AI human body posture self-adaptive adjusting support

Abstract

The utility model discloses an AI human body posture self-adaptive adjusting support which comprises a supporting panel, a fixed clamping base fixed to the bottom face of the supporting panel, a camera device arranged on the rear side edge of the supporting panel, a displacement adjusting device connected with the fixed clamping base, an installation base connected with the lower end of the displacement adjusting device and a control device arranged on the installation base. The displacement adjusting device comprises a driving structure, a connecting arm connected with the driving device through a connecting piece and a rotating seat, the camera device comprises a camera and a camera image transmission module connected with the camera, and the control device comprises a controller, a single chip microcomputer and a data communication module. A multi-joint form is adopted in the structure, the support is controlled to move at high degree of freedom through the rotating seats and the driving mechanisms connected with the rotating seats, the adjusting range covers the x axis, the y axis, the z axis and the relative inclination angle between the support and a user, and the multi-joint posture adjusting device can adapt to complex and various working environments, more efficiently help the user to improve the posture and reduce the adverse effect on the body.

Description

Technical Field

[0001] The utility model relates to a bracket, in particular to an AI human body posture self-adaptive adjustment bracket. Background Art

[0002] The human posture correction system has a wide range of applications in the rehabilitation medical industry. This system can not only more intelligently identify and correct the unreasonable posture of the human body when studying and working, but can also be extended to fields including medicine and sports in the future. At present, there are several solutions for the research on human posture adjustment systems and related brackets:

[0003] 1) Project proposal for “Design and implementation of a sitting posture recognition system based on pressure sensors”

[0004] The sitting posture recognition method designed in this project is a combination of software and hardware. Several pressure sensors on the seat collect human sitting posture pressure signals, and the single-chip microcomputer performs data analysis, and the PC displays the analysis results of human sitting posture. It can conveniently give real-time analysis results of the human sitting posture on the seat at any time, which has targeted guiding significance for the upper diseases caused by bad sitting posture. This project has the following defects: 1. The sitting posture recognition system based on the pressure sensor of the system cannot accurately locate the user's position. 2. The wrong posture of the upper body, such as the neck and cervical spine, cannot be reminded and corrected by the system.

[0005] 2) Project plan for "Research on a height-adjustable monitor stand"

[0006] like Figure 1 As shown in the figure, the research realizes the function of stably clamping the display screen by assembling the support rod and the connecting parts. In addition, the project realizes stable up and down translation through the cylinder, successfully solving the problem of height adjustment of the display. The project has the following defects: 1. The research only solves the problem of height adjustment, and does not involve electronic control, and cannot realize the function of automatic adjustment according to actual conditions. 2. The cylinder assembly used in this project occupies a large amount of desktop space, and needs to be equipped with many auxiliary accessories, which is less practical and has a high cost for later maintenance.

[0007] 3) Project plan for “Design of intelligent display stand based on human sitting posture identification”

[0008] This project discusses an intelligent bracket system that can automatically adjust the angle and distance of the LCD screen according to the user's sitting posture and head position. This project uses a head tracking device based on an ultrasonic module to obtain the spatial position of the head, and controls the screen bracket to adjust its spatial position, so as to achieve the purpose of detecting and changing the sitting posture of the human body. This project has the following defects: 1. The integrated transceiver ultrasonic ranging module SR04T used in the project has lower recognition accuracy and larger errors than the camera, and cannot achieve precise control of the bracket. 2. The ultrasonic sensor in this project can only track the human head, which is difficult to meet more complex and diverse usage scenarios. 3. The human-computer interaction function of this project is based on the touch color screen and voice playback recognition module installed on the bracket, which increases the user's interaction burden.

[0009] 4) Project plan for "Development of intelligent anti-myopia sitting posture correction device based on infrared technology"

[0010] This project aims to warn people of unreasonable sitting postures. The infrared ranging system measures the relevant distance and issues a warning when it is less than the threshold to remind people of sitting posture problems. This project has the following defects: 1. This project can only warn users and cannot achieve human posture adjustment through human-machine relationship. 2. This project mainly measures the relevant distance through infrared ranging and cannot achieve overall recognition of human posture. There are limitations in the recognition of human posture.

