A slope safety reminder method for a means of transport

Abstract

The present invention provides a method for reminding people when a vehicle is on a slope. The vehicle includes a measuring unit and a voice broadcast device. The vehicle's inclination angle a is calculated using data from the measuring unit. The inclination angle a is compared with set angle thresholds θ1, θ2, and θ3. If the inclination angle a is less than the set threshold θ1, the reminder of the voice broadcast device is turned off, and time counting variables t1 and t2 are cleared. If the inclination angle a is greater than θ1 and less than θ2, the inclination angle is continuously detected. If the inclination angle a is greater than θ2 and less than θ3, the time counting variable t1 is determined to be greater than the set time t. If the inclination angle a is greater than θ3, the time counting variable t2 is determined to be greater than the set time t. The present application can calculate the inclination angle of the vehicle using data from the measuring unit. By setting three different threshold slopes and corresponding judgment times, the accuracy and fault tolerance of the vehicle's slope reminder are fully improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent mobility tools, and in particular to a slope safety reminder method for mobility tools. Background Art

[0002] In recent years, as the aging population in my country has become increasingly serious, the walking ability of most elderly people has been greatly reduced as their physical functions have gradually deteriorated. Therefore, there is a need for an intelligent means of transportation to assist the elderly in walking.

[0003] However, the mobility devices currently on the market are not intelligent enough when going up and down slopes. There is no measurement unit used for the inclination detection of the mobility devices, or the inclination detection of the mobility devices is also a single threshold. The actual driving road surface is often diverse and complex, resulting in insufficient fault tolerance of the mobility devices during the detection process, false detection, high requirements for road conditions, and inability to correctly identify dangerous situations. When the elderly use mobility devices to go up and down slopes, they are prone to misjudging the slope of the slope or not paying attention in time, causing the mobility devices to slide, etc., seriously endangering the driving safety of the elderly, and even causing accidents such as vehicle rollovers and injuries to people. Summary of the Invention

[0004] The embodiment of the present invention provides a slope safety reminder method for a means of transport, and the technical problem to be solved is that the slope detection fault tolerance performance of existing means of transport is insufficient, and false detection is prone to occur.

[0005] To solve the above technical problems, the present invention adopts a technical solution: providing a slope safety reminder method for a mobility tool, wherein the mobility tool includes a measuring unit and a voice broadcast device, and is characterized in that the slope safety reminder method includes the following steps:

[0006] S101, calculating the inclination angle a of the transportation tool using data from the measuring unit;

[0007] S102, determining the size of the inclination angle a and the set angle thresholds θ1, θ2, and θ3; if the inclination angle a is less than the set angle threshold θ1, turning off the reminder of the voice broadcast device, clearing the time counting variables t1 and t2, and executing step S101; if the inclination angle a is greater than θ1 and less than θ2, continuing with step S101; if the inclination angle a is greater than θ2 and less than θ3, executing step S103; if the inclination angle a is greater than θ3, executing step S104;

[0008] S103, determining whether the time counting variable t1 is greater than the set time t, if the time counting variable t1 is greater than the set time t, the voice broadcast device issues a reminder, if the time counting variable t1 is less than the set time t, the time counting variable t1 is increased by 1, and step S101 is executed;

[0009] S104. Determine whether the time counting variable t2 is greater than the set time t. If the time counting variable t2 is greater than the set time t, control the mobility device to decelerate to a stop. If the time counting variable t2 is less than the set time t, add 1 to the time counting variable t2 and execute step S101.

[0010] In a specific embodiment, the data of the measurement unit includes acceleration information and angular velocity information of the mobility tool, and the acceleration information and angular velocity information of the mobility tool are used to obtain the pitch angle and roll angle of the mobility tool through Kalman filtering.

[0011] In a specific embodiment, the inclination angle a of the transportation tool includes the forward inclination angle a1 of the transportation tool and the lateral inclination angle a2 of the transportation tool. The pitch angle of the transportation tool corresponds to the forward inclination angle a1 of the transportation tool, and the roll angle of the transportation tool corresponds to the lateral inclination angle a2 of the transportation tool.

[0012] In a specific implementation, the step S103 further includes clearing the time counting variable t2.

[0013] In a specific embodiment, the range of the set angle threshold θ1 is 1° to 5°, the range of the set angle threshold θ2 is 5° to 9°, and the range of the set angle threshold θ3 is 9° to 12°.

