WO2018121009A1 - 多线激光雷达和多线激光雷达控制方法 - Google Patents

多线激光雷达和多线激光雷达控制方法 Download PDF

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WO2018121009A1
WO2018121009A1 PCT/CN2017/106697 CN2017106697W WO2018121009A1 WO 2018121009 A1 WO2018121009 A1 WO 2018121009A1 CN 2017106697 W CN2017106697 W CN 2017106697W WO 2018121009 A1 WO2018121009 A1 WO 2018121009A1
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laser
emitting plates
laser emitting
plates
laser radar
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PCT/CN2017/106697
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English (en)
French (fr)
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邱纯鑫
刘乐天
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深圳市速腾聚创科技有限公司
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Priority to US16/474,425 priority Critical patent/US10746855B2/en
Publication of WO2018121009A1 publication Critical patent/WO2018121009A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates

Definitions

  • the invention relates to the field of detection, in particular to a multi-line lidar and a multi-line lidar control method.
  • Lidar is a radar system that emits a laser beam to detect the position and velocity of a target.
  • the working principle is to first transmit a probe laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After proper processing, information about the target, such as target distance, azimuth, altitude, speed, attitude, and even shape, can be obtained.
  • Multi-line laser radar is a type of laser radar that emits laser light through a semiconductor laser emitter and detects echo light signals.
  • the multi-line laser radar includes a plurality of laser emitters, each of which can measure a distance.
  • the laser circuit's transmitting circuit device is complex and large in size, so it is impossible to stack a sufficient number in a small range.
  • the number of laser lines per unit range that is, the number of laser emitters stacked, affects the vertical resolution of multi-line laser radar. The important factor is that the vertical resolution of multi-line lidar in traditional technology is still low.
  • a multi-line laser radar comprising: a laser emitter for emitting an exiting laser, the laser emitter comprising a plurality of laser emitting plates; and a collimating optical unit for collimating the exiting laser; The light emitting end faces of the plurality of laser emitting plates are located on a focal plane of the collimating optical unit.
  • a multi-line lidar control method includes:
  • a multi-line laser radar comprising a laser emitter and collimating optics
  • the laser emitter includes a plurality of laser emitting plates, and the light emitting end faces of the plurality of laser emitting plates are located on a focal plane of the collimating optical unit;
  • the laser emitter emits an outgoing laser
  • the exiting laser is collimated using the collimating optical unit.
  • a plurality of laser emitting plates are arranged on the focal plane of the collimating optical unit, which can fully utilize the focal plane space resources of the collimating optical unit, and improve the outgoing laser in the vertical direction.
  • the wire harness improves the vertical resolution of the multi-line lidar without reducing the thickness of the laser emitter.
  • FIG. 1 is a schematic structural view of a multi-line laser radar according to an embodiment
  • FIG. 2 is a schematic plan view showing a focal plane of a multi-line laser radar of another embodiment
  • FIG. 3 is a schematic structural diagram of a multi-line laser radar of another embodiment
  • FIG. 4 is a schematic view showing a light spot of the multi-line laser radar of the embodiment shown in FIG. 2;
  • FIG. 5 is a schematic structural diagram of a multi-line laser radar of another embodiment
  • Fig. 6 is a flow chart showing a multi-line lidar control method of another embodiment.
  • an embodiment provides a multi-line laser radar comprising: a laser emitter 110 for emitting an exiting laser; and a collimating optical unit 120 for collimating the exiting laser.
  • the laser emitter 110 includes a plurality of laser emitting plates 111, and the light emitting end faces of the plurality of laser emitting plates 111 are located on the focal plane 130 of the collimating optical unit 120.
  • the laser emitting plate 111 may be a PCB circuit board and a laser disposed on the PCB circuit board.
  • the collimating optical unit 120 can be a single lens or can be a lens group.
  • a plurality of laser emitting plates 111 are disposed on the focal plane of the collimating optical unit, and the focal plane space resources of the collimating optical unit 120 can be fully utilized, and the wire harness for emitting laser light in the vertical direction is improved, thereby not reducing Increase the vertical resolution of multi-line lidar with laser emitter thickness.
