A crop growth environment and growth status monitoring system

Abstract

The present invention discloses a crop growth environment and growth status monitoring system, including a detection terminal, a traveling vehicle and a control terminal, wherein the detection terminal is distributed in a planting field; the detection terminal is provided with a first detection module, a first processor and a first communication module; the traveling vehicle is provided with a second detection module, a second processor, a second communication module and a third communication module; the first detection module is connected to the first processor in communication, the first processor is connected to the second communication module in communication through the first communication module, the second communication module is connected to the second processor in communication, the second processor is connected to the control terminal in communication through the third communication module, and the second detection module is connected to the second processor in communication. The present invention does not require manual labor and has the advantages of complete data collection, fast measurement efficiency and high measurement accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of crop growth monitoring, and in particular to a crop growth environment and growth status monitoring system. Background Art

[0002] As people's living standards improve, their requirements for the green and healthy environment and food continue to increase. Establishing a traceable agricultural product production mechanism has become a new trend in agricultural development. How to collect data and record the growth trajectory of agricultural products to make products greener and healthier has become a hot issue. Among them, agricultural microclimate data is the basic guarantee for agricultural development. The climate in the planting area affects the growth of crops. The collection of agricultural microclimate data can put the relevant important indicators of agricultural meteorology in the hands of planting personnel, and take corresponding preventive measures in time to reduce the harmful effects of climate on crops. At the same time, in the process of crop cultivation, it is necessary to measure the height of crop plants to predict their growth trajectory and ensure the normal growth of crops.

[0003] However, the existing data collection on crop growth environment and crop growth conditions often does not form an integrated system, and is basically collected manually, which has the following shortcomings: (1) Data collection is incomplete and cannot fully reflect the growth environment and growth conditions of crops, which can easily lead to problems such as inadequate crop protection; (2) Manual measurement is not only inefficient, time-consuming and labor-intensive, but may also result in large errors, affecting the accuracy of the data. Summary of the invention

[0004] In order to solve the problems of incomplete data collection and slow data collection efficiency due to the fact that the existing collection of crop growth environment data and growth status data has not formed a complete system, the purpose of the present invention is to provide a crop growth environment and growth status monitoring system that can quickly and completely collect crop growth environment data and its own growth status data.

[0005] The technical solution adopted by the present invention is:

[0006] A crop growth environment and growth status monitoring system, comprising a detection terminal, a traveling vehicle and a control terminal, wherein the detection terminal is distributed in a planting field;

[0007] The detection terminal is provided with a first detection module, a first processor and a first communication module;

[0008] The traveling vehicle is provided with a second detection module, a second processor, a second communication module and a third communication module;

[0009] The first detection module is communicatively connected to the first processor, the first processor is communicatively connected to the second communication module via the first communication module, the second communication module is communicatively connected to the second processor, the second processor is communicatively connected to the control terminal via the third communication module, and the second detection module is communicatively connected to the second processor;

[0010] The second detection module includes a carbon dioxide sensor, a photosynthetically active radiation sensor, and an ultrasonic wind speed and direction sensor, an air temperature and humidity sensor, and an infrared rainfall sensor.

[0011] Optimally, the first detection module includes a first measuring device for measuring crop height and a second measuring device for measuring soil moisture, and the first communication module and the second communication module respectively use Zigbee transceivers;

[0012] The first measuring device and the second measuring device are respectively communicatively connected to the Zigbee transceiver through the first processor.

[0013] Further optimized, the first measuring device is an infrared transceiver, the second measuring device is a soil moisture sensor, and the detection terminal is also provided with an analog-to-digital conversion module. The infrared transceiver is communicatively connected to the first processor, and the soil moisture sensor is communicatively connected to the first processor via the module conversion module.

[0014] Optimally, the third communication module includes a WIFI communication unit and a 4G communication unit, and the second processor is connected to the control terminal via the WIFI communication unit or the 4G unit.

