KR20240000070A - Sea area automatic monitoring device - Google Patents

Abstract

The present invention relates to an automatic sea area monitoring device, which automatically performs maritime surveillance tasks in a set area. For this purpose, an automatic monitoring range setting unit that sets the automatic monitoring range for the monitoring target sea area according to the calculated angle range of the surveillance camera, and divides and sets the automatic monitoring area into a plurality of automatic monitoring areas within the monitoring range based on the set automatic monitoring range; An automatic monitoring order setting unit that sets the monitoring order of a set number of automatic monitoring areas according to preset conditions, and a plurality of automatic monitoring areas set in comparison with the automatic monitoring areas of other monitoring vessels are set to overlap with the automatic monitoring areas of other vessels. An automatic sea area monitoring device is disclosed, which includes a monitoring area overlap prevention unit that prevents overlapping.

Description

Sea area automatic monitoring device}

The present invention relates to an automatic sea area monitoring device, and more specifically, to an automatic sea area monitoring device that automatically performs maritime surveillance tasks in a set area.

Intrusion detection sensors generally used on land consist of a transmitter and a receiver using radio waves, infrared waves, lasers, ultrasonic waves, etc., and detect intrusions when a surveillance object passes a surveillance line. However, the system that detects intrusions into the surveillance area in a maritime environment cannot be applied because it is difficult to fix the transmitter and receiver at sea when using sensors applied on land.

Existing video-based intrusion detection devices can detect intrusions by detecting changes between previous and current images, but in the maritime environment, false alarms are frequently generated due to floating noise targets such as waves, making it impossible to form an effective surveillance system. there is a problem.

KR 10-2007-0106709

Accordingly, the present invention was created to solve the above-mentioned problems, and its purpose is to provide an invention that can automatically monitor the sea area to be monitored and track the target.

However, the objects of the present invention are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the description below.

The purpose of the present invention described above is to set the automatic monitoring range for the monitoring target sea area according to the calculated angle range of the surveillance camera, and to divide and set the automatic monitoring area into a plurality of automatic monitoring areas within the monitoring range based on the set automatic monitoring range. An automatic monitoring range setting unit, an automatic monitoring order setting unit that sets the monitoring order of a set number of automatic monitoring areas according to preset conditions, and a plurality of automatic monitoring areas set by comparing with the automatic monitoring areas of other monitoring vessels. This can be achieved by providing an automatic sea area monitoring device that includes a monitoring area overlap prevention unit that prevents the automatic monitoring area from overlapping with the automatic monitoring area.

In addition, the automatic surveillance range setting unit sets the automatic surveillance range along the maritime surveillance line within the pre-set territorial sea or sets the automatic surveillance range along the maritime prohibited zone set for surveillance of a specific sea area, and the maritime surveillance line or maritime prohibited zone is set. It is divided into multiple automatic monitoring areas.

In addition, the automatic surveillance range setting unit includes a maritime surveillance line recognition unit that recognizes a preset maritime surveillance line, a maritime surveillance line boundary extractor that extracts the boundary of the maritime surveillance line based on the recognized maritime surveillance line, and an extracted maritime surveillance line. It includes a maritime surveillance line automatic surveillance range setting unit that divides and sets the automatic surveillance area into a plurality of automatic surveillance areas based on the boundary surface.

In addition, the automatic surveillance range setting unit includes a prohibited area recognition unit that recognizes a preset maritime prohibited area, a prohibited area boundary extraction unit that extracts the boundary of the maritime prohibited zone based on the recognized maritime prohibited zone, and the extracted boundary of the maritime prohibited zone. Based on this, it includes a prohibited area automatic monitoring range setting unit that divides and sets the automatic monitoring area into a plurality of automatic monitoring areas.

In addition, the plurality of automatic surveillance areas set to be divided are set to be divided so as not to exceed the boundary of the extracted maritime surveillance line.

In addition, it further includes a ship route control unit that preferentially controls the route of the ship based on sea coordinate data of a plurality of divided automatic monitoring areas and the monitoring order of the automatic monitoring areas.

