Fruit and vegetable old leaf beating device and old leaf beating method

Abstract

The invention discloses a fruit and vegetable old leaf beating device and an old leaf beating method, and relates to the field of agricultural machinery. Comprising a distance expanding mechanism, a distance reducing mechanism, a self-rotating friction roller, a cutting tool, a photoelectric sensor, a dust cover and an outer frame. The distance expanding mechanism comprises an electric push rod, a distance expanding block, a sliding block, a linear guide rail and a cushion block and is fixed to the outer frame. The distance reducing mechanism comprises a shifting plate, a sliding block, a linear guide rail and a return spring and is fixed to the outer frame. The self-rotation friction roller comprises a clamp spring, a bearing, a bearing seat, a rubber friction roller, a coupler, a motor fixing frame and a stepping motor and is fixed to the distance reducing mechanism. The cutting tool comprises a tool fixing frame, a flexible blade and a special-shaped limiting block and is fixed to the distance reducing mechanism. Accurate depth information of the main stem is determined through signal changes of the photoelectric sensor, the main stem can be centralized, clamped and protected through the special-shaped part, the device can adapt to main stems of different thicknesses, the device has the advantages of being high in precision, efficiency and operation effect, and development of agricultural mechanical equipment is promoted.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, in particular to a device and method for removing old leaves of fruits and vegetables. Background Art

[0002] Fruits and vegetables are one of the most important vegetable crops in the world. They not only have huge demand in the fresh food market, but also occupy an important position in the processing industry. In the process of fruit and vegetable cultivation, the presence of old leaves will seriously affect the photosynthesis of plants, reduce the efficiency of light energy absorption, and thus affect the quality and yield of fruits. Therefore, timely removal of old leaves from plants is an important part of the plant cultivation process. At present, the process of removing old leaves from plants mainly relies on manual labor, which is not only time-consuming and labor-intensive, but also easily causes damage to the plants. There is an urgent need for machines to replace people. During the operation process, the existing equipment mainly relies on depth cameras to identify the branching points of the plants, and combines the equipment to operate single branches. This method has the problems of low positioning accuracy and poor operation efficiency, and it is difficult to meet the needs of large-scale and efficient operations.

[0003] The present invention, through in-depth analysis and research on the needs of old leaf removal operations, combined with the existing technologies of various types of old leaf removal devices at home and abroad, proposes a fruit and vegetable old leaf removal device and method that uses photoelectric sensors to accurately obtain plant depth information. The device can realize continuous operation of a single plant and has the characteristics of high standards and low damage. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a device and method for removing old leaves of fruits and vegetables which can accurately determine the depth information of the main stem of the plant, operate continuously, have high operating standards and reduce damage.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a device for removing old leaves of fruits and vegetables, which is characterized in that it includes an expanding mechanism, a reducing mechanism, a self-rotating friction roller I, a self-rotating friction roller II, a cutting tool I, a cutting tool II, a photoelectric sensor, a dust cover, and an outer frame; the expanding mechanism is fixed on a top plate, the reducing mechanism is fixed on the top plate, the self-rotating friction roller I and the self-rotating friction roller II are fixed on the reducing mechanism, the cutting tool I and the cutting tool II are fixed on the reducing mechanism, the photoelectric sensor is fixed on the reducing mechanism, and the dust cover is fixed on the reducing mechanism.

[0006] Furthermore, the expansion mechanism 1 includes an electric push rod, an expansion block, a slider, a linear guide rail, a pad and screws and nuts for fixing; one end of the expansion block is fixed to the electric push rod, and the other end is fixed to the slider, and the slider is fixed to the guide rail; the electric push rod drives the expansion block fixed on the slider to perform reciprocating linear motion along the linear guide rail.

[0007] Furthermore, the self-selectable rotating friction roller I includes a shaft retaining spring I, a hole retaining spring I, a bearing I, a bearing seat I, a rubber friction roller, a bearing seat II, a bearing II, a shaft retaining spring II, a hole retaining spring II, a coupling, a motor fixing frame, and a stepping motor; the rubber friction roller is fixed to the bearing seat I and the bearing II by means of the shaft retaining spring I, the hole retaining spring I, the shaft retaining spring II, and the hole retaining spring II, the bearing seat I and the bearing II are respectively fixed to the bearing seat I and the bearing seat II, the stepping motor is fixed to the motor fixing frame, and the output shaft of the stepping motor and the shaft of the rubber friction roller are fixed together by means of a coupling; the rubber friction roller rotates at a constant speed under the drive of the stepping motor.

