CN215954144U - Unmanned aerial vehicle controls helmet and flight equipment - Google Patents
Unmanned aerial vehicle controls helmet and flight equipment Download PDFInfo
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- CN215954144U CN215954144U CN202121957608.5U CN202121957608U CN215954144U CN 215954144 U CN215954144 U CN 215954144U CN 202121957608 U CN202121957608 U CN 202121957608U CN 215954144 U CN215954144 U CN 215954144U
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Abstract
The application provides an unmanned aerial vehicle controls helmet and flight equipment, include: the aircraft comprises an attitude sensor for acquiring the head attitude of a pilot, a controller for receiving flight instructions and a processor for generating control instructions according to the head attitude and the flight instructions. The attitude sensor collects the head attitude information of the pilot and sends the head attitude information of the pilot to the processor. The controller receives the flight instructions and sends the flight instructions to the processor. The processor makes a control instruction according to the head attitude information and the flight instruction of the pilot, and sends the control instruction to the flight controller of the unmanned aerial vehicle through interaction with the flight controller of the unmanned aerial vehicle, so that the flight controller of the unmanned aerial vehicle controls the unmanned aerial vehicle according to the control instruction. Like this, the pilot of unmanned aerial vehicle only need wear unmanned aerial vehicle and control that the helmet just can be simple convenient controls unmanned aerial vehicle, and can make unmanned aerial vehicle in time deal with emergency, improves the flexibility.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, especially, relate to an unmanned aerial vehicle controls helmet and flight equipment.
Background
The unmanned plane is an unmanned plane controlled by radio remote control equipment and a self-contained program control device.
At present, the mode of controlling the unmanned aerial vehicle is mainly to plan a route on the ground in advance and then enable the unmanned aerial vehicle to fly fully automatically according to the route.
But this mode of controlling makes unmanned aerial vehicle can only fly according to fixed air route, can't make timely reply to emergency, and the flexibility is poor.
SUMMERY OF THE UTILITY MODEL
The application provides an unmanned aerial vehicle controls helmet and flight equipment for solve current unmanned aerial vehicle and control the poor problem of mode flexibility.
In a first aspect, the application provides a helmet is controlled to unmanned aerial vehicle, includes:
the aircraft comprises an attitude sensor for acquiring the head attitude of a pilot, a controller for receiving flight instructions and a processor for generating control instructions according to the head attitude and the flight instructions;
the processor is connected with the attitude sensor and the controller.
Optionally, the controller includes: a takeoff button and a landing button;
the take-off button and the landing button are connected with the processor.
Optionally, the controller includes: a speed-regulating button and a hovering button;
wherein the throttle button and the hover button are both connected to the processor.
Optionally, the helmet surface is provided with a left side region, a right side region, a front region and a rear region;
the take-off button is located in the left area, the landing button is located in the right area, the speed regulating button is located in the front area, and the hovering button is located in the rear area.
Optionally, the takeoff button is located in the center of the left region, the landing button is located in the center of the right region, the speed-adjusting button is located in the center of the front region, and the hovering button is located in the center of the rear region.
Optionally, the helmet comprises: the Bluetooth device is connected with the processor.
Optionally, the helmet comprises: and the acquisition device is used for acquiring eye information of the pilot and is connected with the processor.
Optionally, the collecting device includes: a camera is provided.
Optionally, the camera is shaped like glasses and is located right in front of the helmet.
In a second aspect, the present application provides a flying apparatus comprising:
the unmanned aerial vehicle of the first aspect controls helmet and unmanned aerial vehicle.