In addition, the communication unit receives the automatic monitoring area and monitoring order of other ships set by other monitoring vessels, extracts sea coordinate data of other ships' automatic monitoring areas that are divided into multiple sets, and monitors the sea coordinate data of the extracted automatic monitoring areas of other ships. It further includes a surveillance area extraction unit for other ships that prevents the surveillance areas from being set to overlap in the surveillance area overlap prevention unit by transmitting the data to the area overlap prevention unit.

In addition, a ship route recognition unit that recognizes the current location and direction of the surveillance vessel, a surveillance camera angle calculation unit that calculates the angle range of the surveillance camera for monitoring the automatic surveillance area divided based on the surveillance possible distance of the surveillance camera, It further includes a surveillance camera control unit that controls the surveillance camera to capture an image of a target in the automatic surveillance area by controlling the surveillance camera based on the angle range of the camera and controls the image and coordinate data of the target to be stored in a database.

In addition, the surveillance area overlap prevention unit is formed so that the recognized maritime surveillance line is curved in one area, and when the automatic surveillance area divided in the curved maritime surveillance line area overlaps with the automatic surveillance area of another surveillance vessel, the automatic surveillance area is Priority should be given to surveillance vessels that are relatively close to the ship.

According to the present invention as described above, there is an effect of automatically monitoring the sea area to be monitored and tracking the target.

The following drawings attached to this specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical idea of the present invention along with the detailed description of the invention. Therefore, the present invention is limited to the matters described in such drawings. It should not be interpreted in a limited way.
1 to 3 are diagrams schematically showing the configuration of a plurality of surveillance vessels according to an embodiment of the present invention;
Figure 4 is a diagram showing monitoring of a sea area along a maritime surveillance line according to an embodiment of the present invention;
Figure 5 is a diagram illustrating monitoring of a sea area within a no-sea zone according to an embodiment of the present invention.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In addition, one embodiment described below does not unduly limit the content of the present invention described in the claims, and it cannot be said that all of the configurations described in this embodiment are essential as a solution to the present invention. In addition, descriptions of matters that are obvious to those skilled in the art and skilled in the art may be omitted, and descriptions of such omitted components (methods) and functions may be sufficiently referenced without departing from the technical spirit of the present invention.

The automatic sea area surveillance device according to an embodiment of the present invention uses a maritime surveillance camera that can adjust the maritime surveillance direction and an artificial intelligence program that can automatically detect and track objects or ships at sea to determine the key surveillance area at sea. It is a device that automatically monitors and can easily search and track targets. Hereinafter, an automatic sea area monitoring device according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

As shown in Figures 1 to 3, the maritime automatic monitoring unit 100 according to an embodiment of the present invention can be installed on the monitoring ships 21 and 22, and, if necessary, some functions are performed on the monitoring ships 21, 22) and can also be installed in a central control station located on land that is remotely connected.

The maritime automatic monitoring unit 100 includes an automatic monitoring range setting unit. The automatic monitoring range setting unit sets the automatic monitoring range for the monitoring target sea area (11, 12) according to the calculated angle range of the surveillance camera, and sets a plurality of automatic monitoring ranges within the automatic monitoring range based on the set automatic monitoring range (21b, 22b). Divide into automatic surveillance areas. The automatic surveillance range setting unit sets the automatic surveillance range (21b, 22b) along the maritime surveillance line (11) within the preset territorial sea, or the automatic surveillance range (21b, 22b) along the maritime prohibition zone (12) set for surveillance of a specific sea area. 22b) is set, and the maritime surveillance line 11 or the maritime prohibited zone 12 is divided into a plurality of automatic surveillance areas.

For this purpose, the automatic surveillance range setting unit is configured to monitor a specific sea area and a maritime surveillance line surveillance range setting unit that sets the automatic surveillance ranges (21b, 22b) along the maritime surveillance line (11) within the preset territorial sea, as shown in FIG. It includes a maritime prohibited zone monitoring range setting unit that sets an automatic monitoring range (21b, 22b) along the maritime prohibited zone 12 set for the purpose.

The maritime surveillance line monitoring range setting unit includes a maritime surveillance line recognition unit 111, a maritime surveillance line boundary extraction unit 112, and a maritime surveillance line automatic surveillance range setting unit 113.

The maritime surveillance line recognition unit 111 receives a preset maritime surveillance line 11 from a central control unit deployed on land and recognizes the maritime surveillance line 11.