[0011] 5) Project proposal for “Design of automatic adjustment monitor stand system based on MTCNN”

[0012] like Figure 2 As shown in the figure, the main research content is to identify and locate faces in camera images based on MTCNN (this project is called "Design of Automatic Adjustment Monitor Bracket System Based on MTCNN", and the main research content is to identify and locate faces in camera images based on MTCNN (Multi-task Cascade Convolutional Neural Network) face recognition algorithm. Specifically, through the MTCNN algorithm, faces can be detected in the image captured by the camera and selected with a rectangular frame, so as to accurately locate the face. The project has the following defects: 1. The project document has few descriptions of the principles and implementation details of the MTCNN algorithm, and lacks an in-depth analysis of the algorithm itself. This may make it difficult for readers to understand the specific operation of the MTCNN algorithm when reading the project document, thereby affecting the promotion and application of the project. 2. Secondly, the project does not provide specific implementation ideas and methods, making it difficult for readers to apply theoretical knowledge to actual projects. 3. The detection scope of the project is relatively limited, and only faces are identified and located. Compared with the upper body skeleton recognition technology used in this project, its application scope is relatively limited.

[0013] 6) Project proposal for “Design and research of mobile display stand for preventing cervical spondylosis”

[0014] This project uses a stepper motor to control the slow movement of the computer monitor, and cleverly guides the user to move the head and neck unconsciously. It uses a 51 single-chip microcomputer to control the stepper motor, which is low-cost, small in size, and easy to implement. The motion trajectory of the monitor stand is variable, which can achieve the good effect of 360° movable cervical spine. Moreover, it refers to medical principles and combines intelligent technology to improve the effect of cervical spondylosis rehabilitation training. This project has the following defects: 1. The stand is only suitable for computer monitors and may not be suitable for other types of monitors. 2. For some special populations, such as patients with severe symptoms of cervical spondylosis, comprehensive treatment may be required in conjunction with other treatment methods, and the function of this monitor stand is limited. Utility Model Content

[0015] The utility model improves the existing technology and provides an AI human posture adaptive adjustment bracket to improve the increasing prevalence of uneven shoulders, hunchbacks, forward head extension and even scoliosis, and to solve the problems of the existing human posture correction system and equipment with high computing power requirements, low camera recognition accuracy, inability to accurately locate the user's position, and narrow application range. Users can obtain the current sitting posture data and switch the bracket mode through the mobile phone APP.

[0016] The utility model is realized by the following technical solutions:

[0017] The utility model discloses an AI human body posture adaptive adjustment bracket, which includes a support panel for placing objects, a fixed clamping seat fixed to the bottom surface of the support panel, a camera device arranged on the rear side of the support panel, a displacement adjustment device connected to the fixed clamping seat, a mounting seat connected to the lower end of the displacement adjustment device, and a control device arranged on the mounting seat. The displacement adjustment device includes a driving structure, a connecting arm connected to the driving device through a connecting piece, and a rotating seat. The camera device includes a camera and a camera image transmission module connected to the camera. The control device includes a controller, a single-chip microcomputer and a data communication module. The camera image transmission module is connected to the controller, the controller is connected to the data communication module, the data communication module is connected to the single-chip microcomputer, and the single-chip microcomputer is connected to the driving structure.

[0018] As a further improvement, the displacement adjustment device described in the utility model includes a first rotating seat from top to bottom, a second rotating seat, a second driving structure connected to the second rotating seat, a first arm connected to the second driving structure through a first connecting piece, a third rotating seat connected to the other end of the first arm, a third driving structure connected to the third rotating seat, a second arm connected to the second driving structure through a second connecting piece, and a fourth driving structure connected to the other end of the second arm, and the fourth driving structure is connected to the mounting seat.

[0019] As a further improvement, the camera device described in the utility model is connected to the rear side of the support panel through a first driving structure, and the first driving structure is used for rotating the camera.

[0020] As a further improvement, the second rotating seat and the third rotating seat described in the utility model both include a rotating seat connecting part containing an inner cavity and a side wall opening, a force-bearing rod with one end extending to the inner cavity through the side wall opening of the rotating seat connecting part and a gear hole at the other end, and a positioning piece arranged at one end of the rotating seat connecting part and including a positioning rod extending from the inner cavity of the rotating seat connecting part to the through hole opened on the surface of the force-bearing rod. One end of the first rotating seat is connected to the fixed clamping seat, and the other end is fixedly connected to the positioning piece on the second rotating seat.