[0014] In a specific embodiment, the set angle threshold θ1 is 5°, the set angle threshold θ2 is 9°, and the set angle threshold θ3 is 12°.

[0015] In a specific embodiment, the set time t is 1 second.

[0016] In a specific embodiment, a computer-readable storage medium is further included, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for reminding the slope safety of a means of transportation are implemented.

[0017] In a specific embodiment, a computer device is further included, including:

[0018] one or more processors;

[0019] Memory;

[0020] and one or more computer programs, the processor and the memory are connected via a bus, wherein the one or more computer programs are stored in the memory and are configured to be executed by the one or more processors, and when the processor executes the computer programs, the steps described in the above-mentioned method for slope safety reminder of the means of transport are implemented.

[0021] In a specific embodiment, a means of transport is also included, including:

[0022] one or more processors;

[0023] Memory;

[0024] and one or more computer programs, the processor and the memory are connected via a bus, wherein the one or more computer programs are stored in the memory and are configured to be executed by the one or more processors, characterized in that when the processor executes the computer program, the steps described in the above-mentioned method for slope safety reminder of a means of transport are implemented.

[0025] The beneficial effect of the present invention is that, unlike the prior art, the embodiment of the present invention provides a slope safety reminder method for a means of transport, wherein the means of transport includes a measuring unit and a voice broadcast device, and is characterized in that the slope safety reminder method includes the following steps:

[0026] S101, calculating the inclination angle a of the transportation tool using data from the measuring unit;

[0027] S102, determining the size of the inclination angle a and the set angle thresholds θ1, θ2, and θ3; if the inclination angle a is less than the set angle threshold θ1, turning off the reminder of the voice broadcast device, clearing the time counting variables t1 and t2, and executing step S101; if the inclination angle a is greater than θ1 and less than θ2, continuing with step S101; if the inclination angle a is greater than θ2 and less than θ3, executing step S103; if the inclination angle a is greater than θ3, executing step S104;

[0028] S103, determining whether the time counting variable t1 is greater than the set time t, if the time counting variable t1 is greater than the set time t, the voice broadcast device issues a reminder, if the time counting variable t1 is less than the set time t, the time counting variable t1 is increased by 1, and step S101 is executed;

[0029] S104. Determine whether the time counting variable t2 is greater than the set time t. If the time counting variable t2 is greater than the set time t, control the mobility device to decelerate to a stop. If the time counting variable t2 is less than the set time t, add 1 to the time counting variable t2 and execute step S101.

[0030] It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

[0031] Through the above-mentioned slope safety reminder method for mobility tools, the mobility tool uses a measuring unit to perform Kalman filtering fusion on the data of the measuring unit to obtain the forward inclination angle a1 and lateral inclination angle a2 of the mobility tool, and sets three different set angle thresholds θ1, θ2, and θ3 for the slope. By judging the relative size between the inclination angle a of the mobility tool and the three different set angle thresholds θ1, θ2, and θ3, the judgment between the time counting variables t1, t2 and the set time t is increased, and according to the size relationship between the time counting variables t1, t2 and the set time t, the reminder of the voice broadcast device is turned on or off, or the vehicle is automatically decelerated and stopped, thereby fully increasing the fault tolerance of the mobility tool for slope detection, making the slope judgment of the mobility tool more stable and reliable, preventing the mobility tool from overturning accidents, and increasing the driving safety of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 any creative work.

[0033] Figure 1 This is a schematic diagram of a flow chart for implementing a method for reminding a person on a slope when using a vehicle, as provided in the first embodiment of the present invention;

[0034] Figure 2 is a schematic structural diagram of a computer device provided in Embodiment 3 of the present invention;

[0035] Figure 3 This is a specific structural block diagram of the transportation tool provided by the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0036] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is particularly noted that the following embodiments are only used to illustrate the present application and do not limit the scope of the present application. Similarly, the following embodiments are only some embodiments of the present application and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0037] As used herein, the terms "comprise," "comprises," and "comprising," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or other steps or elements inherent to the process, method, product, or apparatus.

[0038] The above terms are only for the convenience of description and should not be understood as limiting the present technical solution.

