CN209310804U - A kind of Laser Line Marker based on unmanned plane - Google Patents
A kind of Laser Line Marker based on unmanned plane Download PDFInfo
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- CN209310804U CN209310804U CN201920029991.4U CN201920029991U CN209310804U CN 209310804 U CN209310804 U CN 209310804U CN 201920029991 U CN201920029991 U CN 201920029991U CN 209310804 U CN209310804 U CN 209310804U
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Abstract
The utility model discloses a kind of Laser Line Markers based on unmanned plane, it is characterized by comprising drone bodies, remote control device, driving device, control system and power supply, driving device includes motor and driving frame, control system includes microprocessor, direction sensor, mode of laser group and driving circuit, the motor is connected through driving circuit with microprocessor, direction sensor is connected with microprocessor, the range finder module mode of laser group that is connected with microprocessor is connected with microprocessor, mode of laser group is located on Y-axis driving frame, driving device realization enables mode of laser group around X-axis, Y-axis and Z axis rotation；A kind of Laser Line Marker based on unmanned plane of the utility model can generate laser rays at any angle in high-altitude and have stabilization and zero offset capability, the also remote controlled laser rays at any angle to adjust laser rays at any angle and generation specific range, the laser rays of certain distance can be generated by not needing ruler just, shorten the time of construction.
Description
Technical field
The utility model relates to optical instrument manufacturing fields, more particularly to a kind of Laser Line Marker based on unmanned plane.
Background technique
Laser Line Marker or level meter are typically used in building trade.A kind of conventional laser frame for line marking instrument includes: frame, pendulum
Hammer, wherein pendulum is suspended on frame by omnidirectional mechanism and limits using gravity vertical plumb line, includes at least one
A laser beam transmitter, is mounted on pendulum, and for emitting laser plane, the laser plane is projected on object with shape
The laser rays of straighe, the laser rays are used as vertical or horizontal line to facilitate the operation in building or finishing.
Current Laser Line Marker projects straight laser rays hanging weight in the way of gravity, and weight is got over
Weight precision is higher.Since instruments weight is big, instrument surprisingly falls often during client transports mobile or routine use
Occur, for omnidirectional mechanism easily because being caused bearing injured by greater impact power, the bad phenomenons such as shafting bending lead to universal structure
Sensitivity decrease, machine core can not accurately reset, and influence the index of light, and therefore failure rate is very high for traditional Laser Line Marker, this
Outside, traditional Laser Line Marker is not suitable for applying traditional Laser Line Marker in the space limitation due to building scaffold
Carry out graticule.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of straight line laser based on unmanned plane
Instrument.
The technical solution of the utility model are as follows: a kind of Laser Line Marker based on unmanned plane includes drone body, remote control
Device, control system, driving device, power supply, it is characterised in that: the driving device includes motor and driving frame, motor packet
X-axis motor, y-axis motor and Z axis motor are included, driving frame includes X-axis driving frame, Y-axis driving frame and Z-axis transmission rack, Z
Spindle motor one end is connected with Z-axis transmission rack, and the other end is arranged in the drone body, and X-axis motor one end and X-axis are driven
Rack is connected, and the other end is located in Z-axis transmission rack, and y-axis motor one end is connected with Y-axis driving frame, and the other end is located at X-axis biography
On motivation frame.
The control system includes microprocessor, direction sensor, mode of laser group, driving circuit, and the motor is through driving
Circuit is connected with microprocessor, and direction sensor is connected with microprocessor, mode of laser group be connected with microprocessor remote control device with
Microprocessor connects and is used to control drone body flight.
The mode of laser group is located on Y-axis driving frame, and the driving device realization enables mode of laser group around X-axis, Y-axis and Z
Axis rotation, X-axis Y-axis and Z axis are orthogonal, and X-axis and Y-axis all with horizontal direction parallel.
The power supply is that the control system and motor are powered.
Preferably, above-mentioned control system further includes encoder, and encoder one end is connected with the microprocessor, other end institute
State motor connection.
Preferably, above-mentioned mode of laser group includes laser emitter and amplifying circuit, and laser emitter is through amplifying circuit and institute
Microprocessor is stated to be connected.
