Remote power distribution system of unmanned mine card and control method of remote power distribution system

Abstract

The invention discloses a remote power distribution system of an unmanned mine card and a control method thereof, and belongs to the technical field of unmanned mine cards, and the system comprises an upper computer unit which is used for monitoring the power distribution state of the unmanned mine card and sending a power-on and power-off related instruction to a V2X unit; the V2X unit is used for receiving a power-on and power-off related instruction sent by the upper computer unit, sending a power-on instruction to the digital power distribution unit and forwarding a power-off instruction to the controller unit; the controller unit is used for receiving the power-off instruction sent by the V2X unit and forwarding the power-off instruction to the digital power distribution unit; the digital power distribution unit is used for receiving the power-on instruction sent by the V2X unit and opening power distribution channels of devices including the controller unit, and receiving the power-off instruction sent by the controller unit and disconnecting the power distribution channels of the devices except the controller unit. The operation efficiency of the unmanned mine card is improved, the safety risk of field maintenance personnel is reduced, and the effective service life of unmanned devices is prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned mining trucks, and in particular relates to a remote power distribution system of an unmanned mining truck and a control method thereof. Background Art

[0002] With the development of intelligence, the application of unmanned mining trucks in open-pit mines is becoming more and more extensive. Unmanned mining trucks are taking on more and more transportation tasks in mines, and their impact on mine benefits is getting bigger and bigger. Therefore, the operating efficiency of unmanned mining trucks is the focus of every customer's concern, and the stability and efficiency of unmanned systems are becoming more and more important. The improvement of the stability and efficiency of unmanned systems is inseparable from the system hardware, so it is particularly important to increase the effective service life of the hardware and improve the efficiency of hardware maintenance; in addition, there are many vehicles on the structured roads of open-pit mines, large blind spots for mining trucks, complex road conditions, and a high risk factor for maintenance personnel to enter the site, so when the unmanned system fails, it is also particularly important to be able to solve it remotely and reduce the number of times people go on the vehicle.

[0003] When the unmanned mining truck is running in the mine, the following situations require power on and off of the equipment: A. The unmanned system of the mining truck needs to be powered on and put into operation; B. A unit fails and the device needs to be powered off and isolated; C. A device fails and needs to be powered off and restarted to solve the problem; D. The unmanned mining truck stops running and the individual components of the unmanned system are powered off in time to extend the service life of the device; Currently, the above situations all require human intervention, because the conditions in the driving area of ​​the mining truck are relatively complicated, and manual and unmanned vehicles run crosswise. When manual entry into the unmanned mining truck operating area requires all vehicles in the area to stop. In addition, the central control room is far away from the operating area, and it takes a certain amount of time to reach the mining truck operating area. All of the above will affect the operating efficiency of the mining truck and there will be certain safety risks when entering the mining truck operating area; Secondly, when the vehicle stops running, if the unmanned system hardware is not powered off in time, the effective service life of the hardware will be reduced.

[0004] Therefore, it is urgent to propose a remote power distribution system suitable for unmanned mining trucks to improve the efficiency of hardware maintenance and enhance the safety of unmanned mining truck maintenance personnel. Summary of the invention

[0005] The present invention provides a remote power distribution system for an unmanned mining truck and a control method thereof. By arranging a V2X unit and a controller unit on the mining truck, the power on and off of the digital power distribution unit are controlled respectively, thereby realizing remote power distribution and power-off isolation of various devices on the unmanned mining truck, and ensuring that the unmanned system can always have the control function of the hardware equipment in a low-power state during the power-off procedure, and can achieve long-term standby, thereby solving the problems in the prior art.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a remote power distribution system for an unmanned mining truck, comprising: a host computer unit, a V2X unit, a controller unit, and a digital power distribution unit; The host computer unit is used to monitor the power distribution status of the unmanned mining truck and send power-on and power-off related instructions to the V2X unit; The V2X unit is arranged on the mining card, and is used to receive power-on and power-off related instructions sent by the host computer unit, and send the power-on instruction to the digital power distribution unit and forward the power-off instruction to the controller unit; The controller unit is arranged on the mining card, and is used to receive the power-off instruction sent by the V2X unit and forward the power-off instruction to the digital power distribution unit; The digital power distribution unit is arranged on the mining card, and is used to receive the power-on command sent by the V2X unit and open the power distribution channel of each device including the controller unit, and receive the power-off command sent by the controller unit and disconnect the power distribution channel of each device except the controller unit.