  • the plurality of laser emitting plates includes at least two columns of the laser emitting plates, and each of the columns of laser emitting plates includes at least two of the laser emitting plates.
  • a plurality of laser emitting plates are disposed on a focal plane of the multi-line laser radar, including four columns of laser emitting plates, and each column of the laser emitting plates includes at least two laser emitting plates.
  • the distance between adjacent two laser emitting plates is equal.
  • the distance between the first laser emitting plate 211 of the fourth column in FIG. 2 and the second laser emitting plate 212 of the fourth column, and the second laser emitting plate 212 and the fourth column of the fourth column is equal.
  • the distance between two adjacent laser emitting plates in each column of the laser emitting plates is equal to the distance between two adjacent laser emitting plates in the other column of laser emitting plates.
  • the distance between the first laser emitting plate 211 of the fourth column in FIG. 2 and the second laser emitting plate 212 of the fourth column, and the first laser emitting plate 221 and the third column of the third column is equal.
  • each laser emitting plate is parallel to the horizontal plane, and each laser emitting plate is horizontal
  • the direction is staggered with other laser emitting plates.
  • the horizontal extension of each laser emitter does not coincide with other laser emitters.
  • the horizontal plane is perpendicular to the line where the column is located.
  • the horizontal direction is parallel to the horizontal plane.
  • the spots of the plurality of emitted laser beams at a certain distance are also staggered, which is equivalent to increasing the number of lines of the emitted laser light in the vertical direction. Vertical resolution can be increased.
  • the multi-line lidar pays particular attention to the vertical resolution in a certain angle close to the horizontal direction, the number of columns of the laser near the middle portion can be increased and the number of columns of the upper and lower sides of the laser can be reduced, which can save costs.
  • FIG. 3 shows two columns of laser emitting plates, the first laser emitting plate 310 of the first column and the first laser emitting plate 320 of the second column partially overlapping the projection on the horizontal plane.
  • the height of the laser emitting plate is different due to the height and position of the mounted devices. Therefore, even if the arrangement of the laser emitting plates in each column is already relatively precise, Mounting the lower height device on the edge allows the other columns of laser emitters to utilize the larger gap between the edges of the column of laser emitters.
  • Such a setting method can reduce the average space occupied by each column of laser emitting plates, and can place more laser emitting plates on the focal plane, thereby improving the vertical resolution of the laser radar.
  • the laser emitting light emitted by the laser emitting plate is different in collimation by the collimating optical unit, and the outgoing direction of each golden light is the connection between the light emitting end surface of the laser emitting plate and the optical center of the collimating optical unit.
  • the multi-line laser radar includes a rotating mechanism 510, a communication system 520, and a securing mechanism 530.
  • An FPGA main control system 511, a transmitting system 512, and a receiving system 513 are disposed on the rotating mechanism 510.
  • the transmitting system 512 includes the laser emitter, collimating optical unit of the above embodiment.
  • the specific structure and function of the transmitting system 512 are as described above, and are not described herein again.
  • the receiving system 513 in this embodiment corresponds to the transmitting system 512, that is, the receiving system 513 is configured to receive the outgoing laser light reflected back from the object to be measured. Specifically, the emitted laser light is reflected by the object to be measured and then passed through the focusing optical unit of the receiving end, and then received by the laser receiver.
  • the arrangement of the laser receivers is the same as that of the laser emitting plates, and will not be described here.
  • the communication system 520 can be a wireless communication system with a power transmission or a wired communication system for communication between the rotating mechanism 410 and the fixed mechanism 530.
  • the fixing mechanism 530 is provided with a high-precision rotation angle measuring system 531, an FPGA data integration system 532, a multi-path laser ranging data output interface 533, and the like.
  • a plurality of laser emitting plates are disposed on a focal plane of the collimating optical unit in the transmitting system 512, which can fully utilize the focal plane space resources of the collimating optical unit, and improve the vertical direction of the exit.
  • the laser beam is used to increase the vertical resolution of the multi-line lidar without reducing the thickness of the laser emitter.
  • another embodiment further provides a multi-line lidar control method, including the following, please refer to FIG. 6.
