Honeysuckle picking device and use method thereof

Abstract

The invention discloses a honeysuckle picking device and a use method thereof.The device cooperates with a main control computer and a mechanical arm to complete honeysuckle picking, a bionic flexible finger air bag module is arranged, installed on the mechanical arm and used for picking honeysuckle, the bionic flexible finger air bag module applies the visual recognition technology, a honeysuckle recognition model is established, and the honeysuckle picking efficiency is improved. Honeysuckle is recognized and positioned, autonomous recognition is conducted through a binocular camera, autonomous action is conducted by combining calculation and control of a main control computer, human fingers are simulated to achieve robot automatic picking of economic crops such as honeysuckle and the like with similar flowers, the picking quality is guaranteed through the arrangement of a bionic flexible finger air bag, and the picking efficiency is improved in the flower picking link. Compared with a joint and electric cylinder combination, the pneumatic assembly combination generates displacement to pick off flowers, the picking efficiency is greatly improved, the computing power resource of a control host is saved, all joints of the mechanical arm are not moved, and therefore electric power is greatly saved, the battery cruising ability of the robot is greatly improved, and the picking efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural production devices, and in particular to a honeysuckle picking device and a use method thereof. Background Art

[0002] As a medicinal plant, honeysuckle has the effects of clearing away heat and detoxifying, and is widely used in the medical field. Honeysuckle blooms 3-5 times a year, and each picking period is short. It has multiple growth states. During the picking process, it is necessary to improve efficiency as much as possible and avoid damaging it to maintain its medicinal value. For a relatively soft plant like honeysuckle, a relatively gentle picking method should be adopted, trying to simulate the picking force of human hands to avoid damaging or breaking the plant.

[0003] At present, the automated picking of honeysuckle is usually carried out by picking hands, and the existing picking hands often have the problem of accidentally damaging the honeysuckle seedlings and leaves during the picking process. Especially when the seedlings and leaves are close to the flowers, the picking hands are often difficult to avoid them, and they are easily picked together with the mature flowers, thereby damaging the honeysuckle trees and affecting the subsequent yield. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention designs a honeysuckle picking device, which cooperates with a main control computer and a robotic arm to complete honeysuckle picking, wherein the honeysuckle picking device includes: a negative pressure storage box, which can generate negative pressure airflow for collecting honeysuckle; a collecting pipe, which is connected to the negative pressure storage box and cooperates with the negative pressure storage box to collect honeysuckle; a bionic soft finger airbag module, which is installed on the robotic arm and connected to the collecting pipe, and is used to pick honeysuckle; a pneumatic cylinder electromagnetic reversing valve, which is connected to the bionic soft finger airbag module and is used to control the extension and retraction of the bionic soft finger airbag module; an inflation component, which is connected to the bionic soft finger airbag module and is used to control the bionic soft finger airbag module to grab honeysuckle, and is connected to the pneumatic cylinder electromagnetic reversing valve, and the extension and retraction of the bionic soft finger airbag module is controlled by the pneumatic cylinder electromagnetic reversing valve; an air extraction component, which is connected to the bionic soft finger airbag module and is used to control the bionic soft finger airbag module to release honeysuckle.

[0005] Preferably, the bionic soft finger airbag module includes: a collecting bucket, installed on the robotic arm and connected to the collecting pipe; a double-rod cylinder, installed on the collecting bucket and connected to the pneumatic cylinder electromagnetic reversing valve, for controlling the extension and retraction of the collecting bucket; a binocular camera, installed on the collecting bucket, for identifying honeysuckle; a bionic soft finger airbag, installed on the inner side of the collecting bucket, and connected to the inflation component and the vacuum component, for grabbing or releasing the honeysuckle.

[0006] Preferably, the inflation component includes: a compressed air energy storage tank, connected to the bionic flexible finger airbag, used to control the bionic flexible finger airbag to grab the honeysuckle, connected to the pneumatic cylinder electromagnetic reversing valve, and controlling the extension and retraction of the double-rod cylinder through the pneumatic cylinder electromagnetic reversing valve; a compressed air processor, connected to the compressed air energy storage tank; an air compressor, connected to the compressed air processor, and controlled by the compressed air processor to inflate the compressed air energy storage tank.

[0007] Preferably, the inflation component also includes an ISE digital pressure gauge, which is arranged between the compressed air processor and the air compressor to ensure the air pressure of the compressed air energy storage tank and the connecting pipes in the inflation component.

[0008] Preferably, the vacuum assembly includes: a vacuum energy storage tank connected to the bionic soft finger airbag and used to control the bionic soft finger airbag to release honeysuckle; a vacuum machine connected to the vacuum energy storage tank and used to draw a vacuum.