[0007] Optionally, the host computer unit is further used to send a wake-up instruction to the V2X unit; The V2X unit is also used to receive a wake-up command sent by the host computer unit to enter a wake-up state, and send the wake-up command to the digital power distribution unit; The digital power distribution unit is also used to receive a wake-up instruction sent by the V2X unit to enter a wake-up state.

[0008] Optionally, the controller unit is further used to send a sleep instruction to the V2X unit; The V2X unit is also used to receive a sleep instruction sent by the controller unit to enter a sleep state.

[0009] Optionally, the controller unit is further used to send a sleep instruction to the digital power distribution unit; The digital power distribution unit is also used to receive a sleep instruction sent by the controller unit to enter a sleep state, and disconnect the power distribution channel of the controller unit.

[0010] Optionally, the host computer unit communicates with the V2X unit via a network; The V2X unit communicates with the digital power distribution unit via CAN; The V2X unit communicates with the controller unit via the network and CAN.

[0011] In a second aspect, the present invention provides a control method for a remote power distribution system of an unmanned mining truck, which is applied to the remote power distribution system of an unmanned mining truck described in any step of the first aspect, comprising: When the unmanned mining card is powered on: Control the host computer unit to send a power-on command to the V2X unit; Controlling the V2X unit to receive the power-on instruction and send the power-on instruction to the digital power distribution unit; Controlling the digital power distribution unit to receive the power-on instruction and open the power distribution channels of various devices including the controller unit; And / or, when the unmanned mining card is powered off: Control the host computer unit to send a power-off command to the V2X unit; Controlling the V2X unit to receive the power-off instruction and send the power-off instruction to the controller unit; The control controller unit receives the power-off instruction and sends the power-off instruction to the digital power distribution unit; The digital power distribution unit is controlled to receive the power-off instruction and disconnect the power distribution channels of each device except the controller unit.

[0012] Optionally, before the control host computer unit sends a power-on related instruction to the V2X unit, the control further includes: Control the host computer unit to send a wake-up command to the V2X unit; Control the V2X unit to receive the wake-up command and enter a wake-up state, and send the wake-up command to the digital power distribution unit; The digital power distribution unit is controlled to enter a wake-up state after receiving the wake-up instruction.

[0013] Optionally, after the controlling digital power distribution unit receives the power-off instruction and disconnects the power distribution channels of each device except the controller unit, the method further includes: Control the controller unit to send a sleep command to the V2X unit; The V2X unit is controlled to enter a sleep state after receiving the sleep instruction.

[0014] Optionally, after the controlling V2X unit receives the sleep instruction and enters the sleep state, the method further includes: Controlling the controller unit to send a sleep command to the digital power distribution unit; The digital power distribution unit is controlled to enter a sleep state after receiving the sleep instruction, and disconnect the power distribution channel of the controller unit.

[0015] Optionally, the control method further includes: Control the host computer unit to send relevant command signals to the V2X unit through the network; Controlling the V2X unit to send relevant CAN messages to the digital power distribution unit via CAN; Control the V2X unit to send relevant command signals to the controller unit through the network; Control the controller unit to send relevant CAN messages to the V2X unit via CAN.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: by setting a V2X unit on the mining card to establish communication with the central control room, and then setting a digital power distribution unit to control the on-off of the power distribution channels of various devices on the mining card according to the power distribution related instructions sent by the V2X unit, thereby remotely realizing the individual power distribution control or common power distribution control of various devices on the unmanned mining card, and first sending a power-off instruction to the controller unit through the V2X unit, and then the controller unit forwards the power-off instruction to the digital power distribution unit. In the power-off procedure, the controller unit can be used as the last device to be powered off in the unmanned system, so that it can still play a control role in the subsequent power-off procedure, without relying entirely on the V2X unit to realize related control, thereby ensuring the availability of the unmanned system, and in this solution, the various control devices of the unmanned system are mostly low in operation. By reducing the power, long-term standby can be achieved, thereby improving the operating efficiency of unmanned mining trucks, reducing the safety risks of on-site maintenance personnel, and increasing the effective service life of unmanned devices; in the present invention, the controller unit first receives the power-off instruction, and then the controller unit forwards the power-off instruction to the digital power distribution unit. After the power-off of each device on the mining truck is realized, the controller unit can control the V2X unit and the digital power distribution unit to enter the sleep state respectively, and can realize the power-off of the digital power distribution unit after the sleep state. While the V2X unit and the digital power distribution unit maintain the low-power sleep mode, all other unmanned mining truck-side hardware are powered off, so that the unmanned system of the mining truck has the ability to standby for a long time, thereby realizing the power-off of the entire unmanned system, and further improving the effective service life of unmanned devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure shows a block diagram of a remote power distribution system for an unmanned mining truck in an embodiment of the present invention;