  • Step S110 providing a multi-line laser radar, the multi-line laser radar comprising a laser emitter and a collimating optical unit.
  • the laser emitter includes a plurality of laser emitting plates, and the light emitting end faces of the plurality of laser emitting plates are located on a focal plane of the collimating optical unit.
  • step S120 the laser emitter emits an outgoing laser.
  • step S130 the exiting laser light is collimated using a collimating optical unit.
  • a plurality of laser emitting plates are disposed on a focal plane of the collimating optical unit, which can fully utilize the focal plane space resources of the collimating optical unit, and improve the outgoing laser in the vertical direction.
  • the wire harness improves the vertical resolution of the multi-line lidar without reducing the thickness of the laser emitter.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Semiconductor Lasers (AREA)

Abstract

一种多线激光雷达及其控制方法，多线激光雷达包括激光发射器(110)，用于发射出射激光，且激光发射器(110)包括多个激光发射板(111、211、212、211、212、213、310、320)；及准直光学单元(120)，用于对出射激光进行准直；多个激光发射板(111)的发光端面位于准直光学单元(120)的焦平面(130)上。

Description

多线激光雷达和多线激光雷达控制方法 技术领域
本发明涉及检测领域，特别涉及一种多线激光雷达和多线激光雷达控制方法。
背景技术
激光雷达是以发射激光光束来探测目标的位置、速度等特征量的雷达系统，其工作原理是先向目标发射探测激光光束，然后将接收到的从目标反射回来的信号与发射信号进行比较，作适当处理后，就可获得目标的有关信息，例如目标距离、方位、高度、速度、姿态、甚至形状等参数。
多线激光雷达是激光雷达的一种，是通过半导体激光发射器发射激光，并对回波光信号进行探测的，多线激光雷达包括多个激光发射器，每一个激光发射器可以测量一个距离。激光激光器的发射电路器件较为复杂，体积也较大，因此无法在较小的范围内堆叠足够多的数量，单位范围内激光线数即激光发射器的堆叠数量是影响多线激光雷达垂直分辨率的重要因素，因此传统技术中的多线激光雷达垂直分辨率仍然较低。
发明内容
基于此，有必要提供一种能提高多线激光雷达的垂直分辨率的多线激光雷达和多线激光雷达控制方法。
一种多线激光雷达，包括：激光发射器，用于发射出射激光，所述激光发射器包括多个激光发射板；及准直光学单元，用于对所述出射激光进行准直；所述多个激光发射板的发光端面位于所述准直光学单元的焦平面上。
一种多线激光雷达控制方法，包括：
提供一种多线激光雷达，所述多线激光雷达包括激光发射器及准直光学 单元；所述激光发射器包括多个激光发射板，所述多个激光发射板的发光端面位于所述准直光学单元的焦平面上；
所述激光发射器发射出射激光；及
使用所述准直光学单元对所述出射激光进行准直。
上述多线激光雷达和多线激光雷达控制方法中，准直光学单元的焦平面上设置多个激光发射板，可以充分利用准直光学单元的焦平面空间资源，提高了垂直方向上的出射激光的线束，从而在不减少激光发射板厚度的情况下提高多线激光雷达的垂直分辨率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1所示为一实施例的多线激光雷达的结构示意图；