The application provides an unmanned aerial vehicle controls helmet includes: the aircraft comprises an attitude sensor for acquiring the head attitude of a pilot, a controller for receiving flight instructions and a processor for generating control instructions according to the head attitude and the flight instructions. The attitude sensor collects the head attitude information of the pilot and sends the head attitude information of the pilot to the processor. The controller receives the flight instructions and sends the flight instructions to the processor. The processor generates a control instruction according to the head attitude information and the flight instruction of the pilot, and sends the control instruction to the flight controller of the unmanned aerial vehicle through interaction with the flight controller of the unmanned aerial vehicle, so that the flight controller of the unmanned aerial vehicle controls the unmanned aerial vehicle according to the control instruction. Like this, the pilot of unmanned aerial vehicle only need wear unmanned aerial vehicle and control that the helmet just can be simple convenient controls unmanned aerial vehicle, and can make unmanned aerial vehicle in time deal with emergency, improves the flexibility.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a scene in which an unmanned aerial vehicle controls a helmet to control the unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a drone steering helmet according to an embodiment of the present application;
fig. 3 is a left side view of a drone steering helmet according to an embodiment of the present application;
fig. 4 is a right side view of a drone steering helmet according to an embodiment of the present application;
fig. 5 is a partially schematic illustration of a front view of a drone steering helmet according to an embodiment of the present application;
fig. 6 is a rear view of a drone steering helmet according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a flight device according to an embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Unmanned Aerial Vehicles (UAVs) are Unmanned aircraft that are operated using radio remote control devices and self-contained program control devices. Unmanned aerial vehicle can divide into: unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned paravane, etc. At present, the way of controlling an unmanned aerial vehicle is mainly to plan a route on the ground in advance, and then set up a program in the unmanned aerial vehicle so that the unmanned aerial vehicle flies in a full-automatic manner according to a flight line. The mode of controlling the unmanned aerial vehicle can also be that the driver of the unmanned aerial vehicle operates the remote controller to carry out flight control on the unmanned aerial vehicle.
But unmanned aerial vehicle makes unmanned aerial vehicle can only fly according to fixed air route according to the full automatic control mode of flying of air route, can't make timely reply to emergency, and the flexibility is poor. The mode of controlling unmanned aerial vehicle through operating the remote controller needs the driver of unmanned aerial vehicle to hold the remote controller constantly in order to deal with emergency in time, controls the degree of difficulty great, and the flexibility is relatively poor. Therefore above-mentioned two kinds of modes of controlling unmanned aerial vehicle all are difficult to in time deal with emergency, and the flexibility is poor.
To above-mentioned problem, this application provides an unmanned aerial vehicle controls helmet, includes: the aircraft comprises an attitude sensor for acquiring the head attitude of a pilot, a controller for receiving flight instructions and a processor for generating control instructions according to the head attitude and the flight instructions. The attitude sensor sends the head attitude of the pilot collected to the processor, the controller sends the received flight instruction to the processor, the processor generates a control instruction according to the head attitude of the pilot and the flight instruction, and transmits the control instruction to the flight controller of the unmanned aerial vehicle through interaction with the flight controller of the unmanned aerial vehicle, so that the flight controller of the unmanned aerial vehicle controls the unmanned aerial vehicle according to the control instruction. Like this, unmanned aerial vehicle's driver only need wear the helmet alright with easily control unmanned aerial vehicle, simple swift, the flexibility is high.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 shows a scene schematic diagram of an drone control helmet controlled drone according to an embodiment of the present application.
Fig. 2 shows a schematic structural diagram of a drone steering helmet according to an embodiment of the present application. The unmanned aerial vehicle that this application embodiment provided controls helmet 10 includes:
an attitude sensor 101 for acquiring the head attitude of the pilot, a controller 103 for receiving flight instructions, and a processor 102 for generating control instructions according to the head attitude and the flight instructions;
the processor 102 is connected to the attitude sensor 101, and the processor 102 is also connected to the controller 103.
The unmanned aerial vehicle control helmet 10 can be understood as a cap worn by the head of a pilot of the unmanned aerial vehicle when the pilot controls the unmanned aerial vehicle, namely the pilot of the unmanned aerial vehicle. The unmanned aerial vehicle control helmet 10 is provided with an attitude sensor 101, a controller 103 and a processor 102.