The maritime surveillance line boundary extractor 112 is based on the maritime surveillance line 111 recognized by the maritime surveillance line recognition unit 111. The maritime surveillance line boundary surface of the sea area that each of the surveillance vessels 21 and 22 wishes to monitor is Extract . That is, as shown in FIG. 4, each of the first surveillance vessel 21 and the second surveillance vessel 22 receives the maritime surveillance line 11 from the central control unit deployed on land, and each surveillance vessel operates the maritime surveillance line. When (11) is recognized, each surveillance vessel (21, 22) recognizes the boundary surface of the maritime surveillance line (11) that it wishes to monitor. As shown in Figure 4, the first surveillance vessel 21 extracts the boundary surface of the maritime surveillance line in the own ship's camera surveillance range 21a, and the second surveillance vessel 22 extracts the boundary surface of the maritime surveillance line within the own ship's camera surveillance range 22a. Extract the boundary surface of the maritime surveillance line in . Each surveillance vessel (21, 22) moves to the surveillance sea area when it has completed monitoring the sea area within the own ship's camera surveillance range, and at this time, the boundary surface of the maritime surveillance line is re-extracted based on the own ship's camera surveillance range. You can.

The maritime surveillance line automatic monitoring range setting unit 113 divides the automatic surveillance area into a plurality of automatic surveillance areas based on the extracted boundary surface of the maritime surveillance line 11. The automatic surveillance area divided by the maritime surveillance line automatic surveillance range setting unit 113 is monitored by a surveillance camera, and targets that enter the automatic surveillance area are monitored, tracked, and analyzed. Meanwhile, the maritime surveillance line automatic monitoring range setting unit 113 moves the surveillance sea area when it completes monitoring of all divided automatic surveillance areas in the own ship's camera monitoring range, and at this time, again based on the own ship's camera monitoring range. The boundary surface of the maritime surveillance line can be re-extracted, and the automatic surveillance area is divided into multiple automatic surveillance areas based on the re-extracted boundary surface of the maritime surveillance line.

The plurality of automatic surveillance areas set to be divided are set to be divided so as not to overlap each other without exceeding the boundary of the extracted maritime surveillance line. As an example, as shown in FIG. 4, a first divided automatic monitoring range 21b is divided and set within the camera monitoring range 21a of the first monitoring vessel 21. That is, as an example, depending on the surveillance angle range of the surveillance camera (for example, the surveillance angle range may be 100 degrees) or even if the surveillance camera can rotate 360 degrees, it is divided into three sectors of 120 degrees each and is automatically monitored sequentially. can do. At this time, the monitoring sectors are divided and set so that each divided sector does not overlap each other without exceeding the extracted boundary surface. At this time, it is set so that each divided surveillance sector does not overlap with each other and the divided surveillance sectors of adjacent surveillance vessels do not overlap with each other. As an example, as shown in FIG. 4, in an area where the camera monitoring range 21a of the first surveillance vessel 21 and the camera surveillance range 22a of the second surveillance vessel 22 overlap each other, preferably, they are surveillance areas of each other. You can set it so that it does not overlap, and if an overlapped area occurs, you can control the monitoring distance and direction of the surveillance camera to be readjusted to minimize the overlapped area.

The maritime prohibited area monitoring range setting unit includes a prohibited area recognition unit 121, a prohibited area boundary extraction unit 122, and a prohibited area automatic monitoring range setting unit 123.

The prohibited area recognition unit 121 receives a preset maritime prohibited area from a central control unit deployed on land and recognizes it. A maritime prohibited zone is a case where a certain area of the sea is set as a prohibited zone to protect fishing resources or monitor the area where ship accidents occur.

The prohibited area boundary extraction unit 122 extracts the boundary of the maritime prohibited zone in the sea area that each of the surveillance vessels 21 and 22 wishes to monitor based on the maritime prohibited zone 12 recognized by the maritime prohibited area recognition unit 121. Extract. That is, as shown in FIG. 5, each of the first surveillance vessel 21 and the second surveillance vessel 22 receives the maritime prohibition zone 12 from the central control station located on land, and each surveillance vessel monitors the maritime prohibition zone. When (12) is recognized, each monitoring vessel (21, 22) recognizes the boundary of the maritime prohibited area (12) that it wishes to monitor. As shown in FIG. 5, the first surveillance vessel 21 extracts the boundary surface of the maritime prohibited area within the own ship's camera surveillance range 21a, and the second surveillance vessel 22 extracts the boundary surface of the maritime prohibited area within the own ship's camera surveillance range 21a. Extract the boundary surface of the maritime exclusion zone in . Each surveillance vessel (21, 22) moves to the surveillance sea area when it has completed monitoring the sea area within the own ship's camera surveillance range, and at this time, the boundary surface of the maritime prohibited area is re-extracted based on the own ship's camera surveillance range. You can.

