camera, a temperature sensor, a laser radar, a GPS (global positioning system) positioning module and the like, measures the body temperature of people, and reminds people who do not wear a mask; the inspection robot dog is characterized by comprising an inspection robot dog body; a Jetson Nano embedded processor, an STM32 single chip microcomputer, a camera and a laser radar are arranged in the inspection robot dog body; the Jetson Nano embedded processor and the STM32 singlechip form a main control part; the embedded processor is internally connected with a GPS positioning module, a voice broadcasting module, a communication module and a temperature measuring module; the STM32 single chip microcomputer is connected with a driving module, a gyroscope module, a gait control module and a serial port module; the laser radar is used for scanning surrounding obstacles and establishing a 3D model diagram; the GPS positioning module is combined with the laser radar to be used for positioning the robot dog; the gyroscope module is used for adjusting the balance of the robot dog; the serial port module is used for communication between the main control board and the Openmv camera; the driving module is used for driving a servo steering engine of the robot dog; the communication module is used for sending pictures and alarms to the epidemic situation prevention and control center; the voice broadcast module is used for reminding a person not wearing the mask to wear the mask.
2. The machine dog for inspecting public place epidemic according to claim 1, wherein the laser radar is used for path planning and obstacle avoidance processing; the path planning module constructs a 2D high-precision map through a Cartogrer algorithm; the obstacle avoidance processing module adopts an A-star algorithm to avoid the path obstacle; the GPS module is combined with the laser radar to position the robot dog, and the master control module transmits the position of the robot dog to the control center in real time through the communication module.
3. The machine dog for inspecting public place epidemic situations according to claim 1, wherein the camera is an Openmv camera; comprises a vision module and an image processing module; the vision module is used for identifying human faces; the image processing module is used for processing and refining the shot face information, namely judging whether the mask is worn.
4. The machine dog for inspecting the epidemic situation in the public places according to claim 1, wherein the main control part is a Jetson Nano embedded processor and an STM32 singlechip; the voice broadcasting module selects SYN6288 voice synthesis; the servo steering engine is a BLS-HV7032MG32KG high-voltage brushless digital steering engine; the communication module adopts a inky ESP32 of a star pupil technology and is used for communication between the control center and the robot dog; the temperature measurement module adopts an MLX90614 non-contact infrared temperature measurement sensor and is used for collecting temperature; the driving module adopts a self-made upper computer with C # language and is used for controlling the rotation of the servo steering engine to realize the corresponding actions of the machine dog, including standing, advancing, retreating, horizontal moving, left-right turning and the like, and the device can also be used for adjusting and optimizing the gait of the machine dog.
5. The machine dog for inspecting public place epidemic situations is characterized in that the driving module controls the machine dog to move, if the machine dog walks forwards, when the camera detects people, images are transmitted back to the image processing module, whether the opposite side wears a mask or not is judged, when the opposite side does not wear the mask is detected, information is transmitted to the main control module, the main control module controls the voice broadcasting module and the driving module, the voice broadcasting module carries out voice broadcasting reminding on target people, and the driving module drives the servo steering engine to trail the target people.
6. When detecting that the target person wears the mask, the camera processes the next target person; if the target person does not wear the mask, the robot dog follows but the lost situation appears, and the main control module can upload the image of the target person to the prevention and control center through the communication module.
7. The machine dog for inspecting public place epidemic situations is characterized in that the temperature measuring module measures the temperature of target personnel through an infrared temperature sensor, the priority of the temperature measuring module is higher than that of mask detection, when the abnormal body temperature of the target personnel is detected, the main control module immediately sends an alarm to a control center through the communication module and follows the alarm until the working personnel come to process the alarm.
8. The machine dog for inspecting public place epidemic situations is characterized in that the gyroscope module adjusts the posture of the machine dog when moving in real time to prevent the machine dog from falling down, and when the machine dog falls down, the main control module sends information to the control center through the communication module to perform power-off processing on the steering engine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210048613.7A CN114511902A (en) | 2022-01-17 | 2022-01-17 | A machine dog for public place epidemic situation patrols and examines |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210048613.7A CN114511902A (en) | 2022-01-17 | 2022-01-17 | A machine dog for public place epidemic situation patrols and examines |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116052395A (en) * | 2023-02-23 | 2023-05-02 | 西安工程大学 | Intelligent epidemic prevention device based on Jetson Nano |
| CN116512279A (en) * | 2023-06-29 | 2023-08-01 | 君华高科集团有限公司 | Multifunctional inspection robot control system and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856243A (en) * | 2016-06-28 | 2016-08-17 | 湖南科瑞特科技股份有限公司 | Movable intelligent robot |
| CN109702747A (en) * | 2019-01-21 | 2019-05-03 | 广东康云科技有限公司 | A kind of robot dog system and its implementation |
| CN113687648A (en) * | 2020-12-24 | 2021-11-23 | 武汉科技大学 | Multifunctional campus epidemic prevention robot |
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2022
- 2022-01-17 CN CN202210048613.7A patent/CN114511902A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856243A (en) * | 2016-06-28 | 2016-08-17 | 湖南科瑞特科技股份有限公司 | Movable intelligent robot |
| CN109702747A (en) * | 2019-01-21 | 2019-05-03 | 广东康云科技有限公司 | A kind of robot dog system and its implementation |
| CN113687648A (en) * | 2020-12-24 | 2021-11-23 | 武汉科技大学 | Multifunctional campus epidemic prevention robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116052395A (en) * | 2023-02-23 | 2023-05-02 | 西安工程大学 | Intelligent epidemic prevention device based on Jetson Nano |
| CN116512279A (en) * | 2023-06-29 | 2023-08-01 | 君华高科集团有限公司 | Multifunctional inspection robot control system and method |
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