[0009] Preferably, the vacuum assembly further includes a ZSE digital pressure gauge, which is connected to the vacuum energy storage tank and is used to control the vacuum degree of the vacuum energy storage tank and the connecting pipes in the vacuum assembly.

[0010] Preferably, a first check valve is provided between the compressed air processor and the air compressor; and a second check valve is provided between the vacuum energy storage tank and the vacuum machine.

[0011] Preferably, a first electromagnetic control valve is provided between the compressed air energy storage tank and the bionic flexible finger airbag; and a second electromagnetic control valve is provided between the vacuum energy storage tank and the bionic flexible finger airbag.

[0012] Preferably, the pneumatic cylinder electromagnetic reversing valve, the first electromagnetic control valve and the second electromagnetic control valve are all connected to the main control computer, and the pneumatic cylinder electromagnetic reversing valve, the first electromagnetic control valve and the second electromagnetic control valve are controlled by the main control computer.

[0013] Based on the same design concept, the present invention also provides a method for using a honeysuckle picking device, comprising the following steps:

[0014] Step 1: Establish a honeysuckle recognition model, use the YOLO method to identify the honeysuckle on the plant through a binocular camera, and establish a honeysuckle recognition model based on the coordinate distribution points of the honeysuckle.

[0015] Step 2: According to the coordinate distribution of honeysuckle in the honeysuckle identification model, the main control computer controls the robotic arm to drive the bionic soft finger airbag module to move to the position of the honeysuckle, so that the bionic soft finger airbag is 20 mm above one or more honeysuckle flowers.

[0016] Step 3: The main control computer is used to control the electromagnetic reversing valve of the pneumatic cylinder to open, and the double-rod cylinder is controlled to push out 30 mm, so that the bionic soft finger airbag is around one or more honeysuckle flowers.

[0017] Step 4, control the first electromagnetic control valve to open through the main control computer, control the bionic soft finger airbag to inflate and expand, and close to one or more honeysuckle in the center of the bionic soft finger airbag to simulate human fingers pinching the honeysuckle. After the bionic soft finger airbag pinches the honeysuckle, control the first electromagnetic control valve to close through the main control computer to keep the bionic soft finger airbag pinching the honeysuckle.

[0018] Step 5: Control the electromagnetic reversing valve of the pneumatic cylinder to close through the main control computer, and control the double-rod cylinder to retract to the initial state, so that the bionic soft finger airbag can pick the honeysuckle.

[0019] Step 6. Control the second electromagnetic control valve to open through the main control computer, control the bionic soft finger airbag to evacuate and contract, release the picked honeysuckle, and the honeysuckle is absorbed into the negative pressure storage box along the collection pipe along the negative pressure airflow generated by the negative pressure storage box. Control the second electromagnetic control valve to close through the main control computer to keep the bionic soft finger airbag in a contracted state.

[0020] Compared with the closest prior art, the beneficial effects of the present invention are:

[0021] The present invention uses visual recognition technology to establish a honeysuckle recognition model to identify and locate the honeysuckle, and then uses a binocular camera to perform autonomous recognition and combines the calculation and control of a main control computer to perform autonomous actions, thereby simulating human fingers to realize automatic robot picking of economic crops such as honeysuckle and similar flowers. The setting of bionic soft finger airbags ensures the quality of picking, and in the flower picking process, the pneumatic component combination generates displacement to pick the flowers. Compared with the combination of joints and electric cylinders, the picking efficiency is greatly improved, the computing power resources of the control host are saved, and the joints of the robotic arm are not moved, thereby greatly saving electricity, greatly improving the battery life of the robot, and improving the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of the honeysuckle picking device of the present invention.

[0023] Figure 2 It is a schematic structural diagram of the bionic soft finger airbag module of the present invention.

[0024] Reference numerals:

