Intelligent agricultural unmanned aerial vehicle with remote sensing mapping function

Abstract

The invention discloses an intelligent agricultural unmanned aerial vehicle with a remote sensing surveying and mapping function, and relates to the technical field of unmanned aerial vehicles, the intelligent agricultural unmanned aerial vehicle comprises an unmanned aerial vehicle, a connecting plate is mounted at the bottom of the unmanned aerial vehicle, a concentric-square-shaped plate is mounted at the bottom of the connecting plate, a movable block is movably connected to the inner side of the concentric-square-shaped plate, and a parachute is mounted on the inner side of the movable block; a supporting frame is installed on the side, away from the concentric-square-shaped plate, of the movable block, remote sensing surveying and mapping equipment is installed on the inner side of the supporting frame, and an emergency disengaging assembly used for the remote sensing surveying and mapping equipment is arranged on the concentric-square-shaped plate and comprises a servo motor installed on the concentric-square-shaped plate and fixed blocks symmetrically and movably connected to the concentric-square-shaped plate. The remote sensing surveying and mapping equipment can be quickly popped out to be separated from the unmanned aerial vehicle through the emergency falling assembly when the unmanned aerial vehicle breaks down and falls, slow descending is carried out by unfolding the parachute, the remote sensing surveying and mapping equipment can slowly and safely land, and therefore damage caused by impacting the ground or other hard objects is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an intelligent agricultural unmanned aerial vehicle with remote sensing and mapping functions. Background Art

[0002] Remote sensing mapping is a technology that uses various sensors on the ground, aviation, and aerospace platforms to draw topographic maps or other thematic maps of the earth or other celestial bodies. It mainly relies on the electromagnetic wave signals reflected, scattered or emitted by the ground objects received by the sensor for mapping. Smart agricultural drones with remote sensing mapping functions are an innovative application in the field of smart agricultural technology. This type of drone combines drone technology, remote sensing technology, and information technology. Through the camera device, spectral imaging sensor and other equipment installed on the drone body, it can efficiently and accurately map and collect data on farmland. Humans and machines can quickly cover large areas of farmland and perform efficient mapping operations, which greatly improves the mapping efficiency compared to traditional manual mapping.

[0003] After searching, the invention patent with Chinese patent number CN118770555A discloses a remote sensing mapping UAV and its method. Compared with the existing technology, the invention patent with Chinese patent number CN118770555A can be accurately assembled during use to ensure stable suspension of objects, meet the UAV flight loading requirements, and the objects have strong protection performance during flight transportation to avoid damage during transportation, which is suitable for promotion and use.

[0004] However, in actual use of the above-mentioned device, when the drone is hanging remote sensing sensing and mapping equipment, it will have a certain impact on the stability. If it suddenly encounters extreme weather conditions, such as strong winds, rain and snow, it will pose a threat to the flight stability of the drone and may cause the drone to fall, thereby causing the remote sensing sensing and mapping equipment to fall and be damaged. Therefore, a smart agricultural drone with remote sensing and mapping function is proposed. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcoming in the prior art that when a drone falls, it is easy to cause the remote sensing mapping equipment to fall and be damaged, and to propose a smart agricultural drone with remote sensing mapping function.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A smart agricultural drone with remote sensing and mapping function comprises a drone, wherein a connecting plate is installed at the bottom of the drone, a circular plate is installed at the bottom of the connecting plate, a movable block is movably connected to the inner side of the circular plate, a parachute is installed on the inner side of the movable block, and the remote sensing and mapping equipment can be slowly landed, a support frame is installed on the side of the movable block away from the circular plate, and the remote sensing and mapping equipment is installed on the inner side of the support frame, and an emergency separation component for the remote sensing and mapping equipment is arranged on the circular plate, and the emergency separation component comprises a servo motor installed on the circular plate, a fixed block symmetrically movably connected on the circular plate, and a plurality of first telescopic rods and a first spring respectively installed on the inner side of the circular plate, and a push plate is installed at the ends of the first telescopic rod and the first spring, and after the servo motor is started, the two fixed blocks are driven to move in opposite directions to release the connection between the circular plate and the movable block, and the first telescopic rod and the first spring in the contracted state eject the movable block through the push plate through the resetting force, so that the remote sensing and mapping equipment is quickly ejected and separated from the drone when the drone fails and falls;