[0015] The optimization also includes a 4G base station, a WIFI base station and a server, wherein the WIFI communication unit is communicatively connected to the WIFI base station, the WIFI base station is communicatively connected to the server via the Internet, the 4G communication unit is communicatively connected to the 4G base station, the 4G base station is communicatively connected to the server via the Internet, and the control terminal is communicatively connected to the server.

[0016] Specifically, a firewall is provided between the Internet and the server.

[0017] Optimally, the traveling vehicle is further provided with a driving module, wherein the driving module is used to drive the traveling of the traveling vehicle and the adjustment of the detection arm on the traveling vehicle, and the second processor is communicatively connected to the driving module.

[0018] Optimally, the traveling vehicle is further provided with a third detection module which is communicatively connected to the second processor, wherein the third detection module is used to detect obstacles on the road in front of the traveling vehicle and the inclination angle of the detection arm when the traveling vehicle stops.

[0019] Specifically, the third detection module includes an infrared radar and a level sensor.

[0020] Specifically, the detection arm is composed of multiple rod bodies connected in series, and the rod body includes a mounting seat, a column and a cross arm. The mounting seat is located below the column and there is a gap between the mounting seat and the bottom of the column. The column (and the cross arm form an L-shaped structure;

[0021] The driving module includes a first stepper motor, a second stepper motor and a pitch stepper motor, wherein the rotating shaft of the first stepper motor is fixedly connected to the bottom of the mounting seat, the second stepper motor is fixed on the column, and the rotating shaft of the second stepper motor is fixedly connected to the cross arm, the pitch stepper motor is connected and fixed to the top surface of the mounting seat through an L-shaped fixing plate, and the rotating shaft of the pitch stepper motor is fixedly connected to the column;

[0022] The level sensor is located on the column, and the infrared radar is located on the front surface of the traveling vehicle.

[0023] The beneficial effects of the present invention are:

[0024] (1) The present invention is a system for monitoring the growth environment and growth status of crops. The present invention includes a detection terminal, a traveling vehicle and a control terminal. The first detection module in the detection terminal is used to detect the height of the crop plants and the soil moisture, and transmit the detected data to the first processor. The first processor transmits the detected data to the traveling vehicle through the first communication module. The detection terminals are distributed in the planting field. That is, when the traveling vehicle passes through each detection terminal, the soil moisture data and the crop plant height data measured by each detection terminal can be obtained, and then the overall soil moisture and overall plant height of the entire planting field can be obtained. The traveling vehicle is also provided with a second detection module, which can measure the carbon dioxide concentration, wind speed and direction, temperature and humidity, and rainfall in the planting field, and transmit the detected data to the control terminal through the third communication module. Through the above design, the growth height data and climate data of crops in the entire planting field can be completely collected and transmitted to the control terminal in real time, which is convenient for the staff to predict the growth rules of crops and arrange corresponding preventive measures according to the climate data, so as to ensure the normal growth of crops to the greatest extent. At the same time, the data collection of this system is fully automated, with high efficiency and high accuracy, avoiding the problems of incomplete data, inaccurate data and slow data efficiency in traditional manual data collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a communication block diagram of the crop growth environment and growth status monitoring system provided by the present invention.

[0027] Figure 2 It is a structural schematic diagram of the detection arm provided by the present invention.

[0028] Figure 3 It is a structural schematic diagram of the cross arm provided by the present invention.

[0029] Figure 4 It is a structural schematic diagram of the support column provided by the present invention.

[0030] In the above drawings, 1-detection terminal; 2-traveling vehicle; 3-control terminal; 4-mounting seat; 5-column; 6-cross arm; 7-first stepper motor; 8-second stepper motor; 9-pitch stepper motor; 10-infrared transceiver; 11-soil moisture sensor; 12-infrared radar; 13-level sensor. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with specific embodiments. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0032] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there may be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0033] Embodiment 1

[0034] like Figures 1 to 4 As shown, the crop growth environment and growth status monitoring system provided in this embodiment includes a detection terminal 1, a traveling vehicle 2 and a control terminal 3, wherein the detection terminal 1 is distributed in the planting field.

[0035] The detection terminal 1 is provided with a first detection module, a first processor and a first communication module.