Preferably, above-mentioned control system further includes camera, and camera is connect with the microprocessor.
Preferably, above-mentioned remote control device is equipped with display screen or touch screen.
Preferably, above-mentioned direction sensor gyroscope.
Preferably, above-mentioned gyroscope is six axis gyroscopes.
Preferably, the Laser Line Marker of the utility model unmanned plane further includes range finder module, range finder module and micro- place
Device is managed to be connected.
Preferably, above-mentioned range finder module is ultrasonic distance measurement or laser ranging module.
Preferably, above-mentioned range finder module is mounted on Z-axis transmission frame.
Preferably, above-mentioned range finder module at least two, and install in different positions.
The beneficial effects of the utility model are: a kind of Laser Line Marker based on unmanned plane of the utility model can be in high-altitude
Laser rays at any angle can be generated and there is stabilization and zero offset capability, it is also remote controlled to swash at any angle to adjust
Light and the laser rays at any angle for generating specific range, the laser rays of certain distance can be generated by not needing ruler just, contracting
The time of short construction.
Detailed description of the invention
Fig. 1 is a kind of main view of the Laser Line Marker based on unmanned plane of the utility model
Fig. 2 is a kind of left view of the Laser Line Marker based on unmanned plane of the utility model
Fig. 3 is a kind of control system schematic diagram of the utility model
Fig. 4 is a kind of measuring principle figure one of the Laser Line Marker based on unmanned plane of the utility model
Fig. 5 is a kind of measuring principle figure two of the Laser Line Marker based on unmanned plane of the utility model
Appended drawing reference: X-axis motor 11, X-axis encoder 12, X-axis driving frame 13, y-axis motor 21, Y-axis encoder 22, Y
Axis driving frame 23, Z axis motor 31, Z axis encoder 32, Z-axis transmission rack 33, mode of laser group 4, laser harness 41, laser hair
Emitter 42, first laser range finder module 51, the length 511 of first laser range finder module measurement, second laser range finder module 52, the
The length 521 of dual-laser range finder module measurement, motor 61, propeller 62, drone body 63, the first ultrasonic distance measuring module
65, the second ultrasonic distance measuring module 66, camera 7, metope 8, laser emitter is liftoff distance h1, laser emitter are from metope
8 distance L, angle [alpha], angle beta.
Specific embodiment
The implementation structure of the utility model is described below in conjunction with attached drawing.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, a kind of Laser Line Marker based on unmanned plane, including including unmanned plane
Ontology 63, remote control device, control system, driving device, power supply, remote control device are connect with microprocessor by wireless module and are used in combination
In control drone body flight.
The driving device includes motor and driving frame, and motor includes X-axis motor 11, y-axis motor 21 and Z axis motor
31, driving frame includes X-axis driving frame 13, Y-axis driving frame 23 and Z-axis transmission rack 33,31 one end of Z axis motor and Z axis
Driving frame 33 is connected, and the other end is arranged in the drone body 63, and Z axis motor is used to drive Z-axis transmission rack 33 around Z
Axis rotation, 11 one end of X-axis motor are connected with X-axis driving frame 13, and the other end is located in Z-axis transmission rack 33, and X-axis motor 11 is used
X-axis driving frame 13 is driven to turn about the X axis, 21 one end of y-axis motor is connected with Y-axis driving frame 23, and the other end is located at X-axis biography
On motivation frame 13, y-axis motor 31 is used to that Y-axis driving frame 33 is driven to rotate around Y-axis.
The control system includes microprocessor, direction sensor, mode of laser group, driving circuit, and the motor is through driving
Circuit is connected with microprocessor, and wherein X-axis motor 11 is connected through the first driving circuit with microprocessor, and y-axis motor 21 is through second
Driving circuit is connected with microprocessor, and Z axis motor 31 is connected through third driving circuit with microprocessor, in order to improve control motor
The precision of rotational angle, joined encoder on motor, for measuring the angle and the parameters such as revolving speed of motor rotation, wherein X
Spindle motor 11 installs X-axis encoder 12, and X-axis encoder 12 is used to measure X-axis motor 11, and y-axis motor 21 installs Y-axis coding
Device 22, Y-axis encoder 22 are used to measure y-axis motor 21, and Z axis motor 31 installs Z axis encoder 32, and Z axis encoder 32 is used to
Measure Z axis motor 31.