[0008] The outer side of the support frame is symmetrically and movably connected with the first deceleration plate, the inner side of the support frame is symmetrically and slidably provided with the second deceleration plate, and a plurality of second limiting plates are installed on the side of the circular plate away from the connecting plate. After the movable block pops out, the second limiting plate no longer limits the second deceleration plate and the first deceleration plate, and the two second deceleration plates and the two first deceleration plates are respectively unfolded, thereby increasing the resistance of the remote sensing sensing and mapping equipment when it lands, and providing more deceleration effects for the remote sensing and mapping equipment.

[0009] The above technical solution further includes:

[0010] A sliding groove is provided on the side of the circular plate, and a sliding block is symmetrically and slidably arranged on the inner side of the sliding groove. The inner side of the sliding groove is rotatably connected to a threaded rod. The servo motor is installed on the side of the circular plate close to the sliding block. The output end of the servo motor extending to the inner side of the sliding groove is fixedly connected to the threaded rod. Both of the two sliding blocks are threadedly connected to the threaded rod. An L-shaped rod is installed on the side of the sliding block. The side of the L-shaped rod is fixedly connected to the fixed block away from the sliding block. The force generated when the threaded rod rotates can drive the two fixed blocks to move in opposite directions through the two sliding block L-shaped rods.

[0011] A first fixing groove is provided on both sides of the circular plate, and a second fixing groove is provided on both sides of the movable block. The sizes of the first fixing groove and the second fixing groove are adapted to the size of the fixing block, so that the fixing block can be more stable when inserted into the first fixing groove and the second fixing groove.

[0012] The inner side of the fixed block is rotatably connected to a plurality of rotating wheels, which are evenly distributed horizontally along the fixed block. The rotating wheels are in contact with the inner walls of the first fixed groove and the second fixed groove. When the fixed block moves, the rotating wheels can be rotated to reduce the resistance during separation.

[0013] Support plates are symmetrically installed on both sides of the support frame, and a rotating rod is connected to the two support plates for common rotation. The rotating rod is fixedly connected to the first deceleration plate, and a circular plate is installed on the end of the rotating rod. A torsion spring is installed on the side of the circular plate close to the support plate, and the side of the torsion spring away from the circular plate is fixedly connected to the support plate, and the first deceleration plate is driven to unfold by the restoring force of the torsion spring.

[0014] First limit plates are installed on both sides of the support frame. The first deceleration plate contacts the first limit plates after rotating ninety degrees. The first deceleration plate is limited by the first limit plates after rotating ninety degrees.

[0015] An open groove is symmetrically provided on the inner side of the support frame, and a second spring and a second telescopic rod are symmetrically installed on the inner side of the open groove. The second spring and the second telescopic rod are fixedly connected to the second deceleration plate, and the second deceleration plate is driven to unfold by the resetting force of the second spring and the second telescopic rod.

[0016] The size of the opening of the opening slot is matched with the size of the second deceleration plate, so that the second deceleration plate moves more stably.

[0017] The plurality of second limit plates are respectively installed on the four sides of the support frame, and the second limit plates are in contact with the first deceleration plate and the second deceleration plate. When not in use, the first deceleration plate and the second deceleration plate are limited by the second limit plates.

[0018] The first and second deceleration plates are both made of polymer foam material, which can quickly absorb impact energy, effectively reduce the impact force of the remote sensing sensing and mapping equipment falling to the ground, and can make the remote sensing sensing and mapping equipment float on the water surface.

[0019] The present invention has the following beneficial effects:

[0020] 1. In the present invention, when the UAV fails and falls, the remote sensing and mapping equipment can be quickly ejected and separated from the UAV through the emergency detachment assembly, and then the parachute is deployed to slow down the descent, so that the remote sensing and mapping equipment can land relatively slowly and safely, thereby reducing the damage caused by hitting the ground or other hard objects, and minimizing the damage to the UAV.