The prohibited area automatic monitoring range setting unit 123 divides the automatic monitoring area into a plurality of automatic monitoring areas based on the extracted boundary of the maritime prohibited area 12. The automatic monitoring area divided and set by the prohibited area automatic monitoring range setting unit 123 is automatically monitored by a surveillance camera, and targets that enter the automatic monitoring area are monitored, tracked, and analyzed. Meanwhile, the prohibited area automatic monitoring range setting unit 123 moves the surveillance area when automatic monitoring of all divided automatic monitoring areas in the own ship's camera monitoring range is completed, and at this time, again based on the own ship's camera monitoring range. The boundary of the maritime prohibition zone 12 can be re-extracted, and the automatic surveillance area is divided into a plurality of automatic surveillance areas based on the re-extracted boundary of the maritime prohibition zone 12.

The plurality of automatic surveillance areas set to be divided are set to be divided so as not to overlap each other without exceeding the boundary of the extracted maritime surveillance line. As an example, as shown in FIG. 5, a first divided automatic monitoring range 21b is divided and set within the camera monitoring range 21a of the first monitoring vessel 21. That is, as an example, depending on the surveillance angle range of the surveillance camera (for example, the surveillance angle range may be 100 degrees) or even if the surveillance camera can rotate 360 degrees, it is divided into three sectors of 120 degrees each and is automatically monitored sequentially. can do. At this time, the monitoring sectors are divided and set so that each divided sector does not overlap each other without exceeding the extracted boundary surface. At this time, it is set so that each divided surveillance sector does not overlap with each other and the divided surveillance sectors of adjacent surveillance vessels do not overlap with each other. As an example, in an area where the camera surveillance range 21a of the first surveillance vessel 21 and the camera surveillance range 22a of the second surveillance vessel 22 overlap each other, preferably, the surveillance areas are set so that they do not overlap each other, If an overlapped area occurs, the monitoring distance and direction of the surveillance camera can be controlled to be readjusted to minimize the overlapped area.

Meanwhile, if the maritime surveillance area set as described above does not overlap with each surveillance vessel, there may be a gap in the surveillance sea area. At this time, by recognizing and extracting gaps in the surveillance sea area, priority can be given to monitor and track the blank sea area by the surveillance vessel located closest to the blank sea area.

The monitoring area overlap prevention unit 140 according to an embodiment of the present invention prevents a plurality of automatic monitoring areas set in comparison with the automatic monitoring areas of other monitoring vessels from overlapping with the automatic monitoring areas of other vessels. Each surveillance vessel (21, 22) is equipped with an automatic surveillance range setting unit 220 to divide and set the surveillance sea area, and shares the divided surveillance sea area with other surveillance vessels adjacent to each surveillance vessel, so that the surveillance sea area is overlapped or Avoid overlapping. Information on each monitoring sea area can be exchanged with each other through the communication units 160 and 210. As shown in FIG. 4, the surveillance area overlap prevention unit 140 is formed so that the recognized maritime surveillance line 11 is curved in one area, and the automatic surveillance area divided in the curved maritime surveillance line area is used to monitor other surveillance vessels. In cases where it overlaps with the automatic surveillance area, surveillance priority is given to surveillance vessels relatively close to the divided automatic surveillance area, so that the curved automatic surveillance sea area is monitored first.

