WO2007090544A1 - Apparatus for detecting obstacles - Google Patents

Apparatus for detecting obstacles Download PDF

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Publication number
WO2007090544A1
WO2007090544A1 PCT/EP2007/000800 EP2007000800W WO2007090544A1 WO 2007090544 A1 WO2007090544 A1 WO 2007090544A1 EP 2007000800 W EP2007000800 W EP 2007000800W WO 2007090544 A1 WO2007090544 A1 WO 2007090544A1
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WO
WIPO (PCT)
Prior art keywords
elastic layer
electrodes
detected
housing
layer
Prior art date
Application number
PCT/EP2007/000800
Other languages
German (de)
French (fr)
Inventor
Martin Kornberger
Original Assignee
Miele & Cie. Kg
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 Miele & Cie. Kg filed Critical Miele & Cie. Kg
Publication of WO2007090544A1 publication Critical patent/WO2007090544A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to a device for obstacle detection, in particular for a self-propelled floor cleaning device.
  • Robotsauger Self-propelled floor cleaning devices, so-called Robotsauger, are known for example from DE 102 31 386 B4.
  • Robot vacuums have the problem that they may run aground on objects and therefore an immediate stop and a change of direction is required.
  • objects such as furniture or floor vases these must not be damaged.
  • movable housing parts which trigger a microswitch when it hits objects, and a corresponding control process is initiated.
  • the use of a plurality of switches around the housing, is relatively expensive, since at short intervals movable housing parts must be arranged in order to be able to respond sensitively and quickly. This is on the one hand consuming and also damage can not be safely avoided in sensitive objects.
  • the obstacle detection device comprises an electrically conductive layer, to which an electrical voltage is applied and which is connected to a conductive elastic layer, wherein at least one electrode is applied to the elastic layer and a voltage change at a control when the elastic layer is compressed is detectable.
  • the device can be designed to be particularly sensitive, since the elastic layer is compressed when it hits an obstacle and then immediately a switching or control process can be triggered.
  • the object thus does not come into contact with hard housing parts, but only with the padded electrically conductive outer layer.
  • not many individual housing parts must be provided in the outer region, but the outer layer can consistently cover the corresponding area.
  • the at least one electrode has an electrically conductive plate, against which a region of the elastic layer can be pressed.
  • the electrode acts as a kind of Gege ⁇ lager covering a certain area for detecting an obstacle.
  • one or more electrodes can be arranged at a distance from one another on the elastic layer.
  • the location of the compression of the elastic layer is detected by a change in voltage at one or more electrodes, so that in addition to the information that an obstacle is present, also the position of the obstacle can be determined and incorporated into the control process.
  • a multiplexer can be provided on the controller, by means of which the voltage at the individual electrodes can be detected.
  • the elastic layer consists of a foam, such as a sponge rubber, which has the required conductivity.
  • Figure 1 is a schematic view of an obstacle detection device on a Robotsauger
  • Figure 2 is a sectional detail view of the device for Hindemiserkennung the
  • FIG. 1 A first figure.
  • a Robotsauger 1 has a circular in plan view of housing 2, on which a device for obstacle detection 3 is mounted.
  • the device for obstacle detection 3 is only half attached to the housing 2 in a direction of movement 4, since only in the direction of movement 4 obstacles are to be expected.
  • the obstacle detection device 3 has the design shown in FIG.
  • An outer electrically conductive layer 4 is connected to a middle elastic layer 5, for example a foam, such as a foam rubber, which also has a certain electrical conductivity, but also represents a resistance.
  • a middle elastic layer 5 for example a foam, such as a foam rubber, which also has a certain electrical conductivity, but also represents a resistance.
  • electrodes 6, 16, 26 and 36 are attached, which have a conductive surface, such as a copper foil, which is fixedly supported.
  • the outer conductive layer 4 is connected via a connection 7 and a line 8 to a
  • Voltage source 9 is connected, which in turn is connected to a controller 10.
  • the controller 10 comprises a schematically illustrated voltmeter 11 and a multiplexer 12, which can be coupled for resistance determination with a plurality of terminals 13, which are each connected via a line 14 to the individual electrodes 6, 16, 26 and 36. If the Robotsauger 1 runs with its housing 2 on an obstacle, the electrically conductive outer layer 4 is compressed at this point, as shown at the point 15. At this point 15, the elastic layer 5 no longer has the original thickness of about 5 mm to 10 mm, but was compressed, in which case the electrodes 16 and 26 act as an abutment. By compressing the elastic layer 5 at the point 15, the electrical resistance is reduced, which is detected by the controller 10.
  • Both the voltage change and the location of the obstacle can be determined via the multiplexer 12. If necessary, the size of the contact point and the deformation rate can also be determined. As a result, in relation to the speed, the type of obstacle can also be defined more precisely, which is useful for the following control process.
  • the obstacle detection device 3 is mounted on a robot vacuum cleaner. It is of course possible to provide the device 3 also on other moving devices and machines. In addition, the arrangement of the device 3 can be used instead of a round housing 2 on other housing forms.

