CN205575400U - Automatic hoisting accessory and system - Google Patents
Automatic hoisting accessory and system Download PDFInfo
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- CN205575400U CN205575400U CN201620291154.5U CN201620291154U CN205575400U CN 205575400 U CN205575400 U CN 205575400U CN 201620291154 U CN201620291154 U CN 201620291154U CN 205575400 U CN205575400 U CN 205575400U
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- information
- coordinate information
- video recording
- number information
- suspender
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Abstract
The utility model provides an automatic hoisting accessory and system relates to jack -up transportation equipment field. This automatic hoisting accessory and system only need the server according to the serial number information of user input with lift by crane the instruction and seek the coordinate information that serial number information the is related prestore and user's input to it removes to the region that the coordinate information that serial number information is related with user's input corresponds simultaneously to drive a motor module control hoist, a first video recording collection module and second video recording collection module, acquire respectively according to first video recording information of received and second video recording information the lockhole with the coordinate information of hoist, if the coordinate information of lockhole with the projected distance of coordinate information on the horizontal plane of hoist is in the within range that presets, drive the control of motor module the hoist card is gone into the lockhole and is hoist wait to lift by crane the object. This automatic hoisting accessory and system, it is very convenient to operate, need not the cost of labor to the experience that the user used feels high.
Description
Technical field
This utility model relates to handling equipment field, in particular to a kind of automatic lifting dress
Put and system.
Background technology
Along with domestic economy develops, container cargo distribution transport increases quickly, conjack tool
At modern logistics, national product, each field plays extremely important effect.Country is sent out energetically at present
Zhan Shui, Lu Lianyun have promoted inland terminal depot, and the medium and small stockyard such as railway stockyard and kilometer transfer station is big
Amount is set up.Handling equipment of the prior art due to medium and small stockyard scale is less can not be as greatly
Infrastructure is put into and builds GPS Base Station and comprehensive terminal management system by type harbour, thus have to
The transport of container is operated manually by driver, very inconvenient, and needs certain people
Work cost, the experience sense that user uses is poor.
Summary of the invention
In view of this, the purpose of this utility model embodiment be to provide a kind of automatic hoisting device with
System.
First aspect, a kind of automatic hoisting device that this utility model embodiment provides, described device bag
Include:
Search unit, for according to user input number information and lifting instruction search pre-stored with
The coordinate information of the number information association of user's input；
Motor module driver element, for driving a motor module to control a suspender, one first video recording is adopted
Collection module and one second video recording acquisition module move to the number information inputted with user simultaneously and associate
Region corresponding to coordinate information；
Information receiving unit, needs for receiving described first carrying of video recording acquisition module transmission respectively
What the first video information of the lockhole of lifting object and described second video recording acquisition module sent carries
Second video information of suspender；
Positioning unit, obtains described lockhole respectively according to described first video information and the second video information
Coordinate information with described suspender；
Judging unit, it is judged that the coordinate information of the coordinate information of described lockhole and described suspender is at horizontal plane
On the distance of projection whether in presetting scope；
If described motor module driver element is additionally operable to the coordinate information of described lockhole and described suspender
The distance of coordinate information projection in the horizontal plane, not in presetting scope, drives described motor mould
Block controls described lifting appliance moving, so that the coordinate information of the coordinate information of described lockhole and described suspender exists
The distance of the projection on horizontal plane is in presetting scope；If the coordinate information of described lockhole is with described
The distance of the coordinate information of suspender projection in the horizontal plane, in presetting scope, drives described electricity
Machine module controls described suspender and snaps in lockhole described object to be lifted of slinging.
Second aspect, this utility model embodiment additionally provides a kind of automatic lifting system, described system
Including: server, the first video recording acquisition module, the second video recording acquisition module and motor module, institute
State server to set up with the first video recording acquisition module, the second video recording acquisition module and motor module respectively
Communication connection；
Described first video recording acquisition module is used for the first of the lockhole carrying object to be lifted gathered
Video information, and described first video information is sent to described server；
Described second video recording acquisition module is used for the second video information carrying suspender gathered, and will
Described second video information sends to described server；
Described server includes: search unit, for the number information inputted according to user and lifting
The coordinate information that the number information with user's input of pre-stored associates is searched in instruction；Motor module drives
Unit, for driving a motor module to control a suspender, one first video recording acquisition module and one second
Video recording acquisition module moves to corresponding with the coordinate information of the number information association that user inputs simultaneously
Region；Information receiving unit, for receiving carrying of described first video recording acquisition module transmission respectively
What the first video information of the lockhole of object to be lifted and described second video recording acquisition module sent carries
There is the second video information of suspender；Positioning unit, according to described first video information and the second video recording letter
Breath obtains described lockhole and the coordinate information of described suspender respectively；Judging unit, it is judged that described lockhole
Whether the distance of coordinate information and the coordinate information of described suspender projection in the horizontal plane is presetting
In the range of；If the coordinate information that described motor module driver element is additionally operable to described lockhole hangs with described
The distance of the coordinate information of tool projection in the horizontal plane, not in presetting scope, drives described electricity
Machine module controls described lifting appliance moving, so that the coordinate letter of the coordinate information of described lockhole and described suspender
The distance of breath projection in the horizontal plane is in presetting scope；If the coordinate information of described lockhole with
The distance of the coordinate information of described suspender projection in the horizontal plane, in presetting scope, drives institute
State the motor module described suspender of control and snap in lockhole described object to be lifted of slinging.
Compared with prior art, this utility model embodiment provide a kind of automatic hoisting device be
System, it is only necessary to staff inputs number information and lifting instruction, the service of object to be lifted at server
Device can according to user input number information and lifting instruction search pre-stored with user input
Number information association coordinate information, and drive a motor module control a suspender, one first video recording adopt
Collection module and one second video recording acquisition module move to the number information inputted with user simultaneously and associate
Region corresponding to coordinate information；Receive carrying of described first video recording acquisition module transmission the most respectively
What the first video information of the lockhole of object to be lifted and described second video recording acquisition module sent carries
There is the second video information of suspender；And obtain respectively according to described first video information and the second video information
Take described lockhole and the coordinate information of described suspender；If the coordinate information of described lockhole and described suspender
The distance of coordinate information projection in the horizontal plane, in presetting scope, drives described motor module
Control described suspender and snap in lockhole described object to be lifted of slinging.This automatic hoisting device and system,
Operation is very easy, it is not necessary to cost of labor, and the experience sense that user uses is high.