Meanwhile, the target monitoring unit (not shown in the drawing) checks the targets tracked and acquired from each monitoring vessel overlapping each other if some of the automatic monitoring areas divided by each monitoring vessel overlap or overlap, thereby preventing false alarms (illegal surveillance waters). You can prevent an alarm that occurs in case of intrusion. To explain in more detail, when a target located in an automatically monitored sea area is recognized and tracked by a surveillance camera as an image, illegal intrusion is detected by comparing the previous video image with the current video image and detecting changes in the image. At this time, as an example, waves are often recognized as targets and generate false alarms. Therefore, if the divided automatic surveillance areas overlap or overlap as needed, the target overlap check unit (not shown) receives target information recognized by each surveillance vessel and compares the changes in the images recognized by each surveillance vessel. By checking, even if a false alarm occurs in the first monitoring vessel 21, the second monitoring vessel 22 may not recognize it as a wave, and the false alarm can be canceled early.

The automatic monitoring order setting unit 180 according to an embodiment of the present invention sets the monitoring order of a plurality of divided automatic monitoring areas to be automatically sequentially monitored according to preset conditions, as shown in FIG. 2. That is, when the automatic monitoring ranges 21b and 22b are divided and set based on the camera monitoring ranges 21a and 22a, the surveillance sectors that are preferentially selected according to preset conditions among the divided surveillance sectors can be sequentially monitored. As an example, if a surveillance sector overlaps with another surveillance vessel, one surveillance vessel can be set to automatically monitor surveillance sectors other than the overlapped surveillance sector first, and monitor the overlapped surveillance sector as the lowest priority.

The ship route control unit 130 preferentially controls the ship's route based on sea coordinate data of a plurality of divided automatic monitoring areas and the monitoring order of the automatic monitoring areas. The communication units 160 and 210 receive automatic monitoring areas and monitoring sequences set by other monitoring vessels.

The other vessel monitoring area extraction unit 150 extracts sea coordinate data of the other vessel's automatic surveillance area divided into multiple sets based on the automatic monitoring sea area information of other surveillance vessels transmitted through the communication units 160 and 210, and extracts the sea coordinate data of the other vessel's automatic surveillance area. By transmitting the sea coordinate data of the automatic surveillance area to the surveillance area overlap prevention unit 140, the surveillance area overlap prevention unit 140 prevents the surveillance areas from being set to overlap.

As shown in FIG. 3, the ship route recognition unit 171 recognizes the current location and direction of the monitoring ship. The current location can be known through GPS, and the direction of the surveillance vessel can be known through the gyro sensor.

The surveillance camera angle calculation unit 172 calculates the angle range of the surveillance camera for monitoring the divided automatic surveillance area based on the monitorable distance of the surveillance camera. Surveillance sectors can be divided and set based on the calculated angle range of the surveillance camera.

The surveillance camera control unit 173 controls the surveillance camera to automatically capture images of a target in the automatic surveillance area by controlling the surveillance camera based on the angle range of the surveillance camera, and controls the image and coordinate data of the target to be stored in a database.

In explaining the present invention, matters that are obvious to those skilled in the art and skilled in the art may be omitted, and descriptions of such omitted components (methods) and functions may be sufficiently referenced without departing from the technical spirit of the present invention. You will be able to. In addition, the components of the present invention described above are only described for the convenience of explaining the present invention, and components not described herein may be added without departing from the technical spirit of the present invention.

The description of the configuration and function of each part described above is explained separately from each other for convenience of explanation, and if necessary, one configuration and function may be implemented by integrating with other components, or may be implemented in further detail.

Although the present invention has been described above with reference to one embodiment, the present invention is not limited to this, and various modifications and applications are possible. That is, those skilled in the art will easily understand that many modifications are possible without departing from the gist of the present invention. In addition, it should be noted that if a specific description of the known functions and their configurations related to the present invention or the combination relationship between each component of the present invention is judged to unnecessarily obscure the gist of the present invention, the detailed description has been omitted. something to do.