Abstract

An apparatus for detecting obstacles, in particular for a self-propelling floor cleaning device, comprises an outer electrically conductive layer (4) which has the electrical voltage applied to it and is connected to a conductive elastic layer (5), wherein at least one electrode (6, 16, 26, 36) is applied to the elastic layer (5). When the elastic layer (5) is pressed together, a change in voltage can be detected in a controller (10), with the result that obstacles can be detected. When a plurality of electrodes (6, 16, 26, 36) are used, it is also possible to determine the position of the obstacle.

Description

Beschreibungdescription
Vorrichtung zur HinderniserkennungDevice for obstacle detection
Die vorliegende Erfindung betrifft eine Vorrichtung zur Hinderniserkennung, insbesondere für ein selbstfahrendes Bodenreinigungsgerät.The present invention relates to a device for obstacle detection, in particular for a self-propelled floor cleaning device.
Selbstfahrende Bodenreinigungsgeräte, sogenannte Robotsauger, sind beispielsweise aus der DE 102 31 386 B4 bekannt.Self-propelled floor cleaning devices, so-called Robotsauger, are known for example from DE 102 31 386 B4.
Bei Robotsaugern tritt das Problem auf, dass diese auf Gegenstände auflaufen können und daher ein sofortiges Stoppen und ein Richtungswechsel erforderlich ist. Beim Auffahren auf die Gegenstände, beispielsweise Möbel oder Bodenvasen dürfen diese nicht beschädigt werden. Es sind daher bewegliche Gehäuseteile bekannt, die bei einem Auflaufen auf Gegenstände einen Mikroschalter auslösen und ein entsprechender Steuervorgang initiiert wird. Der Einsatz einer Vielzahl von Schaltern rund um das Gehäuse, ist vergleichsweise aufwendig, da in kurzen Abständen bewegliche Gehäuseteile angeordnet sein müssen, um feinfühlig und schnell reagieren zu können. Dies ist einerseits aufwendig und zudem können bei empfindlichen Objekten Beschädigungen nicht sicher vermieden werden.Robot vacuums have the problem that they may run aground on objects and therefore an immediate stop and a change of direction is required. When driving on the objects, such as furniture or floor vases these must not be damaged. There are therefore known movable housing parts which trigger a microswitch when it hits objects, and a corresponding control process is initiated. The use of a plurality of switches around the housing, is relatively expensive, since at short intervals movable housing parts must be arranged in order to be able to respond sensitively and quickly. This is on the one hand consuming and also damage can not be safely avoided in sensitive objects.
Es ist daher Aufgabe der vorliegenden Erfindung eine Vorrichtung zur Hinderniserkennung zu schaffen, die einfach aufgebaut ist und eine Beschädigung von Gegenständen vermeidet.It is therefore an object of the present invention to provide a device for obstacle detection, which is simple and avoids damage to objects.
Diese Aufgabe wird mit einer Vorrichtung zur Hinderniserkennung mit den Merkmalen des Anspruches 1 gelöst.This object is achieved with a device for obstacle detection with the features of claim 1.
Erfindungsgemäß umfasst die Vorrichtung zur Hinderniserkennung eine elektrisch leitfähige Schicht, an die eine elektrische Spannung angelegt ist und die mit einer leitfähigen elastischen Schicht verbunden ist, wobei an der elastischen Schicht mindestens eine Elektrode angelegt ist und bei einem Zusammendrücken der elastischen Schicht eine Spannungsänderung an einer Steuerung erfassbar ist. Dadurch kann die Vorrichtung besonders feinfühlig ausgestaltet sein, da die elastische Schicht bei einem Auflaufen auf ein Hindernis zusammengedrückt wird und dann unmittelbar ein Schalt- bzw. Steuervorgang ausgelöst werden kann. Der Gegenstand kommt somit nicht mit harten Gehäuseteilen in Berührung, sondern lediglich mit der gepolstert angebrachten elektrisch leitfähigen äußeren Schicht. Zudem müssen im äußeren Bereich auch nicht viele einzelne Gehäuseteile vorgesehen sein, sondern die äußere Schicht kann durchgängig den entsprechenden Bereich abdecken.According to the invention, the obstacle detection device comprises an electrically conductive layer, to