[0018] Figure 2 The figure is a schematic diagram of a process of controlling a remote power distribution system to power on in one embodiment of the present invention;

[0019] Figure 3 The figure is a schematic diagram of a process of controlling a remote power distribution system to power off in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0021] Example 1

[0022] This embodiment provides a remote power distribution system for an unmanned mining truck, including: a host computer unit, a V2X unit, a controller unit, and a digital power distribution unit;

[0023] The host computer unit is used to monitor the power distribution status of the unmanned mining truck and send power-on and power-off related instructions to the V2X unit;

[0024] The V2X unit is arranged on the mining card, and is used to receive power-on and power-off related instructions sent by the host computer unit, and send the power-on instruction to the digital power distribution unit and forward the power-off instruction to the controller unit;

[0025] The controller unit is arranged on the mining card, and is used to receive the power-off instruction sent by the V2X unit and forward the power-off instruction to the digital power distribution unit;

[0026] The digital power distribution unit is arranged on the mining card, and is used to receive the power-on command sent by the V2X unit and open the power distribution channel of each device including the controller unit, and receive the power-off command sent by the controller unit and disconnect the power distribution channel of each device except the controller unit.

[0027] By setting up a V2X unit on the mining truck as an information transfer station to establish a connection with the central control room, and then receiving power-on and power-off commands through the digital power distribution unit to control the power on and off of the downstream equipment, it is possible to remotely control the individual power distribution and common power distribution of each device on the mining truck, thereby improving the safety of unmanned mining truck maintenance personnel and the effective service life of unmanned devices; and by using the controller unit hanging on the digital power distribution unit as a transfer device for power-off commands, the power-on state of the controller unit is retained when the digital power distribution unit powers off other hardware devices, so that the controller unit can still play a control role in the subsequent power-off procedure, which can ensure that the unmanned mining truck can power off the entire unmanned system and thus perform long-term standby.

[0028] Example 2

[0029] Based on Example 1, this example also makes the following design.

[0030] This embodiment provides communication between the central control room and the unmanned mining truck through the open-pit mine 5G private network, utilizing the hardware of the mining truck unmanned system, thereby realizing the function of remote power distribution to the unmanned mining truck in the central control room, and the central control room can monitor the power supply status of each device through this system.

[0031] like Figure 1 As shown, the hardware of this solution is based on the hardware of the unmanned driving system, specifically including: host computer unit, controller unit, V2X unit, and digital power distribution unit.

[0032] 1. Host computer unit: located in the central control room, used to monitor the state of unmanned driving and send relevant instructions to the unmanned driving, with the following characteristics:

[0033] (1) Virtual push button switch for hardware power distribution;

[0034] (2) Status display of each power distribution channel;

[0035] (3) Alarm messages of each power distribution channel;

[0036] (4) Integrated SMS sending function.

[0037] The upper computer has a power distribution operation and monitoring interface. The power distribution of each device is equipped with an independent operation button, and the open and close status of each channel is displayed in real time, and is equipped with a status indicator light. When a channel fails, while displaying the fault information, the status indicator light changes from green in normal state to red in fault state.

[0038] The central control room sends wake-up, power-on and power-off commands to V2X through the unmanned system host computer. The host computer determines whether the current power distribution status meets the sending conditions based on the monitoring status. If it does, the host computer calls the SMS sending module to send relevant SMS to V2X and returns the real-time power distribution status through V2X.

[0039] 2. V2X unit: Located on the mining truck side, it is used for vehicle-to-vehicle communication, vehicle-to-roadside unit communication, and vehicle-to-host computer communication. The functions used in this solution are as follows:

[0040] (1) 5G network communication function;

[0041] (2) CAN communication function;

[0042] (3) Secondary development and deployment of the program;

[0043] (4) Support CAN message control of its own sleep and wake-up.

[0044] The V2X unit receives wake-up SMS, power distribution SMS and power-off SMS through its own 5G communication module; after receiving the wake-up SMS, the V2X unit enters the wake-up mode from the sleep mode and sends the wake-up message and power distribution message to the digital power distribution unit through the CAN port; after receiving the power-off SMS, the V2X unit sends the power-off instruction to the controller unit through the network port; and receives the sleep message sent by the controller unit to enter the sleep module.

[0045] 3. Controller unit: located on the mining truck side, running the vehicle-side program of the unmanned mining truck. The functions used in this solution are as follows:

[0046] (1) Network communication function;

[0047] (2) CAN communication function;

[0048] (3) Secondary development and deployment of the program.

