EP3207203A1 - Dispositif et procédé pour réduire l'éblouissement produit dans une pièce d'un bâtiment - Google Patents

Dispositif et procédé pour réduire l'éblouissement produit dans une pièce d'un bâtiment

Info

Publication number
EP3207203A1
EP3207203A1 EP15797253.0A EP15797253A EP3207203A1 EP 3207203 A1 EP3207203 A1 EP 3207203A1 EP 15797253 A EP15797253 A EP 15797253A EP 3207203 A1 EP3207203 A1 EP 3207203A1
Authority
EP
European Patent Office
Prior art keywords
cells
room
persons
panel
light source
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15797253.0A
Other languages
German (de)
English (en)
Inventor
Martin HAINFELLNER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
AM7VISION GMBH
Original Assignee
Signum Bildtechnik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Signum Bildtechnik GmbH filed Critical Signum Bildtechnik GmbH
Publication of EP3207203A1 publication Critical patent/EP3207203A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/24—Screens or other constructions affording protection against light, especially against sunshine; Similar screens for privacy or appearance; Slat blinds
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/66—Units comprising two or more parallel glass or like panes permanently secured together
    • E06B3/67—Units comprising two or more parallel glass or like panes permanently secured together characterised by additional arrangements or devices for heat or sound insulation or for controlled passage of light
    • E06B3/6715—Units comprising two or more parallel glass or like panes permanently secured together characterised by additional arrangements or devices for heat or sound insulation or for controlled passage of light specially adapted for increased thermal insulation or for controlled passage of light
    • E06B3/6722—Units comprising two or more parallel glass or like panes permanently secured together characterised by additional arrangements or devices for heat or sound insulation or for controlled passage of light specially adapted for increased thermal insulation or for controlled passage of light with adjustable passage of light
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S11/00—Non-electric lighting devices or systems using daylight
    • F21S11/007—Non-electric lighting devices or systems using daylight characterised by the means for transmitting light into the interior of a building
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V14/00—Controlling the distribution of the light emitted by adjustment of elements
    • F21V14/003—Controlling the distribution of the light emitted by adjustment of elements by interposition of elements with electrically controlled variable light transmissivity, e.g. liquid crystal elements or electrochromic devices
    • G—PHYSICS
    • G02—OPTICS
    • G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
    • G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
    • G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour 
    • G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour  based on liquid crystals, e.g. single liquid crystal display cells
    • G02F1/133—Constructional arrangements; Operation of liquid crystal cells; Circuit arrangements
    • G02F1/13306—Circuit arrangements or driving methods for the control of single liquid crystal cells
    • G02F1/13318—Circuits comprising a photodetector
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/24—Screens or other constructions affording protection against light, especially against sunshine; Similar screens for privacy or appearance; Slat blinds
    • E06B2009/2405—Areas of differing opacity for light transmission control
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/24—Screens or other constructions affording protection against light, especially against sunshine; Similar screens for privacy or appearance; Slat blinds
    • E06B2009/2417—Light path control; means to control reflection
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/24—Screens or other constructions affording protection against light, especially against sunshine; Similar screens for privacy or appearance; Slat blinds
    • E06B2009/2464—Screens or other constructions affording protection against light, especially against sunshine; Similar screens for privacy or appearance; Slat blinds featuring transparency control by applying voltage, e.g. LCD, electrochromic panels
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20021—Dividing image into blocks, subimages or windows
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G06T2207/30201—Face
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A30/00—Adapting or protecting infrastructure or their operation
    • Y02A30/24—Structural elements or technologies for improving thermal insulation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B80/00—Architectural or constructional elements improving the thermal performance of buildings