[0021] 2. In the present invention, the first deceleration plate and the second deceleration plate are used to increase the resistance of the remote sensing and mapping equipment when it lands, thereby providing more deceleration effects for the remote sensing and mapping equipment. If the remote sensing and mapping equipment falls to the ground, it can quickly absorb the impact energy and effectively reduce the impact force of the remote sensing and mapping equipment falling to the ground. If it falls to the water surface, the buoyancy and stability of the first deceleration plate and the second deceleration plate can ensure that the remote sensing and mapping equipment will not sink into the water, thereby facilitating subsequent recovery and treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of the smart agricultural drone with remote sensing and mapping functions proposed by the present invention;

[0023] Figure 2 It is a schematic diagram of the cross-sectional structure of the support frame in the present invention;

[0024] Figure 3 It is a schematic cross-sectional structure diagram of the movable block and the circular plate in the present invention;

[0025] Figure 4 It is a schematic diagram of the cross-sectional structure of the circular plate in the present invention;

[0026] Figure 5 It is a schematic diagram of the structure of the fixed block in the present invention;

[0027] Figure 6 for Figure 2 A schematic diagram of the structure enlargement in the middle;

[0028] Figure 7 for Figure 2 A magnified schematic diagram of the structure at B in the middle;

[0029] Figure 8 for Figure 2 A magnified schematic diagram of the structure at C in the middle;

[0030] Fig. 9 for Figure 3 A magnified schematic diagram of the structure at D in the middle;

[0031] Fig.10 for Figure 4 Enlarged schematic diagram of the structure at point E in the middle.

[0032] In the figure: 1. UAV; 2. connecting plate; 3. circular plate; 4. sliding block; 5. threaded rod; 6. servo motor; 7. fixed block; 8. first fixed slot; 9. movable block; 10. second fixed slot; 11. rotating wheel; 12. first telescopic rod; 13. first spring; 14. pushing plate; 15. parachute; 16. supporting frame; 17. remote sensing mapping equipment; 18. supporting plate; 19. rotating rod; 20. first deceleration plate; 21. circular plate; 22. torsion spring; 23. first limit plate; 24. opening slot; 25. second spring; 26. second telescopic rod; 27. second deceleration plate; 28. second limit plate; 29. ​​L-shaped rod; 30. sliding slot. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Embodiment 1

[0035] like Figure 1-Figure 10 As shown, the smart agricultural drone with remote sensing mapping function proposed by the present invention includes a drone 1, a connecting plate 2 is installed at the bottom of the drone 1, a circular plate 3 is installed at the bottom of the connecting plate 2, a movable block 9 is movably connected to the inner side of the circular plate 3, a parachute 15 is installed on the inner side of the movable block 9, and a remote sensing mapping device 17 can be slowly landed, a support frame 16 is installed on the side of the movable block 9 away from the circular plate 3, a remote sensing mapping device 17 is installed on the inner side of the support frame 16, an emergency detachment component for the remote sensing mapping device 17 is provided on the circular plate 3, and the emergency detachment component includes a movable block 9 on the inner side of the movable block 9. The installed servo motor 6, the fixed block 7 symmetrically connected on the circular plate 3, and the multiple first telescopic rods 12 and the first springs 13 respectively installed on the inner side of the circular plate 3, the ends of the first telescopic rods 12 and the first springs 13 are jointly installed with a push plate 14, after the servo motor 6 is started, the two fixed blocks 7 are driven to move in opposite directions to release the connection between the circular plate 3 and the movable block 9, and the first telescopic rods 12 and the first springs 13 in the contracted state eject the movable block 9 through the push plate 14 through the resetting force, so that when the UAV 1 fails and falls, the remote sensing mapping device 17 is quickly ejected and separated from the UAV 1;

[0036] The outer side of the support frame 16 is symmetrically and movably connected with the first deceleration plate 20, and the inner side of the support frame 16 is symmetrically and slidably provided with the second deceleration plate 27. A plurality of second limiting plates 28 are installed on the side of the circular plate 3 away from the connecting plate 2. After the movable block 9 is popped out, the second limiting plates 28 no longer limit the second deceleration plates 27 and the first deceleration plates 20. The two second deceleration plates 27 and the two first deceleration plates 20 are respectively unfolded, increasing the resistance of the remote sensing mapping equipment 17 when it lands, and providing more deceleration effect for the remote sensing mapping equipment 17.