10: Electronic chart
11: Maritime surveillance line
12: Off-shore exclusion zone
21: 1st surveillance vessel
21a: Camera surveillance range
21b: automatic monitoring range
22: 2nd surveillance vessel
22a: Camera surveillance range
22b: automatic monitoring range
100: Maritime automatic monitoring unit
111: Maritime surveillance line recognition unit
112: Maritime surveillance line boundary extraction unit
113: Maritime surveillance line automatic surveillance range setting unit
121: Prohibited area recognition unit
122: Prohibited area boundary extraction unit
123: Prohibited area automatic monitoring range setting unit
130: Ship route control unit
140: Sensing area overlap prevention unit
150: Other vessel surveillance area extraction unit
160: Department of Communications
171: Ship route recognition unit (ship location/direction recognition unit)
172: Surveillance camera angle calculation unit
173: Surveillance camera control unit
180: automatic monitoring sequence setting unit
200: Automatic monitoring unit for other ships
210: Department of Communications
220: Automatic monitoring range setting unit
230: automatic monitoring sequence setting unit
300: Network network

Claims (9)

An automatic monitoring range setting unit that sets the automatic monitoring range for the monitoring target sea area according to the calculated angle range of the surveillance camera, and divides and sets the automatic monitoring range into a plurality of automatic monitoring areas based on the set automatic monitoring range;
An automatic monitoring order setting unit that sets the monitoring order of the plurality of divided automatic monitoring areas according to preset conditions,
An automatic sea area monitoring device comprising a monitoring area overlap prevention unit that prevents a plurality of automatic monitoring areas set in comparison with the automatic monitoring areas of other monitoring vessels from overlapping with the automatic monitoring areas of other vessels.
According to claim 1,
The automatic monitoring range setting unit,
The automatic surveillance range is set along the maritime surveillance line within the pre-set territorial waters, or the automatic surveillance range is set along the maritime prohibition zone set for surveillance of a specific sea area.
An automatic sea area monitoring device, wherein the maritime surveillance line or maritime prohibited zone is divided into the plurality of automatic surveillance areas.
According to claim 2,
The automatic monitoring range setting unit,
A maritime surveillance line recognition unit that recognizes the preset maritime surveillance line,
A maritime surveillance line boundary extractor that extracts the boundary of the maritime surveillance line based on the recognized maritime surveillance line,
An automatic sea area monitoring device comprising a maritime surveillance line automatic surveillance range setting unit that divides and sets an automatic surveillance area into the plurality of automatic surveillance areas based on the extracted boundary surface of the maritime surveillance line.
According to claim 3,
The automatic monitoring range setting unit,
A prohibited area recognition unit that recognizes the preset maritime prohibited zone,
A prohibited area boundary extraction unit that extracts the boundary of the maritime prohibited zone based on the recognized maritime prohibited zone;
An automatic sea area monitoring device comprising a prohibited area automatic monitoring range setting unit that divides and sets an automatic monitoring area into the plurality of automatic monitoring areas based on the extracted boundary of the maritime prohibited area.
According to claim 4,
The plurality of automatic monitoring areas set to be divided,
An automatic sea area monitoring device, characterized in that it is divided and set so as not to exceed the boundary of the extracted maritime surveillance line.
According to claim 4,
An automatic sea area monitoring device further comprising a ship route control unit that preferentially controls the route of the ship based on sea coordinate data of the plurality of divided automatic monitoring areas and the monitoring order of the automatic monitoring areas.
According to claim 6,
A communication unit that receives the automatic monitoring area and monitoring order of other ships set by the other monitoring ship,
By extracting the sea coordinate data of the other vessel's automatic monitoring area, which is set to be divided into multiple parts, and transmitting the extracted sea coordinate data of the other vessel's automatic surveillance area to the surveillance area overlap prevention unit, the surveillance area overlap is set in the surveillance area overlap prevention unit. An automatic sea area monitoring device characterized in that it further includes a monitoring area extraction unit for preventing other vessels from being damaged.
According to claim 1,
A ship route recognition unit that recognizes the current location and direction of the surveillance vessel,
A surveillance camera angle calculation unit that calculates an angle range of a surveillance camera for monitoring the divided automatic surveillance area based on the surveillance distance of the surveillance camera;
It further includes a surveillance camera control unit that controls the surveillance camera to capture an image of a target in the automatic surveillance area by controlling the surveillance camera based on the angle range of the surveillance camera and controls the image and coordinate data of the target to be stored in a database. An automatic sea area monitoring device characterized in that.
According to claim 3,
The surveillance area overlap prevention unit,
The recognized maritime surveillance line is formed to be curved in one area,
An automatic monitoring device for sea areas, wherein when an automatic monitoring area divided in a curved maritime surveillance line area overlaps with an automatic monitoring area of another monitoring vessel, priority is given to a monitoring vessel relatively close to the automatic monitoring area.