[0021] As a further improvement, the first drive structure, the second drive structure, the third drive structure, and the fourth drive structure described in the utility model all include a connecting rod from one end to the other end, a stepper motor connected to the connecting rod, an output shaft on the stepper motor, and a gear fixed on the output shaft. The gears of the second drive structure and the third drive structure are matched with the gear holes on the force-bearing rod, the gears in the first drive structure are matched with the gear holes provided on the camera device, and the gears in the fourth drive device are matched with the gear holes on the third connecting member connected and fixed to the second arm.

[0022] As a further improvement, the first connecting member described in the utility model is a cylindrical structure, one end face of which is provided with an opening in which the first arm is inserted, and the circumferential outer surface near the other end is provided with an opening in which the connecting rod of the second driving structure is inserted.

[0023] As a further improvement, the second connecting member described in the utility model is a cylindrical structure, and its circumferential outer surface near one end is provided with an opening for inserting the connecting rod of the third driving structure, and the circumferential outer surface of the other end is provided with an opening for inserting the second arm, and the other end of the second arm is plugged into the opening formed on the outer surface of the third connecting member.

[0024] As a further improvement, the angle between the second arm and the third connecting member of the utility model is 90°-135°, and the angle between the second arm and the second connecting member is 90°-135°.

[0025] As a further improvement, the angle between the second driving structure and the first connecting member described in the utility model is 90 degrees.

[0026] As a further improvement, the mounting seat described in the utility model is a structure of two clamping plates and a limit screw fixed on one clamping plate, which is used for fixed connection.

[0027] The beneficial effects of the utility model are as follows:

[0028] (1) The utility model can perform barrier-free left-right, up-down, and front-back movements according to the human body posture in different working environments. By using the PoseC3D framework and OpenPose model, accurate recognition and analysis of human body posture can be achieved. Based on this data, the bracket will be able to automatically adjust its position and angle to adapt to the user's posture changes and provide a comfortable working experience.

[0029] (2) The structure of the utility model adopts a multi-joint form. Through each rotating seat and the driving mechanism connected thereto, the bracket is controlled to move with high freedom. The adjustment range covers the three axes of x, y, and z as well as the relative inclination angle between the bracket and the user. It can adapt to complex and diverse working environments, and more efficiently help users improve their posture and reduce adverse effects on the body.

[0030] (3) The utility model can analyze and process the user's posture through the control module, and timely remind the user through the App when the user's posture is unreasonable. The system will be able to monitor the user's posture in real time and determine whether the posture is reasonable by analyzing the data. When an unreasonable posture is detected, the system will provide the user with instant reminders and suggestions through the mobile phone application to help the user improve his posture and reduce adverse effects on the body.

[0031] (4) The gesture applet in the stand control module of the utility model can cooperate with the computer camera and the camera attached to the stand, and occupy as little running space as possible. In order to realize the gesture recognition function, a program will be developed, which will work in conjunction with the computer camera or the camera attached to the stand. At the same time, the code and algorithm of the program will be optimized to ensure that it occupies less running space and improve the performance and efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the process of automatically adjusting the display based on MTCNN;

[0033] Figure 2 It is a structural schematic diagram of the utility model;

[0034] Figure 3 It is a structural schematic diagram of the second rotating seat and the third rotating seat of the utility model;

[0035] Figure 4 It is a schematic diagram of the driving structure of the utility model;

[0036] Figure 5 This is a side view of the driving structure of the utility model;

[0037] In the figure, 1 is a supporting panel, 2 is a fixed clamping seat, 3 is a first rotating seat, 4 is a second rotating seat, 5 is a second driving structure, 6 is a first connecting member, 7 is a first arm, 8 is a third rotating seat, 9 is a third driving structure, 10 is a second connecting member, 11 is a second arm, 12 is a fourth driving structure, 13 is a camera, 14 is a first driving structure, 15 is a control device, 17 is a mounting seat, 18 is a force-bearing rod, 19 is a connecting rod, 20 is a stepping motor, 21 is a gear, 22 is a positioning member, 23 is a rotating seat connecting part, 24 is an output shaft, and 25 is a third connecting member. DETAILED DESCRIPTION