The attitude sensor 101 is connected to the processor 102, and the attitude sensor 101 can collect head attitude information of the pilot and transmit the head attitude information of the pilot to the processor 102. The head pose information includes turn left, turn right, head up, head down, etc. For example, when the head of the pilot turns left, the attitude sensor 101 can detect head left turn information; when the head of the pilot turns to the right, the attitude sensor 101 can detect head right turn information; when the head of the pilot is lifted upward, the attitude sensor 101 can detect the head-up information; when the head of the pilot is lowered downward, the attitude sensor 101 can detect the head lowering information. Left turn information may be understood as left flier, right turn information may be understood as right flier, head up information may be understood as up flier, and head down information may be understood as down flier.
The attitude sensor 101 may be located on the inner side of the drone operating helmet, where the inner side refers to the side of the drone operating helmet 10 that contacts the head of the pilot, so that the attitude sensor 101 can accurately and timely capture the head information of the pilot. Attitude sensor 101 may also be located on the outside of the drone steering helmet to enhance the pilot's experience. The quantity of attitude sensor 101 can be a plurality ofly to comprehensively acquire pilot's head gesture information, a plurality of attitude sensor 101 can evenly distributed in the inboard that unmanned aerial vehicle controlled the helmet, also can evenly distributed in the outside that unmanned aerial vehicle controlled the helmet.
The controller 103 is connected to the processor 102, and the controller 103 is configured to receive the flight command and send the flight command to the processor 102. Flight instructions include takeoff, landing, speed regulation, hovering, and the like. Referring to fig. 3 and 4, the controller 103 includes: the takeoff button 113 and the landing button 123, and the takeoff button 113 and the landing button 123 are connected with the processor 102. Referring to fig. 5 and 6, the controller 103 further includes: a throttle button 133 and a hover button 143. Both the throttle button 133 and the hover button 143 are connected to the processor 102.
When the takeoff is needed, the takeoff button 113 is pressed, and the processor 102 can receive a takeoff instruction through the takeoff button 113; when the landing is required, the landing button 123 is pressed, and the processor 102 can receive a landing instruction through the landing button 123; when speed regulation is needed, the speed regulation button 133 is pressed, and the processor 102 can receive a speed regulation instruction through the speed regulation button 133; when hovering is required, the processor 102 can receive hovering instructions through the hovering button 143 by pressing the hovering button 143.
The drone steering helmet 10 surface may be provided with a left side area, a right side area, a front area, and a rear area. Referring to fig. 3, fig. 3 is a left side view of the drone steering helmet, with the dashed line position in the left side view as the left area. Referring to fig. 4, fig. 4 is a right side view of the drone steering helmet, with the dashed area in the left side view as the right side area. Referring to fig. 5, fig. 5 is a partial schematic view of a front view of a drone steering helmet, with the dashed area in the partial schematic view of the front view as the front area. Referring to fig. 6, fig. 6 is a rear view of the drone steering helmet, with the dashed area in the rear view as the rear area. The left zone and the right zone on the helmet may be the same area, or the front zone may be the same area as the back zone, or the left zone, the right zone, the front zone, and the back zone may all be the same area.
The takeoff button 113 and the landing button 123 may be located in left and right regions, respectively, and the throttle button 133 and the hover button 143 are located in front and rear regions, respectively. For example, it may be that the takeoff button 113 is located in the left region, the landing button 123 is located in the right region, the throttle button 133 is located in the front region, and the hover button 143 is located in the rear region. For example, it may be that the takeoff button 113 is located in the right region, the landing button 123 is located in the left region, the throttle button 133 is located in the rear region, and the hover button 143 is located in the front region.
The takeoff button 113 and the landing button 123 may be located at the front region and the rear region, respectively, and the throttle button 133 and the hover button 143 may be located at the left region and the right region, respectively. For example, it may be that the takeoff button 113 is located at the front region, the landing button 123 is located at the rear region, the throttle button 133 is located at the left region, and the hover button 143 is located at the right region. For example, it may be that the takeoff button 113 is located at the rear region, the landing button 123 is located at the front region, the throttle button 133 is located at the right region, and the hover button 143 is located at the right region.