Definitions

  • the darkening of the entire room can lead to an in-room source of light, in particular of electric light, such as light, for better visibility of the persons in the room.
  • an in-room source of light in particular of electric light, such as light, for better visibility of the persons in the room.
  • a light bulb e.g. a fluorescent lamp, a headlamp, a light emitting diode lamp or an LED lamp or any other source of light is turned on, which would be avoidable with better use of light from outside the building.
  • Operating the room-internal light source may require electrical power, which can be associated with costs.
  • the indoor room temperature can be well controlled by the present disclosure.
  • a simple thermal control by appropriate darkening possible.
  • the room may be, for example, an office room, a meeting room, an adjoining room, a hall, a classroom, a lecture hall, a study, a living room, or any other room.
  • the light source is z.
  • the apparatus may be configured to darken a variety of dazzling light sources (eg, a variety of reflections), and the dimming may be done for a variety of people in a room.
  • a device for reducing a glare effect of at least one light source on one or more persons in a room of a building, the device comprising a darkenable panel, a first optical sensor, a second optical sensor, and a calculation unit.
  • the calculation unit is coupled to the darkenable panel, the first optical sensor and the second optical sensor.
  • the darkened panel includes a variety of individually darkened cells, with the panel attached to a glazing of the building.
  • the first optical sensor is configured to capture a first image of the one or more persons in the room.
  • the second optical sensor is set up to acquire a second image of at least one light source.
  • the second optical sensor can be formed almost the same as the above-described optical sensor.
  • the second optical sensor may include one or more cameras.
  • this optical sensor is set up to capture an image of the at least one light source. He is therefore preferably directed to the outside. It can be positioned inside the room or outside the room.
  • the sensor is preferably adapted to the expected brightness of the light source.
  • a method of reducing the glare of a light source to persons in a room includes darkening a region (eg, one or more cells) of the darkenable panel.
  • the panel is typically positioned between the persons in a room and the light source (eg, on a windowpane of a building).
  • the method comprises capturing an image of the persons in a room (eg by means of one or more optical sensors which are aimed at the persons in a room). In particular, an image of the heads of the persons can be detected. Finally, it is determined on the basis of the image, whether due to the darkened panel, a shadow is thrown at the people.
  • the darkenable panel can comprise a cell matrix with a multiplicity of cells which can be darkened separately, ie the darkened area of the panel can correspond to one or more of the cells. Dimming off a portion of the darkenable panel may then involve darkening one or more cells of the plurality of cells.
  • the search for the one or more shadow cells may use specific search algorithms which reduce the search time. For a panel of MxN cells, these search algorithms require i. Gen. less than MxN iterations. For example, in an iteration, a subarea of several cells of the panel may be dimmed (eg, one row or one column or one half of the panel). The subarea may be excluded from determining one or more shadow cells in the following iteration if it is determined that the shadowed subarea does not cast a shadow (when illuminated by the light source) on the persons in a room. On the other hand, in the following iteration, the determination of one or more shadow cells may be restricted to the subarea when it is determined that a shadow is being cast on the persons in a room. In addition to the seek phase, the method typically includes a dimming phase during which the one or more shadow cells are continuously dimmed to reduce the dazzling effect of the light source on the persons in a room.
  • one or more shadow cells can be predicted from a sequence of cycles. In other words, from the one or more shadow cells from the one or more previous cycles, the one or more shadow cells may be predicted for the particular cycle.
  • the method may be adapted to reduce the dazzling effect of a plurality of light sources.
  • the method may determine that the one or more shadow cells comprise a plurality of shadow cells that form a plurality of subregions of the panel.
  • the determined shadow cells form groups or clusters, each of these clusters (subregions) of a corresponding light source being composed of a multiplicity of light sources. len can be assigned. Ie.
  • an image of the persons in the room during the search phase is determined only in the area of the face. Based on pattern recognition methods, the area of the face can be determined from the total amount. Because of this situation, in a subsequent search phase, capturing the image of the people in the room be confined to the area of the face. For evaluation, a color histogram can be used. From the total intake, a facial brightness can be determined, for. For example, as the brightness of the total shot in the area of the face (eg, as the average brightness in the face area in the color histogram). In other words, a degree of glare from the light source can be detected. Thus, a degree of darkening of the one or more shadow cells can be determined based on the determined facial brightness.
  • Fig. 1 exemplifies a system for preventing glare.
  • Fig. 2 exemplifies a system for preventing glare.
  • Fig. 3 exemplifies a darkened panel,
  • Fig. 5 describes another exemplary method for avoiding / reducing glare.
  • FIG. 1 shows by way of example a device 100 for reducing the glare from external light sources 110.
  • FIG. 1 shows this device 100 using the example of an office space 120. It should be noted, however, that the device 100 can be used in any room where one or more people in the room, e.g. B. through a window glass 105 through, from a or multiple light sources 110 (such as offices, corridors, rooms, etc.).
  • a or multiple light sources 110 such as offices, corridors, rooms, etc.