For making above-mentioned purpose of the present utility model, feature and advantage to become apparent, cited below particularly relatively
Good embodiment, and coordinate appended accompanying drawing, it is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, below will be in embodiment
The required accompanying drawing used is briefly described, it will be appreciated that the following drawings illustrate only this practicality
Some novel embodiment, is therefore not construed as the restriction to scope, skill common for this area
From the point of view of art personnel, on the premise of not paying creative work, it is also possible to obtain it according to these accompanying drawings
The accompanying drawing that he is correlated with.
Server that Fig. 1 provides for this utility model preferred embodiment and the first video recording acquisition module, the
Two video recording acquisition modules, motor module, the first tag recognizer and the second tag recognizer are handed over
Mutual schematic diagram.
The block diagram of the server that Fig. 2 provides for this utility model preferred embodiment.
Fig. 3 is the functional unit signal of the automatic hoisting device that this utility model preferred embodiment provides
Figure.
Fig. 4 is the schematic flow sheet of the automatic lifting method that this utility model preferred embodiment provides.
Fig. 5 is that the sub-process of step S403 in Fig. 4 that this utility model preferred embodiment provides is shown
It is intended to.
Fig. 6 is that the sub-process of step S406 in Fig. 4 that this utility model preferred embodiment provides is shown
It is intended to.
Main element symbol description: searching unit 101, motor module driver element 102, information connects
Receive unit 103, positioning unit 104, it is judged that unit 105, number information extraction unit 106, correspondence
Relation sets up unit 107, cutting unit 108, similarity comparing unit 109, result signal generating unit
110, alarm unit 111, the first video recording acquisition module 112, the second video recording acquisition module 113, electricity
Machine module 114, the first tag recognizer 115, the second tag recognizer 116, server 117, deposit
Reservoir 118, storage control 119, processor 120, Peripheral Interface 121, automatic hoisting device
122。
Detailed description of the invention
Below in conjunction with accompanying drawing in this utility model embodiment, to the technology in this utility model embodiment
Scheme is clearly and completely described, it is clear that described embodiment is only this utility model one
Section Example rather than whole embodiments.Generally herein described in accompanying drawing and this reality of illustrating
Can arrange and design with various different configurations with the assembly of new embodiment.Therefore, the most right
The detailed description of the embodiment of the present utility model provided in the accompanying drawings is not intended to limit claimed
Scope of the present utility model, but be merely representative of selected embodiment of the present utility model.Based on this reality
By novel embodiment, those skilled in the art are obtained on the premise of not making creative work
Every other embodiment, broadly fall into this utility model protection scope.
It should also be noted that similar label and letter represent similar terms, therefore, one in following accompanying drawing
A certain Xiang Yi the accompanying drawing of denier is defined, then need not it is carried out further in accompanying drawing subsequently
Definition and explanation.Meanwhile, in description of the present utility model, term " first ", " second " etc. are only used
Describe in distinguishing, and it is not intended that indicate or hint relative importance.
As it is shown in figure 1, be that the server 117 and first that this utility model preferred embodiment provides images
Module, the second photographing module, the first tag recognizer the 115, second tag recognizer 116 and electricity
The schematic diagram that machine module 114 interacts.Described server 117 by network and the first photographing module,
Second photographing module, first tag recognizer the 115, second tag recognizer 116 and motor module
114 communication connections, to carry out data communication or mutual.Described server 117 can be network service
Device, database server etc..
As in figure 2 it is shown, be the block diagram of described server 117.Described server 117 includes
Automatic hoisting device 122, memorizer 118, storage control 119, processor 120 and peripheral hardware
Interface 121.
Described memorizer 118, storage control 119, processor 120 and Peripheral Interface 121 are each
Element is electrically connected with the most directly or indirectly, to realize the transmission of data or mutual.Such as,
These elements can realize being electrically connected with by one or more communication bus or holding wire each other.Institute
State automatic hoisting device 122 and include that at least one can be deposited with the form of software or firmware (firmware)
It is stored in described memorizer 118 or is solidificated in the operating system (operating of described server 117
System, OS) in software function module.Described processor 120 is used for performing memorizer 118
The executable module of middle storage, software function module that the most described automatic hoisting device 122 includes or
Computer program.
Wherein, memorizer 118 may be, but not limited to, random access memory
(Random Access Memory, RAM), read only memory (Read Only Memory,
ROM), programmable read only memory (Programmable Read-Only Memory, PROM),
Erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory,
EEPROM) etc..Wherein, memorizer 118 is used for storing program, and described processor 120 is receiving
After performing instruction, performing described program, aforementioned this utility model embodiment any embodiment discloses
The method performed by server 117 flowing through Cheng Dingyi can apply in processor 120, or by
Processor 120 realizes.
Processor 120 is probably a kind of IC chip, has the disposal ability of signal.Above-mentioned
Processor 120 can be general processor, including central processing unit (Central Processing Unit,
Be called for short CPU), network processing unit (Network Processor, be called for short NP) etc.；Can also is that numeral
Signal processor (DSP), special IC (ASIC), ready-made programmable gate array (FPGA) or
Other PLDs, discrete gate or transistor logic, discrete hardware components.Permissible
Realize or perform disclosed each method, step and the logic diagram in this utility model embodiment.Logical
Can be microprocessor with processor or this processor 120 can also be any routine processor
Deng.
Various input/output devices are coupled to processor 120 and storage by described Peripheral Interface 121
Device 118.In certain embodiments, Peripheral Interface 121, processor 120 and storage control 119
Can realize in one single chip.In some other example, they can be respectively by independent chip
Realize.
Referring to Fig. 3, Fig. 3 is a kind of automatic hoisting device that this utility model preferred embodiment provides
The functional unit schematic diagram of 122.Described automatic hoisting device 122 includes: search unit 101, electricity
Machine module drive unit 102, information receiving unit 103, positioning unit 104, judging unit 105,
Number information extraction unit 106, corresponding relation set up unit 107, cutting unit 108, similarity
Comparing unit 109, result signal generating unit 110 and alarm unit 111.