As one implementation, the takeoff button 113 may be located at the center of the left region, as shown with reference to FIG. 3, the landing button 123 at the center of the right region, as shown with reference to FIG. 4, the throttle button 133 at the center of the front region, as shown with reference to FIG. 5, and the hover button 143 at the center of the rear region, as shown with reference to FIG. 6. As another implementation, the takeoff button 113 may be located at a center position of the front region, the landing button 123 may be located at a center position of the rear region, the throttle button 133 may be located at a center position of the left region, and the hover button 143 may be located at a center position of the right region.
The processor 102 is connected to the attitude sensor 101, and is configured to receive the head attitude information sent by the attitude sensor 101. The processor 102 is also connected to the controller 103 for receiving flight instructions sent by the controller 103. The processor 102 generates a control command based on the head attitude information transmitted from the attitude sensor 101 and the flight command transmitted from the controller 103. The processor 102 interacts with the drone's flight controller 201 to send control instructions to the drone's flight controller 201 upon generation of the control instructions.
The Processor 102 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The processor 102 generates a control command upon receiving a flight command sent by the controller 103 and pilot head attitude information sent by the attitude sensor 101.
For example, the flight instruction may include a takeoff instruction, the head attitude information may include head-up information, and the control instruction generated by the processor 102 according to the takeoff instruction and the head-up information includes controlling the drone to fly upwards. The flight instruction may include a takeoff instruction, the head attitude information may include left turn information, and the control instruction generated by the processor 102 according to the takeoff instruction and the left turn information includes controlling the drone to fly to the left. The left turn information may include an angle of a left turn, and accordingly, the control instruction generated by the processor 101 according to the takeoff instruction and the angle of the left turn in the left turn information includes controlling the drone to fly to the left side of the drone and in a direction at an angle with the drone, for example, if the angle of the left turn is 45 degrees, the control instruction includes controlling the drone to fly to the left side of the drone in a direction at 45 degrees with the drone.
The flight instruction may include a landing instruction, the head attitude information may include head lowering information, and the control instruction generated by the processor 101 according to the landing instruction and the head lowering information includes controlling the drone to land downwards. The flight instructions may include landing instructions, the head pose information may include left turn information, and the control instructions generated by the processor 101 according to the landing instructions and the left turn information include controlling the drone to land to the left.
The flight instruction may further include a speed regulation, the head attitude information may include non-rotation, and the processor 101 generates a control instruction according to the speed regulation instruction and the non-rotation information, where the control instruction includes controlling the flight speed of the drone to be regulated to a certain speed. When the flight command includes speed regulation, the head attitude information may include a left turn, and the control command generated by the processor 102 according to the speed regulation and the left turn includes controlling the drone to turn left and fly at a certain speed.
The flight instructions may further comprise hovering, the head pose information may comprise non-rotation, and the control instructions generated by the processor 101 according to the hovering instructions and the non-rotation information comprise controlling the drone to hover at the current position in the current direction. The flight instruction may include hover, the head pose information may include a right turn, and the control instruction generated by the processor 102 based on the hover instruction and the right turn information includes controlling the drone to hover at the current location and the drone head to turn right.
The unmanned aerial vehicle control helmet 10 may further include an acquisition device 104 for acquiring eye information of the pilot, the acquisition device 104 is connected to the processor 102, the acquisition device 104 sends the acquired eye information of the pilot to the processor 102, and the processor 102 may generate a control instruction according to the head attitude information of the pilot sent by the attitude sensor 101, the flight instruction sent by the controller 103, and the eye information of the pilot sent by the acquisition device 104, so as to improve accuracy of the control instruction.