[0036] The traveling vehicle 2 is provided with a second detection module, a second processor, a second communication module and a third communication module.

[0037] The first detection module is communicatively connected to the first processor, the first processor is communicatively connected to the second communication module via the first communication module, the second communication module is communicatively connected to the second processor, the second processor is communicatively connected to the control terminal 3 via the third communication module, and the second detection module is communicatively connected to the second processor.

[0038] The second detection module includes a carbon dioxide sensor, a photosynthetically active radiation sensor, and an ultrasonic wind speed and direction sensor, an air temperature and humidity sensor, and an infrared rainfall sensor.

[0039] like Figure 1 As shown, the crop growth environment and growth status monitoring system is described in detail below:

[0040] The detection terminal 1 is used to measure the height of crop plants and detect the moisture of soil, and the detection terminal 1 is distributed in the planting field. Through such a design, the overall height of crop plants and soil moisture in the entire planting field can be measured through the detection terminal.

[0041] The first detection module in the detection terminal 1 is the detection end, and the detection terminal 1 measures the height of the crop plants and the soil moisture through the first detection module.

[0042] The first processor is used to process the data transmitted by the first detection module and transmit it to the traveling vehicle 2 through the first communication module. Through such a design, as long as the traveling vehicle 2 enters the communication range of the first communication module in each detection terminal 1, it can receive the measurement data transmitted by each detection terminal 1, thereby realizing the collection of measurement data of the detection terminals 1 in the entire planting field.

[0043] The walking vehicle 2 is not only used to receive data transmitted by the detection terminal 1, but the walking vehicle 2 can also measure the wind speed and direction, temperature, humidity and rainfall in the planting field area through the second detection module, and then can completely collect the climate data in the planting field area. These data can reflect the climate conditions in the planting field area. The second processor transmits these data to the control terminal 3 through the third communication module. The staff can obtain complete climate data and then grasp the important indicators of the climate in the planting field, set corresponding preventive measures, reduce the harmful effects of climate on crops, and ensure the normal growth of crops.

[0044] The second detection module can also measure the carbon dioxide concentration and photosynthetically active radiation. The second processor sends these data and the data uploaded by the detection terminal 1 to the control terminal 3 through the third communication module, so that the staff can analyze the photosynthesis intensity of crops through the carbon dioxide concentration and photosynthetically active radiation, and analyze the growth status of crops based on the height data. These data can be used to predict the growth pattern of crops and ensure the normal growth of crops to the greatest extent.

[0045] At the same time, the staff can also use the data transmitted by the detection terminal 1 to comprehensively grasp the height of the plants and the soil moisture in each detection terminal 1 area in the entire planting field. These data can be used to carry out targeted management of each detection terminal 1 area, further ensuring the normal growth of crops.

[0046] Through the above design, the system can obtain complete climate data in the planting field and complete growth data of the crops themselves, which is convenient for staff to predict the climate and the growth law of crops, and to ensure the normal growth of crops to the greatest extent. In addition, the data collection of this system is fully automated, with high accuracy and high efficiency, avoiding the problems of incomplete, inaccurate and inefficient data collection in traditional manual measurement.

[0047] In this embodiment, the second detection module measures the carbon dioxide concentration, photosynthetically active radiation, wind speed, wind direction, temperature, humidity and rainfall in the planting field through a carbon dioxide sensor, a photosynthetically active radiation sensor and an ultrasonic wind speed and direction, air temperature and humidity, and an infrared rainfall integrated sensor.

[0048] Optimally, the first detection module includes a first measuring device for measuring crop height and a second measuring device for measuring soil moisture, and the first communication module and the second communication module respectively use Zigbee transceivers;

[0049] The first measuring device and the second measuring device are respectively communicatively connected to the Zigbee transceiver through the first processor.

[0050] Specifically, the first measuring device is an infrared transceiver 10, the second measuring device is a soil moisture sensor 11, and the detection terminal 1 is also provided with an analog-to-digital conversion module. The infrared transceiver 10 is communicatively connected to the first processor, and the soil moisture sensor 11 is communicatively connected to the first processor via the module conversion module.