Described lookup unit 101 is for searching pre-according to the number information of user's input and lifting instruction
The coordinate information that the number information with user's input of storage associates.
Pre-established in server have the coordinate information corresponding with the number information of user's input, works as user
Input number information time, then search unit 101 can find with user input number information exist right
The coordinate information that should be related to.
Motor module driver element 102 for drive a motor module 114 control a suspender, one first
Video recording acquisition module 111 and one second video recording acquisition module 113 move simultaneously and input to user
The region corresponding to coordinate information of number information association.
Wherein, object to be lifted can be container, bag of cement, grain bag etc..Motor module 114
Can include the first motor and the second motor, the first motor is used for controlling object to be lifted and moves left and right,
Second motor is used for controlling object to be lifted and moves forward and backward.Specifically, the first motor is for controlling one the
One carriage moves left and right on the first slide rail, and the second motor exists for controlling one second carriage
On second slide rail movable, wherein, the second slide rail is positioned at the top of the first slide rail, the second slide rail,
First slide rail is vertical in the projection of horizontal plane.Specifically, suspender, first video recording acquisition module 111 with
And second video recording acquisition module 113 be arranged at described second carriage so that second carriage move
Suspender, the first video recording acquisition module 111 and the second video recording acquisition module 113 can be driven time dynamic simultaneously
Mobile.Need the place stacked to set up at object to be lifted and have a three-dimensional system of coordinate, wherein, three-dimensional seat
The X-axis of mark system is parallel with the second slide rail, and the Y-axis of three-dimensional system of coordinate is parallel with the first slide rail, Z axis
Parallel with vertical curve.Each coordinate is all to there being a region depositing object to be lifted.When user exists
After input needs to deposit coordinate and deposit instruction, motor module driver element 102 inputs according to user
Coordinate information and lifting order-driven the first motor control the first carriage and to the left or move right,
Second motor controls the second carriage and forward or is moved rearwards by, to control the second carriage drive
Suspender, the first video recording acquisition module 111 and the second video recording acquisition module 113 are to the coordinate letter of input
The top in the region that breath is corresponding.
Specifically, described motor module driver element 102 is used for driving described motor module 114 to control
One suspender, one first video recording acquisition module 111,1 first tag recognizer 115 and one second mark
Sign evaluator 116 simultaneously to the direction in the region corresponding with the coordinate information that described number information associates
Mobile.
Described information receiving unit 103 is additionally operable to receive described first tag recognizer 115 identification and is positioned at
Coordinate information and described second tag recognizer 116 of the X-axis sent after the label of X-axis identify position
The coordinate information of the Y-axis sent after the label of Y-axis.
First slide rail has been equidistantly positioned the first label, and the first tag memory contains and input coordinate information
The abscissa in corresponding region, the second slide rail has been equidistantly positioned the second label, the first tag memory
Contain the vertical coordinate in the region corresponding with input coordinate information.First tag recognizer 115, second
Tag recognizer 116 is arranged on the second carriage, and the second carriage drives while movement
First tag recognizer the 115, second tag recognizer 116 moves.First tag recognizer 115 is used
In the abscissa identifying that the first tag memory stores up, the second tag recognizer 116 is for identifying the second label
The vertical coordinate of interior storage.Specifically, the first label and the second label can use RFID label tag, and first
Tag recognizer the 115, second tag recognizer 116 can use RFID label tag evaluator；Or
First label and the second label can use two-dimension code label, first tag recognizer the 115, second label
Evaluator 116 can use Quick Response Code scanning device.Second carriage drives during movement
One tag recognizer the 115, second tag recognizer 116 moves, simultaneously the first tag recognizer 115,
Second tag recognizer 116 identifies that during movement the first label being arranged at the first slide rail is deposited
The vertical coordinate that the abscissa of storage and the tag memory being arranged at the second slide rail store up.
Described judging unit 105 is additionally operable to the coordinate information of X-axis, the coordinate of Y-axis judging to obtain
Information is the most consistent with the coordinate information that the number information that user inputs associates respectively.
Owing to first tag recognizer the 115, second tag recognizer 116 may be contained within suspender, then may be used
First tag recognizer the 115, second tag recognizer 116 received by judgement is sent respectively
The seat whether coordinate information of X-axis, the coordinate information of Y-axis associate with the number information inputted with user
Mark information is consistent, thus judges whether suspender moves the coordinate associated to the number information inputted with user
In the region that information is corresponding.
If described motor module driver element 102 is additionally operable to the coordinate of the X-axis of acquisition and described Y-axis
Coordinate consistent with the coordinate information that the number information that user inputs associates, drive described motor module
114 control described suspender, described first picture recording module, described second picture recording module, described first mark
Sign evaluator 115 and described second tag recognizer 116 stops mobile simultaneously.
If the coordinate of the coordinate of the X-axis obtained and described Y-axis closes with the number information with user's input
The coordinate information of connection is consistent, then prove what the number information that suspender has moved to input with user associated
In the region that coordinate information is corresponding, now motor module drive unit drives the first motor, the second motor
Control suspender and stop mobile.
Described information receiving unit 103 sends for receiving described first video recording acquisition module 111 respectively
The lockhole carrying object to be lifted the first video information and described second video recording acquisition module 113
The second video information carrying suspender sent.
Owing to suspender is positioned at the top in the region corresponding with input coordinate information, can be adopted by the first video recording
Collection module 111 can collect the first video information waiting to hang the lockhole carrying object to be lifted, and second
Video recording acquisition module 113 can collect the second video information carrying suspender.
Described positioning unit 104 obtains respectively according to described first video information and the second video information
Described lockhole and the coordinate information of described suspender.
Can be in the lockhole in the first video information and the second video information by image recognition technology
Suspender positions.
Described judging unit 105 is additionally operable to the seat of coordinate information and the described suspender judging described lockhole
Whether the distance of mark information projection in the horizontal plane is in presetting scope.
In the vertical direction alignment lifting must could be realized, therefore second in view of lockhole and suspender
Motor controls the second carriage and drives suspender to enter the region corresponding with the coordinate information of user's input
After, need to drive lifting appliance moving by driving the second motor to control the second carriage, so that suspender and lock
Align in hole.Specifically, can the coordinate information of coordinate information Yu described suspender by judging described lockhole
Whether the distance of projection in the horizontal plane is in presetting scope, so that it is determined that lockhole and suspender exist
Whether align.