图2所示为另一实施例的多线激光雷达的焦平面示意图；
图3所示为另一实施例的多线激光雷达的具体结构示意图；
图4所示为图2所示实施例的多线激光雷达的光斑示意图；
图5所示为另一实施例的多线激光雷达的具体结构示意图；
图6所示为另一实施例的多线激光雷达控制方法的流程图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于发明的技术 领域的技术人员通常理解的含义相同。本文中在发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1所示，一实施例提供了一种多线激光雷达，包括：激光发射器110，用于发射出射激光；准直光学单元120，用于对所述出射激光进行准直。
其中，激光发射器110包括多个激光发射板111，多个激光发射板111的发光端面位于准直光学单元120的焦平面130上。
激光发射板111可以是PCB电路板以及设置在PCB电路板上的激光器。准直光学单元120可以是单个透镜，或可以是透镜组。
本实施例中，准直光学单元的焦平面上设置多个激光发射板111，可以充分利用准直光学单元120的焦平面空间资源，提高了垂直方向上的出射激光的线束，从而在不减少激光发射板厚度的情况下提高多线激光雷达的垂直分辨率。
在另一实施例中，所述多个激光发射板包括至少两列所述激光发射板，所述每一列激光发射板包括至少两个所述激光发射板。例如，如图2所示，多线激光雷达的焦平面上设置了多个激光发射板，包括4列激光发射板，每一列激光发射板包括至少两个激光发射板。
具体地，每一列激光发射板中，相邻两个激光发射板之间的距离相等。例如，图2中第四列的第一个激光发射板211和第四列的第二个激光发射板212之间的距离，与第四列的第二个激光发射板212和第四列的第三个激光发射板213之间的距离是相等的。
具体地，每一列激光发射板中相邻两个激光发射板之间的距离与其他列激光发射板中相邻两个激光发射板之间的距离相等。例如，图2中第四列的第一个激光发射板211和第四列的第二个激光发射板212之间的距离，与第三列的第一个激光发射板221和第三列的第二个激光发射板222之间的距离是相等的。
具体地，每一个激光发射板与水平面平行，且每一个激光发射板在水平 方向上与其他激光发射板错开。如图2所示，每一个激光发射板的水平延长线都不会与其他激光发射板重合。其中，水平面与列所在的直线垂直。水平方向与水平面平行。
如图4所示，由于多个激光发射板在水平上是错开的，所以多条发射激光在一定距离处的光斑也是错开的，这相当于在垂直方向上的增加了出射激光的线数，可以提高垂直分辨率。
如果多线激光雷达特别关注靠近水平方向一定角度内的垂直分辨率，可以增加靠近中间部分的激光器的列数而减少上下两边激光器的列数，可以节约成本。
在另一实施例中，不同列的激光发射板在水平方向上部分重叠。例如，图3示出了两列激光发射板，第一列的第一个激光发射板310和第二列的第一个激光发射板320在水平面上的投影部分重叠。
实际应用中，激光发射板上由于安装的器件的高度、位置不同，所以整个激光发射板的高度并不是完全一致的，因此，即使每一列中的激光发射板的排列已经较为精密了，但是如果把高度较低的器件安装在边缘，则其他列的激光发射板可以利用该列激光发射板边缘之间较大的空隙。这样的设置方法可以减少每一列激光发射板占用的平均空间，可以在焦平面上放置更多的激光发射板，从而提高激光雷达的垂直分辨率。
本实施例中，激光发射板发射的激光通过准直光学单元准直后的出射角度各不相同，每一条金光的出射方向为激光发射板的发光端面与准直光学单元的光心的连线。
如图5所示，在另一实施例中，多线激光雷达包括旋转机构510、通讯系统520以及固定机构530。
旋转机构510上设置有FPGA主控系统511、发射系统512和接收系统513。
发射系统512包括上述实施例的激光发射器、准直光学单元。发射系统512的具体结构和功能如上所述，在此不再赘述。
本实施例中的接收系统513与发射系统512是相对应的，即接收系统513用于接收从被测物体反射回的出射激光。具体地，出射激光经被测物体反射后通过接收端的聚焦光学单元后，由激光接收器接收。激光接收器的排列方式与激光发射板的排列相同，在此不再赘述。
通讯系统520可以是带能量传输的无线通讯系统或有线通讯系统，用于旋转机构410和固定机构530之间的通讯。
固定机构530上设置有高精度旋转角测量系统531，FPGA数据集成系统532以及多路激光测距数据输出接口533等。