[0037] A sliding groove 30 is provided on the side of the circular plate 3, and a sliding block 4 is symmetrically slidably arranged on the inner side of the sliding groove 30. The inner side of the sliding groove 30 is rotatably connected to the threaded rod 5. The servo motor 6 is installed on the side of the circular plate 3 close to the sliding block 4. The output end of the servo motor 6 extends to the inner side of the sliding groove 30 and is fixedly connected to the threaded rod 5. Both sliding blocks 4 are threadedly connected to the threaded rod 5. An L-shaped rod 29 is installed on the side of the sliding block 4. The side of the L-shaped rod 29 away from the sliding block 4 is fixedly connected to the fixed block 7. The force generated by the rotation of the threaded rod 5 can drive the two fixed blocks 7 to move in opposite directions through the L-shaped rods 29 of the two sliding blocks 4.

[0038] A first fixing groove 8 is provided on both sides of the circular plate 3, and a second fixing groove 10 is provided on both sides of the movable block 9. The sizes of the first fixing groove 8 and the second fixing groove 10 are adapted to the size of the fixed block 7, so that the fixed block 7 can be more stably inserted into the first fixing groove 8 and the second fixing groove 10 for fixation.

[0039] The inner side of the fixed block 7 is rotatably connected to a plurality of rotating wheels 11, which are evenly distributed horizontally along the fixed block 7. The rotating wheels 11 are in contact with the inner walls of the first fixed groove 8 and the second fixed groove 10. When the fixed block 7 moves, the rotating wheels 11 can be rotated to reduce the resistance during separation.

[0040] In this embodiment, when it is necessary to perform remote sensing and mapping work through the drone 1, the remote sensing and mapping device 17 is first installed on the drone 1, and then the drone 1 is started, and the remote sensing and mapping device 17 is driven by the drone 1 to perform remote sensing and mapping work in the air. If the drone 1 falls due to operational errors, mechanical failures, environmental factors, etc., in order to minimize the damage to the drone 1, the servo motor 6 can be started, and the threaded rod 5 can be driven to rotate by the servo motor 6. The force generated when the threaded rod 5 rotates can drive the two sliding blocks 4 to move in opposite directions along the sliding groove 30, and at the same time drive the L-shaped rod 29 to move. When the L-shaped rod 29 moves, it also drives the fixed block 7 to move until the fixed block 7 moves outside the first fixed groove 8 and the second fixed groove 10, and when the fixed block 7 moves, the rotating wheel 11 can be rotated to reduce the resistance during separation and increase the separation speed;

[0041] After the fixed block 7 is separated from the first fixed groove 8 and the second fixed groove 10, the multiple first telescopic rods 12 and the first spring 13 in the retracted state are quickly reset, and then the movable block 9 is pushed by the reset force, so that the movable block 9 pops out to the outside of the circular plate 3, and the remote sensing and mapping device 17 is quickly popped out. At this time, the remote sensing and mapping device 17 is urgently detached, and then the parachute 15 inside the movable block 9 is quickly deployed, so that the remote sensing and mapping device 17 can land slowly and safely, thereby reducing the damage caused by hitting the ground or other hard objects, and minimizing the damage to the drone 1.

[0042] Embodiment 2

[0043] like Figure 1-Figure 10 As shown, based on the first embodiment, support plates 18 are symmetrically installed on both sides of the support frame 16, and a rotating rod 19 is connected between the two support plates 18 for common rotation. The rotating rod 19 is fixedly connected to the first deceleration plate 20, and a circular plate 21 is installed at the end of the rotating rod 19. A torsion spring 22 is installed on the side of the circular plate 21 close to the support plate 18, and the side of the torsion spring 22 away from the circular plate 21 is fixedly connected to the support plate 18, and the first deceleration plate 20 is driven to unfold by the restoring force of the torsion spring 22.