If the coordinate information that described motor module driver element 102 is additionally operable to described lockhole hangs with described
The distance of the coordinate information of tool projection in the horizontal plane, not in presetting scope, drives described electricity
Machine module 114 controls described lifting appliance moving, so that the coordinate information of described lockhole and the seat of described suspender
The distance of mark information projection in the horizontal plane is in presetting scope；If the coordinate letter of described lockhole
The distance of the coordinate information of breath and described suspender projection in the horizontal plane, in presetting scope, is driven
Dynamic described motor module 114 controls described suspender and snaps in lockhole described object to be lifted of slinging.
It addition, when depositing object to be lifted, described motor module driver element is additionally operable to obtaining use
After what family inputted deposits instruction and deposit coordinate information, drive a motor module 114 to control a suspender and take
Carry described object to be lifted, one first video recording acquisition module 111 and one second video recording acquisition module
113 move simultaneously to input deposit the region that coordinate information is corresponding.
Described information receiving unit 103 is for receiving taking of described first video recording acquisition module 111 transmission
The 3rd video information with the number information being arranged at described object to be lifted.
The surface of each object to be lifted is provided with numbering, can be by the first video recording acquisition module 111
It is acquired carrying the 3rd video information being positioned at numbering.
Described number information extraction unit 106 is arranged at for extracting according to described 3rd video information
The number information of described object to be lifted.
It is arranged at described thing to be lifted receiving the first carrying of video recording acquisition module 111 transmission
After 3rd video information of the number information of body, the 3rd video information is carried out image recognition, and extracts
Go out number information.
Described corresponding relation sets up unit 107 for setting up depositing coordinate information and setting of user's input
It is placed in the corresponding relation of the number information of described object to be lifted.
After extracting number information, set up user's input to deposit coordinate information corresponding with number information
Relation, for when object to be lifted is lifted by crane by needs, user only needs to input number information, i.e.
Object to be lifted can be carried out automatization's lifting.
It is preferred that be easily blocked in view of the number information being arranged at object to be lifted or damage,
Cause what the first video recording acquisition module 111 cannot be complete to collect number information, therefore use following
Number information is acquired by mode, apparent complete can collect number information.
The number information of described object to be lifted includes the first number information and the second number information, its
In, the second number information is consistent with the first number information, and described first video recording acquisition module 111 includes
First video recording submodule and the second video recording submodule.
Described information receiving unit 103 is additionally operable to receive the setting that described first video recording submodule sends
Side the first number information and second in described object to be lifted is recorded a video and is treated described in submodule transmission
Opposite side second number information of lifting object.
Described cutting unit 108 for respectively described first number information is divided into multiple in order
First character of arrangement, described second number information are respectively and multiple arrange the second character in order.
Described similarity comparing unit 109 is for setting up matrix by multiple first characters and the second character
And the Character mother plate of the character and pre-stored that will be located in same string respectively carries out similarity comparison.
If described result signal generating unit 110 is at least one character being positioned at same string and pre-stored
The similarity of Character mother plate more than presetting threshold value, the Character mother plate of output and pre-stored in order
Similarity more than the character of presetting threshold value.
Such as, the first number information that the first video recording submodule collects is " 123X56 ", the second record
The second number information collected as submodule is " X23456 ", and wherein X represents because blocking or damaging
The numbering character of None-identified, then the number information of final result output unit output is " 123456 ".
Described alarm unit 111 is similar to the Character mother plate of pre-stored for the character of any string
Degree is respectively less than presetting threshold value, controls an alarm equipment alarm.
Such as, the first number information that the first video recording submodule collects is " 123X56 ", the second record
The second number information collected as submodule is " 123X56 ", and wherein X represents because blocking or damaging
The numbering character of None-identified, then alarm unit controls an alarm equipment alarm.
Refer to Fig. 4, be the flow chart of the automatic lifting method that this utility model preferred embodiment provides.
It should be noted that the automatic lifting method that the present embodiment is provided, its ultimate principle and the skill of generation
Art effect is identical with above-described embodiment, for briefly describing, and the not mentioned part of the present embodiment part, can join
Examine the corresponding contents in above-described embodiment.Idiographic flow shown in Fig. 4 will be explained in detail below
State.
When depositing object to be lifted, described method includes:
Step S401: deposit instruction and after depositing coordinate information obtain user's input, drive one
Motor module 114 controls a suspender and carries described object to be lifted, one first video recording acquisition module 111
And one second video recording acquisition module 113 move simultaneously to input to deposit coordinate information corresponding
Region.
Motor module 114 can be driven to control a suspender by motor module driver element 102 and carry institute
State object to be lifted, one first video recording acquisition module 111 and one second video recording acquisition module 113 same
Shi Yidong to input deposit the region that coordinate information is corresponding.
Step S402: receive described first carrying of video recording acquisition module 111 transmission and be arranged at institute
State the 3rd video information of the number information of object to be lifted.
Carrying of the first video recording acquisition module 111 transmission can be received by information receiving unit 103
It is arranged at the 3rd video information of the number information of described object to be lifted.
Step S403: extract the volume being arranged at described object to be lifted according to described 3rd video information
Number information.
Can be extracted according to described 3rd video information by number information extraction unit 106 and be arranged at
The number information of described object to be lifted.
Specifically, the number information of described object to be lifted includes the first number information and the second numbering letter
Breath, wherein, the second number information is consistent with the first number information, described first video recording acquisition module
111 include the first video recording submodule and the second video recording submodule, as it is shown in figure 5, described step S403
Including:
Step S5011: receive described first video recording submodule transmission is arranged at described object to be lifted
The first number information of side and another of the object described to be lifted that sends of the second video recording submodule
Second number information of side.
Being arranged at of described first video recording submodule transmission is received described by information receiving unit 103
The thing described to be lifted that side first number information of object to be lifted and the second video recording submodule send
Opposite side second number information of body.
Step S5012: respectively described first number information is divided into multiple arrange in order first
Character, described second number information are divided into and multiple arrange the second character in order.