本发明实施例的多线激光雷达，发射系统512中的准直光学单元的焦平面上设置多个激光发射板，可以充分利用准直光学单元的焦平面空间资源，提高了垂直方向上的出射激光的线束，从而在不减少激光发射板厚度的情况下提高多线激光雷达的垂直分辨率。
与上述多线激光雷达相对应，另一实施例还提供了一种多线激光雷达控制方法，包括以下内容，请参考图6。
步骤S110，提供一种多线激光雷达，所述多线激光雷达包括激光发射器及准直光学单元。所述激光发射器包括多个激光发射板，所述多个激光发射板的发光端面位于所述准直光学单元的焦平面上。
步骤S120，激光发射器发射出射激光。
步骤S130，使用准直光学单元对所述出射激光进行准直。
本实施例中公开的多线激光雷达控制方法中，准直光学单元的焦平面上设置多个激光发射板，可以充分利用准直光学单元的焦平面空间资源，提高了垂直方向上的出射激光的线束，从而在不减少激光发射板厚度的情况下提高多线激光雷达的垂直分辨率。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详 细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种多线激光雷达，包括：
    激光发射器，用于发射出射激光，所述激光发射器包括多个激光发射板；及
    准直光学单元，用于对所述出射激光进行准直；所述多个激光发射板的发光端面位于所述准直光学单元的焦平面上。
  2. 如权利要求1所述的激光雷达，其特征在于，所述多个激光发射板包括至少两列所述激光发射板，每一列激光发射板包括至少两个激光发射板。
  3. 如权利要求2所述的激光雷达，其特征在于，每一列激光发射板中，相邻两个激光发射板之间的距离相等。
  4. 如权利要求3所述的激光雷达，其特征在于，每一列激光发射板中相邻两个激光发射板之间的距离与其他列激光发射板中相邻两个激光发射板之间的距离相等。
  5. 如权利要求1所述的激光雷达，其特征在于，每一个激光发射板与水平面平行，且每一个激光发射板在水平方向上与其他激光发射板错开排列。
  6. 如权利要求5所述的激光雷达，其特征在于，不同列的激光发射板在水平方向上的投影部分重叠。
  7. 如权利要求1所述的激光雷达，其特征在于，还包括旋转机构；所述激光发射器及所述准直光学单元均设置于所述旋转机构上。
  8. 如权利要求7所述的激光雷达，其特征在于，还包括用于接收从被测物体反射回的出射激光的接收系统；所述接收系统设置于所述旋转机构上。
  9. 如权利要求7所述的激光雷达，其特征在于，还包括固定机构；所述固定机构上设有多路激光测距数据输出接口。
  10. 如权利要求9所述的激光雷达，其特征在于，还包括通讯系统；所述通讯系统用于实现所述旋转机构和所述固定机构之间的通讯。
  11. 一种多线激光雷达的控制方法，包括：
    提供一种多线激光雷达，所述多线激光雷达包括激光发射器及准直光学 单元；所述激光发射器包括多个激光发射板，所述多个激光发射板的发光端面位于所述准直光学单元的焦平面上；
    所述激光发射器发射出射激光；及
    使用所述准直光学单元对所述出射激光进行准直。
  12. 如权利要求11所述的方法，其特征在于，所述多个激光发射板包括至少两列所述激光发射板，每一列激光发射板包括至少两个激光发射板。
  13. 如权利要求12所述的方法，其特征在于，每一列激光发射板中，相邻两个激光发射板之间的距离相等。
  14. 如权利要求13所述的激光雷达，其特征在于，每一列激光发射板中相邻两个激光发射板之间的距离与其他列激光发射板中相邻两个激光发射板之间的距离相等。
  15. 如权利要求11所述的方法，其特征在于，每一个激光发射板与水平面平行，且每一个激光发射板在水平方向上与其他激光发射板错开排列。
  16. 如权利要求15所述的方法，其特征在于，不同列的激光发射板在水平面上的投影部分重叠。
  17. 如权利要求11所述的方法，其特征在于，所述激光雷达还包括旋转机构；所述激光发射器及所述准直光学单元均设置于所述旋转机构上。
  18. 如权利要求17所述的方法，其特征在于，所述激光雷达还包括用于接收从被测物体反射回的出射激光的接收系统；所述接收系统设置于所述旋转机构上。
  19. 如权利要求17所述的方法，其特征在于，所述激光雷达还包括固定机构；所述固定机构上设有多路激光测距数据输出接口。
  20. 如权利要求19所述的方法，其特征在于，所述激光雷达还包括通讯系统；所述通讯系统用于实现所述旋转机构和所述固定机构之间的通讯。
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