  • This plurality of shadows 111 is generated by a corresponding plurality of darkened areas 103 of the panel 102.
  • the selective darkening of the panel 102 is such that the viewing area outside the interfering light source (s) 110 remains unaffected.
  • the calculation unit also recognizes individual tools, such. B. a computer screen and selects the darkened cells so that the darkened cells throw the shadow in addition to the work equipment.
  • the described system 100 makes it possible to significantly increase the capabilities of persons, in particular at an office workplace.
  • the system 100 is capable of selectively darkening strong light effects without affecting the view of other areas of the environment. On the contrary: due to the glare suppression the so important contact with the outdoor area remains. Furthermore, the system 100 can make better use of the light of the outdoor area in the room, thus avoiding the switching on of room-internal light sources.
  • the optical sensor 101 is directed to the persons in the room (ie in particular to the face area).
  • the exact position of the optical sensor 101 should be selected, among other things, according to practical considerations, so that it can be easily installed in a building and the room look is not affected. Above all, however, the position of the optical sensor 101 should be selected such that the optical sensor 101 can completely capture the entire space, and in particular the area of the desk and meeting area. In this case, the radius of movement and / or the different sizes of different persons can also be taken into account. Finally, it should allow the selected position to reliably detect brightness contrasts on the face of the persons in the room so as to be able to reliably detect glare situations and the position of the shadow 111.
  • the above-described feedback mechanism for determining the shading areas 103 of the panel 102 typically requires a standard frame rate of (50-60 Hz).
  • the frame rate can z. B. be achieved by the use of suitable room surveillance cameras.
  • it is typically sufficient to detect a glare situation in the facial area of the persons in a room and then to selectively create a shadow 111 in the facial area and below dimmable panel 102 is detected.
  • the frame rate of the sensor 101 can therefore be increased by reducing the read region of the sensor 101 to a region of interest (ROI) of the entire detection range of the sensor 101, with the selected sub-region (ROI) of the detected face region of the persons in the room depends.
  • the ROI is defined by the determined face area including a defined environment (eg, an edge of a certain number of pixels around the face area).
  • the method 300 comprises two phases.
  • a panel pattern also called panel configuration
  • the panel configuration determined in the first phase 301 is used to continuously allow a reduced blend situation of the persons in a room.
  • the panel configurations from previous cycles can be used to search for a current panel configuration.
  • the search of the current panel configurations ie the current dark areas
  • the cyclically determined reference shots full screen, without darkening
  • detected light / shadow movements can be detected, and motion parameters can be determined, which are taken into account when searching for darkening areas.
  • Each detected darkening area can be compared with the corresponding reference image in each cycle.
  • motion information it is thus also possible to determine whether a specific light source is still present. For example, if the comparison between the darkened image and the reference image does not differ, the particular light source may be classified as "no longer present.”
  • the search can be reduced to 2% of the cycle time.
  • a current panel configuration is to be determined in each cycle in as short a time as possible.
  • the corresponding darkening areas from the previous cycles can be used.
  • relative movement tendencies of the light sources can be determined.
  • the 3 D angular velocity of the individual light sources can be determined.
  • the directions of the light sources relative to the head position can be determined. In this case, based on the geometry of the panel 102, the camera position 101 and the position of the head (ROI), the two angles (horizontal and vertical) of each light source 110 with respect to the main axis are calculated.
  • a simplified, three-dimensional image of the room can be made by calibrating the darkenable panel 102 and the camera 101. Determining the header positions estimates the transformation between the header position and the panel. By prediction of the darkening areas, the search for optimal darkening areas for the already existing light source 110 can be skipped, resulting in a significant reduction in the search time in the first phase 301.
  • Another aspect of the system 100 is the dynamic adjustment of the translucency of the darkened areas 201 of the panel 102.
  • the system 100 is able to darken different intensity light sources 110 to varying degrees.
  • an estimate of the brightness of the respective light source 110 is required.
  • the intensity of the darkening can be determined dynamically.
  • several factors are typically taken into account.
  • the current exposure time of the camera 101 is taken into account, the exposure time determining the brightness of the head ROI.
  • a method of reducing the glare of a light source in the area of the entire office space including a desk to persons comprising: dimming a portion of the darkenable panel positioned between the persons in an office space; Capturing an image of the persons in a room; and determining, based on the image, whether the darkened panel casts a shadow over the people in the room.
  • the systems described comprise a selectively darkenable panel, as well as a panel that can be darkened in a room.
  • sensitive persons directed optical sensor They can be installed in a building with little effort and are practically self-adjusting.
  • shadows can be cast on the subjects, obscuring a variety of dazzling light sources.
  • only selectively areas on the panel are darkened so as not to affect the remaining field of view.
  • the iterative procedures provide for a continuous tracking of the darkening areas to the movements of the light sources, and the movement of the persons in a room.