Respectively described first number information is divided into by cutting unit 108 and multiple arranges in order
The first character, described second number information is respectively and multiple arranges the second character in order.
Step S5013: matrix set up in multiple first characters and the second character and will be located in same respectively
The character of row carries out similarity comparison with the Character mother plate of pre-stored.
Step S5014: judge that at least one is positioned at the character of the same string Character mother plate with pre-stored
Whether similarity is more than presetting threshold value, if at least one character being positioned at same string and pre-stored
The similarity of Character mother plate, more than presetting threshold value, performs step S5015；If the arbitrarily word of string
Symbol is respectively less than presetting threshold value with the similarity of the Character mother plate of pre-stored, performs step S5016.
By similarity comparing unit 109 multiple first characters and the second character are set up matrix and point
The Character mother plate of the character and pre-stored that not will be located in same string carries out similarity comparison.
Step S5015: output and the similarity of the Character mother plate of pre-stored are more than presetting in order
The character of threshold value.
Exported big with the similarity of the Character mother plate of pre-stored in order by result signal generating unit 110
Character in presetting threshold value.
Step S5016: control an alarm equipment alarm.
An alarm equipment alarm is controlled by alarm unit 111.
Step S404: set up depositing coordinate information and being arranged at described object to be lifted of user's input
The corresponding relation of number information.
Set up unit 107 by corresponding relation and set up depositing coordinate information and being arranged at of user's input
The corresponding relation of the number information of described object to be lifted.
When user needs to lift by crane the object to be lifted deposited, described method includes:
Step S405: utilize a server to search according to number information and the lifting instruction of user's input
The coordinate information that the number information with user's input of pre-stored associates.
The number information and the lifting instruction that are inputted according to user by the lookup unit 101 of server are looked into
Look for the coordinate information that the number information with user's input of pre-stored associates.
Step S406: drive a motor module 114 to control a suspender, one first video recording acquisition module
111 and one second video recording acquisition module 113 move to the number information inputted with user simultaneously and associate
Region corresponding to coordinate information.
By motor module driver element 102 drive a motor module 114 control a suspender, one first
Video recording acquisition module 111 and one second video recording acquisition module 113 move simultaneously and input to user
The region corresponding to coordinate information of number information association.
Specifically, as shown in Figure 6, described step S406 includes:
Step S6011: drive a motor module 114 to control a suspender, one first video recording acquisition module
111, one first tag recognizer 115 and one second tag recognizer 116 simultaneously to described volume
The direction in the region that the coordinate information of number information association is corresponding is moved.
Step S6012: receive after described first tag recognizer 115 identifies the label being positioned at X-axis and send out
After the coordinate information of the X-axis sent and described second tag recognizer 116 identify the label being positioned at Y-axis
The coordinate information of the Y-axis sent.
Receive described first tag recognizer 115 identification by information receiving unit 103 and be positioned at X-axis
Label after send X-axis coordinate information and described second tag recognizer 116 identify be positioned at Y
The coordinate information of the Y-axis sent after the label of axle.
Step S6013: judge obtain the coordinate information of X-axis, Y-axis coordinate information respectively with
Whether the coordinate information of the number information association of user's input consistent, if the coordinate of the X-axis obtained and
The coordinate of described Y-axis is consistent with the coordinate information that the number information that user inputs associates, then perform
Step S6014.
Judge that the coordinate information of X-axis obtained, the coordinate information of Y-axis divide by judging unit 105
The most not consistent with the coordinate information that the number information that user inputs associates.
Step S6014: drive described motor module 114 to control described suspender, described first video recording mould
Block, described second picture recording module, described first tag recognizer 115 and described second tag recognition
Device 116 stops mobile simultaneously.
Step S407: receive described first carrying of video recording acquisition module 111 transmission respectively and needed
Hang the first video information of the lockhole of object and carrying of described second video recording acquisition module 113 transmission
There is the second video information of suspender.
Taking of described first video recording acquisition module 111 transmission is received respectively by information receiving unit 103
With object to be lifted lockhole the first video information and described second video recording acquisition module 113
The second video information carrying suspender sent.
Step S408: obtain described lock respectively according to described first video information and the second video information
Hole and the coordinate information of described suspender.
Obtained respectively according to described first video information and the second video information by positioning unit 104
Described lockhole and the coordinate information of described suspender.
Step S409: judge that the coordinate information of the described lockhole coordinate information with described suspender is in level
Whether the distance of the projection on face is in presetting scope；If the coordinate information of described lockhole is with described
The distance of the coordinate information of suspender projection in the horizontal plane, not in presetting scope, performs step
S410；If the projection that the coordinate information of the coordinate information of described lockhole and described suspender is in the horizontal plane
Distance, in presetting scope, performs step S411.
The coordinate information of described lockhole and the coordinate information of described suspender is judged by judging unit 105
Whether the distance of projection in the horizontal plane is in presetting scope.
Step S410: drive described motor module 114 to control described lifting appliance moving, so that described lock
The distance of the coordinate information in hole and the coordinate information of described suspender projection in the horizontal plane is presetting
In the range of.
Step S411: drive described motor module 114 to control described suspender and snap in lockhole institute of slinging
State object to be lifted.
Refer to Fig. 1, also a kind of automatic lifting system of this utility model embodiment, described system includes:
Automatic hoisting device 122, first record a video acquisition module 112, second record a video acquisition module 113 and
Motor module 114, described automatic hoisting device 122 respectively with the first video recording acquisition module 112, the
Two video recording acquisition modules 113 and motor module 114 set up communication connection；
Described first video recording acquisition module 112 is used for the lockhole carrying object to be lifted of collection
First video information, and described first video information is sent to described automatic hoisting device 122；
Described second video recording acquisition module 113 is used for the second video information carrying suspender gathered,
And described second video information is sent to described automatic hoisting device 122；
Described automatic hoisting device 122 includes: search unit 101, for the volume according to user's input
Number information searches the coordinate information that the number information with user's input of pre-stored associates with lifting instruction；
Motor module driver element 102, for driving a motor module 114 to control a suspender, one first record
As acquisition module 112 and one second video recording acquisition module 113 move to the volume inputted with user simultaneously
The region that the coordinate information of number information association is corresponding；Information receiving unit 103, for receiving institute respectively
State the first video recording letter of the lockhole carrying object to be lifted that the first video recording acquisition module 112 sends
The second video information carrying suspender that breath and described second video recording acquisition module 113 send；Location
Unit 104, obtains described lockhole and institute respectively according to described first video information and the second video information
State the coordinate information of suspender；Judging unit 105, it is judged that the coordinate information of described lockhole and described suspender
The distance of coordinate information projection in the horizontal plane whether in presetting scope；Described motor mould
If the coordinate information of the coordinate information and described suspender that block driver element 102 is additionally operable to described lockhole exists
The distance of the projection on horizontal plane, not in presetting scope, drives described motor module 114 to control
Described lifting appliance moving, so that the coordinate information of the coordinate information of described lockhole and described suspender is at horizontal plane
On the distance of projection in presetting scope；If the coordinate information of described lockhole and described suspender
The distance of coordinate information projection in the horizontal plane, in presetting scope, drives described motor module
114 control described suspender snaps in lockhole described object to be lifted of slinging.