[0051] Through the above design, the first measuring device is used to measure the plant height of crops in the area of ​​the detection terminal 1, and the second measuring device is used to measure the humidity of the soil in the area of ​​the detection terminal 1, and transmit the measured data to the first processor respectively, and the first processor transmits it to the Zigbee transceiver on the walking vehicle 2 through the Zigbee transceiver, thereby realizing the collection of data in the detection terminal 1 by the walking vehicle 2.

[0052] In this embodiment, the first measuring device is taken as an infrared transceiver 10, the second measuring device is taken as a soil moisture sensor 11, and in this embodiment, the detection terminal 1 is taken as a support column. Figure 4 As shown, the infrared transceivers are arranged at equal intervals from top to bottom on each side of the support column.

[0053] The principle of measuring height by the infrared transceiver 10 is as follows: when the infrared light emitted by the infrared transceiver 10 encounters crops, it will be blocked by the crops and then reflected back, thereby being received by the infrared transceiver 10 on the support column and transmitting a signal to the first processor. The first processor will use the highest one of the several infrared transceivers that transmit the signal as the height of the crop plant. In this way, the function of measuring the crop plant can be realized.

[0054] The soil moisture sensor 11 is an existing device, and its principle is: using the electromagnetic pulse principle, according to the propagation frequency of electromagnetic waves in the medium to measure the apparent dielectric constant of the soil, so as to obtain the relative water content of the soil.

[0055] Since the soil moisture sensor 11 transmits an analog signal, an analog-to-digital conversion module is required to convert the analog signal into a digital signal, thereby obtaining the soil moisture value and transmitting the moisture value in real time.

[0056] The model of the analog-to-digital conversion module is: PCF8591T.

[0057] In this embodiment, the Zigbee transceiver is an existing device, which is a low-power local area network protocol based on the IEEEE802.15.4 standard. It can operate in three frequency bands: 2.4 GHz (popular worldwide), 868 MHz (popular in Europe) and 915 MHz (popular in the United States), with a maximum transmission rate of 250 kbit / s, 20 kbit / s and 40 kbit / s respectively. Its transmission distance is in the range of 10 to 75 m, but can be further increased. It has the advantages of low power consumption, low cost, short delay, large network capacity, reliability and security.

[0058] Optimally, the third communication module includes a WIFI communication unit and a 4G communication unit, and the second processor is connected to the control terminal 3 via the WIFI communication unit or the 4G unit.

[0059] The optimization also includes a 4G base station, a WIFI base station and a server, wherein the WIFI communication unit is communicatively connected to the WIFI base station, the WIFI base station is connected to the server via Internet communication, the 4G communication unit is communicatively connected to the 4G base station, the 4G base station is connected to the server via Internet communication, and the control terminal 3 is communicatively connected to the server.

[0060] Specifically, a firewall is provided between the Internet and the server.

[0061] Through the above design, the second processor can transmit the data detected by the second detection module to the control terminal 3 through the WIFI communication unit or the 4G communication unit, and can also transmit the data uploaded by the detection terminal 1 to the control terminal 3 through the WIFI communication unit or the 4G communication unit, so that the staff can obtain complete climate data and complete crop growth data.

[0062] The above scheme is optimized as follows: 4G base stations and WIFI base stations are set up in the planting fields. Since the area of ​​the planting fields may be large, the data may not be uploaded normally due to the limitation of the 4G communication and WIFI communication distances. Therefore, 4G base stations and WIFI base stations are set up to increase the data transmission distance to ensure the normal upload of climate data and crop growth data. At the same time, the server is set up to store the uploaded data in the server to realize data backup and ensure that the data will not be lost.

[0063] The above solution can be further optimized by setting up a firewall between the server and the Internet. This design can ensure the security of data transmission and prevent data leakage.

[0064] Optimally, the traveling vehicle 2 is further provided with a driving module, wherein the driving module is used to drive the traveling of the traveling vehicle 2 and the adjustment of the detection arm on the traveling vehicle 2, and the second processor is communicatively connected to the driving module.