Abstract

L'invention concerne un dispositif permettant de réduire un éblouissement produit par au moins une source de lumière chez une ou plusieurs personnes se trouvant dans une pièce d'un bâtiment, ledit dispositif comprenant un panneau pouvant être assombri, un premier capteur optique, un second capteur optique et une unité de calcul. L'unité de calcul est couplée au panneau pouvant être assombri, au premier capteur optique et au second capteur optique. Le panneau pouvant être assombri comprend une pluralité de cellules aptes à être assombries de manière individuelle, ledit panneau étant posé sur un vitrage du bâtiment. Le premier capteur optique est destiné à acquérir une première image de la personne ou des personnes se trouvant dans la pièce. Le second capteur optique est destiné à acquérir une seconde image d'au moins une source de lumière. L'unité de calcul est également conçue pour amener le premier capteur optique à acquérir la première image de la personne ou des personnes se trouvant dans la pièce, pour identifier la position respective de cette personne ou de ces personnes sur la base de la première image, pour amener le second capteur optique à acquérir la seconde image de ladite au moins une source de lumière, pour identifier la position de ladite au moins une source de lumière sur la base de la seconde image et pour assombrir une ou plusieurs cellules parmi lesdites cellules aptes à être assombries de manière individuelle, sur la base de la position de la personne ou des personnes se trouvant dans la pièce et de la position de ladite au moins une source de lumière.
EP15797253.0A 2014-10-14 2015-10-14 Dispositif et procédé pour réduire l'éblouissement produit dans une pièce d'un bâtiment Withdrawn EP3207203A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014220818.1A DE102014220818A1 (de) 2014-10-14 2014-10-14 Vorrichtung und Verfahren zur Reduzierung der Blendwirkung
PCT/EP2015/002024 WO2016058695A1 (fr) 2014-10-14 2015-10-14 Dispositif et procédé pour réduire l'éblouissement produit dans une pièce d'un bâtiment

Publications (1)

Publication Number Publication Date
EP3207203A1 true EP3207203A1 (fr) 2017-08-23

Family

ID=54601727

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15797253.0A Withdrawn EP3207203A1 (fr) 2014-10-14 2015-10-14 Dispositif et procédé pour réduire l'éblouissement produit dans une pièce d'un bâtiment

Country Status (4)

Country Link
US (1) US10598970B2 (fr)
EP (1) EP3207203A1 (fr)
DE (1) DE102014220818A1 (fr)
WO (1) WO2016058695A1 (fr)

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US10598970B2 (en) 2020-03-24
US20170363897A1 (en) 2017-12-21
WO2016058695A1 (fr) 2016-04-21

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