[0049] After receiving the power-off command, the controller unit forwards the power-off command to the digital power distribution unit, and detects whether the power distribution channels of each device are disconnected. If disconnected, it sends a sleep message to the V2X unit, and then detects whether the V2X unit enters sleep mode. If it enters sleep mode, it sends a sleep message to the digital power distribution unit. When the digital power distribution unit enters sleep mode, the controller unit's own power distribution channel is disconnected.

[0050] 4. Digital power distribution unit: located on the mining truck side, used to distribute power to the hardware of the unmanned system. The functions used in this solution are as follows:

[0051] (1) CAN communication function;

[0052] (2) Power distribution function;

[0053] (3) Function of detecting the status of each distribution channel;

[0054] (4) Fault protection function of power distribution channel;

[0055] (5) CAN message controls its own sleep and wake-up function.

[0056] After receiving the wake-up message and the power distribution message, the digital distribution unit enters the wake-up mode and opens the corresponding power distribution channel to complete the power-on of the unmanned system; after receiving the power-off message, the digital distribution unit controls the power distribution channels except the controller to be disconnected; the digital distribution unit receives the sleep message and enters the sleep state.

[0057] In this embodiment, after the mining truck completes the initial power-on, when a unit of the mining truck unmanned system needs to be powered off due to a fault or other reasons, the power distribution button of the corresponding device in the upper computer software is manually operated in the central control room to complete the power on and off operation of the hardware of the unmanned system.

[0058] Example 3

[0059] This embodiment provides a control method for a remote power distribution system of an unmanned mining truck, which is applied to the remote power distribution system described in Example 2 to control the system to implement the steps of powering on, distributing and shutting down.

[0060] 1. Figure 2 The flowchart of the system realizing remote power-on is shown, and the implementation steps are as follows:

[0061] S1: The central control room sends a wake-up SMS to the V2X unit through the host unit;

[0062] S11: The host computer determines whether the sending conditions are met based on the monitoring status, and sends the message if the conditions are met;

[0063] S12: The V2X unit is awakened from sleep mode after receiving a text message through its own communication module;

[0064] S13: The V2X unit sends a wake-up message to the digital power distribution unit through the CAN port;

[0065] S14: After receiving the command, the digital power distribution unit is awakened from the sleep mode;

[0066] S15: The V2X unit sends a power distribution message to the digital power distribution unit through the CAN port;

[0067] S16: After receiving the command, the digital power distribution unit opens the corresponding power distribution channel to complete the power-on of the unmanned system.

[0068] After completing the above steps, the entire vehicle-side unmanned system completes the power-on operation.

[0069] 2. When distributing power to a hardware unit during the operation of the mining truck unmanned system, the implementation steps are as follows:

[0070] S2: The central control room triggers the power distribution command for a certain hardware unit through the button of the unmanned system host computer;

[0071] S21: The host computer determines whether the sending conditions are met based on the monitoring status of the corresponding unit, and sends the command to the unmanned mining card if the conditions are met;

[0072] S22: The V2X unit receives the power distribution command through its own communication module and parses the command;

[0073] S23: The V2X unit sends the parsed command to the digital power distribution unit in the form of a message through the CAN port;

[0074] S23: After receiving the instruction, the digital power distribution unit performs power on and off operations on the corresponding channel according to the instruction.

[0075] 3. Figure 3 The flowchart of the system realizing remote power-off is shown, and the implementation steps are as follows:

[0076] S3: The central control room triggers the unmanned system power off button on the interface through the unmanned system host computer;

[0077] S31: The host computer of the unmanned system determines whether the sending requirements are met based on the monitoring status. If so, the command is transmitted to the unmanned mining card through the 5G private network;

[0078] S32: The V2X unit receives command information through its own 5G communication module and forwards it to the controller through the network port;

[0079] S33: The controller parses the instruction and sends the instruction to the digital power distribution module via CAN;

[0080] S34: After receiving the instruction, the digital power distribution unit disconnects the power distribution channels except the controller.

[0081] S35: After the controller detects that the relevant channel is disconnected, it sends a CAN message instruction to put the V2X unit into sleep mode;

[0082] S36: After the controller detects that the V2X unit enters the sleep mode, it sends a CAN message to make the digital power distribution module enter the sleep mode;

[0083] S37: After the digital power distribution unit enters sleep mode, the power distribution channel of the controller will be disconnected, the controller will be powered off, and the power-off operation will be completed.

[0084] After completing the above steps, the vehicle-side hardware, control unit, positioning unit, perception unit (lidar, millimeter-wave radar, camera) of the unmanned mining truck are all in a power-off state, while the V2X unit and digital power distribution unit enter a low-power sleep mode, waiting to be awakened.