which an electrical voltage is applied and which is connected to a conductive elastic layer, wherein at least one electrode is applied to the elastic layer and a voltage change at a control when the elastic layer is compressed is detectable. As a result, the device can be designed to be particularly sensitive, since the elastic layer is compressed when it hits an obstacle and then immediately a switching or control process can be triggered. The object thus does not come into contact with hard housing parts, but only with the padded electrically conductive outer layer. In addition, not many individual housing parts must be provided in the outer region, but the outer layer can consistently cover the corresponding area.
Gemäss einer bevorzugten Ausgestaltung der Erfindung weist die mindestens eine Elektrode eine elektrisch leitfähige Platte auf, gegen die ein Bereich der elastischen Schicht pressbar ist. Dadurch wirkt die Elektrode als eine Art Gegeπlager, die einen bestimmten Bereich zur Erfassung eines Hindernisses abdeckt. Je nach Breite der Vorrichtung und den jeweiligen Anforderungen können ein oder mehrere Elektroden beabstandet voneinander an der elastischen Schicht angeordnet sein.According to a preferred embodiment of the invention, the at least one electrode has an electrically conductive plate, against which a region of the elastic layer can be pressed. As a result, the electrode acts as a kind of Gegeπlager covering a certain area for detecting an obstacle. Depending on the width of the device and the respective requirements, one or more electrodes can be arranged at a distance from one another on the elastic layer.
Vorzugsweise wird über eine Spannungsänderung an einer oder mehreren Elektroden der Ort der Kompression der elastischen Schicht erfasst, so dass neben der Information, dass ein Hindernis vorhanden ist, auch noch die Position des Hindernisses ermittelt werden kann und in den Steuervorgang einfließen kann. Hierfür kann an der Steuerung ein Multiplexer vorgesehen sein, mittels dem die Spannung an den einzelnen Elektroden erfassbar ist.Preferably, the location of the compression of the elastic layer is detected by a change in voltage at one or more electrodes, so that in addition to the information that an obstacle is present, also the position of the obstacle can be determined and incorporated into the control process. For this purpose, a multiplexer can be provided on the controller, by means of which the voltage at the individual electrodes can be detected.
Gemäss einer weiteren Ausgestaltung der Erfindung besteht die elastische Schicht aus einem Schaumstoff, wie einem Moosgummi, der die erforderliche Leitfähigkeit aufweist.According to a further embodiment of the invention, the elastic layer consists of a foam, such as a sponge rubber, which has the required conductivity.
Die Erfindung wird nachfolgend anhand eines Ausführungsbeispieles mit Bezug auf die beigefügten Zeichnungen näher erläutert. Es zeigen:The invention will be explained in more detail using an exemplary embodiment with reference to the accompanying drawings. Show it:
Figur 1 eine schematische Ansicht einer Vorrichtung zur Hinderniserkennung an einem Robotsauger, undFigure 1 is a schematic view of an obstacle detection device on a Robotsauger, and
Figur 2 eine geschnittene Detailansicht der Vorrichtung zur Hindemiserkennung derFigure 2 is a sectional detail view of the device for Hindemiserkennung the
Figur 1.FIG. 1
Ein Robotsauger 1 besitzt ein in Draufsicht kreisförmiges Gehäuse 2, an dem eine Vorrichtung zur Hinderniserkennung 3 angebracht ist. Die Vorrichtung zur Hinderniserkennung 3 ist dabei nur zur Hälfte an dem Gehäuse 2 in eine Bewegungsrichtung 4 angebracht, da nur in Bewegungsrichtung 4 Hindernisse zu erwarten sind.A Robotsauger 1 has a circular in plan view of housing 2, on which a device for obstacle detection 3 is mounted. The device for obstacle detection 3 is only half attached to the housing 2 in a direction of movement 4, since only in the direction of movement 4 obstacles are to be expected.
Um diverse Hindernisse frühzeitig erkennen zu können, besitzt die Vorrichtung 3 zur Hinderniserkennung die in Figur 2 gezeigte Gestaltung.In order to be able to recognize various obstacles at an early stage, the obstacle detection device 3 has the design shown in FIG.