In order to make a kind of Laser Line Marker based on the adjustable spacing of unmanned plane of the utility model to metope throw light
When can face metope 8, therefore use two range finder modules, range finder module selects laser ranging module (ultrasound also to can be selected
Wave range finder module or other range finder modules), two range finder modules are first laser range finder module 51 and second laser range finder module
52, the Z axis that two laser ranging modules are mounted on a kind of Laser Line Marker based on the adjustable spacing of unmanned plane of the utility model passes
On 33 different location of motivation frame and when unmanned machine face is against metope 8, two range finder modules in the same horizontal position with
And it is equidistant (as shown in Figure 1, two laser ranging modules are distributed in 33 the right and left of Z-axis transmission rack) from metope, with
Just a kind of Laser Line Marker based on the adjustable spacing of unmanned plane of the utility model can be enable to adjust the position of itself, make its face
Metope 8, laser ranging module can measure laser emitter 42 from wall distance L (wherein, L be laser emitter 42 from metope 8
Distance), adjustment process be, because under primary condition, two laser ranging modules are distributed in Z-axis transmission rack 33 or so two
Side, and simultaneously in the same horizontal position, when microprocessor detects the two data difference from two laser ranging modules,
Microprocessor will start the rotation of Z axis motor 31, so that the Laser Line Marker of the adjustable spacing of the utility model be enable to face
Metope 8 just adjusts instrument and faces metope 8, microprocessor is again from ultrasonic distance measuring module when the data of the two are equal
Corresponding range data L is read, of course for keeping the data for measuring distance more accurate, multiple range finder modules can be used, so
The average value of distance was calculated later to improve measurement accuracy.In addition, this laser ranging module also has the function of avoidance, work as nothing
When man-machine close barrier is too close, it detected by laser ranging module and sounded an alarm, so as to unmanned plane avoiding barrier.
Direction sensor is connected with microprocessor, and direction sensor is used to measure when this Laser Line Marker is placed in ground to incline
Oblique angle, and microprocessor is sent it to, the rotation that microprocessor carries out control motor again swashs at any angle to generate
Light, direction sensor select gyroscope, in order to improve its precision, select existing integrated chip MP67B, MP67B chip
It is connected with microprocessor, contains gyroscope in the MP67B chip, gradient can be not only measured with it and is also capable of measuring acceleration
Degree, so as to calculate the height H of unmanned plane during flying from the ground.
The mode of laser group includes laser emitter 42 and amplifying circuit, laser emitter 42 through amplifying circuit with it is described micro-
Processor is connected.Mode of laser group 4 is located on Y-axis driving frame 23, and control system enables laser by control driving device to realize
Mould group 4 is around X-axis, Y-axis rotation and Z axis rotation, and X-axis, Y-axis and Z axis is orthogonal and X-axis and Y-axis are all with horizontal direction parallel swash
Optical mode group, which turns about the Z axis, can be achieved to generate parallel lines of the laser rays in different location at any angle.
For convenience of human-computer interaction, touch screen 64 and driving circuit is added in the remote control device, touch screen 64 passes through
Driving circuit is connected with the microprocessor of the remote inside, can be realized by operation touch-screen and control this reality
With it is novel it is a kind of laser rays at any angle is generated based on the Laser Line Marker of the adjustable spacing of unmanned plane, in addition for convenient for seeing
The case where examining high-altitude, is additionally provided with camera shooting 7 on unmanned plane, and the image that camera 7 is shot is transferred to remote control dress through wireless module
On the touch screen or display screen set.
For convenience of movement and this instrument is carried, the power supply is battery, and wherein Selection of Battery rechargeable lithium battary, can save
About resource, lithium battery provide electric power for whole device.
The remote control device can be the device with wireless telecommunications such as mobile phone or plate, by wireless module come with laser
Frame for line marking instrument communication, so as to remotely carry out controlling this Laser Line Marker.