[0039] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0040] The following describes the specific implementation of the present invention in detail with reference to specific embodiments:

[0041] Example 1:

[0042] Figure 1 The implementation process provided by the first embodiment of the present invention is shown. For ease of explanation, only the part related to the embodiment of the present invention is shown, which is detailed as follows:

[0043] S101, calculating the inclination angle a of the transportation tool using data from the measuring unit;

[0044] In an embodiment of the present invention, it is applicable to an intelligent mobility tool system or platform, wherein the mobility tool includes a mobility scooter for the elderly or an electric wheelchair, etc. The mobility tool system or platform includes a measurement unit, and the measurement unit includes an inertial measurement unit IMU, etc.

[0045] The measuring unit includes an accelerometer and a gyroscope. The accelerometer measures the three-axis (i.e., X-axis, Y-axis, and Z-axis) acceleration of the mobility tool, and the gyroscope measures the three-axis (i.e., X-axis, Y-axis, and Z-axis) angular velocity of the mobility tool.

[0046] The measurement unit performs Kalman filtering on the detection data of the means of transport, including the acceleration and angular velocity of the means of transport on the X-axis, the acceleration and angular velocity of the means of transport on the Y-axis, and the acceleration and angular velocity of the means of transport on the Z-axis. The six-axis detection data are fused. The Kalman filter is an algorithm that uses a linear system state equation to optimally estimate the system state through system input and output observation data.

[0047] The pitch angle and roll angle of the mobility tool are obtained by Kalman filtering, wherein the pitch angle corresponds to the forward tilt angle a1 of the mobility tool, and the roll angle corresponds to the lateral tilt angle a2 of the mobility tool. The tilt angle a of the mobility tool includes the forward tilt angle a1 and the lateral tilt angle a2.

[0048] S102, determining the size of the inclination angle a and the set angle thresholds θ1, θ2, and θ3; if the inclination angle a is less than the set angle threshold θ1, turning off the reminder of the voice broadcast device, clearing the time counting variables t1 and t2, and executing step S101; if the inclination angle a is greater than θ1 and less than θ2, continuing with step S101; if the inclination angle a is greater than θ2 and less than θ3, executing step S103; if the inclination angle a is greater than θ3, executing step S104;

[0049] In an embodiment of the present invention, the set angle thresholds θ1, θ2, and θ3 are three different slope thresholds, the set angle threshold θ1 ranges from 1° to 5°, the set angle threshold θ2 ranges from 5° to 9°, and the set angle threshold θ3 ranges from 9° to 12°.

[0050] As a preferred embodiment, the set angle threshold θ1 is 3°. When the slope of the ramp is 3°, the ramp is relatively flat, and the voice broadcast device can turn off the voice broadcast at this time; the set angle threshold θ2 is 6°. When the slope of the ramp is 6°, the ramp has a certain inclination, but it is still within a relatively safe range. The voice broadcast device can be turned on to remind the user to pay attention to the current slope driving safety and avoid slipping and other phenomena; if the measuring unit of the transportation tool detects that the current inclination angle a of the transportation tool is greater than the angle threshold θ2, the time counting variable t1 is turned on and the cumulative timing is performed. When the time counting variable t1 is less than the set time t, the time counting variable t1+1 is controlled. When the time counting variable t1 is greater than the set time t, the voice broadcast device is turned on to remind the user that the current slope is safe. When the road is on a dangerous slope for a certain period of time, please pay attention to deceleration and braking, pay attention to the surrounding environment, and clear the time count of the time count variable t2; the set angle threshold θ3 is 10°. When the slope is 10°, the slope angle is large, and the mobility tool is prone to rollover accidents at the slope. Therefore, it is necessary to detect the time count variable t2 of the mobility tool when the inclination angle a of the mobility tool is greater than the set angle threshold θ3. When the time count variable t2 does not exceed the set time t, the time count variable t2+1 is controlled and the timing is accumulated. When the time count variable t2 is greater than the set time t, the mobility tool has been on a slope with a slope of more than 10° for more than a certain period of time, and there is a great safety hazard. Therefore, the mobility tool is controlled to decelerate and stop to ensure the safety of the user.

[0051] As a preferred embodiment, the set angle threshold θ1 is 5°, the set angle threshold θ2 is 9°, and the set angle threshold θ3 is 12°.

