CN117608287A - Unmanned ship navigation control software architecture method and device - Google Patents

Unmanned ship navigation control software architecture method and device Download PDF

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Publication number
CN117608287A
CN117608287A CN202311541142.4A CN202311541142A CN117608287A CN 117608287 A CN117608287 A CN 117608287A CN 202311541142 A CN202311541142 A CN 202311541142A CN 117608287 A CN117608287 A CN 117608287A
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control
equipment
class
unmanned ship
peripheral
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梁晓江
张天江
周博
郭大权
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Tianjin Longzhou Intelligent Control Technology Co ltd
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Tianjin Longzhou Intelligent Control Technology Co ltd
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Priority to CN202311541142.4A priority Critical patent/CN117608287A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/20—Monitoring properties or operating parameters of vessels in operation using models or simulation, e.g. statistical models or stochastic models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Biology (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Probability & Statistics with Applications (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides an unmanned ship navigation control software architecture method and device, comprising peripheral equipment, unmanned ship control system software and a shore-based monitoring system, wherein the peripheral equipment comprises rudder angles, engines, ship peripherals, navigation equipment, collision avoidance radars and wireless communication equipment, the unmanned ship control system software comprises peripheral objects, data fusion centralized control and external communication, the shore-based monitoring system is connected with the unmanned ship control system software through a network, and the unmanned ship control system software is connected with the peripheral equipment through the network.

Description

Unmanned ship navigation control software architecture method and device
Technical Field
The invention relates to the technical field of intelligent boat control, in particular to an unmanned boat navigation control software architecture method and device.
Background
With the rapid development of the unmanned ships and boats in the intelligent driving direction in recent years, more and more auxiliary equipment can be equipped on the unmanned ships and boats to enhance functions and improve safety. The unmanned ship navigation control software is led to have more and more devices to be controlled, the information to be fused is more and more, and the written software is more and more complex.
Disclosure of Invention
The embodiment of the invention provides an unmanned ship navigation control software architecture method and device, which are used for solving the problems in the background technology.
In view of the above problems, the technical scheme provided by the invention is as follows:
an unmanned ship navigation control software architecture method, comprising:
the unmanned ship control system comprises peripheral equipment, unmanned ship control system software and a shore-based monitoring system, wherein the peripheral equipment comprises a rudder angle, an engine, ship peripherals, navigation equipment, collision avoidance radar and wireless communication equipment, the unmanned ship control system software comprises peripheral objects, data fusion centralized control and external communication, the shore-based monitoring system is connected with the unmanned ship control system software through a network, and the unmanned ship control system software is connected with the peripheral equipment through the network.
As a preferable technical scheme of the invention, the method comprises the following steps:
s1, classification: abstracting each peripheral device into a class including rudder angle control class, engine class, navigation equipment class, collision avoidance radar group class, wireless equipment class and peripheral control class, wherein each class comprises an interface, data processing, flow control and error processing,
A. the interface is used for opening and closing the equipment, controlling input and feedback of the equipment and alarming information of the equipment;
B. the data processing is used for analyzing the communication protocol and converting the received data into current, voltage and control signals of the control equipment;
C. the flow control is used for initializing a control flow of the equipment and a closed-loop control flow of the equipment;
D. error processing, which is used for processing when the equipment has errors;
s2, data fusion centralized control and external communication: after software is opened, a thread is started to call interfaces of the opened devices in sequence for all the devices, the state of each device is returned, a plurality of timers are opened according to requirements after the starting is completed, the timers are used for calling the device class data feedback interfaces and the fault alarm interfaces, the data and the state of the devices are obtained, after the starting is completed, a timer is started, the timers are used for receiving control instructions of the shore-based monitoring system, the control interfaces of the devices are used for calling the operation of the devices, after the starting is completed, a timer is started, and the data and the state of the devices obtained in the step B in the step S1 are fused for transmission to the shore-based monitoring system.
As a preferred technical scheme of the invention, the interface of the rudder angle control class comprises rudder angle opening control, rudder angle closing control, control angle input, real angle feedback, fault alarm and fault clearing, the data processing of the rudder angle control class is that the control angle is converted into switch control, the flow control of the rudder angle control class comprises initialization and angle closed loop control flow, and the error processing of the rudder angle control class is that emergency stop.