The working principle of the utility model is as follows:
A kind of Laser Line Marker based on unmanned plane of the utility model, if initial value is the laser rays of energy generation level
(laser rays that initial value can generate horizontal laser rays or other angles can also be with, and the laser of selection level is only for facilitating table
State its principle) and the horizontal height it is equal with the height of laser emitter from the ground, one kind of the utility model is based on
The Laser Line Marker flight of unmanned plane is in high aerial, starting first laser range finder module 51 and second laser range finder module 52, use
It to send laser against metope 8 to measure distance L of this instrument apart from metope 8, if the data that the two is measured are unequal,
Such as Fig. 4, if the data of the measurement of first laser range finder module 51 are bigger than second laser range finder module 52, (dotted line 511 is first laser
The distance that range finder module 51 measures, dotted line 521 are the distance that second laser range finder module 52 measures, i.e., dotted line 511 is than dotted line 521
Distance it is big), microprocessor will start Z axis motor 31, and rotated (Fig. 4 viewed from above is counterclockwise) counterclockwise, if
The data that first laser range finder module 51 measures are smaller than second laser range finder module 52, and microprocessor will start Z axis motor 31, and
(Fig. 4 viewed from above is clockwise) is rotated clockwise, until the data that the two ultrasonic distance measuring modules are measured
It is equal, and its range data L is read, and the size of data of L is stored, the distance of laser emitter to metope is also L at this time, this
When the utility model a kind of Laser Line Marker based on unmanned plane face metope 8.
It will appear shake during due to unmanned plane during flying, shake inclined direction and inclined angle will be by MP67B
Chip detects, if this instrument in terms of the direction of Fig. 1 in right low left high or left low and right high the case where, the detection of MP67B chip
It arriving, and its signal is passed into microprocessor, micro process recognizes X-direction right avertence or left avertence, detect inclined angle η,
Microprocessor controls the rotation of y-axis motor 21 again, make mode of laser group around Y-axis counterclockwise (being counterclockwise in terms of Fig. 1) or clockwise (from
It is clockwise that Fig. 1, which is seen) rotation η angle, just make the Laser Line Marker of the utility model continue the laser rays of generation level, if electric
The angle of machine rotation is insufficient or more than η angle, microprocessor will be detected and fed back to by Y-axis encoder, microprocessor will be to Y
Spindle motor is further controlled, to reach the angle of high-precision control motor rotation.If this instrument is in terms of the direction of Fig. 2
In the right low left high or left low and right high the case where, detected by MP67B chip, and its signal is passed into microprocessor, micro process
X-direction right avertence or left avertence are recognized, detects inclined angle, θ, it is unmanned plane Y direction right avertence or a left side that micro process, which recognizes,
Partially, and can determine that out inclined angle, θ, microprocessor controls the rotation of X-axis motor 21 again, make mode of laser group around X-axis counterclockwise (from
It is counterclockwise that Fig. 2, which is seen) or θ (being clockwise in terms of Fig. 2) angle is rotated clockwise, just make the Laser Line Marker of the utility model
Continue the laser rays of generation level, if the angle of motor rotation is insufficient or more than θ angle, will be detected by X-axis encoder and anti-
It feeds microprocessor, microprocessor will further control X-axis motor, to reach the angle of high-precision control motor rotation
Degree, this process are the process and automatic stabilization of a kind of Laser Line Marker adjust automatically based on unmanned plane of the utility model
Process, anti-shaking process control driving device come fast reaction, to eliminate shake by microprocessor.
As shown in figure 4, when needing laser rays at any angle, by remote control device come the laser mark with the utility model
Line communicates, to control X-axis motor or the rotation of Y-axis electricity to generate the laser rays of its different angle, such as needs vertical laser
A kind of Laser Line Marker control y-axis motor based on unmanned plane of line, the utility model is rotated by 90 °, and can obtain vertical swashing
Light, when needing the horizontal line H of certain height, H=h1+L*Tan α at this time, wherein h1 is height of the transmitter apart from ground,
Its size is measured drone flying height (being detected by MP67B chip) by being mounted on unmanned plane gyroscope, therefore will
Formula H=h1+L*Tan α equivalence transformation, α=arc Tan [(H-h1) ÷ L], result is calculated by microprocessor
Come, after calculating, and due to initial value be can generation level laser rays and the horizontal height and laser emitter from
The height on ground is equal, and microprocessor starts X-axis motor 11, so that it is rotated clockwise α angle, just can obtain the level of a height of H
Laser rays or can obtain interval H1 height horizontal laser line, can also directly control certainly unmanned plane fly straight up it is a bit of
Distance h1, but because a bit of distance of unmanned plane during flying is not easily controlled, therefore use unmanned plane motionless, it is controlled using microprocessor
Driving device is spaced a bit of distance to generate, to improve its precision.