[0052] S103, determining whether the time counting variable t1 is greater than the set time t, if the time counting variable t1 is greater than the set time t, the voice broadcast device issues a reminder, if the time counting variable t1 is less than the set time t, the time counting variable t1 is increased by 1, and step S101 is executed;

[0053] In an embodiment of the present invention, the time counting variable t1 is the accumulated time when the inclination angle a of the means of transportation is greater than the set angle threshold θ2 and less than the set angle threshold θ3. When the accumulated time is less than the set time t, the time counting variable t1+1 is controlled, and the process returns to step S101, and the measurement unit is continued to be commanded to detect the current inclination angle a of the means of transportation and accumulate the time counting variable t1; when the accumulated time t1 is greater than the set time t, the broadcast voice device is triggered to turn on, reminding the user that the current slope is at a dangerous slope and has reached a certain time, please pay attention to deceleration and braking and pay attention to the surrounding environmental conditions, and clear the time count of the time counting variable t2.

[0054] As a preferred implementation, the set time is 1 second.

[0055] S104. Determine whether the time counting variable t2 is greater than the set time t. If the time counting variable t2 is greater than the set time t, control the mobility device to decelerate to a stop. If the time counting variable t2 is less than the set time t, add 1 to the time counting variable t2 and execute step S101.

[0056] In an embodiment of the present invention, the time counting variable t2 is the accumulated time when the inclination angle a of the means of transportation is greater than the set angle threshold θ3. When the accumulated time is less than the set time t, the time counting variable t2+1 is controlled, and the process returns to step S101 to continue commanding the measuring unit to detect the current inclination angle a of the means of transportation and accumulate the time counting variable t2. When the accumulated time is greater than the set time t, the means of transportation has been on a slope with a slope exceeding the set angle threshold θ3 for more than a certain period of time, and there is a great safety hazard. Therefore, the means of transportation is controlled to slow down and stop to ensure the safety of the user.

[0057] As a preferred implementation, the set time is 1 second.

[0058] Example 2:

[0059] In an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned embodiment 1 are implemented. For example, Figure 1 Steps S101 to S104 are shown.

[0060] Example 3:

[0061] Figure 2 The structure of the computer device provided for the third embodiment of the present invention only shows the part related to the embodiment of the present invention for the convenience of explanation.

[0062] The computer device 20 of the embodiment of the present invention includes a processor 21, a memory 22, and a computer program 23 stored in the memory 22 and executable on the processor 21. When the processor 21 executes the computer program 23, the steps in the first embodiment are implemented, such as Figure 1 Steps S101 to S104 are shown.

[0063] Example 4:

[0064] In an embodiment of the present invention, a means of transport 30 is provided, such as Figure 3 As shown, the transportation tool 30 includes one or more processors 31 and a memory 32. The memory 32 stores a computer program 33. When the computer program 33 is executed by the processor 31, the steps in the above embodiment 1 are implemented. For example, Figure 1 Steps S101 to S104 are shown.

[0065] Different from the prior art, the present invention provides a slope safety reminder method for a mobility tool, wherein the mobility tool includes a measuring unit and a voice broadcast device, and is characterized in that the slope safety reminder method includes the following steps:

[0066] S101, calculating the inclination angle a of the transportation tool using data from the measuring unit;

[0067] S102, determining the size of the inclination angle a and the set angle thresholds θ1, θ2, and θ3; if the inclination angle a is less than the set angle threshold θ1, turning off the reminder of the voice broadcast device, clearing the time counting variables t1 and t2, and executing step S101; if the inclination angle a is greater than θ1 and less than θ2, continuing with step S101; if the inclination angle a is greater than θ2 and less than θ3, executing step S103; if the inclination angle a is greater than θ3, executing step S104;

[0068] S103, determining whether the time counting variable t1 is greater than the set time t, if the time counting variable t1 is greater than the set time t, the voice broadcast device issues a reminder, if the time counting variable t1 is less than the set time t, the time counting variable t1 is increased by 1, and step S101 is executed;

[0069] S104. Determine whether the time counting variable t2 is greater than the set time t. If the time counting variable t2 is greater than the set time t, control the mobility device to decelerate to a stop. If the time counting variable t2 is less than the set time t, add 1 to the time counting variable t2 and execute step S101.