As a preferable technical scheme of the invention, the interfaces of the engine comprise an engine development, an engine closing, an emergency stop, a gear control, an accelerator control, an automatic cruising speed control, a speed feedback, an engine data feedback, a fault alarm and a fault clearing, the data processing of the engine comprises a CAN interface analyzing engine protocol, a gear accelerator converting voltage control and a cruise speed controlling converting voltage control, the process control of the engine comprises an initialization process, a gear accelerator closed-loop control process and a speed closed-loop control process, and the error processing of the engine is an emergency stop.
As a preferable technical scheme of the invention, the interfaces of the navigation equipment comprise a navigation equipment opening process, a navigation equipment closing process, a position feedback process, a speed feedback process, a direction feedback process, a chart path planning process, a position process, a speed control process, a fault alarm process and a fault clearing process, wherein the data processing of the navigation equipment comprises a CAN interface analysis navigation equipment protocol process, a position process, a speed control process, a gear process, an accelerator process and a rudder angle process, the flow control of the navigation equipment comprises an initialization process, a position process and a speed closed-loop control process, and the error processing of the navigation equipment is an emergency stop process.
As a preferable technical scheme of the invention, the anti-collision radar interface comprises the steps of switching on a radar, switching off the radar, reading radar data, alarming faults and clearing faults, wherein the anti-collision radar data is processed into a radar data protocol, the flow of the anti-collision radar is controlled to be initialized, and the error processing of the anti-collision radar is restarted.
As a preferable technical scheme of the invention, the interface of the anti-collision radar group comprises the steps of turning on all radars, turning off all radars, feeding back obstacle information, alarming faults and clearing faults, wherein the data processing of the anti-collision radar group is that radar data are converted into obstacle information, the flow control of the anti-collision radar group is initialized, and the error processing of the anti-collision radar group is that the radars are restarted.
As a preferred technical scheme of the present invention, the interface of the wireless device class includes turning on the wireless device, turning off the wireless device, reading the status of the wireless device, alarming a fault and clearing the fault, the data processing of the wireless device class includes sending a communication protocol and receiving the communication protocol, the flow control of the wireless device class is initialized, and the error processing of the wireless device class restarts the wireless device.
As a preferable technical scheme of the invention, the interface of the peripheral control class comprises peripheral control opening, peripheral control closing, peripheral switch controlling, peripheral switch feedback, fault alarm and fault clearing, the data processing of the peripheral control class is peripheral switch control, the flow control of the peripheral control class comprises initialization and switch closed loop control flow, and the error processing of the peripheral control class is emergency stop and complete closing.
On the other hand, the invention provides an unmanned ship navigation control device, which comprises a controller body, wherein a touch display screen is arranged on one side of the controller body, and unmanned ship control system software is arranged in the controller body.
Compared with the prior art, the invention has the beneficial effects that: the unmanned ship control system software receives the instructions of the shore-based monitoring system, controls the peripheral equipment to work, can realize the remote control driving of the shore-based or the automatic unmanned driving, starts a thread to call the interfaces of the opening equipment to all the equipment in turn after the software is opened, returns the state of each equipment, opens a plurality of timers according to the need after the starting is finished, is used for calling the equipment data feedback interfaces and the fault alarm interfaces, acquires the data and the state of the equipment, starts a timer after the starting is finished, is used for receiving the control instructions of the shore-based monitoring system, is used for calling the control interfaces of the equipment to control the operation of the equipment, starts a timer after the starting is finished, acquires the data and the state of the equipment to perform data fusion, is used for sending to the shore-based monitoring system, the rudder angle control class is the class abstracted by the rudder angle controller, can receive the angle control instructions, starting an angle closed-loop control flow, converting rudder angle control into switching value control, adjusting a real rudder angle to reach the expected value, enabling an engine class to be the class abstracted by the engine, receiving an instruction to control a gear and an accelerator, supporting automatic cruise speed control, starting a corresponding closed-loop control flow after receiving the instruction, converting the gear and the accelerator control into voltage control, modulating the real gear and the accelerator to reach the expected value, enabling navigation equipment class to be the class abstracted by the navigation equipment, receiving a chart path planning, supporting the control of the position and the speed, splitting the path planning into independent position points after receiving the instruction, starting the position and speed closed-loop control flow, converting the control of the position and the speed into the control of the gear, the accelerator and the rudder