[0038] The technical solution of the utility model is further described below by means of specific embodiments in conjunction with the accompanying drawings of the specification:

[0039] Figure 2 It is a schematic diagram of the structure of the utility model; Figure 3 It is a structural schematic diagram of the second rotating seat 4 and the third rotating seat 8 of the utility model; Figure 4 It is a schematic diagram of the driving structure of the utility model; Figure 5 It is a side view structural schematic diagram of the driving structure of the utility model; the utility model discloses an AI human body posture adaptive adjustment bracket, the bracket includes a support panel 1 for placing objects, a fixed clamping seat 2 fixed to the bottom surface of the support panel 1, a camera device arranged on the rear side of the support panel 1, a displacement adjustment device connected to the fixed clamping seat 2, a mounting seat 17 connected to the lower end of the displacement adjustment device, and a control device 15 arranged on the mounting seat 17. The displacement adjustment device includes a driving structure, a connecting arm connected to the driving device through a connecting piece, and a rotating seat. The camera device includes a camera 13 and a camera 13 image transmission module connected to the camera 13. The control device 15 includes a controller, a single-chip microcomputer and a data communication module. The camera 13 image transmission module is connected to the controller, the controller is connected to the data communication module, the data communication module is connected to the single-chip microcomputer, and the single-chip microcomputer is connected to the driving structure.

[0040] The displacement adjustment device includes from top to bottom a first rotating seat 3, a second rotating seat 4, a second driving structure 5 connected to the second rotating seat 4, a first arm 7 connected to the second driving structure 5 via a first connecting member 6, a third rotating seat 8 connected to the other end of the first arm 7, a third driving structure 9 connected to the third rotating seat 8, a second arm 11 connected to the second driving structure 5 via a second connecting member 10, and a fourth driving structure 12 connected to the other end of the second arm 11, and the fourth driving structure 12 is connected to a mounting seat 17.

[0041] The camera device is connected to the rear side of the support panel 1 via a first driving structure 14 , and the first driving structure 14 is used for rotating the camera 13 .

[0042] The second rotating seat 4 and the third rotating seat 8 both include a rotating seat connecting part 23 containing an inner cavity and a side wall opening, a force-bearing rod 18 with one end extending through the side wall opening of the rotating seat connecting part 23 to the inner cavity and the other end being a hole for the gear 21, and a positioning piece 22 arranged at one end of the rotating seat connecting part 23 and including a positioning rod extending from the inner cavity of the rotating seat connecting part 23 to the through hole opened on the surface of the force-bearing rod 18. One end of the first rotating seat 3 is connected to the fixed clamping seat 2, and the other end is fixedly connected to the positioning piece 22 on the second rotating seat 4.

[0043] The first driving structure 14, the second driving structure 5, the third driving structure 9, and the fourth driving structure 12 all include a connecting rod 19 from one end to the other end, a stepper motor 20 connected to the connecting rod 19, an output shaft 24 on the stepper motor 20, and a gear 21 fixed on the output shaft 24. The gears 21 of the second driving structure 5 and the third driving structure 9 are matched with the gear 21 hole on the force-bearing rod 18, the gear 21 in the first driving structure 14 is matched with the gear 21 hole set on the camera device, and the gear 21 in the fourth driving device is matched with the gear 21 hole on the third connecting member 25 connected and fixed to the second arm 11.

[0044] The first connecting member 6 is a cylindrical structure, one end face of which is provided with an opening in which the first arm 7 is inserted, and the circumferential outer surface near the other end is provided with an opening in which a connecting rod 19 of the second driving structure 5 is inserted; the second connecting member 10 is a cylindrical structure, the circumferential outer surface near one end is provided with an opening in which the connecting rod 19 of the third driving structure 9 is inserted, and the circumferential outer surface of the other end is provided with an opening in which the second arm 11 is inserted, and the other end of the second arm 11 is connected to the opening formed on the outer surface of the third connecting member 25.

[0045] The included angle between the second arm 11 and the third connecting member 25 is 90°-135°, and the included angle between the second arm 11 and the second connecting member 10 is 90°-135°. The included angle between the second driving structure 5 and the first connecting member 6 is 90 degrees. The mounting seat 17 is a structure of two clamping plates and a limit screw fixed on one clamping plate, which is used for fixed connection.