As shown in figure 5, when needing specific spacing is the vertical laser line of L1, L1=L*Tan β at this time, wherein L is laser
Distance of the transmitter apart from metope, by formula L1=L*Tan β equivalence transformation, β=arc Tan [L1 ÷ L], result is by micro-
Reason device generates, and after calculating, microprocessor starts Z axis motor 31, make its rotation β angle counterclockwise (Fig. 5 from
On to look down be counterclockwise), just can obtain the vertical laser line that spacing is L1, unmanned plane level or so can also be directly controlled certainly
Mobile a small distance L1, but because a bit of distance of unmanned plane during flying is not easily controlled, therefore using unmanned plane motionless, use is micro-
Processor controls driving device and is spaced a bit of distance to generate, to improve its precision.Specific distance is spaced to generate it
The laser rays of its angle, interval are not further described apart from size calculation formula, are based on nothing using one kind of the utility model
Man-machine Laser Line Marker greatly facilitates the operation of construction personnel, and can be used for high-altitude graticule, measures without ruler,
It can be shortened its construction time.
Note: term " X-axis ", " Y-axis ", " Z axis ", " clockwise " and " counterclockwise " etc., being merely for convenience of description, this is practical
Novel and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific side
Position construction and operation, therefore should not be understood as limiting the present invention.
Above description is only a specific implementation of the present invention.But the protection scope of the utility model is not limited to
In this, any variation or simple replacement expected without creative work should all cover the protection model in the utility model
Within enclosing.
Claims (10)
1. a kind of Laser Line Marker based on unmanned plane, including drone body, remote control device, control system, driving device, electricity
Source, it is characterised in that:
The driving device includes motor and driving frame, and motor includes X-axis motor, y-axis motor and Z axis motor, driving frame
Including X-axis driving frame, Y-axis driving frame and Z-axis transmission rack, Z axis motor one end is connected with Z-axis transmission rack, the other end
It is arranged in the drone body, X-axis motor one end is connected with X-axis driving frame, and the other end is located in Z-axis transmission rack, Y
Spindle motor one end is connected with Y-axis driving frame, and the other end is located on X-axis driving frame；
The control system includes microprocessor, direction sensor, mode of laser group, driving circuit, and the motor is through driving circuit
It is connected with microprocessor, direction sensor is connected with microprocessor, and mode of laser group is connected with microprocessor, remote control device and Wei Chu
Reason device connects and is used to control drone body flight；
The mode of laser group is located on Y-axis driving frame, and the driving device realization enables mode of laser group turn around X-axis, Y-axis and Z axis
Dynamic, X-axis Y-axis and Z axis are orthogonal, and X-axis and Y-axis all with horizontal direction parallel；
The power supply is that the control system and motor are powered.
2. a kind of Laser Line Marker based on unmanned plane according to claim 1, it is characterised in that: the control system is also
Including encoder, encoder one end is connected with the microprocessor, the connection of motor described in the other end.
3. a kind of Laser Line Marker based on unmanned plane according to claim 1, it is characterised in that: the mode of laser group packet
Laser emitter and amplifying circuit are included, laser emitter is connected through amplifying circuit with the microprocessor.
4. a kind of Laser Line Marker based on unmanned plane according to claim 1, it is characterised in that: the control system is also
Including camera, camera is connect with the microprocessor.
5. a kind of Laser Line Marker based on unmanned plane according to claim 1, it is characterised in that: on the remote control device
Equipped with display screen or touch screen.
6. a kind of Laser Line Marker based on unmanned plane according to claim 1, it is characterised in that: the direction sensor
For gyroscope.
7. a kind of Laser Line Marker based on unmanned plane according to claim 1, it is characterised in that: further include ranging mould
Block, range finder module are connected with the microprocessor.