[0065] Through the above design, the staff can send instructions to the traveling vehicle 2 through the control terminal 3 to control the movement of the traveling vehicle 2 and the adjustment of the detection arm, which greatly improves the convenience of use. At the same time, the traveling vehicle 2 can also control the driving module to drive the traveling vehicle 2 and the adjustment of the detection arm according to the pre-set settings through the second processor.

[0066] Optimally, the traveling vehicle 2 is further provided with a third detection module which is communicatively connected to the second processor, wherein the third detection module is used to detect obstacles on the road in front of the traveling vehicle 2 and the inclination angle of the detection arm when the traveling vehicle 2 stops.

[0067] Specifically, the third detection module includes an infrared radar 12 and a level sensor 13 .

[0068] Specifically, the detection arm is composed of multiple rod sections connected in series, and the rod body includes a mounting seat 4, a column 5 and a cross arm 6. The mounting seat 4 is located below the column 5 and there is a gap between the mounting seat 4 and the bottom of the column 5. The column 5 and the cross arm 6 form an L-shaped structure.

[0069] The driving module includes a first stepper motor 7, a second stepper motor 8 and a pitch stepper motor 9, wherein the rotating shaft of the first stepper motor 7 is fixedly connected to the bottom of the mounting seat 4, the second stepper motor 8 is fixed on the column 5, and the rotating shaft of the second stepper motor 8 is fixedly connected to the cross arm 6, and the pitch stepper motor 9 is connected and fixed to the top surface of the mounting seat 4 through an L-shaped fixing plate, and the rotating shaft of the pitch stepper motor 9 is fixedly connected to the column 5.

[0070] The level sensor 13 is located on the column 5 , and the infrared radar 12 is located on the front surface of the traveling vehicle 2 .

[0071] The third detection module is used to detect the angle between the detection arm and the horizontal plane, that is, to determine whether the detection arm is horizontal, to avoid the detection arm being tilted, affecting the measurement of the second detection module and reducing the accuracy of the data.

[0072] The third detection module can also detect whether there is an obstacle in front of the traveling vehicle 2 to prevent collision problems.

[0073] In this embodiment, the third detection module implements the above functions through the infrared radar 12 and the level sensor 13 .

[0074] like Figure 2 and 3 As shown, the working process of the third detection module is described below in combination with the specific structure of the detection arm:

[0075] First, the horizontal sensor 13 is set on the column 5, which can detect the inclination angle of the column 5 and transmit it to the second processor in real time. When it is determined that the column 5 is tilted, the drive module can be controlled to work, that is, the second stepper motor 8 and the pitch stepper motor 9 work, adjust the inclination angle of the column 5 and the cross arm 6, and then keep the entire detection arm horizontal, thereby ensuring the accuracy of the detection result of the second detection module.

[0076] The first stepper motor 7 controls the rotation of the column 5, and then controls the rotation of the entire detection arm, so that the second detection module on the detection arm can be rotated to a suitable orientation for detection, and can also perform detection in different orientations through rotation.

[0077] In summary, the crop growth environment and growth ring monitoring system provided by the present invention has the following technical effects:

[0078] (1) The present invention is a system for monitoring the growth environment and growth status of crops. The present invention comprises a detection terminal 1, a traveling vehicle 2 and a control terminal 3. The first detection module in the detection terminal 1 is used to detect the height of the crop plants and the soil moisture, and transmit the detected data to the first processor. The first processor transmits the detected data to the traveling vehicle 2 through the first communication module. The detection terminals are distributed in the planting field. That is, when the traveling vehicle 2 passes through each detection terminal, the soil moisture data and the crop plant height data measured by each detection terminal 1 can be obtained, and then the overall soil moisture and overall plant height of the entire planting field can be obtained. The traveling vehicle 2 is also provided with a second detection module, which can measure the carbon dioxide concentration, wind speed and direction, temperature and humidity, and rainfall in the planting field, and transmit the detected data to the control terminal 3 through the third communication module. Through the above design, the growth height data and climate data of crops in the entire planting field can be completely collected and transmitted to the control terminal 3 in real time, which is convenient for the staff to predict the growth rules of crops and arrange corresponding preventive measures according to the climate data, so as to ensure the normal growth of crops to the greatest extent. At the same time, the data collection of this system is fully automated, with high efficiency and high accuracy, avoiding the problems of incomplete data, inaccurate data and slow data efficiency in traditional manual data collection.