angle, adjusting the position and the speed to reach the expected value, enabling a collision avoidance radar class to be the class abstracted by collision avoidance radar equipment, the method can sense the number of surrounding barriers, combines a plurality of collision avoidance radar types into a collision avoidance radar group, can uniformly process the data of the plurality of collision avoidance radars to form surrounding barrier information of the unmanned ship, feeds back the barrier information and radar state information after receiving an instruction, and the wireless equipment is abstracted by wireless communication equipment, can complete the communication function with a shore-based monitoring system, and is used for controlling external equipment to be opened and closed, and can control the external equipment of the ship to be powered on or powered off after receiving the instruction, wherein the external equipment comprises: light, siren, air conditioning, entertainment equipment, etc.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Fig. 1 is a structural diagram of an unmanned ship navigation control software architecture method according to an embodiment of the present invention;
fig. 2 is a rudder angle control structure composition diagram of an unmanned ship navigation control software architecture method and device according to an embodiment of the invention;
FIG. 3 is a diagram showing the engine structure of an unmanned ship navigation control software architecture method according to the embodiment of the invention;
FIG. 4 is a structural diagram of navigation equipment in the unmanned ship navigation control software architecture method according to the embodiment of the invention;
fig. 5 is a view showing the structural components of a collision avoidance radar in the unmanned ship navigation control software architecture method according to the embodiment of the present invention;
fig. 6 is a structural diagram of a collision avoidance radar group in an unmanned ship navigation control software architecture method according to an embodiment of the present invention;
fig. 7 is a diagram of a wireless device structure of an unmanned ship navigation control software architecture method according to an embodiment of the present invention;
FIG. 8 is a diagram showing the configuration of a peripheral control class of an unmanned ship navigation control software architecture method according to an embodiment of the present invention;
fig. 9 is a schematic perspective view of an unmanned ship navigation control device according to an embodiment of the present invention;
fig. 10 is a block diagram illustrating a method for constructing unmanned ship navigation control software according to an embodiment of the present invention.
Reference numerals: 1001. a controller body; 1002. and touching the display screen.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1
Referring to fig. 1-8 and 10, a method for constructing unmanned ship navigation control software includes:
the unmanned ship control system comprises peripheral equipment, unmanned ship control system software and a shore-based monitoring system, wherein the peripheral equipment comprises a rudder angle, an engine, ship peripherals, navigation equipment, collision avoidance radar and wireless communication equipment, the unmanned ship control system software comprises peripheral objects, data fusion centralized control and external communication, the shore-based monitoring system is connected with the unmanned ship control system software through a network, and the unmanned ship control system software is connected with the peripheral equipment through the network.
Acting as an embodiment of the present invention, further comprising the steps of:
s1, classification: abstracting each peripheral device into a class including rudder angle control class, engine class, navigation equipment class, collision avoidance radar group class, wireless equipment class and peripheral control class, wherein each class comprises an interface, data processing, flow control and error processing,
A. the interface is used for opening and closing the equipment, controlling input and feedback of the equipment and alarming information of the equipment;
B. the data processing is used for analyzing the communication protocol and converting the received data into current, voltage and control signals of the control equipment;
C. the flow control is used for initializing a control flow of the equipment and a closed-loop control flow of the equipment;
D. error processing, which is used for processing when the equipment has errors;
s2, data fusion centralized control and external communication: after software is opened, a thread is started to call interfaces of the opened devices in sequence for all the devices, the state of each device is returned, a plurality of timers are opened according to requirements after the starting is completed, the timers are used for calling the device class data feedback interfaces and the fault alarm interfaces, the data and the state of the devices are obtained, after the starting is completed, a timer is started, the timers are used for receiving control instructions of the shore-based monitoring system, the control interfaces of the devices are used for calling the operation of the devices, after the starting is completed, a timer is started, and the data and the state of the devices obtained in the step B in the step S1 are fused for transmission to the shore-based monitoring system.
Acting on an embodiment of the present invention, further, the interface of the rudder angle control class includes opening the rudder angle control, closing the rudder angle control, controlling the angle input, real angle feedback, fault alarm and fault clearing, the data processing of the rudder angle control class is that the control angle is changed into the switch control, the flow control of the rudder angle control class includes initialization and angle closed loop control flow, the error processing of the rudder angle control class is that the emergency stop.