[0070] Through the above-mentioned slope safety reminder method for mobility tools, the mobility tool uses a measuring unit to perform Kalman filtering fusion on the data of the measuring unit to obtain the forward inclination angle a1 and lateral inclination angle a2 of the mobility tool, and sets three different set angle thresholds θ1, θ2, and θ3 for the slope. By judging the relative size between the inclination angle a of the mobility tool and the three different set angle thresholds θ1, θ2, and θ3, the judgment between the time counting variables t1, t2 and the set time t is increased, and according to the size relationship between the time counting variables t1, t2 and the set time t, the reminder of the voice broadcast device is turned on or off, or the vehicle is automatically decelerated and stopped, thereby fully increasing the fault tolerance of the mobility tool for slope detection, making the slope judgment of the mobility tool more stable and reliable, preventing the mobility tool from overturning accidents, and increasing the driving safety of the user.

[0071] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0073] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0074] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0075] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0076] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for reminding a person on a slope when using a vehicle for transportation, wherein the vehicle for transportation comprises a measuring unit and a voice broadcasting device, characterized in that: The slope safety reminder method comprises the following steps: S101, calculating the inclination angle a of the transportation tool using data from the measuring unit; S102, determining the size of the inclination angle a and the set angle thresholds θ1, θ2, and θ3; if the inclination angle a is less than the set angle threshold θ1, turning off the reminder of the voice broadcast device, clearing the time counting variables t1 and t2, and executing step S101; if the inclination angle a is greater than θ1 and less than θ2, continuing with step S101; if the inclination angle a is greater than θ2 and less than θ3, executing step S103; if the inclination angle a is greater than θ3, executing step S104; S103, if the measuring unit of the mobility tool detects that the current inclination angle a of the mobility tool is greater than the angle threshold θ2, then the time counting variable t1 is started and accumulated timing is performed to determine whether the time counting variable t1 is greater than the set time t. If the time counting variable t1 is greater than the set time t, the voice broadcast device issues a reminder. If the time counting variable t1 is less than the set time t, the time counting variable t1 is incremented by 1, and step S101 is executed; S104, detecting the time counting variable t2 of the mobility tool when the inclination angle a of the mobility tool is greater than the set angle threshold θ3, wherein the time counting variable t2 is the accumulated time when the inclination angle a of the mobility tool is greater than the set angle threshold θ3, judging whether the time counting variable t2 is greater than the set time t, if the time counting variable t2 is greater than the set time t, controlling the mobility tool to decelerate to stop, and if the time counting variable t2 is less than the set time t, adding 1 to the time counting variable t2, and executing step S101.

2. A method for reminding a person of a vehicle on a slope for safety according to claim 1, characterized in that: The data of the measurement unit includes acceleration information and angular velocity information of the mobility tool. The acceleration information and angular velocity information of the mobility tool are used to obtain the pitch angle and roll angle of the mobility tool through Kalman filtering.

3. The method for reminding a person of a vehicle on a slope for safety according to claim 2, characterized in that: The inclination angle a of the transportation tool includes the forward inclination angle a1 and the lateral inclination angle a2 of the transportation tool. The pitch angle of the transportation tool corresponds to the forward inclination angle a1 of the transportation tool, and the roll angle of the transportation tool corresponds to the lateral inclination angle a2 of the transportation tool.

4. A method for reminding a person of a vehicle on a slope according to any one of claims 1 to 3, characterized in that: The range of the set angle threshold θ1 is 1° to 5°, the range of the set angle threshold θ2 is 5° to 9°, and the range of the set angle threshold θ3 is 9° to 12°.

5. The method for reminding a person of a vehicle on a slope for safety according to claim 4, characterized in that: The set angle threshold θ1 is 5°, the set angle threshold θ2 is 9°, and the set angle threshold θ3 is 12°.

6. A method for reminding a person of a vehicle on a slope for safety according to claim 5, characterized in that: The set time t is 1 second.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the slope safety reminder method for a mobility tool as claimed in any one of claims 1 to 6 are implemented.

8. A computer device, characterized in that: include: one or more processors; Memory; and one or more computer programs, the processor and the memory are connected via a bus, wherein the one or more computer programs are stored in the memory and are configured to be executed by the one or more processors, characterized in that when the processor executes the computer program, the steps of the slope safety reminder method for a mobility tool as described in any one of claims 1 to 6 are implemented.

9. A means of transport, characterized in that: include: one or more processors; Memory; and one or more computer programs, the processor and the memory are connected via a bus, wherein the one or more computer programs are stored in the memory and are configured to be executed by the one or more processors, characterized in that when the processor executes the computer program, the steps of the slope safety reminder method for a means of transport as described in any one of claims 1 to 6 are implemented.

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