[0025] 1-negative pressure storage box, 2-collection pipeline, 3-bionic soft finger airbag module, 4-pneumatic cylinder electromagnetic reversing valve, 5-compressed air energy storage tank, 6-compressed air processor, 7-ISE digital pressure gauge, 8-air compressor, 9-first check valve, 10-first electromagnetic control valve, 11-second electromagnetic control valve, 12-vacuum energy storage tank, 13-ZSE digital pressure gauge, 14-second check valve, 15-vacuum machine, 16-collection bucket, 17-double-rod cylinder, 18-binocular camera, 19-bionic soft finger airbag. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0027] like Figure 1-Figure 2 As shown, the present invention provides a honeysuckle picking device, which cooperates with a main control computer and a mechanical arm to complete honeysuckle picking, wherein the honeysuckle picking device comprises: a negative pressure storage box 1, which can generate negative pressure airflow for collecting honeysuckle; a collection pipe 2, which is connected to the negative pressure storage box 1 and cooperates with the negative pressure storage box 1 to collect honeysuckle; a bionic soft finger airbag module 3, which is installed on the mechanical arm and connected to the collection pipe 2 for picking honeysuckle; a pneumatic The cylinder electromagnetic reversing valve 4 is connected to the bionic flexible finger airbag module 3, and is used to control the extension and retraction of the bionic flexible finger airbag module 3; the inflation component is connected to the bionic flexible finger airbag module 3, and is used to control the bionic flexible finger airbag module 3 to grab the honeysuckle, and is connected to the pneumatic cylinder electromagnetic reversing valve 4, and the extension and retraction of the bionic flexible finger airbag module 3 is controlled through the pneumatic cylinder electromagnetic reversing valve 4; the vacuum component is connected to the bionic flexible finger airbag module 3, and is used to control the bionic flexible finger airbag module 3 to release the honeysuckle. Using visual recognition technology, a honeysuckle recognition model is established to identify and locate the honeysuckle. Autonomous recognition is performed through a binocular camera, and autonomous actions are performed in combination with the calculation and control of the main control computer. The robot simulates human fingers to automatically pick economic crops such as honeysuckle and similar flowers. The setting of the bionic soft finger airbag ensures the quality of picking. In the flower picking process, the pneumatic component combination generates displacement to pick the flowers. Compared with the combination of joints and electric cylinders, the picking efficiency is greatly improved, the computing power resources of the control host are saved, and the joints of the robotic arm are not moved, thereby greatly saving electricity, greatly improving the battery life of the robot, and improving the picking efficiency.

[0028] Preferably, the bionic soft finger airbag module 3 includes: a collecting barrel 16, installed on the robotic arm and connected to the collecting pipe 2; a double-rod cylinder 17, installed on the collecting barrel 16 and connected to the pneumatic cylinder electromagnetic reversing valve 4, for controlling the extension and retraction of the collecting barrel 16; a binocular camera 18, installed on the collecting barrel 16, for identifying honeysuckle; a bionic soft finger airbag 19, installed on the inner side of the collecting barrel 16, and connected to the inflation component and the vacuum component, for grabbing or releasing the honeysuckle.

[0029] Preferably, the inflation component includes: a compressed air energy storage tank 5, connected to the bionic flexible finger airbag 19, used to control the bionic flexible finger airbag 19 to grab the honeysuckle, connected to the pneumatic cylinder electromagnetic reversing valve 4, and controlling the extension and retraction of the double-rod cylinder 17 through the pneumatic cylinder electromagnetic reversing valve 4; a compressed air processor 6, connected to the compressed air energy storage tank 5; an air compressor 8, connected to the compressed air processor 6, and controlled by the compressed air processor 6 to inflate the compressed air energy storage tank 5.

[0030] Preferably, the inflation component also includes an ISE digital pressure gauge 7, which is arranged between the compressed air processor 6 and the air compressor 8 to ensure the air pressure of the compressed air energy storage tank 5 and the connecting pipes in the inflation component.

[0031] Preferably, the vacuum assembly includes: a vacuum energy storage tank 12, connected to the bionic soft finger airbag 19, used to control the bionic soft finger airbag 19 to release honeysuckle; a vacuum machine 15, connected to the vacuum energy storage tank 12, used for vacuuming.

[0032] Preferably, the vacuum assembly further includes a ZSE digital pressure gauge 13, which is connected to the vacuum energy storage tank 12 and is used to control the vacuum degree of the vacuum energy storage tank 12 and the connecting pipeline in the vacuum assembly.

[0033] Preferably, a first check valve 9 is provided between the compressed air processor 6 and the air compressor 8 ; and a second check valve 14 is provided between the vacuum energy storage tank 12 and the vacuum machine 15 .

[0034] Preferably, a first electromagnetic control valve 10 is provided between the compressed air energy storage tank 5 and the bionic flexible finger airbag 19 ; and a second electromagnetic control valve 11 is provided between the vacuum energy storage tank 12 and the bionic flexible finger airbag 19 .

[0035] Preferably, the pneumatic cylinder electromagnetic reversing valve 4, the first electromagnetic control valve 10 and the second electromagnetic control valve 11 are all connected to the main control computer, and the pneumatic cylinder electromagnetic reversing valve 4, the first electromagnetic control valve 10 and the second electromagnetic control valve 11 are controlled by the main control computer.