[0008] Furthermore, the cutting tool I includes a tool fixing frame, a flexible blade, a special-shaped limit block and screws for fixing; the flexible blade is between the fixing frame and the special-shaped limit block, and is fixed to the tool fixing frame by screws.

[0009] Furthermore, the outer frame includes a bottom plate, side plates, and a top plate.

[0010] Furthermore, the signal changes when the photoelectric sensor detects the main stem.

[0011] Furthermore, under the action of the distance expansion mechanism and the distance reduction mechanism, the cutting tool I, the cutting tool II, the self-selectable rotating friction roller I and the self-selectable rotating friction roller II are in direct contact with the main stem through the special-shaped guide block and the rubber friction roller.

[0012] Furthermore, the expansion block (102) is an isosceles triangle with a straight-angled tip, and the nut can be embedded in the groove.

[0013] Furthermore, the symmetric surfaces of the electric push rod, the expansion block, the sliding block, the linear guide rail, and the cushion block overlap with each other.

[0014] Furthermore, the two shift plates are symmetrical as a whole.

[0015] Furthermore, the natural length of the return spring can reset the shift plate, and the maximum extension can meet the operation requirements.

[0016] Furthermore, the center of the rubber friction stick is a metal shaft, the outer side is a rubber stick, and a groove is formed on the shaft.

[0017] Furthermore, a threaded hole is provided on the tool fixing frame.

[0018] Furthermore, the tool fixing frame can adjust the distance between the two tools through the slotted holes, and the fixing method is not limited to bolt fastening connection and adhesive connection.

[0019] Furthermore, the distance expanding mechanism, the distance reducing mechanism, the two self-rotating friction rollers, and the two cutting tools are installed in an overall symmetrical manner.

[0020] In a second aspect, the present invention provides a method for removing old leaves of fruits and vegetables, comprising the following steps: S1: In the initial state, the retracting mechanism is in a closed state under the action of the tension of the return spring.

[0021] S2: The robot arm moves the fruit and vegetable leaf removal device to a position where the end face is perpendicular to the growth direction of the main stem according to the main stem plane coordinate data provided by the monocular camera, moves along the depth direction of the depth camera, and stops after moving a certain distance when the photoelectric sensor signal changes.

[0022] S3: The electric push rod retracts, thereby driving the expansion block to retract. The shift plate moves linearly along the guide rail under the action of the return spring to close the shortening mechanism. The rubber friction rod and the special-shaped limit block contact the main stem of the plant to achieve straightening, clamping and protection of the main stem.

[0023] S4: The robotic arm drives the fruit and vegetable old leaf removal device to move upward a certain distance. At the same time, the stepper motor drives the rubber friction stick to rotate at a certain speed to avoid pulling the main stem during the upward movement of the actuator, and through the contact between the flexible blade and the side branch, the side branch is cut to remove the old leaves.

[0024] S5: The electric push rod drives the expansion block to move, so that the shortening mechanism opens.

[0025] S6: The robot arm retracts and returns to the initial state, waiting for the next operation signal.

[0026] The benefits of the present invention include: The device for removing old leaves of fruits and vegetables of the present invention is used. Through the contact between the special-shaped limit block and the main stem of the plant, the main stem can undergo an adaptive adjustment of its posture while following the movement of the device, thereby achieving effective straightening and protection of the main stem. The shortening mechanism equipped in the device can be adaptively adjusted according to the change in the diameter of the main stem, improving the adaptability of the device to different plants. The internal structure of the device has high cohesion and low coupling, rapid action, high working efficiency, and has the advantages of being beautiful, stable, and easy to manufacture, which fully meets the requirements of modern agricultural production for high efficiency, precision, and reliability.