Eine äußere elektrische leitfähige Schicht 4 ist mit einer mittleren elastischen Schicht 5 verbunden, beispielsweise einem Schaumstoff, wie einem Moosgummi, die ebenfalls eine gewisse elektrische Leitfähigkeit besitzt, allerdings auch einen Widerstand darstellt. An der elastischen Schicht 5 sind in regelmäßigen Abständen Elektroden 6, 16, 26 und 36 angebracht, die eine leitende Fläche, beispielsweise eine Kupferfolie besitzen, die ortsfest abgestützt ist.An outer electrically conductive layer 4 is connected to a middle elastic layer 5, for example a foam, such as a foam rubber, which also has a certain electrical conductivity, but also represents a resistance. At the elastic layer 5 at regular intervals electrodes 6, 16, 26 and 36 are attached, which have a conductive surface, such as a copper foil, which is fixedly supported.
Die äußere leitfähige Schicht 4 ist über einen Anschluss 7 und eine Leitung 8 an eineThe outer conductive layer 4 is connected via a connection 7 and a line 8 to a
Spannungsquelle 9 angeschlossen, die wiederum mit einer Steuerung 10 verbunden ist. Die Steuerung 10 umfasst einen schematisch dargestellten Spannungsmesser 11 sowie einen Multiplexer 12, der zur Widerstandsermittlung mit mehreren Anschlüssen 13 koppelbar ist, die jeweils über eine Leitung 14 mit den einzelnen Elektroden 6, 16, 26 und 36 verbunden sind. Sofern der Robotsauger 1 mit seinem Gehäuse 2 auf ein Hindernis aufläuft, wird an dieser Stelle die elektrisch leitfähige äußere Schicht 4 komprimiert, wie dies an der Stelle 15 dargestellt ist. An dieser Stelle 15 besitzt die elastische Schicht 5 nicht mehr die ursprüngliche Dicke von etwa 5 mm bis 10 mm, sondern wurde zusammengedrückt, wobei in diesem Fall die Elektroden 16 und 26 als Gegenlager wirken. Durch die Komprimierung der elastischen Schicht 5 an der Stelle 15 wird der elektrische Widerstand verringert, was durch die Steuerung 10 erfasst wird. Über den Multiplexer 12 kann dabei sowohl die Spannungsänderung als auch der Ort des Hindernisses bestimmt werden. Bei Bedarf kann zudem die Größe der Kontaktstelle und die Verformungsgeschwindigkeit ermittelt werden. Dadurch kann in Relation zur Geschwindigkeit auch die Art des Hindernisses genauer definiert werden, was für den folgenden Steuervorgang nützlich ist.Voltage source 9 is connected, which in turn is connected to a controller 10. The controller 10 comprises a schematically illustrated voltmeter 11 and a multiplexer 12, which can be coupled for resistance determination with a plurality of terminals 13, which are each connected via a line 14 to the individual electrodes 6, 16, 26 and 36. If the Robotsauger 1 runs with its housing 2 on an obstacle, the electrically conductive outer layer 4 is compressed at this point, as shown at the point 15. At this point 15, the elastic layer 5 no longer has the original thickness of about 5 mm to 10 mm, but was compressed, in which case the electrodes 16 and 26 act as an abutment. By compressing the elastic layer 5 at the point 15, the electrical resistance is reduced, which is detected by the controller 10. Both the voltage change and the location of the obstacle can be determined via the multiplexer 12. If necessary, the size of the contact point and the deformation rate can also be determined. As a result, in relation to the speed, the type of obstacle can also be defined more precisely, which is useful for the following control process.
Bei dem dargestellten Ausführungsbeispiel ist die Vorrichtung zur Hinderniserkennung 3 an einem Robotsauger angebracht. Es ist natürlich möglich, die Vorrichtung 3 auch an anderen bewegten Geräten und Maschinen vorzusehen. Zudem kann die Anordnung der Vorrichtung 3 statt an einem runden Gehäuse 2 auch an anderen Gehäuseformen eingesetzt werden. In the illustrated embodiment, the obstacle detection device 3 is mounted on a robot vacuum cleaner. It is of course possible to provide the device 3 also on other moving devices and machines. In addition, the arrangement of the device 3 can be used instead of a round housing 2 on other housing forms.