[0036] Based on the same design concept, the present invention also provides a method for using a honeysuckle picking device, comprising the following steps:

[0037] Step 1: Establish a honeysuckle recognition model, use the Yolo method to identify the honeysuckle on the plant through the binocular camera 18, and establish a honeysuckle recognition model according to the coordinate distribution points of the honeysuckle.

[0038] Step 2: According to the coordinate distribution of honeysuckle in the honeysuckle identification model, the main control computer controls the mechanical arm to drive the bionic soft finger airbag module 3 to move to the position of the honeysuckle, so that the bionic soft finger airbag 19 is 20 mm above one or more honeysuckle flowers.

[0039] Step 3, the main control computer is used to control the electromagnetic reversing valve 4 of the pneumatic cylinder to open, and the double-rod cylinder 17 is controlled to push outward 30 mm, so that the bionic soft finger airbag 19 is located around one or more honeysuckle flowers.

[0040] Step 4, control the first electromagnetic control valve 10 to open through the main control computer, control the bionic soft finger airbag 19 to inflate and expand, and close to one or more honeysuckle in the center of the bionic soft finger airbag 19 to simulate human fingers pinching the honeysuckle. After the bionic soft finger airbag 19 pinches the honeysuckle, control the first electromagnetic control valve 10 to close through the main control computer to keep the bionic soft finger airbag 19 pinching the honeysuckle.

[0041] Step 5: The main control computer controls the pneumatic cylinder electromagnetic reversing valve 4 to close, controls the double-rod cylinder 17 to retract to the initial state, and enables the bionic soft finger airbag 19 to pick the honeysuckle.

[0042] Step 6, control the second electromagnetic control valve 11 to open through the main control computer, control the bionic soft finger airbag 19 to evacuate and contract, release the picked honeysuckle, and the honeysuckle is absorbed into the negative pressure storage box 1 along the collection pipe 2 along the negative pressure airflow generated by the negative pressure storage box 1. Control the second electromagnetic control valve 11 to close through the main control computer to keep the bionic soft finger airbag 19 in a contracted state.

[0043] Repeat steps 1 to 6 to realize the cyclic picking of honeysuckle. The present invention uses visual recognition technology, establishes a honeysuckle recognition model, identifies and locates honeysuckle, performs autonomous recognition through a binocular camera, combines the calculation and control of a main control computer to perform autonomous actions, simulates human fingers to realize the automatic picking of honeysuckle and other similar flower economic crops by robots, and sets bionic soft finger airbags to ensure the quality of picking. In the flower picking link, the pneumatic component combination generates displacement to pick the flowers, which greatly improves the picking efficiency compared to the joint and electric cylinder combination, saves the computing power resources of the control host, does not move the joints of the mechanical arm, thereby greatly saving electricity, greatly improving the battery life of the robot, and improving the picking efficiency.

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] In addition, the terms "above" and "below" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "above" and "below" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0046] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0048] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A honeysuckle picking device, characterized in that: The honeysuckle picking device cooperates with the main control computer and the mechanical arm to complete the honeysuckle picking, wherein the honeysuckle picking device includes: A negative pressure storage box (1) is capable of generating negative pressure airflow for collecting honeysuckle; A collecting pipe (2) is connected to the negative pressure storage box (1) and cooperates with the negative pressure storage box (1) to collect honeysuckle; A bionic soft finger airbag module (3), mounted on the mechanical arm and connected to the collection pipe (2), for picking honeysuckle; A pneumatic cylinder electromagnetic reversing valve (4), connected to the bionic flexible finger airbag module (3), and used for controlling the extension and retraction of the bionic flexible finger airbag module (3); An inflatable component, connected to the bionic soft finger airbag module (3), used to control the bionic soft finger airbag module (3) to grab the honeysuckle, and connected to the pneumatic cylinder electromagnetic reversing valve (4), controlling the bionic soft finger airbag module (3) to extend and retract via the pneumatic cylinder electromagnetic reversing valve (4); The air extraction component is connected to the bionic soft finger airbag module (3) and is used to control the bionic soft finger airbag module (3) to release the honeysuckle.

2. The honeysuckle picking device according to claim 1, characterized in that: The bionic soft finger airbag module (3) comprises: A collection bucket (16) mounted on the mechanical arm and connected to the collection pipe (2); A double-rod cylinder (17), installed on the collection barrel (16) and connected to the pneumatic cylinder electromagnetic reversing valve (4), for controlling the extension and retraction of the collection barrel (16); A binocular camera (18), mounted on the collection bucket (16), for identifying honeysuckle; A bionic soft finger airbag (19) is installed on the inner side of the collection barrel (16) and is connected to the inflation component and the suction component, and is used to grab or release the honeysuckle.