[0027] In addition, the device and method for removing old leaves of fruits and vegetables adopted by the present invention can obtain the depth information of the main stem of the plant through the change of the photoelectric sensor signal, reduce the burden of visual recognition, and improve the positioning accuracy. Under the action of the heterosexual limit block, the main stem of the plant changes with the position change of the old leaf removing device. The old leaf removal work of a single plant is realized from bottom to top at one time, which improves the efficiency of removing old leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a front isometric view of the device for removing old leaves of fruits and vegetables of the present invention; Figure 2It is a reverse isometric view of the device for removing old leaves of fruits and vegetables according to the present invention; Figure 3 is a three-dimensional exploded view of the distance expansion mechanism of the present invention, corresponding to Figure 1 1 in; Figure 4 is a three-dimensional exploded view of the distance reduction mechanism of the present invention, corresponding to Figure 1 2 of them; Figure 5 is a three-dimensional exploded view of the self-rotating friction roller 1 of the present invention, corresponding to Figure 1 3 of 3; Figure 6 is a three-dimensional exploded view of the cutting tool 1 of the present invention, corresponding to Figure 1 5 of 5; Description of reference numerals: 1-extending mechanism; 2-reducing mechanism; 3-self-rotating friction stick Ⅰ; 4-self-rotating friction stick Ⅱ; 5-cutting tool Ⅰ; 6-cutting tool Ⅱ; 7-photoelectric sensor; 8-dust cover; 9-outer frame; 101-electric push rod; 102-extending block; 103-slider; 104-linear guide; 105-pad; 201-shift plate; 202-slider; 203-linear guide; 204-return spring; 301-shaft retaining spring Ⅰ ;302-circlip for hole Ⅰ;303-bearing Ⅰ;304-bearing seat Ⅰ;305-rubber friction stick;306-bearing seat Ⅱ;307-bearing Ⅱ;308-circlip for hole Ⅱ;309-circlip for shaft Ⅱ;310-coupling;311-motor fixing bracket;312-stepping motor;501-tool fixing bracket;502-flexible blade;503-special-shaped limit block;901-bottom plate;902-side plate;903-top plate. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0030] See attached Figure 1-2 A device for removing old leaves from fruits and vegetables comprises an expanding mechanism 1, a reducing mechanism 2, a self-rotating friction stick Ⅰ3, a self-rotating friction stick Ⅱ4, a cutting tool Ⅰ5, a cutting tool Ⅱ6, a photoelectric sensor 7, a dust cover 8, and an outer frame 9; the expanding mechanism 1 is fixed on a top plate 903, the reducing mechanism 2 is fixed on a top plate 903, the self-rotating friction stick Ⅰ3, the self-rotating friction stick Ⅱ4 are fixed on the reducing mechanism 2, the cutting tool Ⅰ5, the cutting tool Ⅱ6 are fixed on the reducing mechanism 2, the photoelectric sensor 7 is fixed on the reducing mechanism 2, and the dust cover 8 is fixed on the reducing mechanism 2. Therefore, the highly modular structure can reduce the difficulty of installation and facilitate maintenance and repair.

[0031] See attached Figure 3The distance expansion mechanism 1 includes an electric push rod 101, a distance expansion block 102, a slider 103, a linear guide rail 104, a pad 105, and screws and nuts for fixing; one end of the distance expansion block 102 is fixed to the electric push rod 101, and the other end is fixed to the slider 103, and the slider 103 is fixed to the guide rail 104; the electric push rod 101 drives the distance expansion block 102 fixed on the slider 103 to perform reciprocating linear motion along the linear guide rail 104. Therefore, the distance expansion block 102 can be ensured to run stably and achieve precise control.