[0046] The first rotating seat 3 fixedly connected to the fixed clamping seat 2, the second rotating seat 4 movably connected to the first rotating seat 3, the second driving structure 5 connected to the second rotating seat 4, the third rotating seat 8 connected to the first arm 7, the third driving structure 9 connected to the third rotating seat 8, the first driving structure 14 is used to control the forward and backward rotation of the camera 13, the second driving structure 5 fixed between the first arm 7 and the second rotating seat 4 and controlling the upper part of the movable seat to rotate up and down, the third driving structure 9 fixed between the first arm 7 and the third rotating seat 8 and controlling the upper and lower rotation of the first arm 7, and the fourth driving structure 12 fixed on the mounting seat 17 and controlling the left and right rotation of the second arm 11. These components realize their respective movements through different driving mechanisms.

[0047] During the working process, the camera 13 module obtains information related to the human body posture, sends instructions to the drive system through algorithm calculation, and the drive mechanism operates at the same time, driving the rotating seat or the connecting part to rotate, and the height adjustment and direction rotation of the support surface 1 are achieved through rotation to keep it facing the user. The camera 13 module re-acquires the human body posture and continuously adjusts it to achieve human body posture correction.

[0048] The driving structure transmits force to the output shaft 24 of the driving structure through the stepping motor 20, and the gear 21 connected to the output shaft 24 rotates to drive the corresponding mechanism including the hole of the gear 21 to rotate.

[0049] The use process of this utility model is as follows:

[0050] Figure 1 It is a flow chart of automatic adjustment display based on MTCNN; the camera device includes a camera 13 and an image transmission module of the camera 13. After the camera 13 collects the video image, it is transmitted to the control device 15 through the image transmission module of the camera 13. The control module includes a controller, a single-chip computer and a data communication module. The controller includes an OpenPose module and a PoseC3D module. The video image is input into the controller, and the video image generates a two-dimensional human skeleton heat map through the OpenPose module inside the controller. The two-dimensional human skeleton heat map is input into the PoseC3D module, and the ideal sitting posture two-dimensional human skeleton heat map is generated after being processed by the PoseC3D module. This ideal sitting posture two-dimensional human skeleton heat map is transmitted to the single-chip computer through the data communication module. The single-chip computer is connected to each driving structure, so that each driving structure cooperates and moves to the position of the support panel 1 under the ideal sitting posture.

[0051] The ideal sitting posture includes the following parts:

[0052] Head straight: The head should be naturally straight, looking forward, not tilted.

[0053] Shoulders level: Keep your shoulders naturally level and relaxed, do not arch or shrug them, and avoid uneven shoulders.

[0054] Body straight: Keep your body upright, with your head, neck and back in a straight line, and your upper body slightly leaning forward.

[0055] Open arms: Place your hands in an "eight" shape flat on the table, with your elbows pointing outwards.

[0056] The angle of the supporting panel 1 can also be adjusted by manually or automatically adjusting the angles of the supporting panel 1 , the first rotating seat 3 , the second rotating seat 4 , and the third rotating seat 8 .

[0057] When the device needs to be turned on, the user opens the APP control interface to pair with Bluetooth. After the pairing is completed, the control device 15 will enter the automatic mode. In a single-person scene, the system accurately analyzes the face position through the camera 13, and controls the first drive structure 14, the second drive structure 5, the third drive structure 9 and the fourth drive structure 12 accordingly, automatically adjusting the vertical and horizontal angles of the camera 13 to ensure that the target remains in the center of the field of view.

[0058] If there are multiple people in the scene, the system uses a fuzzy logic algorithm to determine a center point based on the positions of the two farthest people, and calculates the data information required to adjust the camera 13 accordingly. This method ensures that multiple individuals can be effectively tracked while keeping them within the optimal monitoring range. The first drive structure 14, the second drive structure 5, the third drive structure 9 and the fourth drive structure 12 are controlled to automatically adjust the up and down and left and right angles. When it is detected that the relative position of the current face and the display screen may reflect light and cause unclear vision, the control device 15 issues a command to rotate the fourth drive mechanism to reduce the reflection. Every time a change in the position of a person is detected, a delay of 2-3 seconds is made to adjust to prevent frequent rotation.