Acting on an embodiment of the present invention, further, the interfaces of the engine class include engine development, engine shutdown, scram, gear control, throttle control, auto cruise speed control, speed feedback, engine data feedback, fault alarm and fault clearing, the data processing of the engine class includes the CAN interface analyzing engine protocol, controlling the gear throttle to voltage control and controlling the cruise speed to voltage control, the process control of the engine class includes initialization, gear throttle closed loop control process and speed closed loop control process, and the error processing of the engine class is emergency stop.
Acting on an embodiment of the present invention, further, the interface of the navigation device class includes opening the navigation device, closing the navigation device, feeding back the position, feeding back the speed, feeding back the direction, planning the chart path, positioning, controlling the speed, alarming the fault and clearing the fault, the data processing of the navigation device class includes the CAN interface analyzing the navigation device protocol, positioning, controlling the speed to shift, controlling the accelerator and rudder angle, the flow control of the navigation device class includes the initialization and the position, speed closed loop control flow, and the error processing of the navigation device class is the emergency stop.
Acting on an embodiment of the present invention, further, the anti-collision radar interface includes turning on the radar, turning off the radar, reading radar data, alarming a fault, and clearing the fault, where the anti-collision radar data is processed as a radar data protocol, the flow of the anti-collision radar is controlled to be initialized, and the error processing of the anti-collision radar is restarted.
Acting on an embodiment of the present invention, further, the interface of the anti-collision radar group includes turning on all the radars, turning off all the radars, feeding back obstacle information, alarming a fault, and clearing a fault, where the data processing of the anti-collision radar group is that the radar data is converted into the obstacle information, the flow control of the anti-collision radar group is initialized, and the error processing of the anti-collision radar group is that the radars are restarted.
Acting on an embodiment of the present invention, further, the interface of the wireless device class includes turning on the wireless device, turning off the wireless device, reading the status of the wireless device, alarming a fault and clearing the fault, the data processing of the wireless device class includes sending a communication protocol and receiving the communication protocol, the flow control of the wireless device class is initialized, and the error processing of the wireless device class restarts the wireless device.
Acting on an embodiment of the present invention, further, the interface of the peripheral control class includes turning on the peripheral control, turning off the peripheral control, controlling the peripheral switch, feeding back the peripheral switch, alarming a fault and clearing a fault, where the data processing of the peripheral control class is the peripheral switch control, the flow control of the peripheral control class includes initializing and switching a closed loop control flow, and the error processing of the peripheral control class is that all the peripheral control class is turned off in an emergency stop.
Example two
Referring to fig. 9, the unmanned ship navigation control device according to the embodiment of the present invention further includes a controller body 1001, a touch display 1002 is installed on one side of the controller body 1001, and the unmanned ship control system software is installed inside the controller body 1001.
It should be noted that, the specific model specification of the controller body 1001 needs to be determined by selecting a model according to the actual specification of the device, and the specific model selection calculation method adopts the prior art in the field, so that detailed description is omitted.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. An unmanned ship navigation control software architecture method, comprising:
the unmanned ship control system comprises peripheral equipment, unmanned ship control system software and a shore-based monitoring system, wherein the peripheral equipment comprises a rudder angle, an engine, ship peripherals, navigation equipment, collision avoidance radar and wireless communication equipment, the unmanned ship control system software comprises peripheral objects, data fusion centralized control and external communication, the shore-based monitoring system is connected with the unmanned ship control system software through a network, and the unmanned ship control system software is connected with the peripheral equipment through the network.
2. The unmanned ship navigation control software architecture method of claim 1, wherein: the method comprises the following steps:
s1, classification: abstracting each peripheral device into a class including rudder angle control class, engine class, navigation equipment class, collision avoidance radar group class, wireless equipment class and peripheral control class, wherein each class comprises an interface, data processing, flow control and error processing,
A. the interface is used for opening and closing the equipment, controlling input and feedback of the equipment and alarming information of the equipment;
B. the data processing is used for analyzing the communication protocol and converting the received data into current, voltage and control signals of the control equipment;
C. the flow control is used for initializing a control flow of the equipment and a closed-loop control flow of the equipment;
D. error processing, which is used for processing when the equipment has errors;
s2, data fusion centralized control and external communication: after software is opened, a thread is started to call interfaces of the opened devices in sequence for all the devices, the state of each device is returned, a plurality of timers are opened according to requirements after the starting is completed, the timers are used for calling the device class data feedback interfaces and the fault alarm interfaces, the data and the state of the devices are obtained, after the starting is completed, a timer is started, the timers are used for receiving control instructions of the shore-based monitoring system, the control interfaces of the devices are used for calling the operation of the devices, after the starting is completed, a timer is started, and the data and the state of the devices obtained in the step B in the step S1 are fused for transmission to the shore-based monitoring system.