[0044] First limiting plates 23 are installed on both sides of the support frame 16. The first deceleration plate 20 contacts the first limiting plates 23 after rotating 90 degrees. The first deceleration plate 20 is limited by the first limiting plates 23 after rotating 90 degrees.

[0045] An open groove 24 is symmetrically provided on the inner side of the support frame 16, and a second spring 25 and a second telescopic rod 26 are symmetrically installed on the inner side of the open groove 24. The second spring 25 and the second telescopic rod 26 are fixedly connected to the second deceleration plate 27, and the second deceleration plate 27 is driven to unfold by the resetting force of the second spring 25 and the second telescopic rod 26.

[0046] The size of the opening of the opening slot 24 matches the size of the second deceleration plate 27 , so that the second deceleration plate 27 moves more stably.

[0047] A plurality of second limiting plates 28 are respectively installed on the four sides of the support frame 16, and the second limiting plates 28 are in contact with the first deceleration plate 20 and the second deceleration plate 27. When not in use, the first deceleration plate 20 and the second deceleration plate 27 are limited by the second limiting plates 28.

[0048] The two first deceleration plates 20 and the second deceleration plate 27 are both made of polymer foam material, which can quickly absorb impact energy, effectively reduce the impact force of the remote sensing sensing mapping device 17 falling to the ground, and make the remote sensing sensing mapping device 17 float on the water surface.

[0049] In this embodiment, when the movable block 9 pops out to the outside of the circular plate 3 and then the remote sensing mapping device 17 is slowed down by the parachute 15, the second limit plate 28 no longer limits the second deceleration plate 27 and the first deceleration plate 20. At this time, the torsion spring 22 in the contracted state is reset, and at the same time drives the rotating rod 19 to rotate, thereby driving the first deceleration plate 20 to rotate until the first deceleration plate 20 is rotated ninety degrees, and then limited by the first limit plate 23, the second spring 25 and the second telescopic rod 26 in the contracted state are reset, and the second deceleration plate 27 is driven to move to the outside of the opening groove 24 by the resetting force. At this time, the two first deceleration plates 20 and the two second deceleration plates 27 are distributed on the four sides of the support frame 16, increasing the resistance of the remote sensing mapping device 17 when it lands, providing more deceleration effects for the remote sensing mapping device 17, so as to provide sufficient buffering during the falling process;

[0050] And because of the polymer foam, if the remote sensing and mapping equipment 17 falls to the ground, it can quickly absorb the impact energy and effectively reduce the impact force of the remote sensing and mapping equipment 17 falling to the ground. This cushioning effect can significantly reduce the risk of damage to the remote sensing and mapping equipment 17 and protect the internal precision sensors and electronic equipment from damage. If it falls to the water surface, the buoyancy and stability of the polymer foam can ensure that the remote sensing and mapping equipment 17 will not sink into the water. This design allows the remote sensing and mapping equipment 17 to remain on the water surface in unexpected situations, which is convenient for subsequent recovery and disposal.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A smart agricultural drone with remote sensing mapping function, comprising a drone (1), characterized in that: The bottom of the drone (1) is provided with a connecting plate (2), the bottom of the connecting plate (2) is provided with a circular plate (3), the inner side of the circular plate (3) is movably connected with a movable block (9), the inner side of the movable block (9) is provided with a parachute (15), the side of the movable block (9) away from the circular plate (3) is provided with a support frame (16), the inner side of the support frame (16) is provided with a remote sensing mapping device (17), the circular plate (3) is provided with an emergency detachment component for the remote sensing mapping device (17), the emergency detachment component comprises a servo motor (6) installed on the circular plate (3), a fixed block (7) symmetrically movably connected on the circular plate (3), and a plurality of first telescopic rods (12) and first springs (13) respectively installed on the inner side of the circular plate (3), the ends of the first telescopic rods (12) and the first springs (13) are provided with a plurality of first telescopic rods (12) and first springs (13) respectively installed on the inner side of the circular plate (3), and the ends of the first telescopic rods (12) and the first springs (13) are provided with a plurality of first telescopic rods (12) and ... are provided with a plurality of first telescopic rods (12) and first springs (13) are provided with a plurality of first telescopic rods (12) and first springs (13) are provided with a plurality of first telescopic rods (12) and first springs (13) are provided with The two parts are jointly equipped with a pushing plate (14). After the servo motor (6) is started, the two fixed blocks (7) are driven to move in opposite directions to release the connection between the circular plate (3) and the movable block (9). The first telescopic rod (12) and the first spring (13) in the retracted state eject the movable block (9) through the pushing plate (14) through the resetting force. The outer side of the support frame (16) is symmetrically and movably connected with the first deceleration plate (20). The inner side of the support frame (16) is symmetrically and slidably provided with a second deceleration plate (27). A plurality of second limiting plates (28) are installed on the side of the circular plate (3) away from the connecting plate (2). After the movable block (9) is ejected, the second limiting plate (28) no longer limits the second deceleration plate (27) and the first deceleration plate (20), and the two second deceleration plates (27) and the two first deceleration plates (20) are respectively unfolded.