[0079] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A crop growth environment and growth status monitoring system, characterized in that: It comprises a detection terminal (1), a traveling vehicle (2) and a control terminal (3), wherein the detection terminal (1) is distributed in a planting field; The detection terminal (1) is provided with a first detection module, a first processor and a first communication module; The traveling vehicle (2) is provided with a second detection module, a second processor, a second communication module and a third communication module; The first detection module is communicatively connected to the first processor, the first processor is communicatively connected to the second communication module via the first communication module, the second communication module is communicatively connected to the second processor, the second processor is communicatively connected to the control terminal (3) via the third communication module, and the second detection module is communicatively connected to the second processor; The second detection module includes a carbon dioxide sensor, a photosynthetically active radiation sensor, and an ultrasonic wind speed and direction sensor, an air temperature and humidity sensor, and an infrared rainfall sensor; The traveling vehicle (2) is also provided with a driving module, wherein the driving module is used to drive the traveling vehicle (2) and adjust the detection arm on the traveling vehicle (2), and the second processor is communicatively connected to the driving module; The traveling vehicle (2) is also provided with a third detection module which is in communication connection with the second processor, wherein the third detection module is used to detect obstacles on the road ahead of the traveling vehicle (2) and the inclination angle of the detection arm when the traveling vehicle (2) stops; The third detection module comprises an infrared radar (12) and a level sensor (13); The detection arm is composed of a plurality of rod bodies connected in series, wherein the rod body comprises a mounting seat (4), a column (5) and a cross arm (6); the mounting seat (4) is located below the column (5) and there is a gap between the mounting seat (4) and the bottom of the column (5); an L-shaped structure is formed between the column (5) and the cross arm (6); The driving module comprises a first stepper motor (7), a second stepper motor (8) and a pitch stepper motor (9), wherein the rotation axis of the first stepper motor (7) is fixedly connected to the bottom of the mounting seat (4), the second stepper motor (8) is fixed on the column (5), and the rotation axis of the second stepper motor (8) is fixedly connected to the cross arm (6), and the pitch stepper motor (9) is connected and fixed to the top surface of the mounting seat (4) via an L-shaped fixing plate, and the rotation axis of the pitch stepper motor (9) is fixedly connected to the column (5); The level sensor is located on the column (5), and the infrared radar is located on the front surface of the traveling vehicle (2); The first detection module includes a first measuring device for measuring the height of crops and a second measuring device for measuring soil moisture, and the first communication module and the second communication module respectively use Zigbee transceivers; The first measuring device and the second measuring device are respectively communicatively connected to the Zigbee transceiver through the first processor.

2. A crop growth environment and growth status monitoring system according to claim 1, characterized in that: The first measuring device is an infrared transceiver (10), the second measuring device is a soil moisture sensor (11), the detection terminal (1) is also provided with an analog-to-digital conversion module, the infrared transceiver (10) is communicatively connected to the first processor, and the soil moisture sensor (11) is communicatively connected to the first processor via the analog-to-digital conversion module.

3. A crop growth environment and growth status monitoring system according to claim 1, characterized in that: The third communication module comprises a WIFI communication unit and a 4G communication unit, and the second processor is connected to the control terminal (3) through the WIFI communication unit or the 4G communication unit.

4. A crop growth environment and growth status monitoring system according to claim 3, characterized in that: It also includes a 4G base station, a WIFI base station and a server, wherein the WIFI communication unit is communicatively connected to the WIFI base station, the WIFI base station is communicatively connected to the server via the Internet, the 4G communication unit is communicatively connected to the 4G base station, the 4G base station is communicatively connected to the server via the Internet, and the control terminal (3) is communicatively connected to the server.

5. A crop growth environment and growth status monitoring system according to claim 4, characterized in that: A firewall is arranged between the Internet and the server.

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