[0032] See attached Figure 4 The retracting mechanism 2 includes a shift plate 201, a slider 202, a linear guide 203, a return spring 204 and screws for fixing; the return spring 204 is fixed to the shift plate 201, the shift plate 201 is fixed to the slider 202, and the slider 202 is fixed to the linear guide 203; the retracting mechanism 2 makes the shift plate 201 fixed to the slider 202 perform reciprocating linear motion along the linear guide 203 under the action of the thrust of the expansion block 102 and the tension of the return spring 204. Therefore, the opening and closing is smoother and the operation is more stable. See attached Figure 5 The self-selectable rotating friction roller Ⅰ3 includes a shaft retaining spring Ⅰ301, a hole retaining spring Ⅰ302, a bearing Ⅰ303, a bearing seat Ⅰ304, a rubber friction roller 305, a bearing seat Ⅱ306, a bearing Ⅱ307, a shaft retaining spring Ⅱ309, a hole retaining spring Ⅱ308, a coupling 310, a motor fixing bracket 311, and a stepping motor 312; the rubber friction roller 305 is driven by the shaft retaining spring Ⅰ301, the hole retaining spring Ⅰ302, the shaft retaining spring Ⅱ309 , the hole is fixed with a retaining ring II 308 on the bearing seat I 304 and the bearing II 307, the bearing seat I 304 and the bearing II 307 are respectively fixed on the bearing seat I 304 and the bearing seat II 306, the stepper motor 312 is fixed on the motor fixing frame 311, the output shaft of the stepper motor 312 and the shaft of the rubber friction stick 305 are fixed together by a coupling 310; the rubber friction stick 305 rotates at a constant speed under the drive of the stepper motor 312. Therefore, it is convenient to match the rotation speed of the friction stick 305 with the moving speed of the robot arm, so that the plant and the end effector are relatively fixed, and the track clamping function can effectively prevent the pulling of the main stem during the operation.

[0033] See attached Figure 6 The cutting tool I5 includes a tool fixing frame 501, a flexible blade 502, a special-shaped stopper 503 and a screw for fixing; the flexible blade 502 is between the fixing frame 501 and the special-shaped stopper 503, and is fixed to the tool fixing frame 501 by screws. Therefore, the tool structure is compact, and the special-shaped structural parts are integrally formed, and the appearance is beautiful.

[0034] See attached Figure 1-2The outer frame 9 includes a bottom plate 901, a side plate 902, and a top plate 903. Therefore, the structure is more compact and fixed and stable.

[0035] See attached Figure 1-2 , the signal will change when the photoelectric sensor 7 detects the main stem. Therefore, the depth information of the main stem can be accurately determined by this.

[0036] See attached Figure 1-2 Under the action of the distance expansion mechanism 1 and the distance reduction mechanism 2, the cutting tool Ⅰ5, the cutting tool Ⅱ6, the self-selectable rotating friction roller Ⅰ3, and the self-selectable rotating friction roller Ⅱ4 directly contact the main stem through the special-shaped guide block and the rubber friction roller. Therefore, the main stem can be straightened, clamped and protected.

[0037] See attached Figure 3 The expansion block 102 is an isosceles triangle with a flat tip, and the nut can be embedded in the groove. Therefore, the wear of the expansion block 102 can be reduced, and the overall structure is compact and beautiful.

[0038] See attached Figure 3 The symmetric surfaces of the electric push rod 101, the expansion block 102, the slider 103, the linear guide rail 104, and the cushion block 105 overlap each other. Therefore, the required thrust is small, the control is precise, and the operation continuity is good.

[0039] See attached Figure 4 The two shift plates 201 are symmetrical as a whole. Therefore, it can be ensured that the main stem is in the middle of the two components during operation, and the damage is small.

[0040] See attached Figure 4 The natural length of the return spring 204 can reset the shift plate 201, and the maximum elongation can meet the operation requirements. Therefore, the shift plate 201 can be automatically reset under the action of the spring force, and the spacing can be adjusted when the main diameter changes.

[0041] See attached Figure 5 The center of the rubber friction stick 305 is a metal shaft, the outer side is a rubber stick, and the shaft is provided with grooves. Therefore, the structure is compact, firm and reliable.

[0042] See attached Figure 6 The tool fixing frame 501 is provided with threaded holes, so the installation is convenient.

[0043] See attached Figure 6 The tool fixing frame 501 can adjust the distance between the two tools through the slotted holes, and the fixing method is not limited to bolt fastening connection and adhesive connection, etc. Therefore, it is convenient to debug and the distance can be adjusted.

[0044] See attached Figure 1-6 , a method for removing old leaves of fruits and vegetables, characterized in that the method comprises the following steps: S1: In the initial state, the retracting mechanism 1 is in a closed state under the pulling force of the return spring 204.