The eye information includes, for example, the eyes visually look ahead, the eyes look up, the eyes look down, the eyes look left, and the eyes look right. The eyes looking ahead visually can be understood as keeping the current flight direction constant, the eyes looking up can be understood as flying up, the eyes looking down can be understood as flying down, the eyes looking left can be understood as flying left, and the eyes looking right can be understood as flying right.
The processor 102 generates a control command according to the head attitude information of the pilot sent by the attitude sensor 101, the flight command sent by the controller 103, and the eye information of the pilot sent by the acquisition device 104, where the processor 102 compares whether the head attitude information of the pilot sent by the attitude sensor 101 is consistent with the eye information of the pilot sent by the acquisition device 104, and if so, the processor 102 may generate the control command according to the head attitude information, the eye information, and the flight command. If the head attitude information of the pilot sent by the attitude sensor 101 is inconsistent with the eye information of the pilot sent by the acquisition device 104, the processor 102 may first determine whether the head attitude information meets a preset requirement, generate a control instruction according to the head attitude information and the flight instruction if the head attitude information meets the preset requirement, and generate a control instruction according to the eye information and the flight instruction if the head attitude information does not meet the preset requirement. The preset requirement here may be a head turning angle, for example a left or right turn angle of less than 45 °, a head raising or lowering angle of less than 60 °.
As an implementation manner, the flight instruction includes a takeoff instruction, the head attitude information includes turning to the left, the eye information includes that the eyes look to the left, and at this time, the head attitude information is consistent with the eye information, and the processor 102 may generate a control instruction for controlling the unmanned aerial vehicle to fly to the left according to the turning to the left information and the takeoff instruction.
As another implementation manner, the flight instruction includes a takeoff instruction, the head attitude information includes a left turn, the eye information includes an eye visual front, whether an angle of the left turn in the head attitude information is smaller than 45 ° is judged, if yes, a control instruction for controlling the unmanned aerial vehicle to fly leftward is generated according to the left turn information and the flight instruction, and if the angle of the left turn in the head attitude information is larger than 45 °, a control instruction for controlling the unmanned aerial vehicle to fly in the current direction is generated according to the eye visual front in the eye information and the takeoff instruction.
The processor 102 generates a control command according to the head attitude information sent by the attitude sensor 101 and the flight command sent by the controller 103, and then sends the control command to the flight controller 201 of the drone.
As an implementation, the unmanned aerial vehicle control helmet 10 may further include a bluetooth device, the bluetooth device is connected with the processor 102, the processor 102 sends the control command to the bluetooth device, the bluetooth device is connected with the bluetooth equipment of the unmanned aerial vehicle, and sends the control command to the bluetooth equipment of the unmanned aerial vehicle, and the bluetooth equipment of the unmanned aerial vehicle sends the control command to the flight controller.
The above has carried out detailed description to the unmanned aerial vehicle control helmet that this application provided, include: the aircraft comprises an attitude sensor for acquiring the head attitude of a pilot, a controller for receiving flight instructions and a processor for generating control instructions according to the head attitude and the flight instructions. The attitude sensor collects the head attitude information of the pilot and sends the head attitude information of the pilot to the processor. The controller receives the flight instructions and sends the flight instructions to the processor. The processor makes a control instruction according to the head attitude information and the flight instruction of the pilot, and sends the control instruction to the flight controller of the unmanned aerial vehicle through interaction with the flight controller of the unmanned aerial vehicle, so that the flight controller of the unmanned aerial vehicle controls the unmanned aerial vehicle according to the control instruction. Like this, the pilot of unmanned aerial vehicle only need wear unmanned aerial vehicle and control that the helmet just can be simple convenient controls unmanned aerial vehicle, and can make unmanned aerial vehicle in time deal with emergency, improves the flexibility.
Fig. 7 illustrates a flight device provided in an embodiment of the present application, including: the unmanned aerial vehicle controls the helmet 10 and the unmanned aerial vehicle 20.