2. The smart agricultural drone with remote sensing mapping function according to claim 1 is characterized in that: A sliding groove (30) is provided on the side of the circular plate (3), a sliding block (4) is symmetrically slidably arranged on the inner side of the sliding groove (30), the inner side of the sliding groove (30) is rotatably connected to a threaded rod (5), the servo motor (6) is installed on the side of the circular plate (3) close to the sliding block (4), the output end of the servo motor (6) extending to the inner side of the sliding groove (30) is fixedly connected to the threaded rod (5), the two sliding blocks (4) are both threadedly connected to the threaded rod (5), an L-shaped rod (29) is installed on the side of the sliding block (4), and the side of the L-shaped rod (29) away from the sliding block (4) is fixedly connected to the fixed block (7).

3. The smart agricultural drone with remote sensing mapping function according to claim 2 is characterized in that: The two sides of the circular plate (3) are provided with first fixing grooves (8), and the two sides of the movable block (9) are provided with second fixing grooves (10). The sizes of the first fixing groove (8) and the second fixing groove (10) are adapted to the size of the fixing block (7).

4. The smart agricultural drone with remote sensing mapping function according to claim 3 is characterized in that: A plurality of rotating wheels (11) are rotatably connected to the inner side of the fixed block (7); the plurality of rotating wheels (11) are evenly distributed horizontally along the fixed block (7); and the rotating wheels (11) are in contact with the inner walls of the first fixed groove (8) and the second fixed groove (10).

5. The smart agricultural drone with remote sensing mapping function according to claim 1, characterized in that: Support plates (18) are symmetrically mounted on both sides of the support frame (16); a rotating rod (19) is rotatably connected between the two support plates (18); the rotating rod (19) is fixedly connected to a first deceleration plate (20); a circular plate (21) is mounted on the end of the rotating rod (19); a torsion spring (22) is mounted on a side of the circular plate (21) close to the support plate (18); and a side of the torsion spring (22) away from the circular plate (21) is fixedly connected to the support plate (18).

6. The smart agricultural drone with remote sensing mapping function according to claim 5, characterized in that: First limit plates (23) are installed on both sides of the support frame (16), and the first deceleration plate (20) contacts the first limit plates (23) after rotating ninety degrees.

7. The smart agricultural drone with remote sensing mapping function according to claim 1, characterized in that: An open slot (24) is symmetrically provided on the inner side of the support frame (16), and a second spring (25) and a second telescopic rod (26) are symmetrically installed on the inner side of the open slot (24); the second spring (25) and the second telescopic rod (26) are fixedly connected to the second deceleration plate (27).

8. The smart agricultural drone with remote sensing mapping function according to claim 7, characterized in that: The size of the opening of the opening slot (24) is adapted to the size of the second deceleration plate (27).

9. The smart agricultural drone with remote sensing mapping function according to claim 1, characterized in that: A plurality of the second limit plates (28) are respectively installed on four sides of the support frame (16), and the second limit plates (28) are in contact with the first deceleration plate (20) and the second deceleration plate (27).

10. The smart agricultural drone with remote sensing mapping function according to claim 9, characterized in that: The first deceleration plate (20) and the second deceleration plate (27) are both made of polymer foam material.

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