3. The honeysuckle picking device according to claim 2, characterized in that: The inflatable component comprises: A compressed air energy storage tank (5) is connected to the bionic soft finger airbag (19) and is used to control the bionic soft finger airbag (19) to grab the honeysuckle, and is connected to the pneumatic cylinder electromagnetic reversing valve (4) to control the extension and retraction of the double-rod cylinder (17) through the pneumatic cylinder electromagnetic reversing valve (4); A compressed air processor (6) connected to the compressed air energy storage tank (5); An air compressor (8) is connected to the compressed air processor (6) and is controlled by the compressed air processor (6) to inflate the compressed air energy storage tank (5).

4. The honeysuckle picking device according to claim 3, characterized in that: The inflation component further comprises an ISE digital pressure gauge (7), which is arranged between the compressed air processor (6) and the air compressor (8) and is used to ensure the air pressure of the compressed air energy storage tank (5) and the connecting pipeline in the inflation component.

5. The honeysuckle picking device according to claim 3, characterized in that: The air extraction component comprises: A vacuum energy storage tank (12) connected to the bionic soft finger airbag (19) and used to control the bionic soft finger airbag (19) to release honeysuckle; A vacuum machine (15) is connected to the vacuum energy storage tank (12) and is used for vacuuming.

6. The honeysuckle picking device according to claim 5, characterized in that: The vacuum assembly further comprises a ZSE digital pressure gauge (13), which is connected to the vacuum energy storage tank (12) and is used to control the vacuum degree of the vacuum energy storage tank (12) and the connecting pipeline in the vacuum assembly.

7. The honeysuckle picking device according to claim 5, characterized in that: A first check valve (9) is provided between the compressed air processor (6) and the air compressor (8); A second check valve (14) is provided between the vacuum energy storage tank (12) and the vacuum machine (15).

8. The honeysuckle picking device according to claim 6, characterized in that: A first electromagnetic control valve (10) is provided between the compressed air energy storage tank (5) and the bionic soft finger airbag (19); A second electromagnetic control valve (11) is provided between the vacuum energy storage tank (12) and the bionic soft finger airbag (19).

9. The honeysuckle picking device according to claim 8, characterized in that: The pneumatic cylinder electromagnetic reversing valve (4), the first electromagnetic control valve (10) and the second electromagnetic control valve (11) are all connected to the main control computer, and the pneumatic cylinder electromagnetic reversing valve (4), the first electromagnetic control valve (10) and the second electromagnetic control valve (11) are controlled by the main control computer.

10. A method for using a honeysuckle picking device, characterized in that: The following steps are involved: Step 1, establishing a honeysuckle recognition model, using the YOLOO method to identify the honeysuckle on the plant through a binocular camera (18), and establishing a honeysuckle recognition model according to the coordinate distribution points of the honeysuckle; Step 2, according to the coordinate distribution of honeysuckle in the honeysuckle identification model, the main control computer controls the mechanical arm to drive the bionic soft finger airbag module (3) to move to the position of the honeysuckle, so that the bionic soft finger airbag (19) is 20 mm above one or more honeysuckle; Step 3, the main control computer controls the electromagnetic reversing valve (4) of the pneumatic cylinder to open, and controls the double-rod cylinder (17) to push outward 30 mm, so that the bionic soft finger airbag (19) is located around one or more honeysuckle flowers; Step 4, controlling the first electromagnetic control valve (10) to open through the main control computer, controlling the bionic soft finger airbag (19) to inflate and expand, closing toward one or more honeysuckle flowers at the center of the bionic soft finger airbag (19), simulating human fingers pinching the honeysuckle flowers, and after the bionic soft finger airbag (19) pinches the honeysuckle flowers, controlling the first electromagnetic control valve (10) to close through the main control computer, maintaining the state of the bionic soft finger airbag (19) pinching the honeysuckle flowers; Step 5, the main control computer controls the pneumatic cylinder electromagnetic reversing valve (4) to close, controls the double-rod cylinder (17) to retract to the initial state, and enables the bionic soft finger airbag (19) to pick the honeysuckle; Step 6, the main control computer controls the second electromagnetic control valve (11) to open, controls the bionic soft finger airbag (19) to evacuate and contract, releases the picked honeysuckle, and the honeysuckle is absorbed into the negative pressure storage box (1) along the collection pipe (2) along with the negative pressure airflow generated by the negative pressure storage box (1), and the main control computer controls the second electromagnetic control valve (11) to close, keeping the bionic soft finger airbag (19) in a contracted state.

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