3. The unmanned ship navigation control software architecture method of claim 2, wherein: the interface of the rudder angle control class comprises a rudder angle opening control, a rudder angle closing control, a control angle input, a real angle feedback, a fault alarm and a fault clearing, the data processing of the rudder angle control class is that the control angle is converted into a switch control, the flow control of the rudder angle control class comprises an initialization and angle closed loop control flow, and the error processing of the rudder angle control class is that the emergency stop is performed.
4. The unmanned ship navigation control software architecture method of claim 2, wherein: the interfaces of the engine comprise an engine development, an engine closing, an emergency stop, a gear control, an accelerator control, an automatic cruise speed control, a speed feedback, an engine data feedback, a fault alarm and a fault clearing, the data processing of the engine comprises a CAN interface analyzing engine protocol, a gear accelerator control to voltage control and a cruise speed control to voltage control, the process control of the engine comprises an initialization process, a gear accelerator closed-loop control process and a speed closed-loop control process, and the error processing of the engine is an emergency stop.
5. The unmanned ship navigation control software architecture method of claim 2, wherein: the interface of the navigation equipment comprises a navigation equipment opening, a navigation equipment closing, a position feedback, a speed feedback, a direction feedback, a chart path planning, a position, a speed control, a fault alarm and a fault clearing, the data processing of the navigation equipment comprises a CAN interface analyzing navigation equipment protocol, a position and a speed control converting into a gear, an accelerator and a rudder angle control, the flow control of the navigation equipment comprises an initialization flow, a position and a speed closed-loop control flow, and the error processing of the navigation equipment is an emergency stop.
6. The unmanned ship navigation control software architecture method of claim 2, wherein: the anti-collision radar interface comprises a radar switching-on function, a radar switching-off function, a radar data reading function, a fault alarming function and a fault clearing function, wherein the anti-collision radar data processing function is a radar data protocol, the anti-collision radar flow is controlled to be initialized, and the error processing function of the anti-collision radar is restarted.
7. The unmanned ship navigation control software architecture method of claim 2, wherein: the interface of the anti-collision radar group comprises the steps of opening all the radars, closing all the radars, feeding back obstacle information, alarming faults and clearing faults, the data processing of the anti-collision radar group is that radar data are converted into obstacle information, the flow control of the anti-collision radar group is initialized, and the misplacement processing of the anti-collision radar group is that the radars are restarted.
8. The unmanned ship navigation control software architecture method of claim 2, wherein: the interface of the wireless equipment comprises the steps of opening the wireless equipment, closing the wireless equipment, reading the state of the wireless equipment, alarming faults and clearing faults, the data processing of the wireless equipment comprises the steps of sending communication protocols and receiving the communication protocols, the flow control of the wireless equipment is initialized, and the error processing of the wireless equipment is used for restarting the wireless equipment.
9. The unmanned ship navigation control software architecture method of claim 1, wherein: the interface of the peripheral control class comprises peripheral control opening, peripheral control closing, peripheral switch controlling, peripheral switch feedback, fault alarm and fault clearing, the data processing of the peripheral control class is peripheral switch control, the flow control of the peripheral control class comprises initialization and switch closed-loop control flow, and the error processing of the peripheral control class is that all the peripheral control class is closed for emergency stop.
10. An unmanned ship navigation control device applied to any one of claims 1 to 9, comprising a controller body (1001), wherein a touch display screen (1002) is installed on one side of the controller body (1001), and unmanned ship control system software is installed inside the controller body (1001).
CN202311541142.4A 2023-11-20 2023-11-20 Unmanned ship navigation control software architecture method and device Pending CN117608287A (en)

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Application Number Priority Date Filing Date Title
CN202311541142.4A CN117608287A (en) 2023-11-20 2023-11-20 Unmanned ship navigation control software architecture method and device

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