Specifically, described automatic lifting system also includes that the first tag recognizer 115 and the second label are known
Other device 116,
The X that described first tag recognizer 115 obtains be positioned at the label of X-axis for being sent in identification after
The coordinate information of axle is to described automatic hoisting device 122；
The Y that described second tag recognizer 116 obtains be positioned at the label of Y-axis for being sent in identification after
The coordinate information of axle is to described automatic hoisting device 122；
Described information receiving unit 103 is additionally operable to receive described first tag recognizer 115 identification and is positioned at
Coordinate information and described second tag recognizer 116 of the X-axis sent after the label of X-axis identify position
The coordinate information of the Y-axis sent after the label of Y-axis；
Described judging unit 105 is additionally operable to the coordinate information of X-axis, the coordinate of Y-axis judging to obtain
Information is the most consistent with the coordinate information that the number information that user inputs associates respectively；
Described motor module driver element 102 is additionally operable to control described suspender, described first video recording mould
Block, described second picture recording module, described first tag recognizer 115 and described second tag recognition
Device 116 stops mobile simultaneously.
Further, described motor module driver element 102 is additionally operable to obtaining depositing of user's input
After instructing and depositing coordinate information, drive a motor module 114 to control a suspender and carry described to be lifted
Object, one first video recording acquisition module 112 and one second video recording acquisition module 113 move extremely simultaneously
With input deposit the region that coordinate information is corresponding；
Described information receiving unit 103 is additionally operable to receive what described first video recording acquisition module 112 sent
Carry the 3rd video information of the number information being arranged at described object to be lifted；
Described automatic hoisting device 122 also includes:
Number information extraction unit 106, for being arranged at described according to described 3rd video information extraction
The number information of object to be lifted；
Corresponding relation sets up unit 107, for setting up depositing coordinate information and being arranged at of user's input
The corresponding relation of the number information of described object to be lifted.
Further, it is arranged at the number information of described object to be lifted and includes the first number information and the
Two number information, wherein, the second number information is consistent with the first number information, and described first video recording is adopted
Collection module 112 includes the first video recording submodule and the second video recording submodule,
Described information receiving unit 103 is additionally operable to receive the setting that described first video recording submodule sends
Side the first number information and second in described object to be lifted is recorded a video and is treated described in submodule transmission
Opposite side second number information of lifting object；
Described automatic hoisting device 122 also includes:
Cutting unit 108, multiple arranges in order for described first number information being divided into respectively
The first character, described second number information is respectively and multiple arranges the second character in order；
Similarity comparing unit 109, for setting up matrix and dividing by multiple first characters and the second character
The Character mother plate of the character and pre-stored that not will be located in same string carries out similarity comparison；
Result signal generating unit 110, if being positioned at the character word with pre-stored of same string at least one
The similarity of symbol template more than presetting threshold value, the phase of output and the Character mother plate of pre-stored in order
The character of presetting threshold value it is more than like degree.
Further, described automatic hoisting device 122 also includes:
Alarm unit 111, equal with the similarity of the Character mother plate of pre-stored for the character of any string
Less than presetting threshold value, control an alarm equipment alarm.
To sum up, this utility model embodiment provide a kind of automatic hoisting device and system, it is only necessary to work
Personnel input number information and the lifting instruction of object to be lifted at server, and server can be according to use
The number information of family input is searched the number information with user's input of pre-stored and is associated with lifting instruction
Coordinate information, and drive a motor module 114 control a suspender, one first video recording acquisition module
111 and one second video recording acquisition module 113 move to the number information inputted with user simultaneously and associate
Region corresponding to coordinate information；Receive taking of described first video recording acquisition module 111 transmission the most respectively
With object to be lifted lockhole the first video information and described second video recording acquisition module 113
The second video information carrying suspender sent；And according to described first video information and the second video recording letter
Breath obtains described lockhole and the coordinate information of described suspender respectively；If the coordinate information of described lockhole and institute
State the distance of the coordinate information of suspender projection in the horizontal plane in presetting scope, drive described
Motor module 114 controls described suspender and snaps in lockhole described object to be lifted of slinging.This automatic lifting
Device 122 and method, operation is very easy, it is not necessary to cost of labor, and the experience sense that user uses
High.
In several embodiments provided herein, it should be understood that disclosed apparatus and method,
Can also realize by another way.Device embodiment described above is only schematically,
Such as, the flow chart in accompanying drawing and block diagram show the dress according to multiple embodiments of the present utility model
Put, architectural framework in the cards, function and the operation of method and computer program product.This point
On, each square frame in flow chart or block diagram can represent of a module, program segment or code
Point, a part for described module, program segment or code comprises one or more for realizing patrolling of regulation
Collect the executable instruction of function.It should also be noted that some as replace implementation in, square frame
Middle marked function can also occur to be different from the order marked in accompanying drawing.Such as, two companies
Continuous square frame can essentially perform substantially in parallel, and they can also be held sometimes in the opposite order
OK, this is depending on involved function.It is also noted that each in block diagram and/or flow chart
The combination of the square frame in square frame and block diagram and/or flow chart, can with perform regulation function or
The special hardware based system of action realizes, or can use specialized hardware and computer instruction
Combination realize.