[0045] S2: The robot arm moves the fruit and vegetable leaf removal device to a position where the end face is perpendicular to the growth direction of the main stem according to the main stem plane coordinate data provided by the monocular camera, moves along the depth direction of the depth camera, and stops after moving a certain distance when the signal of the photoelectric sensor 7 changes.

[0046] S3: The electric push rod 101 retracts, thereby driving the expansion block 102 to retract. The shift plate 201 moves linearly along the guide rail 203 under the action of the return spring 204 to close the shortening mechanism. The rubber friction rod 305 and the special-shaped limit block 503 contact the main stem of the plant to achieve straightening, clamping and protection of the main stem.

[0047] S4: The robotic arm drives the fruit and vegetable old leaf removing device to move upward a certain distance, and at the same time, the stepper motor 312 drives the rubber friction stick 305 to rotate at a certain speed to avoid pulling the main stem during the upward movement of the actuator, and through the contact between the flexible blade 502 and the side branch, the side branch is cut to remove the old leaves.

[0048] S5: The electric push rod 101 drives the distance expansion block 102 to move, so that the distance reduction mechanism opens.

[0049] S6: The robot arm retracts and returns to the initial state, waiting for the next operation signal.

[0050] Therefore, the method for removing old leaves of fruits and vegetables can obtain the depth information of the main stem of the plant through the change of the photoelectric sensor signal, reduce the burden of visual recognition, and improve the positioning accuracy; under the action of the anisotropic limit block, the main stem of the plant changes with the position change of the old leaf removing device to prevent the main stem from being damaged; the old leaf removing work of a single plant can be achieved from bottom to top at one time, thereby improving the working efficiency.

[0051] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A device for removing old leaves of fruits and vegetables, characterized in that: The invention comprises an expanding mechanism (1), a reducing mechanism (2), a self-rotating friction roller I (3), a self-rotating friction roller II (4), a cutting tool I (5), a cutting tool II (6), a photoelectric sensor (7), a dust cover (8), and an outer frame (9); the expanding mechanism (1) is fixed on a top plate (903) of the outer frame (9); the reducing mechanism (2) is fixed on a top plate (903) of the outer frame (9); the self-rotating friction roller I (3) and the self-rotating friction roller II (4) are fixed on the reducing mechanism (2); the cutting tool I (5) and the cutting tool II (6) are fixed on the reducing mechanism (2); the photoelectric sensor (7) is fixed on the reducing mechanism (2); and the dust cover (8) is fixed on the reducing mechanism (2).

2. The device for removing old leaves of fruits and vegetables according to claim 1, characterized in that: The distance expansion mechanism (1) comprises an electric push rod (101), a distance expansion block (102), a slider (103), a linear guide rail (104), a cushion block (105), and screws and nuts for fixing; one end of the distance expansion block (102) is fixed to the electric push rod (101), and the other end is fixed to the slider (103), and the slider (103) is fixed to the guide rail (104); the electric push rod (101) drives the distance expansion block (102) fixed to the slider (103) to perform reciprocating linear motion along the linear guide rail (104); the distance expansion block (102) is an isosceles triangle with a straight angle at the tip, and a nut is embedded in a groove; and the symmetric surfaces of the electric push rod (101), the distance expansion block (102), the slider (103), the linear guide rail (104), and the cushion block (105) overlap with each other.

3. The device for removing old leaves of fruits and vegetables according to claim 1, characterized in that: The retracting mechanism (2) comprises a shift plate (201), a slider (202), a linear guide rail (203), a return spring (204) and screws for fixing; the return spring (204) is fixed to the shift plate (201), the shift plate (201) is fixed to the slider (202), and the slider (202) is fixed to the linear guide rail (203); the retracting mechanism (2) causes the shift plate (201) fixed to the slider (202) to perform reciprocating linear motion along the linear guide rail (203) under the action of the thrust of the expansion block (102) and the tension of the return spring (204); the two shift plates (201) are symmetrical as a whole; the natural length of the return spring (204) can reset the shift plate (201), and the maximum elongation can meet the operation requirements.