After the processor in the unmanned aerial vehicle control helmet 10 generates a control instruction according to the head attitude information sent by the attitude sensor in the unmanned aerial vehicle control helmet 10 and the flight instruction sent by the controller, the control instruction is sent to the flight controller of the unmanned aerial vehicle 20, and the flight controller of the unmanned aerial vehicle 20 controls the unmanned aerial vehicle 20 according to the control instruction.
As an implementation, the unmanned aerial vehicle controls the bluetooth device in the helmet 10 and is connected with the processor, and the processor sends control command to the bluetooth device, and the bluetooth device is connected with unmanned aerial vehicle 20's bluetooth equipment to with control command transmission to unmanned aerial vehicle's bluetooth equipment, unmanned aerial vehicle's bluetooth equipment sends control command to flight controller.
Can install on unmanned aerial vehicle 20 and keep away the barrier sensor, keep away the barrier sensor and be connected with flight controller, keep away when the barrier sensor detects there is the barrier, with detection information transmission to flight controller, flight controller control unmanned aerial vehicle keeps away from the barrier.
The flight controller can also judge whether the flight angle in the control instruction is greater than a preset angle or not after receiving the control instruction, if so, the unmanned aerial vehicle is controlled to fly according to the preset angle, and if not, the unmanned aerial vehicle is controlled to fly according to the flight angle in the control instruction.
The flight equipment that this application embodiment provided, including unmanned control helmet and unmanned aerial vehicle, unmanned aerial vehicle controls the treater of helmet and sends control command to unmanned aerial vehicle's flight controller, unmanned aerial vehicle's flight controller controls unmanned aerial vehicle according to control command, and the pilot can realize unmanned aerial vehicle's control through wearing unmanned aerial vehicle to control the helmet, thereby simplify unmanned aerial vehicle's control mode.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: it is also possible to modify the solutions described in the previous embodiments or to substitute some or all of them with equivalents. And the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. An unmanned aerial vehicle controls helmet, its characterized in that includes: the aircraft comprises an attitude sensor for acquiring the head attitude of a pilot, a controller for receiving flight instructions and a processor for generating control instructions according to the head attitude and the flight instructions;
the processor is connected with the attitude sensor and the controller.
2. The helmet of claim 1, wherein the controller comprises: a takeoff button and a landing button;
the take-off button and the landing button are connected with the processor.
3. The helmet of claim 2, wherein the controller comprises: a speed-regulating button and a hovering button;
wherein the throttle button and the hover button are both connected to the processor.
4. A helmet according to claim 3, wherein the helmet surface is provided with a left side region, a right side region, a front region and a rear region;
the take-off button is located in the left area, the landing button is located in the right area, the speed regulating button is located in the front area, and the hovering button is located in the rear area.
5. The helmet of claim 4, wherein the takeoff button is located in a center position of the left region, the landing button is located in a center position of the right region, the throttle button is located in a center position of the front region, and the hover button is located in a center position of the rear region.
6. The helmet of claim 1, wherein the helmet comprises: the Bluetooth device is connected with the processor.
7. The helmet of claim 1, wherein the helmet comprises: and the acquisition device is used for acquiring eye information of the pilot and is connected with the processor.
8. The helmet of claim 7, wherein the acquisition device comprises: a camera is provided.
9. The helmet of claim 8, wherein the camera is shaped as eyeglasses and is positioned directly in front of the helmet.
10. A flying apparatus comprising a drone steering helmet according to any one of claims 1 to 9 and a drone.
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| CN202121957608.5U CN215954144U (en) | 2021-08-19 | 2021-08-19 | Unmanned aerial vehicle controls helmet and flight equipment |
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| CN202121957608.5U CN215954144U (en) | 2021-08-19 | 2021-08-19 | Unmanned aerial vehicle controls helmet and flight equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116859992A (en) * | 2023-06-27 | 2023-10-10 | 中山大学 | Unmanned system control intelligent glove and implementation method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116859992A (en) * | 2023-06-27 | 2023-10-10 | 中山大学 | Unmanned system control intelligent glove and implementation method thereof |
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