It addition, each functional module in each embodiment of this utility model can integrate formation
One independent part, it is also possible to be modules individualism, it is also possible to two or more moulds
Block is integrated to form an independent part.
If described function realizes using the form of software function module and as independent production marketing or
During use, can be stored in a computer read/write memory medium.Based on such understanding, this
Part that prior art is contributed by the technical scheme of utility model the most in other words or this skill
The part of art scheme can embody with the form of software product, and this computer software product is stored in
In one storage medium, including some instructions with so that a computer equipment (can be individual's meter
Calculation machine, server, or the network equipment etc.) perform method described in each embodiment of this utility model
All or part of step.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access
Memory), the various medium that can store program code such as magnetic disc or CD.It should be noted that
In this article, the relational terms of such as first and second or the like is used merely to an entity or behaviour
Make to separate with another entity or operating space, and not necessarily require or imply these entities or operation
Between exist any this reality relation or order.And, term " includes ", " comprising " or
Its any other variant is intended to comprising of nonexcludability, so that include the mistake of a series of key element
Journey, method, article or equipment not only include those key elements, but also include being not expressly set out
Other key elements, or also include the key element intrinsic for this process, method, article or equipment.
In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that
Other identical element is there is also in including the process of described key element, method, article or equipment.
The foregoing is only preferred embodiment of the present utility model, be not limited to this practicality new
Type, for a person skilled in the art, this utility model can have various modifications and variations.All
Within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made,
Within should be included in protection domain of the present utility model.It should also be noted that similar label and letter exist
Figure below represents similar terms, therefore, the most a certain Xiang Yi accompanying drawing is defined, then exists
Accompanying drawing subsequently need not it is defined further and explains.
The above, detailed description of the invention the most of the present utility model, but protection model of the present utility model
Enclose and be not limited thereto, the skill that any those familiar with the art discloses at this utility model
In the range of art, can readily occur in change or replace, all should contain protection domain of the present utility model it
In.Therefore, protection domain of the present utility model should described be as the criterion with scope of the claims.
Claims (10)
1. an automatic hoisting device, it is characterised in that described device includes:
Search unit, for searching, with lifting by crane instruction, the coordinate information that the number information with user's input of pre-stored associates according to the number information of user's input；
Motor module driver element, moves to the region corresponding with the coordinate information of the number information association that user inputs for driving a motor module to control a suspender, one first video recording acquisition module and one second video recording acquisition module simultaneously；
Information receiving unit, the second video information carrying suspender that the first video information and described second video recording acquisition module for receiving the lockhole carrying object to be lifted that described first video recording acquisition module sends respectively sends；
Positioning unit, obtains described lockhole and the coordinate information of described suspender respectively according to described first video information and the second video information；
Judging unit, it is judged that whether the distance of the coordinate information of the coordinate information of described lockhole and described suspender projection in the horizontal plane is in presetting scope；
If described motor module driver element is additionally operable to the distance of the coordinate information of the coordinate information of described lockhole and described suspender projection in the horizontal plane not in presetting scope, described motor module is driven to control described lifting appliance moving, so that the distance of the projection that the coordinate information of the coordinate information of described lockhole and described suspender is in the horizontal plane is in presetting scope；If the distance of the projection that the coordinate information of the coordinate information of described lockhole and described suspender is in the horizontal plane is in presetting scope, drives described motor module to control described suspender and snap in lockhole described object to be lifted of slinging.
Automatic hoisting device the most according to claim 1, it is characterised in that
Described motor module driver element moves to the direction in the region corresponding with the coordinate information that described number information associates for driving described motor module to control a suspender, one first video recording acquisition module, one first tag recognizer and one second tag recognizer simultaneously；
Described information receiving unit be additionally operable to receive the coordinate information of the X-axis sent after described first tag recognizer identification is positioned at the label of X-axis and described second tag recognizer identification be positioned at the label of Y-axis after the coordinate information of Y-axis that sends；
The coordinate information of X-axis, the coordinate information of Y-axis that described judging unit is additionally operable to judge to obtain are the most consistent with the coordinate information that the number information that user inputs associates respectively；
If the coordinate of the X-axis that described motor module driver element is additionally operable to acquisition is consistent with the coordinate information that the number information that user inputs associates with the coordinate of described Y-axis, drives described motor module to control described suspender, described first picture recording module, described second picture recording module, described first tag recognizer and described second tag recognizer and stop mobile simultaneously.
Automatic hoisting device the most according to claim 1, it is characterised in that
Described motor module driver element is additionally operable to deposit instruction and after depositing coordinate information obtain user's input, drive a motor module control a suspender carry described object to be lifted, one first video recording acquisition module and one second video recording acquisition module move simultaneously to input deposit the region that coordinate information is corresponding；
Described information receiving unit is additionally operable to receive the 3rd video information carrying the number information being arranged at described object to be lifted that described first video recording acquisition module sends；
Described device also includes:
Number information extraction unit, for extracting the number information being arranged at described object to be lifted according to described 3rd video information；
Corresponding relation sets up unit, for set up user input deposit coordinate information and the corresponding relation of the number information being arranged at described object to be lifted.
Automatic hoisting device the most according to claim 3, it is characterized in that the number information being arranged at described object to be lifted includes the first number information and the second number information, wherein, second number information is consistent with the first number information, described first video recording acquisition module includes the first video recording submodule and the second video recording submodule
Described information receiving unit is additionally operable to receive opposite side second number information of the object described to be lifted of side first number information being arranged at described object to be lifted of described first video recording submodule transmission and the second video recording submodule transmission；
Described device also includes:
Cutting unit, for described first number information is divided into multiple the first character of arranging in order respectively, described second number information is respectively and multiple arranges the second character in order；
Similarity comparing unit, carries out similarity comparison for multiple first characters and the second character are set up the Character mother plate of matrix the character and pre-stored that will be located in same string respectively；
Result signal generating unit, if being positioned at the character of same string with the similarity of the Character mother plate of pre-stored more than presetting threshold value at least one, the similarity of the Character mother plate of output and pre-stored is more than the character of presetting threshold value in order.
Automatic hoisting device the most according to claim 4, it is characterised in that described device also includes:
Alarm unit, is respectively less than presetting threshold value for the character of any string with the similarity of the Character mother plate of pre-stored, controls an alarm equipment alarm.