4. The device for removing old leaves of fruits and vegetables according to claim 1, characterized in that: The self-rotating friction roller I (3) comprises a shaft retaining spring I (301), a hole retaining spring I (302), a bearing I (303), a bearing seat I (304), a rubber friction roller (305), a bearing seat II (306), a bearing II (307), a shaft retaining spring II (309), a hole retaining spring II (308), a coupling (310), a motor fixing frame (311), and a stepping motor (312); the rubber friction roller (305) is fixed to the shaft by means of the shaft retaining spring I (301), the hole retaining spring I (302), the shaft retaining spring II (309), the hole retaining spring II (308), and the shaft retaining spring. The bearing seat I (304) and the bearing II (307) are fixed on the bearing seat I (304) and the bearing II (307) respectively. The stepper motor (312) is fixed on the motor fixing frame (311). The output shaft of the stepper motor (312) and the shaft of the rubber friction stick (305) are fixed together by means of a coupling (310). The rubber friction stick (305) rotates at a constant speed under the drive of the stepper motor (312). The rubber friction stick (305) has a metal shaft in the center and a rubber stick on the outside, and a groove is formed on the shaft.

5. The device for removing old leaves of fruits and vegetables according to claim 1, characterized in that: The cutting tool I (5) comprises a tool fixing frame (501), a flexible blade (502), a special-shaped limit block (503) and a screw for fixing; the flexible blade (502) is between the fixing frame (501) and the special-shaped limit block (503), and is fixed to the tool fixing frame (501) by means of screws; a threaded hole is formed on the tool fixing frame (501); the tool fixing frame (501) is used to adjust the distance between the two tools by means of a slotted hole.

6. The device for removing old leaves of fruits and vegetables according to claim 1, characterized in that: The outer frame (9) comprises a bottom plate (901), side plates (902) and a top plate (903).

7. The device for removing old leaves of fruits and vegetables according to claim 1, characterized in that: When the photoelectric sensor (7) detects the main stem, the signal changes.

8. A device for removing old leaves of fruits and vegetables according to any one of claims 1 to 5, characterized in that: The cutting tool I (5), the cutting tool II (6), the self-selectable rotating friction roller I (3), and the self-selectable rotating friction roller II (4) are in direct contact with the main stem through the special-shaped guide block and the rubber friction roller under the action of the distance expansion mechanism (1) and the distance reduction mechanism (2).

9. A method for removing old leaves of fruits and vegetables, the method using a device for removing old leaves of fruits and vegetables according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: S1: In the initial state, the retracting mechanism (1) is in a closed state under the action of the pulling force of the return spring (204); S2: The robot arm moves the device for removing old leaves of fruit and vegetable plants to a position where the end surface is perpendicular to the growth direction of the main stem according to the main stem plane coordinate data provided by the monocular camera, moves along the depth direction of the depth camera, and stops after moving a certain distance when the signal of the photoelectric sensor (7) changes; S3: the electric push rod (101) retracts, thereby driving the expansion block (102) to retract, and the shift plate (201) moves linearly along the guide rail (203) under the action of the return spring (204) to close the retraction mechanism, and the rubber friction rod (305) and the special-shaped limit block (503) contact the main stem to achieve the straightening, clamping and protection of the main stem; S4: The mechanical arm drives the fruit and vegetable old leaf removing device to move upwards for a certain distance, and at the same time, the stepping motor (312) drives the rubber friction stick (305) to rotate at a certain speed to avoid pulling the main stem during the upward movement of the actuator, and the flexible blade (502) contacts the side branches to achieve cutting of the side branches and remove the old leaves; S5: the electric push rod (101) drives the distance expansion block (102) to move, so that the distance reduction mechanism opens; S6: The robot arm retracts and returns to the initial state, waiting for the next operation signal.

10. The leaf threshing method according to claim 9, characterized in that: The depth information of the main stem of the plant is obtained through the change of the photoelectric sensor signal, which reduces the burden of visual recognition and improves the positioning accuracy; Under the action of the heterosexual limit block, the main stem of the plant changes with the position of the old leaf beating device; The old leaves of a single plant can be removed from bottom to top at one time.

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