[0059] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the core technical features of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An AI human body posture adaptive adjustment bracket, characterized in that: The bracket includes a supporting panel for placing objects, a fixed clamping seat fixed to the bottom surface of the supporting panel, a camera device arranged on the rear side of the supporting panel, a displacement adjustment device connected to the fixed clamping seat, a mounting seat connected to the lower end of the displacement adjustment device, and a control device arranged on the mounting seat. The displacement adjustment device includes a driving structure, a connecting arm connected to the driving device through a connecting piece, and a rotating seat. The camera device includes a camera and a camera image transmission module connected to the camera. The control device includes a controller, a single-chip microcomputer and a data communication module. The camera image transmission module is connected to the controller, the controller is connected to the data communication module, the data communication module is connected to the single-chip microcomputer, and the single-chip microcomputer is connected to the driving structure.

2. The AI ​​human body posture adaptive adjustment bracket according to claim 1, characterized in that: The displacement adjustment device includes a first rotating seat from top to bottom, a second rotating seat, a second driving structure connected to the second rotating seat, a first arm connected to the second driving structure through a first connecting piece, a third rotating seat connected to the other end of the first arm, a third driving structure connected to the third rotating seat, a second arm connected to the second driving structure through a second connecting piece, and a fourth driving structure connected to the other end of the second arm, and the fourth driving structure is connected to the mounting seat.

3. The AI ​​human body posture adaptive adjustment bracket according to claim 2 is characterized in that: The camera device is connected to the rear side of the support panel through a first driving structure, and the first driving structure is used for rotating the camera.

4. The AI ​​human body posture adaptive adjustment bracket according to claim 3 is characterized in that: The second rotating seat and the third rotating seat both include a rotating seat connecting part containing an inner cavity and a side wall opening, a force-bearing rod with one end extending to the inner cavity through the side wall opening of the rotating seat connecting part and a gear hole at the other end, and a positioning piece arranged at one end of the rotating seat connecting part and including a positioning rod extending from the inner cavity of the rotating seat connecting part to the through hole opened on the surface of the force-bearing rod. One end of the first rotating seat is connected to the fixed clamping seat, and the other end is fixedly connected to the positioning piece on the second rotating seat.

5. The AI ​​human body posture adaptive adjustment bracket according to claim 4 is characterized in that: The first driving structure, the second driving structure, the third driving structure, and the fourth driving structure all include a connecting rod from one end to the other end, a stepper motor connected to the connecting rod, an output shaft on the stepper motor, and a gear fixed on the output shaft. The gears of the second driving structure and the third driving structure are matched with the gear holes on the force-bearing rod, the gears in the first driving structure are matched with the gear holes provided on the camera device, and the gears in the fourth driving structure are matched with the gear holes on the third connecting member connected and fixed to the second arm.

6. The AI ​​human body posture adaptive adjustment bracket according to claim 3, 4 or 5, characterized in that: The first connecting member is a cylindrical structure, one end surface of which is provided with an opening in which the first arm is inserted, and the circumferential outer surface near the other end is provided with an opening in which a connecting rod of the second driving structure is inserted.

7. The AI ​​human body posture adaptive adjustment bracket according to claim 6, characterized in that: The second connecting member is a cylindrical structure, and its circumferential outer surface near one end is provided with an opening for inserting the connecting rod of the third driving structure, and the circumferential outer surface of the other end is provided with an opening for inserting the second arm. The other end of the second arm is plugged into the opening on the outer surface of the third connecting member.

8. The AI ​​human posture adaptive adjustment bracket according to claim 3, 4, 5 or 7, characterized in that: The included angle between the second arm and the third connecting member is 90°-135°, and the included angle between the second arm and the second connecting member is 90°-135°.

9. The AI ​​human body posture adaptive adjustment bracket according to claim 8, characterized in that: The included angle between the second driving structure and the first connecting member is 90 degrees.

10. The AI ​​human body posture adaptive adjustment bracket according to claim 1 or 2 or 3 or 4 or 5 or 7, characterized in that: The mounting seat is a structure of two clamping plates and a limiting screw fixed on one clamping plate, which is used for fixed connection.

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