8. a kind of Laser Line Marker based on unmanned plane according to claim 7, it is characterised in that: the range finder module is
Ultrasonic distance measurement or laser ranging module.
9. a kind of Laser Line Marker based on unmanned plane according to claim 8, it is characterised in that: the range finder module peace
On Z-axis transmission frame.
10. a kind of Laser Line Marker based on unmanned plane according to claim 7 or 8 or 9, it is characterised in that: the survey
Away from module at least two, and install in different positions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920029991.4U CN209310804U (en) | 2019-01-09 | 2019-01-09 | A kind of Laser Line Marker based on unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920029991.4U CN209310804U (en) | 2019-01-09 | 2019-01-09 | A kind of Laser Line Marker based on unmanned plane |
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| Publication Number | Publication Date |
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| CN209310804U true CN209310804U (en) | 2019-08-27 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111189534A (en) * | 2020-01-13 | 2020-05-22 | 长沙矿山研究院有限责任公司 | Method for improving accuracy of aligning blasting vibration meter sensor to blasting core |
| CN111856488A (en) * | 2020-07-29 | 2020-10-30 | 国网上海市电力公司 | Distance measuring method and system based on shaft encoder |
| CN112648981A (en) * | 2020-12-04 | 2021-04-13 | 中国航空工业集团公司成都飞机设计研究所 | Method for measuring swing quantity of rotating mechanism in motion process based on laser positioning |
| CN112731442A (en) * | 2021-01-12 | 2021-04-30 | 桂林航天工业学院 | Surveying instrument with adjustable unmanned aerial vehicle survey and drawing is used |
| CN116299505A (en) * | 2022-12-16 | 2023-06-23 | 广东天信电力工程检测有限公司 | Unmanned aerial vehicle navigation height measurement method, unmanned aerial vehicle navigation height measurement equipment, storage medium and unmanned aerial vehicle |
| CN116716779A (en) * | 2023-08-02 | 2023-09-08 | 四川高速公路建设开发集团有限公司 | High-speed pavement flatness detection system and method based on unmanned aerial vehicle |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111189534A (en) * | 2020-01-13 | 2020-05-22 | 长沙矿山研究院有限责任公司 | Method for improving accuracy of aligning blasting vibration meter sensor to blasting core |
| CN111189534B (en) * | 2020-01-13 | 2020-12-25 | 长沙矿山研究院有限责任公司 | Method for improving accuracy of aligning blasting vibration meter sensor to blasting core |
| CN111856488A (en) * | 2020-07-29 | 2020-10-30 | 国网上海市电力公司 | Distance measuring method and system based on shaft encoder |
| CN112648981A (en) * | 2020-12-04 | 2021-04-13 | 中国航空工业集团公司成都飞机设计研究所 | Method for measuring swing quantity of rotating mechanism in motion process based on laser positioning |
| CN112731442A (en) * | 2021-01-12 | 2021-04-30 | 桂林航天工业学院 | Surveying instrument with adjustable unmanned aerial vehicle survey and drawing is used |
| CN112731442B (en) * | 2021-01-12 | 2023-10-27 | 桂林航天工业学院 | Unmanned aerial vehicle survey and drawing is with adjustable surveying instrument |
| CN116299505A (en) * | 2022-12-16 | 2023-06-23 | 广东天信电力工程检测有限公司 | Unmanned aerial vehicle navigation height measurement method, unmanned aerial vehicle navigation height measurement equipment, storage medium and unmanned aerial vehicle |
| CN116299505B (en) * | 2022-12-16 | 2024-03-12 | 广东天信电力工程检测有限公司 | Unmanned aerial vehicle navigation height measurement method, unmanned aerial vehicle navigation height measurement equipment, storage medium and unmanned aerial vehicle |
| CN116716779A (en) * | 2023-08-02 | 2023-09-08 | 四川高速公路建设开发集团有限公司 | High-speed pavement flatness detection system and method based on unmanned aerial vehicle |
| CN116716779B (en) * | 2023-08-02 | 2023-10-10 | 四川高速公路建设开发集团有限公司 | High-speed pavement flatness detection system and method based on unmanned aerial vehicle |
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