6. an automatic lifting system, it is characterized in that, described system includes: server, the first video recording acquisition module, the second video recording acquisition module and motor module, and described server sets up communication connection with the first video recording acquisition module, the second video recording acquisition module and motor module respectively；
First video information of the described first video recording acquisition module lockhole carrying object to be lifted for gathering, and described first video information is sent to described server；
Described second video recording acquisition module is for the second video information carrying suspender gathered, and sends described second video information to described server；
Described server includes: search unit, for searching, with lifting by crane instruction, the coordinate information that the number information with user's input of pre-stored associates according to the number information of user's input；Motor module driver element, moves to the region corresponding with the coordinate information of the number information association that user inputs for driving a motor module to control a suspender, one first video recording acquisition module and one second video recording acquisition module simultaneously；Information receiving unit, the second video information carrying suspender that the first video information and described second video recording acquisition module for receiving the lockhole carrying object to be lifted that described first video recording acquisition module sends respectively sends；Positioning unit, obtains described lockhole and the coordinate information of described suspender respectively according to described first video information and the second video information；Judging unit, it is judged that whether the distance of the coordinate information of the coordinate information of described lockhole and described suspender projection in the horizontal plane is in presetting scope；If described motor module driver element is additionally operable to the distance of the coordinate information of the coordinate information of described lockhole and described suspender projection in the horizontal plane not in presetting scope, described motor module is driven to control described lifting appliance moving, so that the distance of the projection that the coordinate information of the coordinate information of described lockhole and described suspender is in the horizontal plane is in presetting scope；If the distance of the projection that the coordinate information of the coordinate information of described lockhole and described suspender is in the horizontal plane is in presetting scope, drives described motor module to control described suspender and snap in lockhole described object to be lifted of slinging.
Automatic lifting system the most according to claim 6, it is characterised in that described automatic lifting system also includes the first tag recognizer and the second tag recognizer,
The coordinate information of the X-axis that described first tag recognizer obtains be positioned at the label of X-axis for being sent in identification after is to described server；
The coordinate information of the Y-axis that described second tag recognizer obtains be positioned at the label of Y-axis for being sent in identification after is to described server；
Described information receiving unit be additionally operable to receive the coordinate information of the X-axis sent after described first tag recognizer identification is positioned at the label of X-axis and described second tag recognizer identification be positioned at the label of Y-axis after the coordinate information of Y-axis that sends；
The coordinate information of X-axis, the coordinate information of Y-axis that described judging unit is additionally operable to judge to obtain are the most consistent with the coordinate information that the number information that user inputs associates respectively；
Described motor module driver element is additionally operable to control described suspender, described first picture recording module, described second picture recording module, described first tag recognizer and described second tag recognizer and stops mobile simultaneously.
Automatic lifting system the most according to claim 6, it is characterised in that
Described motor module driver element is additionally operable to deposit instruction and after depositing coordinate information obtain user's input, drive a motor module control a suspender carry described object to be lifted, one first video recording acquisition module and one second video recording acquisition module move simultaneously to input deposit the region that coordinate information is corresponding；
Described information receiving unit is additionally operable to receive the 3rd video information carrying the number information being arranged at described object to be lifted that described first video recording acquisition module sends；
Described server also includes:
Number information extraction unit, for extracting the number information being arranged at described object to be lifted according to described 3rd video information；
Corresponding relation sets up unit, for set up user input deposit coordinate information and the corresponding relation of the number information being arranged at described object to be lifted.
Automatic lifting system the most according to claim 8, it is characterized in that, the number information being arranged at described object to be lifted includes the first number information and the second number information, wherein, second number information is consistent with the first number information, described first video recording acquisition module includes the first video recording submodule and the second video recording submodule
Described information receiving unit is additionally operable to receive opposite side second number information of the object described to be lifted of side first number information being arranged at described object to be lifted of described first video recording submodule transmission and the second video recording submodule transmission；
Described server also includes:
Cutting unit, for described first number information is divided into multiple the first character of arranging in order respectively, described second number information is respectively and multiple arranges the second character in order；
Similarity comparing unit, carries out similarity comparison for multiple first characters and the second character are set up the Character mother plate of matrix the character and pre-stored that will be located in same string respectively；
Result signal generating unit, if being positioned at the character of same string with the similarity of the Character mother plate of pre-stored more than presetting threshold value at least one, the similarity of the Character mother plate of output and pre-stored is more than the character of presetting threshold value in order.
Automatic lifting system the most according to claim 9, it is characterised in that described server also includes:
Alarm unit, is respectively less than presetting threshold value for the character of any string with the similarity of the Character mother plate of pre-stored, controls an alarm equipment alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620291154.5U CN205575400U (en) | 2016-04-08 | 2016-04-08 | Automatic hoisting accessory and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620291154.5U CN205575400U (en) | 2016-04-08 | 2016-04-08 | Automatic hoisting accessory and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205575400U true CN205575400U (en) | 2016-09-14 |
Family
ID=56864536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620291154.5U Withdrawn - After Issue CN205575400U (en) | 2016-04-08 | 2016-04-08 | Automatic hoisting accessory and system |
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| Country | Link |
|---|---|
| CN (1) | CN205575400U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105668418A (en) * | 2016-04-08 | 2016-06-15 | 湖南中铁五新重工有限公司 | Automatic hoisting device and method |
| CN115180512A (en) * | 2022-09-09 | 2022-10-14 | 湖南洋马信息有限责任公司 | Automatic loading and unloading method and system for container truck based on machine vision |
-
2016
- 2016-04-08 CN CN201620291154.5U patent/CN205575400U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105668418A (en) * | 2016-04-08 | 2016-06-15 | 湖南中铁五新重工有限公司 | Automatic hoisting device and method |
| CN105668418B (en) * | 2016-04-08 | 2017-11-24 | 湖南中铁五新重工有限公司 | A kind of automatic hoisting device and method |
| CN115180512A (en) * | 2022-09-09 | 2022-10-14 | 湖南洋马信息有限责任公司 | Automatic loading and unloading method and system for container truck based on machine vision |
| CN115180512B (en) * | 2022-09-09 | 2023-01-20 | 湖南洋马信息有限责任公司 | Automatic loading and unloading method and system for container truck based on machine vision |
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