Claims

Patentansprüche claims
1. Vorrichtung zur Hinderniserkennung, insbesondere für ein selbstfahrendes Bodenreinigungsgerät (1 ), mit einer äußeren elektrisch leitfähigen Schicht (4), an die eine elektrische Spannung angelegt ist und die mit einer leitfähigen elastischen Schicht (5) verbunden ist, wobei an der elastischen Schicht (5) mindestens eine Elektrode (6, 16, 26,Device for detecting obstacles, in particular for a self-propelled floor cleaning device (1), having an outer electrically conductive layer (4) to which an electrical voltage is applied and which is connected to a conductive elastic layer (5), wherein on the elastic layer (5) at least one electrode (6, 16, 26,
36) angelegt ist und bei einem Zusammendrücken der elastischen Schicht (5) eine Spannungsänderung an einer Steuerung (10) erfassbar ist.36) is applied and upon compression of the elastic layer (5), a voltage change to a controller (10) can be detected.
2. Vorrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass eine Elektrode (6, 16, 26, 36) eine elektrisch leitfähige Platte aufweist, gegen die ein2. Apparatus according to claim 1, characterized in that an electrode (6, 16, 26, 36) has an electrically conductive plate against which a
Bereich der elastischen Schicht (5) pressbar ist.Area of the elastic layer (5) is pressed.
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass mehrere voneinander beabstandete Elektroden (6, 16, 26, 36) an der elastischen Schicht (5) angeordnet sind.3. Apparatus according to claim 1 or 2, characterized in that a plurality of spaced-apart electrodes (6, 16, 26, 36) are arranged on the elastic layer (5).
4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass über eine Spannungsänderung an einer oder mehreren Elektroden (6, 16, 26, 36) der Ort der Kompression der elastischen Schicht (5) erfassbar ist.4. The device according to claim 3, characterized in that via a voltage change at one or more electrodes (6, 16, 26, 36), the location of the compression of the elastic layer (5) can be detected.
5. Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass ein Multiplexer (12) vorgesehen ist, mittels dem die Spannung an den einzelnen Elektroden (6, 16, 26, 36) erfassbar ist.5. Device according to one of claims 1 to 4, characterized in that a multiplexer (12) is provided, by means of which the voltage at the individual electrodes (6, 16, 26, 36) can be detected.
6. Vorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass als elastische Schicht (5) ein Schaumstoff, vorzugsweise Moosgummi, vorgesehen ist.6. Device according to one of claims 1 to 5, characterized in that as elastic layer (5) a foam, preferably sponge rubber, is provided.
7. Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Elektroden (6, 16, 26, 36) an einem Gehäuse abgestützt sind, um als Gegenlager zu wirken.7. Device according to one of claims 1 to 6, characterized in that the electrodes (6, 16, 26, 36) are supported on a housing to act as an abutment.
8. Vorrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Vorrichtung als Gehäuse eines selbstfahrenden Bodenreinigungsgeräts ausgebildet ist.8. Device according to one of claims 1 to 7, characterized that the device is designed as a housing of a self-propelled floor cleaning device.
9. Vorrichtung nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die leitfähige Schicht (4) gekrümmt an einem Gehäuse gehalten ist. 9. Device according to one of claims 1 to 8, characterized in that the conductive layer (4) is held curved on a housing.
PCT/EP2007/000800 2006-02-10 2007-01-31 Apparatus for detecting obstacles WO2007090544A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006006465.8 2006-02-10
DE200610006465 DE102006006465A1 (en) 2006-02-10 2006-02-10 Device for obstacle detection

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WO2007090544A1 true WO2007090544A1 (en) 2007-08-16

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100541151C (en) * 2008-02-29 2009-09-16 合肥工业大学 Touch sensor based on flexible pressure-sensitive conductive rubber
DE102012101589A1 (en) 2012-02-28 2013-08-29 Miele & Cie. Kg Bottom cleaning device i.e. floor vacuum cleaner, has contactless activatable proximity sensor and steerable wheel arranged at side of housing, where steerable wheel is formed in front case of housing

Citations (5)

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Publication number Priority date Publication date Assignee Title
US4332989A (en) * 1978-12-16 1982-06-01 Fraunhofer Gesellschaft Zur Forderung Der Argewandten Forschung E.V. Safety arrangement for systems having parts spatially moved
US4951985A (en) * 1988-11-01 1990-08-28 Transitions Research Corporation Bumper for impact detection
US5060527A (en) * 1990-02-14 1991-10-29 Burgess Lester E Tactile sensing transducer
DE19750671A1 (en) * 1996-11-19 1998-06-10 Karsten Weis Inexpensive force measuring sensor
DE10357636A1 (en) * 2003-12-10 2005-07-14 Vorwerk & Co. Interholding Gmbh An automatic robotic floor cleaner has a loose housing and sponge springs which deflect the housing when impediments are contacted

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4332989A (en) * 1978-12-16 1982-06-01 Fraunhofer Gesellschaft Zur Forderung Der Argewandten Forschung E.V. Safety arrangement for systems having parts spatially moved
US4951985A (en) * 1988-11-01 1990-08-28 Transitions Research Corporation Bumper for impact detection
US5060527A (en) * 1990-02-14 1991-10-29 Burgess Lester E Tactile sensing transducer
DE19750671A1 (en) * 1996-11-19 1998-06-10 Karsten Weis Inexpensive force measuring sensor
DE10357636A1 (en) * 2003-12-10 2005-07-14 Vorwerk & Co. Interholding Gmbh An automatic robotic floor cleaner has a loose housing and sponge springs which deflect the housing when impediments are contacted

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