[0085] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0086] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0087] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0089] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A remote power distribution system for unmanned mining trucks, characterized in that: include: Host unit, V2X unit, controller unit and digital power distribution unit; The host computer unit is used to monitor the power distribution status of the unmanned mining truck and send power-on and power-off related instructions to the V2X unit; The V2X unit is arranged on the mining card, and is used to receive power-on and power-off related instructions sent by the host computer unit, and send the power-on instruction to the digital power distribution unit and forward the power-off instruction to the controller unit; The controller unit is arranged on the mining card, and is used to receive the power-off instruction sent by the V2X unit and forward the power-off instruction to the digital power distribution unit; The digital power distribution unit is arranged on the mining card, and is used to receive the power-on command sent by the V2X unit and open the power distribution channel of each device including the controller unit, and receive the power-off command sent by the controller unit and disconnect the power distribution channel of each device except the controller unit.

2. The remote power distribution system for unmanned mining trucks according to claim 1 is characterized in that: The host computer unit is also used to send a wake-up instruction to the V2X unit; The V2X unit is also used to receive a wake-up command sent by the host computer unit to enter a wake-up state, and send the wake-up command to the digital power distribution unit; The digital power distribution unit is also used to receive a wake-up instruction sent by the V2X unit to enter a wake-up state.

3. The remote power distribution system for unmanned mining trucks according to claim 2 is characterized in that: The controller unit is also used to send a sleep instruction to the V2X unit; The V2X unit is also used to receive a sleep instruction sent by the controller unit to enter a sleep state.

4. The remote power distribution system for unmanned mining trucks according to claim 3 is characterized in that: The controller unit is also used to send a sleep instruction to the digital power distribution unit; The digital power distribution unit is also used to receive a sleep instruction sent by the controller unit to enter a sleep state, and disconnect the power distribution channel of the controller unit.

5. The remote power distribution system for unmanned mining trucks according to any one of claims 1 to 4, characterized in that: The host computer unit communicates with the V2X unit via a network; The V2X unit communicates with the digital power distribution unit via CAN; The V2X unit communicates with the controller unit via the network and CAN.

6. A control method for a remote power distribution system of an unmanned mining truck, applied to the remote power distribution system of an unmanned mining truck according to any one of claims 1 to 5, characterized in that: include: When the unmanned mining card is powered on: Control the host computer unit to send a power-on command to the V2X unit; Controlling the V2X unit to receive the power-on instruction and send the power-on instruction to the digital power distribution unit; Controlling the digital power distribution unit to receive the power-on instruction and open the power distribution channels of various devices including the controller unit; And / or, when the unmanned mining card is powered off: Control the host computer unit to send a power-off command to the V2X unit; Controlling the V2X unit to receive the power-off instruction and send the power-off instruction to the controller unit; The control controller unit receives the power-off instruction and sends the power-off instruction to the digital power distribution unit; The digital power distribution unit is controlled to receive the power-off instruction and disconnect the power distribution channels of each device except the controller unit.

7. The remote power distribution system for unmanned mining trucks according to claim 6, characterized in that: Before the controlling host computer unit sends the power-on related instruction to the V2X unit, it also includes: Control the host computer unit to send a wake-up command to the V2X unit; Control the V2X unit to receive the wake-up command and enter a wake-up state, and send the wake-up command to the digital power distribution unit; The digital power distribution unit is controlled to enter a wake-up state after receiving the wake-up instruction.

8. The remote power distribution system for unmanned mining trucks according to claim 7, characterized in that: After the controlling digital power distribution unit receives the power-off instruction and disconnects the power distribution channels of each device except the controller unit, the control further includes: Control the controller unit to send a sleep command to the V2X unit; The V2X unit is controlled to enter a sleep state after receiving the sleep instruction.

9. The remote power distribution system for unmanned mining trucks according to claim 8, characterized in that: After the controlling V2X unit receives the sleep instruction and enters the sleep state, the method further includes: Controlling the controller unit to send a sleep command to the digital power distribution unit; The digital power distribution unit is controlled to enter a sleep state after receiving the sleep instruction, and disconnect the power distribution channel of the controller unit.

10. The remote power distribution system for unmanned mining trucks according to any one of claims 6 to 9, characterized in that: Also includes: Control the host computer unit to send relevant command signals to the V2X unit through the network; Controlling the V2X unit to send relevant CAN messages to the digital power distribution unit via CAN; Control the V2X unit to send relevant command signals to the controller unit through the network; Control the controller unit to send relevant CAN messages to the V2X unit via CAN.

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